CN114039647B - Beidou situation data fusion method based on time synchronization - Google Patents
Beidou situation data fusion method based on time synchronization Download PDFInfo
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04B—TRANSMISSION
- H04B7/00—Radio transmission systems, i.e. using radiation field
- H04B7/14—Relay systems
- H04B7/15—Active relay systems
- H04B7/185—Space-based or airborne stations; Stations for satellite systems
- H04B7/1851—Systems using a satellite or space-based relay
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- G—PHYSICS
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- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/03—Cooperating elements; Interaction or communication between different cooperating elements or between cooperating elements and receivers
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04J—MULTIPLEX COMMUNICATION
- H04J3/00—Time-division multiplex systems
- H04J3/02—Details
- H04J3/06—Synchronising arrangements
- H04J3/0635—Clock or time synchronisation in a network
- H04J3/0638—Clock or time synchronisation among nodes; Internode synchronisation
- H04J3/0644—External master-clock
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Abstract
The invention discloses a Beidou situation data fusion method based on time synchronization, and relates to the field of Beidou satellite navigation. According to the invention, the defects of a single terminal and a single communication link are made up by utilizing the redundancy and complementarity of Beidou situation data, the targets in a complex environment are positioned, monitored and tracked in a multi-level and all-dimensional manner, the global Beidou situation sensing of tasks is realized, and the problem that the aging, the precision, the reliability and the like of the Beidou situation data of the traditional single terminal and single communication link cannot meet the target situation sensing is solved.
Description
Technical Field
The invention relates to the technical field of Beidou satellite navigation, in particular to a Beidou situation data fusion method based on time synchronization.
Background
The Beidou satellite navigation system is a satellite navigation system which is autonomously developed in China, has three functions of positioning, navigation and time service, and can successfully solve the information feedback monitoring problems of target states, positions and the like. Therefore, the Beidou situation data monitoring function of each level of center on the target object is realized through the Beidou short message by utilizing the passive positioning function and the short message (RDSS monitoring) function of the Beidou system.
However, the current Beidou situation data monitoring mode based on Beidou short messages has the following disadvantages:
(1) Short message communication of the Beidou system is wireless transmission and has no feedback mechanism, and is influenced by equipment, environment, meteorological conditions and the like, the possibility of information loss exists, and the requirement of high reliability is difficult to meet;
(2) The coverage effectiveness of the Beidou system satellite signal areas has area difference, so that the receiving success rate of Beidou situation data, especially the received power, is influenced to a certain extent, and the requirements of high reliability are difficult to meet;
(3) Some application systems perform expansion custom protocol design (retransmission and receipt design) based on the Beidou standard protocol, so that the reliability of Beidou short message communication is improved, but the inherent frequency limitation of the Beidou short message reduces the timeliness of information, so that the requirement of high timeliness requirement is difficult to meet;
(4) Due to environmental, meteorological conditions, electromagnetic interference and other reasons in the situation monitoring area, beidou situation information returned by virtue of a single terminal and a single communication link cannot meet special task scene requirements, and particularly has task scene requirements with high accuracy and high timeliness requirements on situation data.
Disclosure of Invention
In view of the above, the technical problem to be solved by the present invention is to avoid the shortages of the Beidou situation data in the application in the above background technology, and provide a Beidou situation data fusion method based on time synchronization. The method can solve the problem that the traditional Beidou situation data of a single terminal and a single communication link cannot meet the target situation awareness due to timeliness, precision, reliability and the like.
The invention adopts the technical scheme that:
a Beidou situation data fusion method based on time synchronization comprises the following steps:
(1) Establishing a time reference: time alignment is carried out on other business application systems comprising monitoring terminals, situation information and centers of all levels based on the time service function of the Beidou system, and the Beidou situation information is kept to be transmitted and used with the same time standard;
(2) Mapping relation configuration: configuring mapping binding relations between each monitoring target and each monitoring terminal;
(3) Data multilink distribution: the Beidou user machine is used for receiving Beidou situation data, analyzing Beidou short messages and re-framing by utilizing mapping relation configuration parameters, and then distributing data through various communication links, wherein different monitoring terminals of the same monitoring target are converted into Beidou situation data of the same monitoring target ID;
(4) Data receiving and analyzing: each level of center receives Beidou situation data reported by multiple communication links and multiple terminals and analyzes the data;
(5) Detecting data abnormality: carrying out situation data anomaly judgment and anomaly data detection on each level of center according to byte exclusive OR and verification on the frame head, the frame tail, the data content length and the data content in the data frame, and preventing data anomalies caused by situation data transmission errors;
(6) And (3) homology data judgment: judging whether the data are transmitted through different links reported by the same monitoring target at the same time or not by the centers of all levels according to the homologous Beidou situation data, and if the data are homologous, only reserving one data;
(7) And (3) situation hopping processing: based on a speed jump or position jump criterion, judging abnormal situation jump data according to an input parameter threshold range, and discarding and prompting abnormal situation data of abnormal jump;
(8) Situation data interpolation: carrying out data smoothing on the Beidou situation data according to the interpolation model;
(9) Visualization of situation data: and visually displaying the Beidou situation data.
Further, in step 2, the mapping binding relationship between the monitoring target and the monitoring terminal is a 1-to-1, 1-to-many or many-to-many relationship.
Further, in step 6, a homologous situation data judging index table is also constructed, whether monitoring terminals of all monitoring targets in the index table work or not is periodically judged, overtime judgment is carried out on situation data, the situation data is processed according to a data overtime judging rule, normal data with the difference between the local system time and the situation data time not exceeding 3 seconds is forwarded and stored, and overtime data with the difference between the local system time and the situation data time exceeding 3 seconds is prompted and stored.
Compared with the background technology, the invention has the following advantages:
1. the invention can greatly reduce the situation data loss influence caused by the factors of terminal performance, environment, weather and the like, and provides a solution for the high-reliability application of Beidou situation data;
2. the invention can effectively solve the problem of low timeliness caused by the retransmission of the Beidou short message and provides a solution for the high timeliness application of Beidou situation data;
3. the invention can effectively meet the special task scene requirement with high precision requirement on situation data, track and position the target in multiple layers and all directions, and provide a solution for realizing the global situation awareness of the task.
Drawings
Fig. 1 is a diagram of a Beidou situation single command center perception network in an embodiment of the invention.
Fig. 2 is a diagram of a beidou situation single-division center sensing network in an embodiment of the present invention.
Fig. 3 is a diagram of a Beidou situation multi-level central perception network in an embodiment of the invention.
Fig. 4 is a flow chart of Beidou situation data fusion in an embodiment of the invention.
Fig. 5 is a flow chart for determining the homology data of the Beidou situation data in the embodiment of the invention.
Detailed Description
The invention is further described in connection with the following specific embodiments: it will be apparent that the described embodiments are only some, but not all, embodiments of the invention. The details in the description may be modified or varied from different viewpoints and applications, without departing from the spirit of the invention. All other examples, which a person of ordinary skill in the art would obtain without undue burden based on the embodiments of the invention, are within the scope of the invention.
The Beidou situation data fusion method based on time synchronization is realized based on a time service function and short message service of a Beidou system, and unified time reference inside the system including a monitoring target and each level of center are realized through the Beidou time service function; according to different use scenes, the receiving terminal can be only deployed in a command center (figure 1), a sub-center (figure 2), and the command center (figure 3) at the same time, the defects of a single terminal and a single communication link are made up by using redundancy and complementarity of Beidou situation data, multi-level and omnibearing positioning, monitoring and tracking can be carried out on a target in a complex environment, global Beidou situation sensing of tasks is realized, and Beidou situation data fusion based on time synchronization is finally realized.
The method mainly comprises the following steps:
(1) Establishing a time reference: time alignment is carried out on situation information, application systems and the like including a monitoring terminal and centers of all levels based on the time service function of the Beidou system, and the Beidou situation information is kept to have the same time reference;
(2) Mapping relation configuration: configuring mapping binding relations between each monitoring target and the monitoring terminal, wherein the mapping binding relations can be 1-to-1 and 1-to-many relations;
(3) Data multilink distribution: the command type Beidou user machine also receives Beidou situation data, analyzes Beidou short messages by utilizing mapping relation configuration parameters, re-frames the Beidou short messages and distributes data through various communication links (different monitoring terminals with the monitoring targets can be converted into Beidou situation data with the same monitoring target ID);
(4) Data receiving and analyzing: each level of center receives Beidou situation data reported by multiple communication links and multiple terminals and analyzes the data;
(5) Detecting data abnormality: the centers of all levels perform situation data anomaly judgment and anomaly data detection to prevent data anomalies caused by situation data transmission error codes and the like;
(6) And (3) homology data judgment: judging whether the data transmitted through different links are reported at the same moment for the same monitoring target by the centers of all levels through homologous Beidou situation data judgment, and if the data are homologous data, keeping one, and otherwise discarding the other data;
(7) And (3) situation hopping processing: in the method, situation abnormal jump data are judged according to user set criteria, such as speed jump, position jump and the like, and the situation data of the abnormal jump are processed according to the input parameter threshold range judgment;
(8) Situation data interpolation: carrying out data smoothing processing on the Beidou situation data according to interpolation models such as linear interpolation, nonlinear interpolation and the like;
(9) Visualization of situation data: and comprehensive visualization of the Beidou situation data is realized by using a geographic information technology, a chart display and other visualization technologies.
The following is a more specific example:
the Beidou situation data fusion method based on time synchronization aims at three Beidou situation awareness networks (fig. 1, 2 and 3) constructed by application scenes to realize comprehensive awareness of Beidou situations, and the flow of the Beidou situation awareness networks is universal and consistent.
The complete Beidou situation data fusion process is now described according to the identifier of fig. 3, and as shown in fig. 4, the method specifically comprises the following steps:
(1) Establishing a time reference: time alignment is carried out on Beidou situation sensing network nodes such as a sensing terminal, a sub-center receiving terminal, a command center receiving terminal and the like of a situation monitoring target in the system based on a time service function of the Beidou system, and Beidou situation information is kept to have the same time reference;
(2) Mapping relation configuration: the multi-terminal correspondence relation of each monitoring target can be configured as a 1-to-1, a 1-to-many, and a many-to-many relation.
(2.1) n situation monitoring targets in the Beidou situation awareness network are respectively identified as A 1 、A 2 、……、A n ；
(2.2) each situation monitoring target is provided with a certain number of Beidou situation awareness terminals, such as situation monitoring target A 1 Equipped with T 1 The Beidou situation sensing terminals are respectively marked as A 11 、A 12 、……、A 1T1 Then there is situation monitoring target A 2 Equipped with T 2 The Beidou situation sensing terminals are respectively marked as A 21 、A 22 、……、A 2T2 The Beidou situation sensing terminals of other situation monitoring targets are marked in sequence;
(3) Data multilink distribution: the sub-center and the command center analyze the Beidou short message and re-framing the Beidou short message according to the mapping relation configuration parameters in the step (2) and carry out data distribution through various communication links;
(3.1) m sub-centers in the Beidou situation awareness network are respectively marked as Z 1 、Z 2 、……、Z m Then there is a center Z 1 Can receive situation monitoring target A 1 The Beidou situation awareness terminal 1 situation data. Similarly, the center Z 1 Receivable situation data has A 11 ，A 11 、A 12 、……、A 1T1 ，A 21 、A 22 、……、A 2T2 ，…，A n1 、A n2 、……、A nTn The method comprises the steps of carrying out a first treatment on the surface of the Other sub-centers should receive the sub-center Z 1 The same number of situations; if the command center is also provided with a receiving terminal, the command center shall receive and divide the center Z 1 Approximately the same or the same situational data;
(3.2) k common communication links (such as Beidou, tiantong, weitong, ground network and the like) in Beidou situation awareness network are respectively identified as R 1 、R 2 、……、R k The sub-centers respectively have no more than K data transmission modes to send situation data to the command center, and then have situation monitoring targets A 1 Beidou situation awareness terminal 1 passes through communication link R 1 Beidou situation data A for transmission 11 R 1 Other Beidou situation data are marked in sequence;
(4) Data receiving and analyzing: the command center receives Beidou situation data reported by the multi-communication link, the multi-branch center receiving terminal and the command center receiving terminal and analyzes the data;
(5) Detecting data abnormality: abnormal situation data judgment is carried out, abnormal data such as link data transmission error codes and broken frames are effectively prevented, the abnormal situation data is discarded, log recording is carried out on the abnormal situation data, and the normal situation data is processed in the next step;
(6) And (3) homology data judgment: and judging the situation data at the same time, which are reported by the same terminal and received by different communication transmission links, according to the set situation data overtime threshold L0, and distributing the situation data according to the needs after receiving the situation data.
(6.1) constructing a homologous situation data judging index table, which mainly comprises information such as a monitoring target A, a monitoring terminal Z, a reporting period D, a receiving time S, a timeout threshold L, whether F is received or not and the like; the index structure is shown in the following table:
(6.2) periodically judging all monitoring terminals of the monitoring targets in the index table, if the receiving time is NULL, considering that the monitoring terminals do not start working, temporarily skipping and not processing; if the receiving time is not empty, judging the difference between the current time S0 and the receiving time S, if S0-S > D+L and F=false, judging that the reporting of the monitoring terminal is overtime, updating the time S0-L to a table S item, otherwise, not processing;
(6.3) receiving the situation data after abnormality detection, judging overtime of the situation data, if the situation data timestamp S and the reference time S Datum The difference is |S-S Datum |>L, judging that the received situation data is overtime, and storing the situation data, but not carrying out subsequent processing; otherwise, turning to step (6.4);
(6.4) judging a monitoring target A corresponding to the index table searching situation data by utilizing the homologous situation data, ending if the searching result is empty, and otherwise, turning to the step (6.5);
(6.5) judging a monitoring terminal Z corresponding to the index table searching situation data by utilizing the homologous situation data, ending if the searching result is empty, and otherwise, turning to the step (6.6);
(6.6) judging whether a situation data identifier F is received in a reporting period of the monitoring terminal in the homologous situation data judging index table, if F=false, updating the index table F into True, updating S into a timestamp of the situation data, and storing and forwarding the situation data; otherwise, the situation data is only stored and not forwarded;
(7) And (3) situation hopping processing: carrying out abnormal jump judgment processing on situation data, judging the situation data according to user set criteria, such as upper and lower speed jump limits, position jump amplitude threshold values and the like, judging according to input parameter threshold value ranges, and processing the situation data of abnormal jump;
(8) Situation data interpolation: carrying out data smoothing processing on the Beidou situation data according to interpolation models such as position linear interpolation, nonlinear interpolation and the like of the two-time situation receiving time difference;
(9) Visualization of situation data: and the comprehensive visualization of the Beidou situation data is realized by using the visualization technologies such as the geographic information technology, the chart display and the like, and the position, the speed, the elevation change and other state information of the monitoring target are displayed to the user conveniently and quickly in real time.
In a word, the invention uses the Beidou satellite navigation system to carry out navigation positioning, can be applied to important target situation monitoring scenes in the field of location service, and is particularly suitable for the situation based on time synchronization. The method can report the Beidou situation data based on the position to the fusion scene by using the Beidou short message mode, and solves the problems of Beidou situation data loss, low timeliness and the like in the application of the scene.
According to the invention, the defects of a single terminal and a single communication link are made up by using the redundancy and complementarity of Beidou situation data, the targets in a complex environment are positioned, monitored and tracked in a multi-level and all-dimensional manner, the global Beidou situation sensing of tasks is realized, and the problem that the aging, the precision, the reliability and the like of the Beidou situation data of the traditional single terminal and single communication link cannot meet the target situation sensing is solved.
The foregoing description is merely one specific embodiment of the present invention, but the scope of the invention is not limited thereto, and it is to be understood that the modifications as contemplated are intended to be included within the scope of the present invention, which is defined by the appended claims and their equivalents, and all technical solutions employing equivalent substitutions or equivalent forms are intended to fall within the scope of the present invention.
Claims (3)
1. The Beidou situation data fusion method based on time synchronization is characterized by comprising the following steps of:
(1) Establishing a time reference: time alignment is carried out on other business application systems comprising monitoring terminals, situation information and centers of all levels based on the time service function of the Beidou system, and the Beidou situation information is kept to be transmitted and used with the same time standard;
(2) Mapping relation configuration: configuring mapping binding relations between each monitoring target and each monitoring terminal;
(3) Data multilink distribution: the Beidou user machine is used for receiving Beidou situation data, analyzing Beidou short messages and re-framing by utilizing mapping relation configuration parameters, and then distributing data through various communication links, wherein different monitoring terminals of the same monitoring target are converted into Beidou situation data of the same monitoring target ID;
(4) Data receiving and analyzing: each level of center receives Beidou situation data reported by multiple communication links and multiple terminals and analyzes the data;
(5) Detecting data abnormality: carrying out situation data anomaly judgment and anomaly data detection on each level of center according to byte exclusive OR and verification on the frame head, the frame tail, the data content length and the data content in the data frame, and preventing data anomalies caused by situation data transmission errors;
(6) And (3) homology data judgment: judging whether the data are transmitted through different links reported by the same monitoring target at the same time or not by the centers of all levels according to the homologous Beidou situation data, and if the data are homologous, only reserving one data;
(7) And (3) situation hopping processing: based on a speed jump or position jump criterion, judging abnormal situation jump data according to an input parameter threshold range, and discarding and prompting abnormal situation data of abnormal jump;
(8) Situation data interpolation: carrying out data smoothing on the Beidou situation data according to the interpolation model;
(9) Visualization of situation data: and visually displaying the Beidou situation data.
2. The Beidou situation data fusion method based on time synchronization of claim 1 is characterized in that in the step 2, the mapping binding relationship between a monitoring target and a monitoring terminal is 1-to-1, 1-to-many or many-to-many.
3. The Beidou situation data fusion method based on time synchronization according to claim 1, wherein a homologous situation data judging index table is further constructed in the step 6, whether monitoring terminals of all monitoring targets in the index table work or not is periodically judged, overtime judgment is carried out on situation data, the situation data is processed according to a data overtime judging rule, normal data with the difference between local system time and situation data time not exceeding 3 seconds is forwarded and stored, and overtime data with the difference between the local system time and situation data time exceeding 3 seconds is prompted and stored.
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