CN115358073A - ADS-B wind vector inversion method - Google Patents
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Abstract
The invention discloses an ADS-B wind vector inversion method, which comprises the following steps: s1, establishing a wind speed vector model: ground speed vector V g Airspeed vector V a Wind velocity vector V w The relationship is as follows: v g ＝V a +V w (ii) a S2, an inversion algorithm: obtaining n groups of ground speed vectors in the flight process to obtain n ground speed sampling points, and marking as P 1 ,P 2 ,…,P n For a plurality of sampling points P k Obtaining an overdetermined equation set: AV = b; obtaining the least norm least square solution of A by an LS method, taking the least norm least square solution as the optimal solution of V to obtain the circle center position of a fitting circle, and taking a vector from the original point to the circle center as an airspeed vector V a Then substituting into the relation of S1 to obtain the wind speed vector V w . The invention assumes that the airspeed of the airplane in a certain time interval and a certain airspace interval is basically constant, and the airspeed can be obtained by inversion according to the large-angle turning data of a single airplaneThe wind speed and the wind direction in the airspace are high, and the reliability of an inversion result is high.
Description
Technical Field
The invention belongs to the technical field of aviation, and particularly relates to an ADS-B wind vector inversion method.
Background
The aviation field is connected with the collection and processing of meteorological data in a thousand-wire way, and the international aviation industry recognizes that wind shear is a very important factor influencing the takeoff and landing stages of an airplane. Once the airplane flies in a wind shear area, the flight safety performance is seriously influenced, but the wind shear is ubiquitous in airport airspace and has the characteristics of rapid change, difficulty in detection, low timeliness and the like. Therefore, under the existing meteorological detection condition, the wind field inversion is carried out by using the known data, and the accurate and reliable wind field information is provided for the airspace of the airport, which is the most important factor. Different from a conventional weather prediction system, the requirement of aviation flight on timeliness and accuracy is higher, and when the traditional wind field detection technical means is applied to aviation detection, many problems often exist, such as: the Doppler radar needs to judge according to the content of precipitation particles in the air, and if the air is dry or the precipitation particles are less, the measurement result is influenced; wind profile radar can only detect in the vertical direction, and wind shear is omni-directional in space; the laser radar has higher weather requirement and poorer measuring effect in thunderstorm weather or sand-dust weather. The integrated wind shear detection system is more sophisticated but costly and requires redesign of the detection algorithms at the various airports. The factors limit the application of the traditional wind field measurement means to the requirements of real-time performance and accuracy of wind field inversion in the aviation field.
ADS-B (Automatic Dependent Surveillance-Broadcast-based) is an aircraft traffic monitoring and flight information transfer monitoring technology which is rapidly developed and widely applied in recent years, and realizes navigation, communication and monitoring functions of air traffic control by taking air-ground and air-air data links as communication means and taking a navigation system and other airborne equipment as data sources. Compared with the traditional ground radar monitoring system, the ADS-B technology completely utilizes the self functions of the airborne equipment to acquire information such as height, speed and the like, uses the airborne data link equipment to broadcast data, is not influenced by ground equipment, and can provide position monitoring information with timeliness and accuracy.
Currently, the ADS-B system in China adopts an S mode responder extension message data chain (1090 ES) of 1090MHz, and is also a system applied to the field of commercial transportation aviation, and the system composition is shown in figure 1. ADS-B is an air-ground and air-air data link technology for aircraft operation monitoring established based on GNSS, the system is composed of a plurality of ground stations and an airborne station, and the data link transmits important monitoring information such as the state, position, speed and the like of the aircraft in a broadcasting mode. ADS-B also has both air Traffic Information Service Broadcast TIS-B (Traffic Information Service-Broadcast) and Flight Information Service Broadcast FIS-B (Flight Information Service-Broadcast) functions. The TIS-B function means that the ADS-B ground station transmits the received position message to the monitoring interceptor, and the monitoring interceptor fuses information obtained from the radar and other monitoring equipment into uniform target position information and then sends the uniform target position information to the TIS-B server. The TIS-B server processes the information in a centralized way, optimizes and filters the information to obtain air traffic monitoring panoramic information, and then the information is transmitted to the unit through the ground station to obtain real-time comprehensive traffic conditions in the airspace. The FIS-B function is that the ground station transmits navigation condition, meteorological information and other data to the aircraft, including airport weather forecast, live report, airspace navigation announcement and the like. The ADS-B system enables the aircraft to obtain more flight-related information in the flight process, and makes important contributions to the understanding of meteorological conditions and airspace limiting conditions in the airspace and the guarantee of flight safety. However, the ADS-B based inversion of wind fields is still rarely studied.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provides an ADS-B wind vector inversion method which can obtain the wind speed and the wind direction of an airspace according to the inversion of the wide-angle turning data of a single airplane and has high inversion result reliability.
The purpose of the invention is realized by the following technical scheme: the ADS-B wind vector inversion method comprises the following steps:
s1, establishing a wind speed vector model: in the horizontal plane, the ground speed vector V g Airspeed vector V a And a wind speed vector V w The vector relationship of the three is as follows:
V g ＝V a +V w (1)
wherein ground speed refers to the speed of the aircraft relative to the stationary ground; wind speed refers to the speed of the wind relative to a stationary ground; airspeed refers to the relative speed of the aircraft with respect to the wind or air stream;
s2, inversion algorithm: velocity vector V of ground g Decomposed into V along the coordinate axes gx And V gy Two components:
V gx ＝V g cosθ g ，V gy ＝V g sinθ g (2)
wherein, theta g Is the angle of the ground speed vector relative to the true north direction; v gx ,V gy Respectively the horizontal coordinate and the vertical coordinate of the ground speed vector sampling point;
because the sampling rate of ADS-B is very high, n groups of ground speed vectors are obtained in the flight process, and n ground speed vector sampling points are obtained and marked as P 1 ,P 2 ,…,P n The corresponding velocity vectors are respectively (x) 1 ,y 1 ),(x 2 ,y 2 ),…,(x n ,y n )；
Suppose V a Constant, then V w Multiple V will be obtained during the exercise w Data, and multiple data all fall on a circle, but because of V w Unknown, unable to pass V w Solve the circle, only by V g Fitting the circle, calculating the center of the circle, and obtaining a vector from the origin to the center as an airspeed vector V a (ii) a The origin is defined as the point where the velocity vector is 0;
finding P 1 ,P 2 Midpoint P of (A) 1/2 Has the coordinates of
Direction vector
Is (x) 2 -x 1 ,y 2 -y 1 )；
Then according to the normal equation of the straight line, cross P 12 And are connected with
The vertical line equation is:
then differs from P 1 ,P 2 Another 2 points P of 3 ,P 4 To obtain another linear equation:
simultaneous equations (3) and (4), the center of the circle (x, y) is solved by the perpendicular bisector of the two chords of the fitting circle;
in practice, because the sampling rate of ADS-B is very high (less than or equal to 1 Hz), there may be multiple sets of known data from the above equation, or from multiple sampling sequences in a short period of time from one airplane, or from sequences from multiple airplanes. For a plurality of sampling points P k K =1,2, …, n, extending the equation to an over-determined system of equations:
AV-b＝0 (5)
wherein the content of the first and second substances,
form V is obtained as:
V＝[x,y] T (8)；
the matrix a is generally a full rank matrix of the following formula, and the least-norm least-squares solution is found by the LS method:
least squares solution of minimum norm
Obtaining the position of the circle center as the optimal solution of V
Then from the origin to the center of the circle
The vector of (a) is the airspeed vector V a Then the ground speed vector V is respectively converted into g Airspeed vector V a Substituting into formula (1) to obtain wind speed vector V w 。
The invention has the beneficial effects that: the invention assumes that the airspeed of the airplane in a certain time interval and a certain airspace interval is basically constant, and can obtain the wind speed and the wind direction of the airspace according to the inversion of the large-angle turning data of a single airplane, and the reliability of the inversion result is high. The method can provide basic work for the follow-up research of the inversion of the full airspace wind field.
Drawings
FIG. 1 is a structural diagram of the ADS-B system;
FIG. 2 is a vector relationship of ground speed, wind speed, airspeed;
FIG. 3 is a schematic ground speed vector decomposition diagram;
FIG. 4 is airspeed vector V a A schematic view;
FIG. 5 is a schematic diagram of the center of a fitting circle;
FIG. 6 is a wind speed fitting of single aircraft large-angle turning flight data in an experiment.
Detailed Description
In the aspect of data acquisition, the ADS-B airborne equipment can not only acquire the GPS position of an aircraft, but also collect the flight speed, the flight angle and the meteorological information. Compared with the data detected by a traditional single radar system, the time efficiency and the accuracy are better, and the wind speed vector solved by the ADS-B airborne equipment data is not a radial component and has higher reliability. And the advantages in terms of sampling frequency and spatial density are more apparent than with conventional sounding balloons. Therefore, the ADS-B equipment carried by the aircraft and the airspace wind speed vector data collected by the ground base station are integrated and optimized, and the three-dimensional airspace wind field is reconstructed through inversion modeling, so that the method is a brand new thought and provides reliable data support for airport airspace control. In addition, other equipment is not required to be added, and data acquired by equipment in the prior art is utilized for optimization, so that the method has strong practical applicability and practical significance.
The technical scheme of the invention is further explained by combining the drawings and the specific embodiment.
The ADS-B wind vector inversion method comprises the following steps:
s1, establishing a wind speed vector model: as shown in fig. 2, the ground speed vector V is in the horizontal plane g Airspeed vector V a Wind velocity vector V w The vector relationship of the three is as follows:
V g ＝V a +V w (1)
the ground speed refers to the speed of the airplane relative to the static ground, and is a known parameter; the wind speed refers to the speed of wind relative to the static ground and is a parameter to be solved; the airspeed refers to the relative speed of the aircraft relative to wind or air flow, specifically the vacuum speed TAS in the invention, is an unknown parameter, and needs to be fitted by the following inversion algorithm;
s2, an inversion algorithm: velocity vector V of ground g Decomposed into V along the coordinate axes gx And V gy Two components:
V gx ＝V g cosθ g ，V gy ＝V g sinθ g (2)
wherein, theta g Is the angle of the ground speed vector relative to the true north direction; v gx ,V gy Respectively the abscissa and the ordinate of the ground speed vector sampling point, as shown in fig. 3;
because the sampling rate of ADS-B is very high, n groups of ground speed vectors are obtained in the flight process, and n ground speed vector sampling points are obtained and are marked as P 1 ,P 2 ,…,P n The corresponding velocity vectors are respectively (x) 1 ,y 1 ),(x 2 ,y 2 ),…,(x n ,y n )；
Suppose V a Constant, then V w Multiple V will be obtained during the exercise w Data, and multiple data all fall on a circle, but due to V w Unknown, unable to pass V w Solve the circle, only by V g Fitting the circle, calculating the center of the circle, and obtaining a vector from the origin to the center as an airspeed vector V a (ii) a The origin is defined as the point where the velocity vector is 0. As shown in fig. 4.
Finding P 1 ,P 2 Midpoint P of (A) 1/2 Has the coordinates of
Direction vector
Is (x) 2 -x 1 ,y 2 -y 1 )；
Then according to the normal equation of the straight line, cross P 1/2 And are connected with
The vertical line equation is:
then differs from P 1 ,P 2 Another 2 points P of 3 ,P 4 To obtain another linear equation:
simultaneous equations (3), (4) solving the center of circle (x, y) from the perpendicular bisector of the two chords of the fitted circle, as shown in fig. 5;
in practice, because the sampling rate of ADS-B is very high (1 Hz or less), there may be multiple sets of known data from the above equation, or a short time from an airplaneThe multiple sampling sequences within a segment may also be sequences from multiple aircraft. For a plurality of sampling points P k K =1,2, …, n, extending the equation to an over-determined system of equations:
AV-b＝0 (5)
wherein the content of the first and second substances,
form V is obtained as:
V＝[x,y] T (8)
matrix A is generally of the following rank-full type, and the least-norm least-squares solution is found by LS:
solving the minimum norm least squares
Obtaining the position of the circle center as the optimal solution of V
Then from the origin to the center of the circle
The vector of (a) is the airspeed vector V a Then the ground speed vectors V are respectively g Airspeed vector V a Substituting into formula (1) to obtain wind speed vector V w 。
The technical effects of the present invention are further verified by the following specific examples.
A. Individual aircraft data: although a single aircraft has multiple sets of sampled data in a short time (e.g., 5 s), the solution to the equation is extremely unstable due to the small adjacent ground speed difference. Therefore, for single aircraft data, the distance between the ground speed points participating in the fitting should be kept at a certain dispersion degree so as to ensure that ground speed sampling values have a certain difference, and the time difference can be used for sampling so as to ensure that the data participating in the fitting has a reference value. Such extensive aircraft maneuver may occur before the approach phase when the aircraft is in Hold mode (Hold Pattern) due to weather reasons, flow control reasons, etc., while a single aircraft may hover in the near airspace waiting for approach. Keeping the distance of the mode uncertain, and scheduling according to ATC. These turn data can therefore be used for inversion of a single aircraft situation. Such spiral situations often occur at particularly busy airports, and these data have a high utility value. In addition, the aircraft flying from all directions needs to turn to adjust and align with the runway before approaching, and a short-time large-angle (> 30 °) turning situation is common, and more data can be utilized.
If the angle of turn of a single aircraft is not large, or if the aircraft is flying along a nearly straight line, the overdetermined system of equations (5) may degrade into an underdetermined system of equations, the least-norm least squares solution of which may be found.
B. Data acquisition and parsing
B1, ADS-B data frame analysis: ADS-B adopts a non-answering type broadcasting mode to send data, and airborne ADS-B equipment autonomously sends messages to nearby airplanes or ground stations. Currently, 1090ES (1090 MHz Extended Squitter) and Asterix Category 021 message formats are mostly adopted by civil aviation in China. Asterix is an abbreviation for european standard Radar data eXchange format (Asterix).
The data message is a variable length structure, and the specific format is as follows:
| CAT | LEN | FSPEC | Record1 | … | FSPEC | Record N |
where CAT is a type identifier, 1 byte, fixed as a decimal number 21.LEN is a length indicator fixed at 2 bytes and indicates the number of bytes of the entire frame length from CAT up to the last Record N. FSPEC is a field identifier, multi-byte variable length, with the lowest order bit of a byte being 0 indicating the end of the FSPEC, and the 0/1 state of the other bits indicating whether its corresponding data Item (Item) appears in a subsequent Record. The data item types and arrangement sequence can be referred to the User Application Profile (UAP) table of Category 021 standard.
In the ADS-B message data, data having a direct or indirect effect on the wind speed inversion are shown in Table 1.
B2, airspeed Airspeed: equation (1) in which airspeed vector solution is crucial to airspeed vector V a Information such as Magnetic Heading and Magnetic Heading is not shown in the ADS-B message. Therefore, the inversion is required to be performed by equation (9) and the solution is indirect.
Space velocity is classified as vacuum velocity (TAS), indicated space velocity (IAS), or Mach number (Mach). In the above model (1), the True Airspeed (TAS) is a quantity necessary to solve the wind speed vector. However, according to the relevant literature and a plurality of data analyzed in the research process, the TAS/IAS/Mach data are issued by few on-board ADS-B devices at present and cannot be directly obtained. According to the research results of the prior scholars, different altitude levels can be assumed, and the true speeds of the airplanes of the same type are approximately equal.
B3, height layer Flight Level: the height Level, flight Level (FL), represents a large area of the height layer in the vertical direction. According to the relevant regulations of civil aviation bureau, the straight navigation angle ranges from 0 to 179 degrees, the height ranges from 900 meters to 8100 meters, every 600 meters of each height layer, the height is more than 9000 meters, and every 1200 meters of each height layer is a height layer. The range of the straight navigation angle is 180-359 degrees, the height is 600-8400 per 600 meters as a height layer, and every 1200 meters with the height above 8400 meters is a height layer.
TABLE 1 data entries relating to the wind speed vector inversion algorithm
Herein, the height layer data is used for two functions: 1) Judging the flight phase, such as taking off, landing and cruising; 2) Highly hierarchically grouping the airspace, and obtaining airspeed V from historical data by a statistical method a (k, c), where k is the altitude layer and c is the airplane type or target ID.
B4, data update rate: according to analysis of data such as high-precision time, longitude and latitude, height and the like after real ADS-B data frame analysis, the fact that the received data are repeated is found, as shown in a frame segment of a table 2, the analyzed data are grouped according to Target Identification and are sorted according to time, the time difference between every two adjacent rows is less than 1ms, the repetition is random, and the longitude and latitude of the data are not changed within 1 ms. Therefore, in the data preprocessing process, redundant data lines are removed, and only 1 piece of data in 1ms is reserved.
In addition, the update rate of information such as longitude and latitude, ground speed and the like is about 500ms, which is higher than the 1s stated in the foreign ADS-B research result. According to the conversion of 560 knots of the conventional cruising speed, the space sampling interval of ADS-B is less than 125 meters, the space sampling interval can be reduced to be within 100 meters in a descending stage, and the data is equivalent to the distance library precision of the conventional wind profile radar. However, the sampling range of ADS-B is far higher than the radar coverage, and even at the height of a stratosphere of 1 kilometer and far away from an urban area, the sampling precision on the time and the flight path can be ensured, and the ADS-B is basically not limited by the distance and the height.
TABLE 2ADS-B part sample data
B5, data quality control
In the ADS-B downlink data, a variable length data item Quality Indicators (I021/090) is a data Quality indicator, which indicates the data Quality of data such as speed, longitude and latitude, air pressure height, geometric height and the like. Wherein, NUCr or NACV corresponds to speed data quality index, NUCp or NIC corresponds to longitude and latitude data quality index, the value is 0-9, the lower the numerical value is, the worse the reliability of the measured data is, and the quality analysis of the sampled data is shown in Table 3. Analysis of a large amount of data shows that most of the data is concentrated in the interval of 5 or more, so that 5 is used as a quality control threshold, and data below 5 is discarded.
TABLE 3ADS-B partial sample data quality analysis
| NUCp | Limit of quality | Data ratio |
| 9 | <0.004 |
0 |
| 8 | <0.013NM | 3.5％ |
| 7 | <0.1NM | 79.8％ |
| 6 | <0.2NM | 10.2％ |
| 5 | <0.5NM | 6.4％ |
| 4 | <1.0NM | 0.1％ |
| 3 | <2.0 |
0 |
| 2 | <10.0 |
0 |
| 1 | <20.0 |
0 |
| 0 | >20.0 |
0 |
C. Results and analysis of the experiments
According to the formula description, the ground speed is required to be fitted to obtain a circle, the circle deviates from the origin of coordinates, and the vector of the origin pointing to the center of the circle is the airspeed vector V a . FIG. 6 is the Component distribution of the experimental ground speed data, and the resulting fitted circle, east Component/ktot representing the East-west velocity Component/unit node, and North Component/ktot representing the North-south velocity Component/unit node. The vector of the center of the circle corresponds to the airspeed vector V a . The data of the ground speed near the circumference correspond to the data of the ground speed, the components are well distributed on the circumference without large deviation, and the experimental result verifies the ground speed distribution rule mentioned in the above document, which shows that the inversion result of the inversion algorithm researched by the method is credible under the condition of large-range turning of a single airplane.
It will be appreciated by those of ordinary skill in the art that the embodiments described herein are intended to assist the reader in understanding the principles of the invention and are to be construed as being without limitation to such specifically recited embodiments and examples. Those skilled in the art, having the benefit of this disclosure, may effect numerous modifications thereto and changes may be made without departing from the scope of the invention in its aspects.
Claims (1)
1. An ADS-B wind vector inversion method is characterized by comprising the following steps:
s1, establishing a wind speed vector model: in the horizontal plane, the ground speed vector V g Airspeed vector V a Wind velocity vector V w The vector relationship of the three is as follows:
V g ＝V a +V w (1)
wherein ground speed refers to the speed of the aircraft relative to the stationary ground; wind speed refers to the speed of the wind relative to a stationary ground; airspeed refers to the relative speed of the aircraft with respect to the wind or air stream;
s2, an inversion algorithm: velocity vector V of ground g Decomposed into V along the coordinate axes gx And V gy Two components:
V gx ＝V g cosθ g ，V gy ＝V g sinθ g (2)
wherein, theta g Is groundThe angle of the velocity vector with respect to true north; v gx ,V gy Respectively the horizontal coordinate and the vertical coordinate of the ground speed vector sampling point;
because the sampling rate of ADS-B is very high, n groups of ground speed vectors are obtained in the flight process, and n ground speed vector sampling points are obtained and are marked as P 1 ,P 2 ,…,P n The corresponding velocity vectors are respectively (x) 1 ,y 1 ),(x 2 ,y 2 ),…,(x n ,y n )；
Suppose V a Constant, then V w Multiple V will be obtained during the exercise w Data, and multiple data all fall on a circle, but due to V w Unknown, unable to pass V w Solving the circle, only by V g Fitting the circle, calculating the center of the circle, and obtaining a vector from the origin to the center as an airspeed vector V a (ii) a The origin is defined as the point where the velocity vector is 0;
finding P 1 ,P 2 Midpoint P of 1/2 Has the coordinates of
Direction vector
Is (x) 2 -x 1 ,y 2 -y 1 )；
Then according to the normal equation of the straight line, cross P 1/2 And are connected with
The vertical line equation is:
then by another than P 1 ,P 2 Another 2 points P of 3 ,P 4 To obtain another linear equation:
simultaneous equations (3) and (4), wherein the center of the circle (x, y) can be solved by the intersection point of the perpendicular bisectors of the two chords of the fitting circle;
for a plurality of sampling points P k K =1,2, …, n, extending the equation to an over-determined system of equations:
AV-b＝0 (5)
wherein the content of the first and second substances,
the form of V is obtained as:
V＝[x,y] T (8)
and (3) solving the least square solution of the minimum norm by an LS method:
least squares solution of minimum norm
Obtaining the position of the circle center as the optimal solution of V
Then from the origin to the center of the circle
The vector of (a) is the airspeed vector V a Then the ground speed vectors V are respectively g Airspeed vector V a Substituting into formula (1) to obtain wind speedVector V w 。
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