CN114676180B - Synchronous multi-machine cooperative underwater detection repeater system and method - Google Patents
Synchronous multi-machine cooperative underwater detection repeater system and method Download PDFInfo
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Abstract
The invention provides a synchronous multi-machine cooperative underwater detection system and a synchronous multi-machine cooperative underwater detection method, which comprise a multi-machine cooperative time determination module, a multi-machine period determination module, a multi-machine data insertion module, a multi-machine task input module and a multi-machine task display module; the device comprises a recording time determining module, a recording time determining module and a recording time determining module, wherein the recording time determining module is used for converting the recording time into standard recording time, determining the starting time and the ending time of the disc duplication and converting the standard recording time into relative recording time; the multiple disk data insertion module is used for inserting relative vacancy time points and corresponding data insertion between two adjacent relative recording time points; the device comprises a duplication task input module, a duplication task output module and a computer, wherein the duplication task input module is used for inputting a duplication task at the front end of the computer; and the multi-disk task display module is used for displaying the situations of the tracking target and the common target on the interactive interface. The invention can solve the problems of abnormal picture duplication and asynchronous duplication time caused by non-uniform recording time points and non-uniform recording time intervals of the aerial underwater detection data by a plurality of airplanes.
Description
Technical Field
The invention relates to the technical field of aerial underwater detection and repeater, in particular to a synchronous repeater system and a synchronous repeater method for multi-machine cooperative underwater detection.
Background
The aerial underwater detection is to strike underwater targets such as submarines and the like by using airplanes such as fixed-wing airplanes and helicopters. The airplane is a naval airplane used for searching and attacking the submarine and is provided with searching equipment such as a radar, an infrared detector, an aviation sonar, a magnetic detector and the like.
After the project or activity is completed, the reply is usually used to review the project that has been performed and to summarize the experience and lessons.
The airplane recording data comprises two times, one is local time localTime, the other is bus time busTime, the local time is self-timekeeping time of the recording equipment, and the recording equipment starts to accumulate from 0 after being electrified; the bus time is calendar time, which is the time the recording device obtained from the bus. After the airplane is powered on, the time synchronization equipment sends the calendar time through the bus, and before satellite time service, the calendar time of each airplane is different, so that the bus time busTime recorded before satellite time service is inaccurate; only after the satellite time service, the calendar time of each airplane is unified to the satellite time, and the bus time busTime is the accurate time. Because the interval from power-on to satellite time service of the time synchronization equipment is long, generally requiring several minutes, the bus time busTime recorded by each aircraft in the period of time is inaccurate, and therefore the bus time busTime recorded by each aircraft before satellite time service needs to be unified to the satellite time and converted into accurate time, so that the synchronism in the multi-aircraft disk copying process can be ensured.
The existing aerial underwater reconnaissance tasks can only realize single-machine duplication and cannot synchronously duplicate aerial underwater reconnaissance tasks of multiple machines (multiple platforms).
Disclosure of Invention
The invention provides a synchronous double-disk system and a synchronous double-disk method for multi-machine cooperative underwater detection, which can solve the problems of abnormal double-disk images and asynchronous time caused by inaccurate busTime and inconsistent recording time intervals of aerial underwater detection data of multiple airplanes before satellite time service; meanwhile, the switching between the master airplane and the slave airplane can be realized in the picture of the compound disk according to the needs of the user.
In order to achieve the purpose, the invention provides a synchronous multi-machine cooperative underwater detection system, which is characterized by comprising a multi-machine cooperative underwater detection synchronization system, a multi-machine cooperative underwater detection synchronization system and a multi-machine cooperative underwater detection synchronization system, wherein the multi-machine cooperative underwater detection synchronization system comprises a multi-machine cooperative time determination module, a multi-machine cooperative period determination module, a multi-machine data insertion module, a multi-machine task input module and a multi-machine task display module; wherein,
the device comprises a duplication time determining module, a bus time sequencing module and a duplication time sequencing module, wherein the duplication time determining module is used for converting inaccurate bus time busTime recorded before time service of each aircraft satellite into accurate bus time busTime, converting all accurate bus time busTimes into standard recording time according to a unified time standard, sequencing the standard recording time of all the aircraft according to a standard time sequence, selecting earliest time and latest time in all the standard recording time, taking the earliest time as the start time of duplication, and taking the latest time as the end time of the duplication; converting the sorted standard recording time of the data recording of all airplanes into the sorted relative recording time by taking the starting time of the compound disk as a relative standard;
the multi-disk period determining module is used for determining the recording period C of each airplane for data recording j And recording all the recording periods C of data of all the airplanes j Storing the data into the period vector table, and recording all the record periods C in the period vector table j Calculating the greatest common divisor, and using the calculated greatest common divisor as the time period C of the multiple disks f ；
The disk copying data insertion module is used for inserting the disk copying data according to the time period C of disk copying f And recording period C for each aircraft j ，C j ＝NC f N is more than or equal to 1, and two adjacent relative recording time points T after each airplane is sequenced a And T b Between N-1 relative empty time points T a +C f ，T a +2C f ，T a +3C f ，……T a +(N-1)C f Performing corresponding data insertion on the N-1 relative vacant time points, and storing all finally formed insertion data and record data into a database according to the sorted relative record time sequence;
the compound disk task input module is used for inputting compound disk tasks at the front end of the computer according to user requirements, determining a main display aircraft platform serving as a tracking target and a slave display aircraft platform serving as a common target, and configuring track lengths, track colors, transparent modes and label display contents corresponding to the display platforms;
the double-disk task display module is used for acquiring all insertion data and recording data corresponding to a main display airplane platform and a secondary display airplane platform from a database, pushing all the insertion data and the recording data to an interactive interface at the front end of a computer to display the situations of a tracking target and a common target, and drawing tracks and signs of the tracking target and the common target on the interactive interface according to the corresponding track length, track color, transparent mode and sign display content input by each target to realize the comprehensive display of the two-dimensional and three-dimensional situations.
The invention has the advantages that:
1. firstly, converting inaccurate busTime recorded before time service of all aircraft satellites into accurate busTime, and carrying out reconversion and sequencing on all accurate busTimes according to a unified time standard to obtain sequenced standard recording time and the starting time of a copy; the starting time of the double disks is taken as a relative standard, and the sequenced standard recording time is converted and sequenced again to obtain the sequenced relative recording time, so that the recording time points of the aerial underwater investigation data by a plurality of airplanes are unified;
2. according to the method, the recording periods of data records of all airplanes are compared, the time period of disc duplication is calculated, then a plurality of relative vacancy time points are inserted between two adjacent relative recording time points of each airplane according to the time period of disc duplication, and corresponding data insertion is carried out on the relative vacancy time points, so that the recording time intervals of the airplanes for the aerial underwater detection data are unified, and further synchronous disc duplication of multi-airplane cooperative anti-submergence is realized;
the synchronous re-coiling system and the method for multi-machine collaborative underwater detection can solve the problems of abnormal re-coiling picture and asynchronous re-coiling time caused by the non-uniform recording time points of the multi-aircraft on the aerial underwater detection data, the inaccurate busTime before satellite time service and the non-uniform recording time interval; meanwhile, the switching between the master plane and the slave plane can be realized in the copy picture according to the user requirement.
Drawings
FIG. 1 is an overall structure diagram of a synchronous multi-chassis system for multi-machine cooperative underwater detection according to the present invention;
FIG. 2 is a schematic diagram of data transmission of a synchronous multi-chassis system for multi-machine cooperative underwater detection according to the present invention;
FIG. 3 is a schematic view of multi-machine cooperative underwater investigation data duplication;
in the figure: the device comprises a duplication time determining module 1, a duplication period determining module 2, a duplication data inserting module 3, a duplication task input module 4 and a duplication task display module 5.
Detailed Description
The invention is described in further detail below with reference to the figures and specific embodiments.
As shown in fig. 1-2, the synchronous multi-machine cooperative underwater detection system of the present invention includes a multi-machine cooperative underwater detection synchronization re-reeling time determining module 1, a re-reeling period determining module 2, a re-reeling data inserting module 3, a re-reeling task input module 4 and a re-reeling task display module 5; wherein,
the device comprises a duplication time determining module 1, a bus time sequencing module and a duplication time scheduling module, wherein the duplication time determining module is used for converting inaccurate bus time busTime recorded before each aircraft satellite gives time into accurate bus time busTime, converting all accurate bus time busTimes into standard recording time according to a unified time standard, sequencing the standard recording time of all aircraft according to a standard time sequence, selecting the earliest time and the latest time in all the standard recording time, taking the earliest time as the start time of duplication, and taking the latest time as the end time of the duplication; and converting the sorted standard recording time of the data recording of all the airplanes into the sorted relative recording time by taking the starting time of the multi-disk as a relative standard.
Specifically, the bus time busTime inaccurate before satellite time service is converted into the accurate bus time busTime by sequentially checking the bus time busTime of each packet of data from the recorded first packet of data, considering that the time at the position is jumped when the difference between the bus times busTime of two packets of data before and after the satellite time service is greater than a set threshold (such as 3s), reversely calculating the accurate bus time busTime of all the data packets before the satellite time service by taking the time at the position as a reference, and recording the previously calculated busTime of the first packet of data as T B LocalTime is denoted as T L Recording busTime of the Nth packet data estimated previously as T BN LocalTime is denoted as T LN If the bus time busTime is T ═ T, the nth packet has the correct bus time busTime B -(T L -T LN ) (ii) a Then, according to a unified time standard, converting the accurate bus time busTime of the airplane into standard recording time, wherein the standard recording time is, for example, 11:03:02 at 5-18 months in 2022, 9:00:50 at 5-18 months in 2022, 8:00:00 at 5-18 months in 2022, 8:06:10 at 5-18 months in 2022, 8:50:08 at 5-18 months in 2022, 10:20:20 at 5-18 months in 2022, and 9:40:36 at 5-18 months in 2022, the standard recording time is used as the starting time of the reply disk, and the 8:00:00 at 5-18 months in 2022 is used as the ending time of the reply disk, 11:03:02 at 18 months in 2022.
When the starting time of the copy is determined to be 8:00:00 at 5-month-18-day 2022, if the first standard recording time of the first airplane for data recording is 8:30:00 at 5-month-18-day 2022, the second standard recording time is 8:30:02 at 5-month-18-day 2022, and the third standard recording time is 8:30:04, … … at 5-month-18-day 2022, the first relative recording time of the first airplane for data recording is 1800s, the second relative recording time is 1802s, and the third relative recording time is 1804s, … …; the first standard recording time of the second airplane for data recording is 2022 year 5 month 18 day 9:00:00, the second standard recording time is 2022 year 5 month 18 day 9:00:03, the third standard recording time is 2022 year 5 month 18 day 9:00:06, … …, then the first relative recording time of the second airplane for data recording is 3600s, the second relative recording time is 3603s, and the third relative recording time is 3606s, … ….
The duplication period determining module 2 is used for determining the recording period C of each airplane for data recording j And recording all the recording periods C of the data of all the airplanes j Storing the data into the period vector table, and recording all the record periods C in the period vector table j Calculating the greatest common divisor, and using the calculated greatest common divisor as the time period C of the multiple disks f (ii) a If the recording period includes a decimal number, all the recording periods C need to be recorded j By the formula C jt ＝C j *10 n Regular, n is the recording period C j The number of bits after decimal point, the recording period C j Conversion into an integer recording period C jt (ii) a Recording all integers into a period C jt Storing the integer records in the period vector tablePeriod C jt Obtaining a greatest common divisor; finally, the greatest common divisor is divided by 10 n Time period C converted into decimal f . Specifically, if the recording period of the first airplane is 2s and the recording period of the second airplane is 3s, the time period of the disk replication is 1 s; if the recording period of the first airplane is 2s and the recording period of the second airplane is 4s, the time period of the disk duplication is 2 s; if the recording period of the first airplane is 2s, the recording period of the second airplane is 3s, and the recording period of the third airplane is 4s, the time period of the disk replication is 1 s; if the recording period of the first airplane is 10s and the recording period of the second airplane is 12.5s, the recording periods of the two airplanes are multiplied by 10 and converted into integers of 100s and 125s, the greatest common divisor 25 is obtained, and then the 25 is divided by 10, so that the time period of the duplication is 2.5 s.
The compound disk data insertion module 3 is used for inserting the data according to the time period C of the compound disk f And recording period C for each aircraft j ，C j ＝NC f N is more than or equal to 1, and two adjacent relative recording time points T after each airplane is sequenced a And T b Between N-1 relative space defect time points T a +C f ，T a +2C f ，T a +3C f ，……T a +(N-1)C f And performing corresponding data insertion on the N-1 relative vacant time points, and storing all finally formed insertion data and record data into a database according to the sorted relative record time sequence. The recording data comprises name recording data, position recording data, posture recording data, speed recording data, acceleration recording data, buoy launching information data and event data, and the inserting data comprises position inserting data, posture inserting data, speed inserting data and acceleration inserting data.
Specifically, when the time period of the dubbing is 1s, the relative vacancy time point between the first relative recording time 1800s and the second relative recording time 1802s of the first airplane is 1801s, and the relative vacancy time point between the second relative recording time 1802s and the third relative recording time 1804s is 1803 s; relative vacancy time points between the first relative recording time 3600s and the second relative recording time 3603s of the second aircraft are 3602s, 3603s, and relative vacancy time points between the second relative recording time 3603s and the third relative recording time 3606s are 3604s, 3605 s.
Preferably, the method for performing corresponding data insertion on the N-1 relative blank time points is that if two adjacent relative recording time points T are adjacent a And T b The corresponding recorded data are respectively P a And P b Then at N-1 relative vacant time points T a +C f ，T a +2C f ，T a +3C f ，……T a +(N-1)C f Inserted insertion data are respectively P a +(P b -P a )/N，P a +2(P b -P a )/N，Pa+3(P b -P a )/N，……Pa+(N-1)(P b -P a )/N。
The reply task input module 4 is used for inputting a reply task at the front end of the computer according to the user requirements, determining a main display aircraft platform as a tracking target and a slave display aircraft platform as a common target, and configuring the track length, the track color and the transparent mode corresponding to each display platform and the label display content. The label display content comprises the name, position, posture, speed and acceleration of each display platform.
Preferably, the master-slave relationship between the master display airplane platform and the slave display airplane platform can be switched according to the user requirements.
The multi-disk task display module 5 is used for acquiring all insertion data and recording data corresponding to the main display airplane platform and the auxiliary display airplane platform from the database, pushing all the insertion data and the recording data to an interactive interface at the front end of the computer to display the situation of the tracked target and the common target, and drawing tracks and signs of the tracked target and the common target on the interactive interface according to the corresponding track length, track color, transparent mode and sign display content input by each target to realize the comprehensive display of the two-dimensional situation and the three-dimensional situation.
The invention also provides a synchronous multi-machine cooperative underwater detection method, which comprises the following steps:
step 1), converting inaccurate bus time busTime recorded before each aircraft satellite time service into accurate bus time busTime, converting all accurate bus time busTimes into standard recording time according to a unified time standard, sequencing the standard recording time of all the aircraft according to a standard time sequence, selecting earliest time and latest time in all the standard recording time, taking the earliest time as the starting time of a compound disk, and taking the latest time as the ending time of the compound disk; converting the sorted standard recording time of the data recorded by all the airplanes into the sorted relative recording time by taking the starting time of the multi-disk as a relative standard;
step 2), determining the recording period C of each airplane for data recording j And recording all the recording periods C of the data of all the airplanes j Storing the data into the period vector table, and recording all the record periods C in the period vector table j Calculating the greatest common divisor, and using the calculated greatest common divisor as the time period C of the multiple disks f ；
Step 3), recording period C according to each airplane j And time period C of the duplication f ，C j ＝NC f N is more than or equal to 1, and two adjacent relative recording time points T after each airplane is sequenced a And T b Between N-1 relative empty time points T a +C f ，T a +2C f ，T a +3C f ，……T a +(N-1)C f Corresponding data insertion is carried out on the N-1 relative vacant time points, and all finally formed insertion data and recording data are stored into a database according to the relative recording time sequence after sequencing;
step 4), inputting a copy task at the front end of the computer according to user requirements, determining a main display aircraft platform serving as a tracking target and a secondary display aircraft platform serving as a common target, and configuring track length, track color and transparent mode and label display content corresponding to each display platform;
and step 5), acquiring all insertion data and record data corresponding to the main display aircraft platform and the auxiliary display aircraft platform from the database, pushing all the insertion data and the record data to an interactive interface at the front end of the computer to display the situations of the tracked target and the common target, and drawing tracks and signs of the tracked target and the common target on the interactive interface according to the corresponding track length, track color, transparent mode and sign display content input by each target to realize comprehensive display of the two-dimensional and three-dimensional situations.
The final display effect of the device is shown in fig. 3, and fig. 3 is a schematic diagram of two-machine cooperative underwater investigation data duplication.
Firstly, a toolbar operated by a user is mainly used for interactive operation of scenes;
the second in the figure is that the panel information mainly displays information such as serial numbers, belonged airplanes, longitudes and latitudes and the like;
in the figure, the signboard display information comprises information such as airplane name, position, attitude and the like; after the processing of the step 3), the time reference and the time interval of the multi-disk data of the two airplanes for the front-end computer display are unified, so that the two airplanes can have position, attitude, speed and acceleration data at the same time point. The abnormal phenomenon that one airplane has position, attitude, speed and acceleration data at a certain time point and the other airplane does not have corresponding data due to the fact that time reference and time interval are not uniform, so that the front-end computer can only normally display one airplane with data, and the other airplane without data does not display or display delay is avoided, and synchronous copy playing of the two airplanes is achieved;
the graph (a) is a time progress bar for copying, symbols above the progress bar represent events occurring at the current moment, and each event is represented by a corresponding symbol;
in the figure, # is the current playing speed and current time of the copy;
the sixth in the figure is a control button for the double-disc progress, which is mainly used for controlling the double-disc progress.
The above embodiments are preferred embodiments of the present invention, but the present invention is not limited to the above embodiments, and any other changes, modifications, substitutions, combinations, and simplifications which do not depart from the spirit and principle of the present invention should be construed as equivalents thereof, and all such changes, modifications, substitutions, combinations, and simplifications are intended to be included in the scope of the present invention.
Claims (9)
1. A synchronous double-disk system for multi-machine cooperative underwater detection is characterized in that: the device comprises a multi-disk time determining module (1), a multi-disk period determining module (2), a multi-disk data inserting module (3), a multi-disk task input module (4) and a multi-disk task display module (5); wherein,
the double-disk time determining module (1) is used for converting inaccurate bus time busTime recorded before each aircraft satellite time service into accurate bus time busTime, converting all accurate bus time busTimes into standard recording time according to a unified time standard, sequencing the standard recording time of all the aircraft according to a standard time sequence, selecting earliest time and latest time in all the standard recording time, taking the earliest time as the start time of a double disk, and taking the latest time as the end time of the double disk; converting the sorted standard recording time of the data recorded by all the airplanes into the sorted relative recording time by taking the starting time of the multi-disk as a relative standard;
the multi-disk period determining module (2) is used for determining the recording period C of each airplane to the data record j And recording all the recording periods C of the data of all the airplanes j Storing the data into the period vector table, and recording all the record periods C in the period vector table j Calculating the greatest common divisor, and using the calculated greatest common divisor as the time period C of the multiple disks f ；
The compound disk data insertion module (3) is used for inserting the compound disk data according to the time period C of the compound disk f And recording period C for each aircraft j ，C j ＝NC f N is more than or equal to 1, and two adjacent relative recording time points T after each airplane is sequenced a And T b Between N-1 relative space defect time points T a +C f ，T a +2C f ，T a +3C f ，……T a +(N-1)C f And for N-1 open spacesCorresponding data insertion is carried out at the time points, and finally formed insertion data corresponding to N-1 relative vacancy time points and two adjacent relative recording time points T are obtained a And T b Storing the corresponding recording data into a database according to the sorted relative recording time sequence;
the compound disk task input module (4) is used for inputting compound disk tasks at the front end of the computer according to user requirements, determining a main display aircraft platform serving as a tracking target and a secondary display aircraft platform serving as a common target, and configuring track lengths, track colors, transparent modes and label display contents corresponding to the display platforms;
the multi-disk task display module (5) is used for acquiring all insertion data and recording data corresponding to the main display airplane platform and the auxiliary display airplane platform from the database, pushing all the insertion data and the recording data to an interactive interface at the front end of the computer to display the situations of the tracking target and the common target, and drawing tracks and signs of the tracking target and the common target on the interactive interface according to the corresponding track length, track color, transparent mode and sign display content input by each target to realize the comprehensive display of the two-dimensional and three-dimensional situations.
2. The synchronous multi-machine cooperative underwater detection repeater system according to claim 1, wherein: in the reply time determination module (1), the bus time busTime inaccurate before satellite time service is converted into the accurate bus time busTime by sequentially checking the bus time busTime of each packet of data from the recorded first packet of data; when the difference value between bus time busTime of two previous and next packet data is larger than a set threshold value, the time is considered to jump, and the time is the satellite time service time; and reversely calculating the accurate bus time busTime of all data packets before the satellite time service time by taking the time as a reference, and recording the bus time busTime of the first packet data calculated forwards as T B The local time localTime is denoted as T L Recording busTime of the Nth packet data estimated previously as T BN LocalTime is denoted as T LN If so, data of the Nth packetThe accurate bus time busTime is T ═ T B -(T L -T LN )。
3. The synchronous multi-machine cooperative underwater detection repeater system according to claim 2, wherein: in the disk duplication period determining module (2), if the recording period includes a decimal, all the recording periods C need to be recorded j By the formula C jt ＝C j *10 n Regular, n is the recording period C j The number of decimal places, the recording period C j Conversion into an integer recording period C jt (ii) a Recording all integers into a period C jt Storing the integer into the period vector table, and recording the period C for all integers in the period vector table jt Obtaining a greatest common divisor; finally, the greatest common divisor is divided by 10 n Time period C converted into decimal f 。
4. The synchronous multi-machine cooperative underwater detection repeater system according to claim 3, wherein: in the multi-disc data insertion module (3), the method for correspondingly inserting the N-1 relative vacant time points is that if two adjacent relative recording time points T are provided a And T b The corresponding recorded data are respectively P a And P b Then at N-1 relative vacant time points T a +C f ，T a +2C f ，T a +3C f ，……T a +(N-1)C f Inserted insertion data are respectively P a +(P b -P a )/N，P a +2(P b -P a )/N，Pa+3(P b -P a )/N，……Pa+(N-1)(P b -P a )/N。
5. The synchronous multi-machine cooperative underwater detection repeater system according to claim 4, wherein: in the multi-disk data insertion module (3), the recorded data comprises name recorded data, position recorded data, attitude recorded data, speed recorded data, acceleration recorded data, buoy launching information data and event data, and the insertion data comprises position insertion data, attitude insertion data, speed insertion data and acceleration insertion data.
6. The synchronous multi-machine cooperative underwater detection repeater system according to claim 5, wherein: in the multi-disk task input module (4), the master-slave relationship between the master display airplane platform and the slave display airplane platform can be switched according to the user requirements.
7. The synchronous multi-machine cooperative underwater detection repeater system according to claim 6, wherein: in the multi-disk task input module (4), a target track is drawn according to an input transparent mode, and the set target track transparent mode comprises the following steps: the first mode is a mode that the transparency component is changed from small to big, the more the track is opaque as the track is closer to the target, and the calculation formula of the transparency is alpha [1.0-COS (pi × i/P ] size )]0.5; the second mode is a mode that the transparency component is reduced from large to small, the farther away from the target, the more opaque the track is, and the calculation formula of the transparency is [1.0+ COS (pi × i/P) ] size )]0.5; the third mode is a mode that two sections of transparency components are small and the middle is large, the closer to the middle of the track, the more opaque the track is, and the calculation formula of the transparency is alpha-SIN (pi i/P) size ) (ii) a Wherein i is the index of the track point, starting from the position 0 of the target, adding 1, P point by point size The number of track points corresponding to the target track length.
8. The synchronous multi-machine cooperative underwater detection repeater system according to claim 7, wherein: in the multi-disk task input module (4), the label display content comprises the name, position, posture, speed and acceleration of each display platform.
9. A synchronous multi-machine cooperative underwater detection method is characterized by comprising the following steps:
step 1) for converting the inaccurate bus time busTime recorded before each aircraft satellite gives time into accurate bus time busTime, converting all the accurate bus time busTimes into standard recording times according to a unified time standard, sequencing the standard recording times of all the aircraft according to a standard time sequence, selecting the earliest time and the latest time of all the standard recording times, taking the earliest time as the starting time of a copy, and taking the latest time as the ending time of the copy; converting the sorted standard recording time of the data recorded by all the airplanes into the sorted relative recording time by taking the starting time of the multi-disk as a relative standard;
step 2), determining the recording period C of each airplane for data recording j And recording all the recording periods C of the data of all the airplanes j Storing the data into the period vector table, and recording all the record periods C in the period vector table j Calculating the greatest common divisor, and using the calculated greatest common divisor as the time period C of the multiple disks f ；
Step 3), recording period C according to each airplane j And time period C of the duplication f ，C j ＝NC f N is more than or equal to 1, and two adjacent relative recording time points T after each airplane is sequenced a And T b Between N-1 relative empty time points T a +C f ，T a +2C f ，T a +3C f ，……T a +(N-1)C f Performing corresponding data insertion on the N-1 relative vacant time points, and storing all finally formed insertion data and record data into a database according to the sorted relative record time sequence;
step 4), inputting a copy task at the front end of the computer according to user requirements, determining a main display aircraft platform serving as a tracking target and a secondary display aircraft platform serving as a common target, and configuring track length, track color and transparent mode and label display content corresponding to each display platform;
and step 5), acquiring all insertion data and record data corresponding to the main display aircraft platform and the auxiliary display aircraft platform from the database, pushing all the insertion data and the record data to an interactive interface at the front end of the computer to display the situations of the tracked target and the common target, and drawing tracks and signs of the tracked target and the common target on the interactive interface according to the corresponding track length, track color, transparent mode and sign display content input by each target to realize comprehensive display of the two-dimensional and three-dimensional situations.
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