CN115164825A - Automatic digital guide system based on ADS-B - Google Patents
Automatic digital guide system based on ADS-B Download PDFInfo
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Abstract
The application relates to an automatic digital guide system based on ADS-B, an ADS-B signal receiving and processing module receives and demodulates an ADS-B signal of a dynamic target broadcasted by an ADS-B signal sending module to obtain corresponding target information: the first longitude, the first latitude, the first altitude and the heading of the target, and acquiring the station-measuring information: according to the first longitude, the first latitude, the first altitude, the second longitude, the second latitude and the second altitude of the survey station, respectively calculating the distance, the azimuth angle and the pitch angle of each target relative to the survey station to obtain a guide value of the dynamic target, then constructing a dynamic target tracking scoring function of the survey station according to the azimuth angle, the pitch angle and the target course, selecting a tracking target of the survey station according to the dynamic target tracking scoring function value, and transmitting the guide value of the tracking target to a theodolite of the survey station through an independent network. The system can realize the tracking guidance of farther targets and improve the utilization rate of the selected targets.
Description
Technical Field
The present application relates to the field of signal processing technologies, and in particular, to a target tracking guidance method, device, apparatus, and storage medium based on ADS-B signals.
Background
The theodolite is an important tracking and measuring device in a measurement and control system, and an operator is required to perform a large amount of dynamic target tracking exercises in order to ensure that the theodolite can quickly and accurately find and complete target capturing and tracking in the satellite measurement and control process. At present, the theodolite tracks dynamic targets such as civil aircraft and the like, is mainly guided by a manual mode, and the theodolite can be guided to point the targets to track and practice only after people see the aircraft, so that the theodolite is easily limited by the sensory ability of the people, the efficiency is low, and particularly when the number of aircraft targets is large.
Automatic Dependent Surveillance-Broadcasting (ADS-B) is a technology for monitoring the operation of an aircraft based on a global satellite positioning system and data link communication, and automatically provides data generated by an onboard navigation device and a satellite positioning system (including aircraft identification, positioning and other relevant additional data), and ground devices and other aircraft receive the information through an air data link. The aircraft can accurately broadcast information such as position, height, speed and the like of the aircraft through the airborne ADS-B equipment, and relevant information of nearby airspace aircraft can be acquired through the ground receiving equipment.
Disclosure of Invention
Therefore, it is necessary to provide a target tracking guidance method, device, equipment and storage medium based on the ADS-B signal to fully utilize the appropriate dynamic target to be tracked of the ADS-B signal so as to improve the efficiency of capturing and tracking the target of the theodolite.
An ADS-B based automatic digital guide system, the system comprising:
the ADS-B signal transmitting module and the ADS-B signal receiving and processing module;
the ADS-B signal sending module is arranged on the dynamic target; the ADS-B signal receiving and processing module is arranged on the observation station;
the ADS-B signal sending module modulates the information of the dynamic target into an ADS-B signal for broadcasting;
the ADS-B signal receiving and processing module acquires station-finding information and receives and demodulates ADS-B signals of a plurality of dynamic targets to obtain corresponding target information; the target information comprises a course, a first longitude, a first latitude and a first altitude of the dynamic target; the station information comprises a second longitude, a second latitude and a second altitude of the station;
the ADS-B signal receiving and processing module respectively calculates the distance, the azimuth angle and the pitch angle of each dynamic target relative to the observation station according to the first longitude, the first latitude and the first altitude of the target and the second longitude, the second latitude and the second altitude of the observation station, obtains a guide value according to the distance, the azimuth angle and the pitch angle, constructs a dynamic target tracking scoring function of the observation station according to the azimuth angle, the pitch angle and the heading, selects a tracking target of the observation station according to the value of the dynamic target tracking scoring function, and transmits the guide value of the tracking target to a theodolite of the observation station through an independent network.
In one embodiment, the step of constructing a dynamic target tracking scoring function of the survey station according to the azimuth angle, the pitch angle and the heading comprises the following steps:
and constructing a dynamic target tracking scoring function of the survey station according to the azimuth angle, the pitch angle and the heading as follows:
s k ＝βcos(E g )(1+cos(A g +180-H g ))
wherein s is k As a function of the tracking score of the kth target, E g Pitch angle of the target, A g Is the azimuth of the target, H g Beta is a preset coefficient as the course of the target.
In one embodiment, deriving the guidance value from the distance, the azimuth angle, and the pitch angle comprises:
and obtaining a guide value according to the distance, the azimuth angle and the pitch angle as follows:
wherein (R) g ,A g ,E g ) Lead value of the target, gamma k Is the distance of the target relative to the station, theta k Is the azimuth angle, η, of the target relative to the survey station k Is the pitch angle of the target relative to the survey station.
In one embodiment, the method for calculating the distance, the azimuth angle and the pitch angle of each dynamic target relative to the observation station according to the first longitude, the first latitude, the first altitude of the target and the second longitude, the second latitude and the second altitude of the observation station comprises the following steps:
converting the first longitude, the first latitude and the first height of the target into geocentric rectangular coordinates of the target:
e 2 ＝(a 2 -b 2 )/a 2
wherein (x) wk ,y wk ,z wk ) Is the center of the earth rectangular coordinate of the target, (L) k ,B k ,H k ) First longitude, first latitude, first altitude, e of the target 2 The eccentricity of the earth, a is the earth's major semi-axis, and b is the earth's minor semi-axis;
obtaining the geocentric rectangular coordinate of the survey station according to the second longitude, the second latitude and the second height of the survey station, and converting the geocentric rectangular coordinate of the target into the ground rectangular coordinate of the target:
wherein (x) rk ,y rk ,z rk ) Is the ground rectangular coordinate of the target, (x) or ,y or ,z or ) Is the earth center rectangular coordinate of the survey station;
converting the ground rectangular coordinates of the target into ground spherical coordinates of the target:
wherein (gamma) k ,θ k ,η k ) And the ground spherical coordinates of the target represent the distance, azimuth angle and pitch angle of the target relative to the survey station.
In one embodiment, the stations include fixed stations and/or mobile stations.
An ADS-B based automatic digital guide method, the method comprising:
receiving and demodulating ADS-B signals of a plurality of dynamic targets to obtain corresponding target information; the target information comprises the course, the first longitude, the first latitude and the first altitude of the dynamic target;
acquiring station measurement information; the station information comprises a second longitude, a second latitude and a second altitude of the station;
respectively calculating the distance, the azimuth angle and the pitch angle of each dynamic target relative to the observation station according to the first longitude, the first latitude and the first altitude of the target and the second longitude, the second latitude and the second altitude of the observation station, and obtaining a guide value according to the distance, the azimuth angle and the pitch angle;
and constructing a dynamic target tracking scoring function of the observation station according to the azimuth angle, the pitch angle and the course, selecting a tracking target of the observation station according to the value of the dynamic target tracking scoring function, and transmitting a guide value of the tracking target to a theodolite of the observation station through an independent network.
An target tracking guidance apparatus based on an ADS-B signal, the apparatus comprising:
the demodulation module is used for receiving and demodulating ADS-B signals of a plurality of dynamic targets to obtain corresponding target information; the target information comprises the course, the first longitude, the first latitude and the first altitude of the target;
the acquisition module is used for acquiring the station detection information; the station information comprises a second longitude, a second latitude and a second altitude of the station;
the calculation module is used for respectively calculating the distance, the azimuth angle and the pitch angle of each dynamic target relative to the observation station according to the first longitude, the first latitude, the first altitude of the target and the second longitude, the second latitude and the second altitude of the observation station, and obtaining a guide value according to the distance, the azimuth angle and the pitch angle;
and the selection module is used for constructing a dynamic target tracking scoring function of the survey station according to the azimuth angle, the pitch angle and the course, selecting a tracking target of the survey station according to the value of the dynamic target tracking scoring function, and transmitting the guide value of the tracking target to a theodolite of the survey station through an independent network.
A computer device comprising a memory and a processor, the memory storing a computer program, the processor implementing the following steps when executing the computer program:
receiving and demodulating ADS-B signals of a plurality of dynamic targets to obtain corresponding target information; the target information comprises a course, a first longitude, a first latitude and a first altitude of the dynamic target;
acquiring station measurement information; the station information comprises a second longitude, a second latitude and a second height of the station;
respectively calculating the distance, the azimuth angle and the pitch angle of each dynamic target relative to the observation station according to the first longitude, the first latitude and the first altitude of the target and the second longitude, the second latitude and the second altitude of the observation station, and obtaining a guide value according to the distance, the azimuth angle and the pitch angle;
and constructing a dynamic target tracking scoring function of the survey station according to the azimuth angle, the pitch angle and the course, selecting a tracking target of the survey station according to the value of the dynamic target tracking scoring function, and transmitting a guide value of the tracking target to a theodolite of the survey station through an independent network.
A computer-readable storage medium, on which a computer program is stored which, when executed by a processor, carries out the steps of:
receiving and demodulating ADS-B signals of a plurality of dynamic targets to obtain corresponding target information; the target information comprises a course, a first longitude, a first latitude and a first altitude of the dynamic target;
acquiring station measurement information; the station information comprises a second longitude, a second latitude and a second height of the station;
respectively calculating the distance, the azimuth angle and the pitch angle of each dynamic target relative to the observation station according to the first longitude, the first latitude and the first altitude of the target and the second longitude, the second latitude and the second altitude of the observation station, and obtaining a guide value according to the distance, the azimuth angle and the pitch angle;
and constructing a dynamic target tracking scoring function of the survey station according to the azimuth angle, the pitch angle and the course, selecting a tracking target of the survey station according to the value of the dynamic target tracking scoring function, and transmitting a guide value of the tracking target to a theodolite of the survey station through an independent network.
Compared with the existing method of guiding through artificial observation, the method mainly provides a solution scheme which can make full use of ADS-B signals to select a proper dynamic target to be tracked so as to improve the efficiency of theodolite target capturing and tracking, and mainly comprises the following steps: the ADS-B signal receiving and processing module receives and demodulates a plurality of ADS-B signals of dynamic targets broadcasted by the ADS-B signal sending module to obtain corresponding target information, and the method comprises the following steps: a first longitude, a first latitude, a first altitude, and a heading of the target, and obtaining the station-finding information, including: according to the second longitude, the second latitude and the second altitude of the observation station, the distance, the azimuth angle and the pitch angle of each dynamic target relative to the observation station are respectively calculated according to the first longitude, the first latitude, the first altitude of the target and the second longitude, the second latitude and the second altitude of the observation station, the guide value of each dynamic target is obtained according to the distance, the azimuth angle and the pitch angle, then the dynamic target tracking scoring function of the observation station is constructed according to the azimuth angle, the pitch angle and the target course, the tracking target of the observation station is selected according to the value of the dynamic target tracking scoring function, and the guide value of the tracking target is transmitted to the theodolite of the observation station through an independent network. Compared with the manual observation guide, the target tracking guide method and the target tracking guide device can realize the tracking guide of targets with longer distances, thereby improving the time length of the single target tracking guide, improving the utilization rate of the selected target, realizing the tracking guide of the theodolite to a plurality of targets, and effectively improving the efficiency of discovering and capturing the targets by the theodolite.
Drawings
FIG. 1 is a schematic flow chart of a target tracking guidance method based on ADS-B signals in an embodiment;
FIG. 2 is a block diagram of an embodiment of a target tracking guidance device based on an ADS-B signal;
FIG. 3 is a diagram illustrating an internal structure of a computer device according to an embodiment.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more apparent, the present application is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application.
In one embodiment, an ADS-B based automatic digital booting system is provided, including:
the ADS-B signal transmitting module and the ADS-B signal receiving and processing module.
The ADS-B signal sending module is arranged on the dynamic target, and the ADS-B signal receiving and processing module is arranged on the observation station.
And the ADS-B signal sending module modulates the information of the dynamic target into an ADS-B signal for broadcasting.
The ADS-B signal receiving and processing module acquires the station-finding information and receives and demodulates ADS-B signals of a plurality of dynamic targets to obtain corresponding target information, wherein the target information comprises the course, the first longitude, the first latitude and the first altitude of the dynamic targets, and the station-finding information comprises the second longitude, the second latitude and the second altitude of the station-finding; .
The dynamic target in the application generally refers to a civil aviation aircraft, an ADS-B signal receiving and processing module can adopt radio signal receiving and demodulating equipment to demodulate an ADS-B signal broadcast and sent by the civil aviation aircraft to obtain information such as an ICO number, longitude, latitude, height, speed, course and the like of the aircraft, and the radio signal receiving and demodulating equipment can be special receiving equipment or signal receiving equipment manufactured by software radio.
The stations may be fixed stations for which known station location information is directly utilized and/or rovers for which GPS acquisition is employed.
The ADS-B signal receiving and processing module respectively calculates the distance, the azimuth angle and the pitch angle of each dynamic target relative to the observation station according to the first longitude, the first latitude, the first altitude, the second longitude, the second latitude and the second altitude of the observation station, obtains a guide value according to the distance, the azimuth angle and the pitch angle, constructs a dynamic target tracking scoring function of the observation station according to the azimuth angle, the pitch angle and the heading, selects a tracking target of the observation station according to the value of the dynamic target tracking scoring function, and transmits the guide value of the tracking target to a theodolite of the observation station through an independent network.
The dynamic target tracking scoring function of the survey station is constructed according to the azimuth angle, the pitch angle and the heading, so that the dynamic target with smaller pitch angle and smaller difference between the azimuth angle and the heading of the target is closer to 180 degrees relative to the survey station, the higher the value of the target tracking scoring function is, namely, an airplane flying towards the survey station is more likely to be used as a tracking target of the survey station, and thus, compared with manual observation and guidance, the tracking and guidance of targets with longer distance can be realized, the time for tracking and guidance of a single target is prolonged, and the utilization rate of the selected target is greatly improved.
And automatically or manually selecting the preferred airplane as a tracking target according to the score, if the airplane with the highest score is automatically selected as the tracking target, automatically selecting the airplane target with the highest score at present as the next tracking target after a tracking target signal disappears, and also manually selecting the tracking target according to the score.
The automatic digital guidance system based on ADS-B receives and demodulates ADS-B signals of a plurality of dynamic targets broadcasted by an ADS-B signal sending module through an ADS-B signal receiving and processing module to obtain corresponding target information, and includes: a first longitude, a first latitude, a first altitude, and a heading of the target, and obtaining the station-finding information, including: according to the second longitude, the second latitude and the second altitude of the observation station, the distance, the azimuth angle and the pitch angle of each dynamic target relative to the observation station are respectively calculated according to the first longitude, the first latitude, the first altitude of the target and the second longitude, the second latitude and the second altitude of the observation station, the guide value of each dynamic target is obtained according to the distance, the azimuth angle and the pitch angle, then the dynamic target tracking scoring function of the observation station is constructed according to the azimuth angle, the pitch angle and the target course, the tracking target of the observation station is selected according to the value of the dynamic target tracking scoring function, and the guide value of the tracking target is transmitted to the theodolite of the observation station through an independent network. Compared with the manual observation guide, the target tracking guide method and the target tracking guide device can realize the tracking guide of targets with longer distances, thereby improving the time length of the single target tracking guide, improving the utilization rate of the selected target, realizing the tracking guide of the theodolite to a plurality of targets, and effectively improving the efficiency of discovering and capturing the targets by the theodolite.
In one embodiment, calculating the distance, azimuth and pitch angle of each dynamic target with respect to the station based on the first longitude, first latitude, first altitude of the target and the second longitude, second latitude and second altitude of the station, respectively, comprises:
converting the first longitude, the first latitude and the first height of the target into geocentric rectangular coordinates of the target:
e 2 ＝(a 2 -b 2 )/a 2
wherein (x) wk ,y wk ,z wk ) Is the center of the earth rectangular coordinate of the target, (L) k ,B k ,H k ) First longitude, first latitude, first altitude, e, of the target 2 The eccentricity of the earth, a is the earth's major semi-axis, and b is the earth's minor semi-axis;
obtaining the geocentric rectangular coordinate of the survey station according to the second longitude, the second latitude and the second height of the survey station, and converting the geocentric rectangular coordinate of the target into the ground rectangular coordinate of the target:
wherein (x) rk ,y rk ,z rk ) Is the ground rectangular coordinate of the target, (x) or ,y or ,z or ) Is the earth center rectangular coordinate of the survey station;
converting the ground rectangular coordinates of the target into ground spherical coordinates of the target:
wherein (gamma) k ,θ k ,η k ) And the ground spherical coordinates of the target represent the distance, azimuth angle and pitch angle of the target relative to the survey station.
Because the broadcast information sent by the airplane only comprises the identification number, the position, the speed, the course and other information of the airplane, the theodolite cannot be directly guided to point to a target by using the information, certain calculation and conversion are needed, namely the distance, the azimuth angle and the pitch angle of each airplane relative to a survey station need to be calculated, the position information of the airplane under a WGS-84 geodetic coordinate system extracted from the information received by the ADS-B equipment is converted into a spherical coordinate system taking the theodolite as the center, and then the relative position relationship is calculated.
In one embodiment, the guidance values from the distance, azimuth and pitch angles are:
wherein (R) g ,A g ,E g ) Lead value of the target, gamma k Is the distance of the target relative to the survey station, θ k Is the azimuth angle, η, of the target relative to the survey station k Is the pitch angle of the target relative to the survey station.
In one embodiment, constructing a dynamic target tracking scoring function of the survey station according to the azimuth angle, the pitch angle and the heading comprises:
and constructing a dynamic target tracking scoring function of the survey station according to the azimuth angle, the pitch angle and the course as follows:
s k ＝βcos(E g )(1+cos(A g +180-H g ))
wherein, s k As a function of the tracking score of the kth target, E g Pitch angle of the target, A g Is the azimuth angle of the target, H g Beta is a preset coefficient as the course of the target.
It can be seen that when the pitch angle of the target relative to the observation station is closer to 0 DEG and the azimuth angle of the target is closer to a dynamic target with the target course difference of 180 DEG, the value of the target tracking scoring function is higher, namely, an airplane flying towards the observation station is more likely to be used as a tracking target of the observation station, so that tracking guidance of targets with longer distances can be realized, the duration of single target tracking guidance is prolonged, the utilization rate of a selected target is greatly improved, and compared with manual guidance, the method and the device for tracking the theodolite greatly improve the training efficiency of the theodolite.
In one embodiment, as shown in fig. 1, there is provided an automatic digital booting method based on ADS-B, including the steps of:
and 102, receiving and demodulating ADS-B signals of a plurality of dynamic targets to obtain corresponding target information.
The target information includes a heading, a first longitude, a first latitude, and a first altitude of the target.
The dynamic target in the application generally refers to a civil aircraft, an ADS-B signal broadcast by the civil aircraft can be demodulated by adopting a radio signal receiving and demodulating device to obtain information such as an ICO number, longitude, latitude, altitude, speed, course and the like of the aircraft, and the radio signal receiving and demodulating device can be a special receiving device or a signal receiving device manufactured by software radio setting.
And step 104, acquiring station measurement information.
The station information includes a second longitude, a second latitude, and a second altitude of the station.
For fixed stations, the known station location information is directly utilized, and for mobile stations, the station information is acquired using GPS.
And step 106, respectively calculating the distance, the azimuth angle and the pitch angle of each dynamic target relative to the observation station according to the first longitude, the first latitude, the first altitude of the target and the second longitude, the second latitude and the second altitude of the observation station, and obtaining a guide value according to the distance, the azimuth angle and the pitch angle.
Because the broadcast information sent by the airplane only comprises the identification number, the position, the speed, the course and other information of the airplane, the theodolite cannot be directly guided to point to a target by using the information, certain calculation and conversion are needed, namely the distance, the azimuth angle and the pitch angle of each airplane relative to a survey station need to be calculated, the position information of the airplane under a WGS-84 geodetic coordinate system extracted from the information received by the ADS-B equipment is converted into a spherical coordinate system taking the theodolite as the center, and then the relative position relationship is calculated.
And 108, constructing a dynamic target tracking scoring function of the survey station according to the azimuth angle, the pitch angle and the heading, selecting a tracking target of the survey station according to the value of the dynamic target tracking scoring function, and transmitting a guide value of the tracking target to a theodolite of the survey station through an independent network.
And constructing a dynamic target tracking scoring function of the observation station according to the azimuth angle, the pitch angle and the heading, so that the value of the target tracking scoring function of the dynamic target with smaller pitch angle and the closer the difference between the azimuth angle and the target heading is to 180 degrees is higher relative to the observation station, namely the airplane flying towards the observation station is more likely to be used as the tracking target of the observation station. And automatically or manually selecting the preferred airplane as a tracking target according to the grade, if the airplane with the highest grade is automatically selected as the tracking target, automatically selecting the airplane target with the highest grade at present as the next tracking target after a tracking target signal disappears, and also manually selecting the tracking target according to the grade.
In the automatic digital guiding method based on ADS-B, the corresponding target information is obtained by receiving and demodulating ADS-B signals of a plurality of dynamic targets, and the method includes: the first longitude, the first latitude, the first altitude and the heading of the target acquire the station-measuring information, and the method comprises the following steps: a second longitude, a second latitude, and a second altitude of the rover; according to the first longitude, the first latitude, the first altitude of the target, the second longitude, the second latitude and the second altitude of the survey station, the distance, the azimuth angle and the pitch angle of each dynamic target relative to the survey station are respectively calculated, the guide value of each dynamic target is obtained according to the distance, the azimuth angle and the pitch angle, then the dynamic target tracking scoring function of the survey station is constructed according to the azimuth angle, the pitch angle and the target course, the tracking target of the survey station is selected according to the value of the dynamic target tracking scoring function, and the guide value of the tracking target is transmitted to the theodolite of the survey station through an independent network. Compared with the manual observation and guidance, the method can realize the tracking and guidance of the targets with longer distance, can realize the tracking and guidance of the theodolite on a plurality of targets, and can effectively improve the efficiency of finding and capturing the targets by the theodolite.
In one embodiment, the method further comprises: according to a certain time interval, the current position is recalculated according to the position and speed information of the airplane, the position and speed information of the station is recalculated, (for the fixed station, the known position information of the station is directly utilized, the course is fixed, the speed is 0; for the mobile station, the GPS is adopted to obtain the movement speed and the movement direction of the station), the distance, the direction and the pitching angle of the selected airplane relative to the station are calculated according to the latest position, the calculation result is sent through the network, particularly, the UDP multicast mode can be adopted, the information of the guide distance, the direction and the pitching angle is received through the independent network and displayed on the display screen, the information is presented in front of the theodolite operating hand, the operating hand can guide the equipment to point to the target for tracking test, the data can be received through the computer and displayed on the display, or the simple network receiving equipment and the small liquid crystal display screen can be used for displaying. The device is suitable for different stations to provide tracking guidance, and can effectively improve the target finding and capturing efficiency of the theodolite.
It should be understood that, although the steps in the flowchart of fig. 1 are shown in order as indicated by the arrows, the steps are not necessarily performed in order as indicated by the arrows. The steps are not limited to being performed in the exact order illustrated and, unless explicitly stated herein, may be performed in other orders. Moreover, at least a portion of the steps in fig. 1 may include multiple sub-steps or multiple stages that are not necessarily performed at the same time, but may be performed at different times, and the order of performance of the sub-steps or stages is not necessarily sequential, but may be performed in turn or alternately with other steps or at least a portion of the sub-steps or stages of other steps.
In one embodiment, as shown in fig. 2, there is provided an ADS-B based automatic digital guide apparatus, including: demodulation module, acquisition module, calculation module and selection module, wherein:
the demodulation module is used for receiving and demodulating ADS-B signals of a plurality of dynamic targets to obtain corresponding target information; the target information comprises a course, a first longitude, a first latitude and a first altitude of the target;
the acquisition module is used for acquiring the station detection information; the station information comprises a second longitude, a second latitude and a second height of the station;
the calculation module is used for respectively calculating the distance, the azimuth angle and the pitch angle of each dynamic target relative to the observation station according to the first longitude, the first latitude, the first altitude of the target and the second longitude, the second latitude and the second altitude of the observation station, and obtaining a guide value according to the distance, the azimuth angle and the pitch angle;
and the selection module is used for constructing a dynamic target tracking scoring function of the survey station according to the azimuth angle, the pitch angle and the heading, selecting a tracking target of the survey station according to the value of the dynamic target tracking scoring function, and transmitting the guide value of the tracking target to the theodolite of the survey station through the independent network.
For specific definition of the target tracking and guiding device based on the ADS-B signal, reference may be made to the above definition of the target tracking and guiding method based on the ADS-B signal, and details are not repeated here. The modules in the target tracking guiding device based on the ADS-B signal may be wholly or partially implemented by software, hardware and a combination thereof. The modules can be embedded in a hardware form or independent of a processor in the computer device, and can also be stored in a memory in the computer device in a software form, so that the processor can call and execute operations corresponding to the modules.
In one embodiment, a computer device is provided, which may be a server, the internal structure of which may be as shown in fig. 3. The computer device includes a processor, a memory, a network interface, and a database connected by a system bus. Wherein the processor of the computer device is configured to provide computing and control capabilities. The memory of the computer device comprises a nonvolatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program, and a database. The internal memory provides an environment for the operation of an operating system and computer programs in the non-volatile storage medium. The database of the computer device is used for storing dynamic target information and station-measuring information. The network interface of the computer device is used for communicating with an external terminal through a network connection. The computer program is executed by a processor to implement a target tracking guidance method based on the ADS-B signal.
It will be appreciated by those skilled in the art that the configuration shown in fig. 3 is a block diagram of only a portion of the configuration associated with the present application, and is not intended to limit the computing device to which the present application may be applied, and that a particular computing device may include more or fewer components than shown, or may combine certain components, or have a different arrangement of components.
In an embodiment, a computer device is provided, comprising a memory storing a computer program and a processor implementing the steps of the method in the above embodiments when the processor executes the computer program.
In an embodiment, a computer-readable storage medium is provided, on which a computer program is stored, which computer program, when being executed by a processor, carries out the steps of the method in the above-mentioned embodiments.
It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above may be implemented by hardware instructions of a computer program, which may be stored in a non-volatile computer-readable storage medium, and when executed, may include the processes of the embodiments of the methods described above. Any reference to memory, storage, database, or other medium used in the embodiments provided herein may include non-volatile and/or volatile memory, among others. Non-volatile memory can include read-only memory (ROM), programmable ROM (PROM), electrically Programmable ROM (EPROM), electrically Erasable Programmable ROM (EEPROM), or flash memory. Volatile memory can include Random Access Memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in a variety of forms such as Static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double Data Rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous Link DRAM (SLDRAM), rambus (Rambus) direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM).
The technical features of the above embodiments can be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the above embodiments are not described, but should be considered as the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
The above-mentioned embodiments only express several embodiments of the present application, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the concept of the present application, and these are all within the scope of protection of the present application. Therefore, the protection scope of the present patent shall be subject to the appended claims.
Claims (9)
1. An automatic digital guide system based on ADS-B, the system comprising:
the ADS-B signal transmitting module and the ADS-B signal receiving and processing module;
the ADS-B signal sending module is arranged on the dynamic target; the ADS-B signal receiving and processing module is arranged on the observation station;
the ADS-B signal sending module modulates the information of the dynamic target into an ADS-B signal for broadcasting;
the ADS-B signal receiving and processing module acquires station-finding information and receives and demodulates ADS-B signals of a plurality of dynamic targets to obtain corresponding target information; the target information comprises a course, a first longitude, a first latitude and a first altitude of the dynamic target; the station information comprises a second longitude, a second latitude and a second altitude of the station;
the ADS-B signal receiving and processing module respectively calculates the distance, the azimuth angle and the pitch angle of each dynamic target relative to the observation station according to the first longitude, the first latitude and the first altitude of the target and the second longitude, the second latitude and the second altitude of the observation station, obtains a guide value according to the distance, the azimuth angle and the pitch angle, constructs a dynamic target tracking scoring function of the observation station according to the azimuth angle, the pitch angle and the heading, selects a tracking target of the observation station according to the value of the dynamic target tracking scoring function, and transmits the guide value of the tracking target to a theodolite of the observation station through an independent network.
2. The system of claim 1, wherein constructing a dynamic target tracking scoring function for the survey station based on the azimuth, the pitch, and the heading comprises:
and constructing a dynamic target tracking scoring function of the observation station according to the azimuth angle, the pitch angle and the heading as follows:
s k ＝βcos(E g )(1+cos(A g +180-H g ))
wherein s is k As a function of the tracking score of the kth target, E g Pitch angle of the target, A g Is the azimuth of the target, H g Beta is a preset coefficient as the course of the target.
3. The system of claim 1, wherein deriving steering values from the distance, azimuth angle, and pitch angle comprises:
obtaining a guide value according to the distance, the azimuth angle and the pitch angle as follows:
wherein (R) g ,A g ,E g ) Lead value of the target, gamma k Is the distance of the target relative to the survey station, θ k Is the azimuth angle, η, of the target relative to the survey station k Is the pitch angle of the target relative to the station.
4. The system of claim 1, wherein calculating the distance, azimuth and pitch angle of each dynamic target with respect to the station based on the first longitude, the first latitude, the first altitude of the target and the second longitude, the second latitude and the second altitude of the station respectively comprises:
converting the first longitude, the first latitude and the first height of the target into geocentric rectangular coordinates of the target:
e 2 ＝(a 2 -b 2 )/a 2
wherein (x) wk ,y wk ,z wk ) Is the center of the earth rectangular coordinate of the target, (L) k ,B k ,H k ) First longitude, first latitude, first altitude, e of the target 2 The eccentricity of the earth, a is the earth's major semi-axis, b is the earth's minor semi-axis;
obtaining the geocentric rectangular coordinate of the survey station according to the second longitude, the second latitude and the second height of the survey station, and converting the geocentric rectangular coordinate of the target into the ground rectangular coordinate of the target:
wherein (x) rk ,y rk ,z rk ) Is the ground rectangular coordinate of the target, (x) or ,y or ,z or ) Is the earth center rectangular coordinate of the survey station;
converting the ground rectangular coordinates of the target into ground spherical coordinates of the target:
wherein (gamma) k ,θ k ,η k ) The spherical coordinates of the ground of the target represent the distance, azimuth angle and pitch angle of the target relative to the survey station.
5. The system according to claim 1, characterized in that said stations comprise fixed stations and/or mobile stations.
6. An automatic digital guide method based on ADS-B, the method comprising:
receiving and demodulating ADS-B signals of a plurality of dynamic targets to obtain corresponding target information; the target information comprises a course, a first longitude, a first latitude and a first altitude of the target;
acquiring station measurement information; the station information comprises a second longitude, a second latitude and a second altitude of the station;
respectively calculating the distance, the azimuth angle and the pitch angle of each dynamic target relative to the observation station according to the first longitude, the first latitude and the first altitude of the target and the second longitude, the second latitude and the second altitude of the observation station, and obtaining a guide value according to the distance, the azimuth angle and the pitch angle;
and constructing a dynamic target tracking scoring function of the observation station according to the azimuth angle, the pitch angle and the course, selecting a tracking target of the observation station according to the value of the dynamic target tracking scoring function, and transmitting a guide value of the tracking target to a theodolite of the observation station through an independent network.
7. An automatic digital guide apparatus based on ADS-B, the apparatus comprising:
the demodulation module is used for receiving and demodulating ADS-B signals of a plurality of dynamic targets to obtain corresponding target information; the target information comprises the course, the first longitude, the first latitude and the first altitude of the target;
the acquisition module is used for acquiring the station measurement information; the station information comprises a second longitude, a second latitude and a second altitude of the station;
the calculation module is used for respectively calculating the distance, the azimuth angle and the pitch angle of each dynamic target relative to the observation station according to the first longitude, the first latitude, the first altitude of the target and the second longitude, the second latitude and the second altitude of the observation station, and obtaining a guide value according to the distance, the azimuth angle and the pitch angle;
and the selection module is used for constructing a dynamic target tracking scoring function of the observation station according to the azimuth angle, the pitch angle and the course, selecting a tracking target of the observation station according to the value of the dynamic target tracking scoring function, and transmitting the guide value of the tracking target to a theodolite of the observation station through an independent network.
8. A computer arrangement comprising a memory and a processor, the memory storing a computer program, characterized in that the processor realizes the steps of the method as claimed in claim 6 when executing the computer program.
9. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out the steps of the method as claimed in claim 6.
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