CN115460553B - Data fusion system based on multiple satellite data sources - Google Patents

Data fusion system based on multiple satellite data sources Download PDF

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CN115460553B
CN115460553B CN202211322285.1A CN202211322285A CN115460553B CN 115460553 B CN115460553 B CN 115460553B CN 202211322285 A CN202211322285 A CN 202211322285A CN 115460553 B CN115460553 B CN 115460553B
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data
target
position data
lon
lat
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CN115460553A (en
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卞磊
王殿胜
杨顺利
翁剑英
姚远
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China Travelsky Mobile Technology Co Ltd
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China Travelsky Mobile Technology Co Ltd
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    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/02—Services making use of location information
    • H04W4/029—Location-based management or tracking services
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04B—TRANSMISSION
    • H04B7/00—Radio transmission systems, i.e. using radiation field
    • H04B7/14—Relay systems
    • H04B7/15—Active relay systems
    • H04B7/185—Space-based or airborne stations; Stations for satellite systems
    • H04B7/18502—Airborne stations
    • H04B7/18506—Communications with or from aircraft, i.e. aeronautical mobile service
    • H04B7/18508—Communications with or from aircraft, i.e. aeronautical mobile service with satellite system used as relay, i.e. aeronautical mobile satellite service
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/30—Services specially adapted for particular environments, situations or purposes
    • H04W4/40—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P]
    • H04W4/42—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P] for mass transport vehicles, e.g. buses, trains or aircraft
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W84/00—Network topologies
    • H04W84/02—Hierarchically pre-organised networks, e.g. paging networks, cellular networks, WLAN [Wireless Local Area Network] or WLL [Wireless Local Loop]
    • H04W84/04—Large scale networks; Deep hierarchical networks
    • H04W84/06—Airborne or Satellite Networks

Abstract

The invention provides a data fusion system based on a multi-satellite data source, which comprises the following components: a server, an onboard device and a plurality of satellites; the server is used for acquiring fusion position data s 0 =(lon 0 ,lat 0 ,alt 0 ) (ii) a Wherein lon is 0 、lat 0 And alt 0 When the target function G (lon, lat, alt) is substituted, G (lon, lat, alt) is minimum; g (lon, lat, alt) = ∑ Σ i=1 k ((lon‑lon i ) 2 *w i )+∑ i=1 k ((lat‑lat i ) 2 *w i )+∑ i=1 k ((alt‑alt i ) 2 *w i )；w i Is s is i The weight coefficient of (a); lon i Is s is i Longitude information of (a), lat i Is as s i Latitude information of, alt i Is s is i Height information of (a); s i Is the ith target position data. Thereby, the data accuracy of the fused position data can be improved.

Description

Data fusion system based on multiple satellite data sources
Technical Field
The invention relates to the field of data processing, in particular to a data fusion system based on multiple satellite data sources.
Background
With the continuous development of data communication technology and the need of civil aviation safety, the ADS-B (broadcast automatic correlation monitoring) technology is widely applied to the civil aviation system.
The ADS-B on-board station for sending the position data can be installed on an airplane, after the on-board station on the airplane sends the current position data of the airplane, a plurality of receiving stations can receive the position data, then each receiving station sends the received position data to the data center, and the data center can perform data fusion periodically. When the data center performs data fusion, a weighted summation result of a plurality of position data received in the current period is used as fusion position data, and a weight value corresponding to each position data is a weight value of a receiving station which sends the position data.
However, since each receiving station has a fixed weight value, when data fusion is performed on a plurality of pieces of location data, if any piece of location data having a large corresponding weight value has a large deviation from the location data transmitted by the on-board station, the corresponding piece of location data having a large weight value may cause a large deviation between the fused location data and the location data transmitted by the on-board station, and thus data accuracy of the fused location data is low.
Disclosure of Invention
Aiming at the technical problems, the technical scheme adopted by the invention is as follows:
a data fusion system based on multiple satellite data sources is characterized by comprising a server, an airborne device and a plurality of satellites, wherein the airborne device is arranged on an aircraft; the airborne device is used for periodically sending the current position data of the aircraft; each satellite has a corresponding data reception range, and each satellite is used for receiving position data sent by an onboard device located within the data reception range corresponding to the satellite.
Each satellite is configured to perform the following steps:
s110, responding to the received target position data, and sending the target position data to a server; the target position data is position data sent by a target airborne device; the target on-board device is any one of the on-board devices.
The server is used for executing the following steps:
s210, responding to the data acquisition time t1, acquiring a target position data set S = (S) corresponding to the target onboard device 1 ,s 2 ,...,s i ,...,s k )，s i =(lon i ,lat i ,alt i ) I =1,2, ·, k; wherein s is i For the ith received by the server within the target time period deltatTarget position data, the end time of Δ t is t1; k is the number of target position data received by the server in delta t, and k is more than or equal to 2; lon i Is s is i Corresponding longitude information, lat i Is s is i Corresponding latitude information, alt i Is s is i Corresponding height information.
S220, acquiring a weight coefficient set W1= (W) corresponding to a plurality of target position data 1 ,w 2 ,...,w i ,...,w k )，w i =min(w di ,w si ) (ii) a Wherein, w i Is s is i A corresponding weight coefficient; min () is a preset minimum value determining function; w is a di Is s is i Corresponding distance coefficient, w di =1/nor 1 (dis(s i ,s i ) Dis () is a preset distance determining function, s i For sending s to the server i Position information of the satellite; nor 1 () Is a preset first normalization function; w is a si Is s is i Corresponding delay factor, w si =1/nor 2 (t 1i -t 2i )，t 1i For sending s to the server i Is received by a satellite s i Time of (t) 2i Sending s for target onboard device i The time of (d); nor 2 () Is a preset second normalization function.
S230, acquiring fusion position data S 0 =(lon 0 ,lat 0 ,alt 0 ) (ii) a Wherein, lon 0 Is s is 0 Corresponding longitude, lat 0 Is s is 0 Corresponding latitude, alt 0 Is s is 0 A corresponding height; lon 0 、lat 0 And alt 0 The following conditions are satisfied:
will be lon 0 、lat 0 And alt 0 When substituted into the objective function G (lon, lat, alt), G (lon, lat, alt) is minimal.
G(lon,lat,alt)=∑ i=1 k ((lon-lon i ) 2 *w i )+∑ i=1 k ((lat-lat i ) 2 *w i )+∑ i=1 k ((alt-alt i ) 2 *w i )。
The invention has at least the following beneficial effects:
in the invention, any target position data sent by the target onboard device can be received by a plurality of satellites, each satellite can send the received target position data to the server, then the server can substitute a plurality of target position data obtained in delta t into the target function G (lon, lat, alt), and can determine s according to the minimum value of G (lon, lat, alt) 0 ，s 0 The fusion position data corresponding to the target position data is obtained according to s 0 The position of the aircraft within Δ t can be known. Compared with the condition that the weight value corresponding to each target position data to be fused is fixed, when data fusion is carried out on a plurality of target position data, w in the target function G (lon, lat, alt) is adopted in the invention i Is as follows s i Transmission distance between target onboard device and satellite and s i A value varying as a function of the variation of the transmission delay between the target onboard device and the satellite, and sending s i And s is the position of the satellite i The smaller the pitch w of the corresponding position i The larger, s i The smaller the time delay w of the transmission between the target onboard device and the satellite i The larger. Therefore, when the fusion position data is determined through the target function, the influence of the corresponding target position data with smaller transmission distance or smaller transmission delay on the fusion position data can be increased, the influence of the corresponding target position data with larger transmission distance or larger transmission delay on the fusion position data can be reduced, and the larger the transmission distance and the transmission delay corresponding to the target position data are, the smaller the probability of the interference on the target position data in the transmission process is, so that the accuracy of the fusion position data can be improved.
Further, in the present invention, the fusion position data is obtained from the minimum value of the objective function, and lon in the present invention is set to be larger than an average value of a plurality of longitudes, an average value of a plurality of latitudes, and an average value of a plurality of altitudes as the fusion position data 0 And lon i 、lat 0 And lat i 、alt 0 And alt i The difference between these will for the most part be smaller,further, the influence of the target position data with lower accuracy on the fused position data can be reduced, and the data accuracy of the fused position data for representing the aircraft position can be further improved.
Further, w in the present invention i Is w di And w si In comparison with w i Is w di And w si The maximum value of the data transmission time interval is that the influence of each target position data on the fusion position data is as small as possible, and further the influence of the target position data with smaller transmission distance but larger transmission delay or the target position data with larger transmission distance but smaller transmission delay on the fusion position data can be reduced. Because the transmission delay and the transmission distance are in direct proportion under general conditions, the working condition of the satellite corresponding to the target position data is abnormal due to the fact that the transmission distance is small but the transmission delay is large or the transmission distance is large but the transmission delay is small, and therefore the influence of the target position data of the satellite with the abnormal working condition on the fusion position data can be reduced, and the accuracy of the fusion position data is improved.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
Fig. 1 is a flowchart of location data fusion according to an embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
A data fusion system based on multiple satellite data sources will be described.
The data fusion system comprises a server, an airborne device and a plurality of satellites, wherein the airborne device is installed on an aircraft. The airborne device is used for periodically sending current position data of the aircraft. Each satellite has a corresponding data reception range, and each satellite is used for receiving position data sent by an onboard device located within the data reception range corresponding to the satellite.
In one possible embodiment, the aircraft may be provided as an airplane; the onboard device can be an ADS-B onboard station; the location data may be a location message sent by the onboard device.
Each satellite is configured to perform the following steps:
and S110, responding to the received target position data, and sending the target position data to a server.
The target position data is position data sent by a target airborne device; the target on-board device is any one of the on-board devices.
In one possible embodiment, when the onboard device sends out the position data, if the onboard device is located within the data receiving range of any one of the satellites, the satellite can receive the position data, and each satellite uploads the position data to the server after obtaining the position data.
Referring to the flow chart of location data fusion shown in fig. 1, the server is configured to perform the following steps:
and S210, responding to the data acquisition time t1, acquiring a target position data set S = (S) corresponding to the target onboard device 1 ,s 2 ,...,s i ,...,s k )，s i =(lon i ,lat i ,alt i )，i=1,2,...,k。
Wherein s is i The method comprises the steps that the ith target position data received by a server in a target time period delta t is obtained, and the end time of the delta t is t1; k is the number of target position data received by the server in delta t, and k is more than or equal to 2; lon i Is s is i Corresponding longitude information, lat i Is s is i Corresponding latitude information, alt i Is s is i Corresponding height information.
In one possible embodiment, s i The corresponding altitude is the collective altitude of the corresponding aircraft; for the target airborne device, when t1 is reached, a target position data set S corresponding to the target airborne device may be obtained according to the device identifier of the target airborne device and/or the aircraft identifier of the aircraft where the target airborne device is located.
S220, acquiring a weight coefficient set W1= (W) corresponding to a plurality of target position data 1 ,w 2 ,...,w i ,...,w k )，w i =min(w di ,w si )。
Wherein, w i Is s is i A corresponding weight coefficient; min () is a preset minimum value determining function; w is a di Is s is i Corresponding distance coefficient, w di =1/nor 1 (dis(s i ,s i ) Dis () is a preset distance determining function, s i For sending s to the server i The position information of the satellite. nor 1 () Is a preset first normalization function; w is a si Is s is i Corresponding delay factor, w si =1/nor 2 (t 1i -t 2i )，t 1i For sending s to the server i Is received by a satellite s i Time of (t) 2i Sending s for target onboard device i The time of (d); nor is a unit of 2 () Is a preset second normalization function.
S230, acquiring fusion position data S 0 =(lon 0 ,lat 0 ,alt 0 )。
Wherein, lon 0 Is s is 0 Corresponding longitude, lat 0 Is s is 0 Corresponding latitude, alt 0 Is s is 0 A corresponding height; lon 0 、lat 0 And alt 0 The following conditions are satisfied:
will be lon 0 、lat 0 And alt 0 When the target function G (lon, lat, alt) is substituted, G (lon, lat, alt) is minimum;
G(lon,lat,alt)=∑ i=1 k ((lon-lon i ) 2 *w i )+∑ i=1 k ((lat-lat i ) 2 *w i )+∑ i=1 k ((alt-alt i ) 2 *w i )。
therefore, in the present invention, any target position data sent by the target onboard device can be received by a plurality of satellites, each satellite can send the received target position data to the server, then the server can substitute a plurality of target position data obtained within Δ t into the objective function G (lon, lat, alt), and can determine s according to the minimum value of G (lon, lat, alt) 0 ，s 0 The fusion position data corresponding to the target position data is obtained according to s 0 The position of the aircraft within at can be known. Compared with the condition that the weight value corresponding to each target position data to be fused is fixed, when data fusion is carried out on a plurality of target position data, w in the target function G (lon, lat, alt) is adopted in the invention i Is as follows s i Transmission distance between target onboard device and satellite and s i A value varying as a function of the variation of the transmission delay between the target onboard device and the satellite, and sending s i And s is the position of the satellite i The smaller the pitch w of the corresponding position i The larger, s i The smaller the time delay w of the transmission between the target onboard device and the satellite i The larger. Therefore, when the fusion position data is determined through the target function, the influence of the corresponding target position data with smaller transmission distance or smaller transmission delay on the fusion position data can be increased, the influence of the corresponding target position data with larger transmission distance or larger transmission delay on the fusion position data can be reduced, and the larger the transmission distance and the transmission delay corresponding to the target position data are, the smaller the probability of the interference on the target position data in the transmission process is, so that the accuracy of the fusion position data can be improved.
Further, in the present invention, the fusion position data is obtained from the minimum value of the objective function, and lon in the present invention is compared with the case where the average value of the plurality of longitudes, the average value of the plurality of latitudes, and the average value of the plurality of altitudes are used as the fusion position data 0 And lon i 、lat 0 And lat i 、alt 0 And alt i Most of the difference between the target position data and the fusion position data is smaller, so that the influence of the target position data with lower accuracy on the fusion position data can be reduced, and the data accuracy of the fusion position data for representing the aircraft position is further improved.
Further, w in the present invention i Is w di And w si Is compared to w i Is w di And w si The maximum value of the data transmission time interval is that the influence of each target position data on the fusion position data is as small as possible, and further the influence of the target position data with smaller transmission distance but larger transmission delay or the target position data with larger transmission distance but smaller transmission delay on the fusion position data can be reduced. Because the transmission delay and the transmission distance are in direct proportion under general conditions, the working condition of the satellite corresponding to the target position data is abnormal as the transmission distance is smaller but the transmission delay is larger or the transmission distance is larger but the transmission delay is smaller, so that the influence of the target position data of the satellite with abnormal working condition on the fusion position data can be reduced, and the accuracy of the fusion position data is improved.
Optionally, the step S220 includes:
s221, acquiring a weight coefficient set W = (W) corresponding to a plurality of target position data 1 ,w 2 ,...,w i ,...,w k )，w i =min(w di ,w si ,ε i )。
Wherein epsilon i Is s is i Coefficient of operating state of the corresponding satellite, epsilon i =max(w di ,w si ) Or 0,max () is a preset maximum value determining function, ε i =max(w di ,w si ) For representing epsilon i The working state of the corresponding satellite is normal, epsilon i =0 for representing ε i The operating state of the corresponding satellite is abnormal.
In a possible implementation manner, after S is obtained, w corresponding to each target position data can be determined according to the working state of the satellite corresponding to the target position data i (ii) a For example, if any satellite is known to be able toThe working state of the satellite is normal, and the probability that the data sent by the satellite is interfered in the test time period is less than one half, so that the working state of the satellite is normal, and the w corresponding to the satellite can be calculated i Is set to max (w) di ,w si ). If the satellite can work normally and the probability that the data sent by the satellite is interfered in the test time period is more than one half, the working state of the satellite is abnormal, and the w corresponding to the satellite can be used i Setting the value to 0, if the satellite is known not to work normally, the working state of the satellite is abnormal, and w corresponding to the satellite can be set i Is set to 0.
In another possible embodiment,. Epsilon. i =0 for representing epsilon i The corresponding satellite is in an abnormal state, such as a maintenance state or a state to be maintained, epsilon i =max(w di ,w si ) For representing epsilon i The corresponding satellite is in a normal working state.
Therefore, the method and the device can reduce the influence of the target position data sent by the satellite with abnormal working state on the accuracy of the fusion position data, further reduce the influence of the target position data with lower accuracy on the accuracy of the fusion position data, and achieve the aim of further improving the accuracy of the fusion position data.
Optionally, nor 1 (dis(s i ,s i ) ) satisfies the following conditions:
nor 1 (dis(s i ,s i ))=dis(s i ,s i )/s max (ii) a Wherein s is max Is the maximum spacing, s max =max(dis(s 1 ,s 1 ),dis(s 2 ,s 2 ),...,dis(s i ,s i ),...,dis(s k ,s k ) Max () is a preset maximum value determining function.
nor 2 (t 1i -t 2i ) The following conditions are satisfied:
nor 2 (t 1i -t 2i )=(t 1i -t 2i )/t max (ii) a Wherein, t max Is a first maximum duration, t max =max((t 11 -t 21 ),(t 12 -t 22 ),...,(t 1i -t 2i ),...,(t 1k -t 2k ))。
Therefore, the scheme adopted in the invention can pass through s max For dis(s) i ,s i ) Normalized by t max To (t) 1i -t 2i ) Performing normalization processing to calculate w i Without the need of adjusting d 1i 、d 2i 、t 1i And t 2i Unit of balance w di And w si The numerical value of (2) saves computing resources and improves the efficiency of determining W1.
In another possible embodiment, nor 1 (dis(s i ,s i ) May satisfy the following conditions: nor 1 (dis(s i ,s i ))=dis(s i ,s i )/r e (ii) a Wherein r is e Is the radius of the earth.
Optionally, each position data is received by at least c1 of a number of satellites 1 And (4) receiving by each satellite.
Wherein, c1 1 The following conditions are satisfied: c1 1 /c 2 Is more than 0.5; wherein, c 2 Is the number of satellites.
At least e1 of the satellites receiving the position data after the onboard device transmits the position data 1 The position data received by each satellite has been missing or altered with respect to the position data transmitted by the onboard device.
Wherein, e1 1 The following conditions are satisfied: e1 1 /e1 2 Is more than 0.5; wherein, e1 2 Is the number of satellites that receive the position data.
C1 is obtained by the fact that the degree of coincidence of the data receiving ranges of any two adjacent satellites is large 1 /c 2 Is greater than 0.5. Preferably, c1 1 /c 2 > (2/3). Because the distance between the satellite and the target airborne device is long, data transmission between the target airborne device and the satellite is easily interfered, and then e1 1 /e1 2 ＞0.5。
Optionally, T per1 ≥T per2 ，T per1 Duration of Δ T, T per2 A cycle duration for periodically transmitting the current position data of the aircraft to the onboard device.
In one possible embodiment, T per2 Can be 1 second, T per1 And may be 1-10 seconds.
Preferably, T per1 ＝T per2 。
Thus, compare to T per1 ＞T per2 According to the technical scheme, the time length corresponding to delta t is the same as the period time length of the target airborne device for sending the target position data, so that the target position data to be fused can be the same target position data sent by the target airborne device as much as possible, the situation that the target position data to be fused are different due to different target position data sent by the corresponding target airborne device is reduced, the factor that the target position data corresponding to the fused position data are different is reduced, and the accuracy of the fused position data is further improved.
The objective function is a function of position data related to the aircraft, so that only fused position data can be obtained after data fusion, and in order to enrich the data obtained after fusion, the objective function can be set as a function of speed data and position data related to the aircraft, and the specific scheme is as follows:
optionally, the onboard device is further configured to periodically send current speed data of the aircraft; each satellite is also used to receive velocity data transmitted by onboard devices located within its corresponding data reception range.
Each satellite is further configured to perform the following steps:
and S120, responding to the received target speed data, and sending the target speed data to the server.
And the target speed data is the speed data sent by the target airborne device.
The server is further configured to perform the steps of:
s240, responding to t1, obtaining target speed data corresponding to the target airborne deviceSet a = (a) 1 ,a 2 ,...,a j ,...,a q )，a j =(v1 j ,v2 j ,v3 j ,v4 j )，j=1,2,...,q。
Wherein, a j J-th target speed data received by the server in a target time period delta t; q is the number of target speed data received by the server in delta t, and q is more than or equal to 2; v1 j Is a j Corresponding airspeed information, v2 j Is a j Corresponding ground speed information, v3 j Is a j Corresponding course angle information, v4 j Is a j Corresponding climb rate information.
S220, acquiring a weight coefficient set W2= (W) corresponding to a plurality of target speed data 1 ,w 2 ,...,w j ,...,w q )，w j =min(w sj ,ε j )。
Wherein, w j Is a j A corresponding weight coefficient; w is a sj Is a j Corresponding delay factor, w sj =1/nor 3 (t 1j -t 2j )，nor 3 () Is a predetermined third normalization function, t 1j To send a to the server j A satellite of j Time of (t) 2j Sending a for the target onboard device j The time of (d); epsilon j Is a j Coefficient of operating state of the corresponding satellite, epsilon j =w sj Or 0, epsilon j =w sj For representing epsilon j The working state of the corresponding satellite is normal, epsilon j =0 for representing ε j The operating state of the corresponding satellite is abnormal.
Step S230 includes the steps of:
s231, acquiring fused data SA = (S) 0 ,a 0 )，a 0 =(v1 0 ,v2 0 ,v3 0 ,v4 0 ) (ii) a Wherein, a 0 Fusing the speed data; lon 0 、lat 0 、alt 0 、v1 0 、v2 0 、v3 0 And v4 0 The following conditions are satisfied:
will be lon 0 、lat 0 、alt 0 、v1 0 、v2 0 、v3 0 And v4 0 When the target function G (lon, lat, alt, v1, v2, v3, v 4) is substituted, G (lon, lat, alt, v1, v2, v3, v 4) is minimum.
The objective function G (lon, lat, alt, v1, v2, v3, v 4) satisfies the following condition: g (lon, lat, alt, v1, v2, v3, v 4) = ∑ Σ i=1 k ((lon-lon i ) 2 *w i )+∑ i=1 k ((lat-lat i ) 2 *w i )+∑ i=1 k ((alt-alt i ) 2 *w i )+∑ j=1 q ((v1-v1 j ) 2 *w j )+∑ j=1 q ((v2-v2 j ) 2 *w j )+∑ j=1 q ((v3-v3 j ) 2 *w j )+∑ j=1 q ((v4-v4 j ) 2 *w j )。
Therefore, s can be determined by G (lon, lat, alt, v1, v2, v3, v 4) 0 And a 0 The SA can be obtained according to the target position data and the target speed data received by the server in the delta t, and the SA can accurately reflect the flight state of the aircraft in the delta t.
Further, in the present invention, any target velocity data sent by the target onboard device may be received by a plurality of satellites, and each satellite may send the received target velocity data to the server, and then the server may substitute a plurality of target position data and a plurality of target velocity data obtained within Δ t into the target function G (lon, lat, alt, v1, v2, v3, v 4), and may determine the fusion data according to the minimum value of G (lon, lat, alt, v1, v2, v3, v 4), and may know the position and velocity of the aircraft within Δ t according to the fusion data. Compared with the method that the target position data and the target speed data received by any satellite in the delta t are used as the data for representing the position and the speed of the aircraft in the delta t, the fusion data are obtained according to more target position data and target speed data received by the satellites, the possibility that the determined data for representing the position and the speed of the aircraft are inaccurate due to the fact that the target speed data or the target position data provided by one satellite are inaccurate can be reduced, and therefore the data accuracy of the fusion data for representing the position and the speed of the aircraft obtained by the method is high.
In another possible implementation, the objective function may also be a function related to speed data, position data, and other flight state data of the aircraft, and the specific objective function is similar to G (lon, lat, alt) and G (lon, lat, alt, v1, v2, v3, v 4), and the detailed description of the embodiment of the present invention is omitted here.
Optionally, nor 3 (t 1j -t 2j ) The following conditions are satisfied:
nor 3 (t 1j -t 2j )=(t 1j -t 2j )/t max 。
wherein, t max Is the second maximum duration, t max =max((t 11 -t 21 ),(t 12 -t 22 ),...,(t 1j -t 2j ),...,(t 1q -t 2q ))。
Therefore, the scheme adopted in the invention can also pass t max To (t) 1j -t 2j ) Performing normalization processing to calculate w j Without the need to adjust t 1j And t 2j Unit of balance w sj 、w di And w si The numerical value of (2) saves computing resources and improves the efficiency of determining W1 and W2.
Optionally, T per1 ≥T per2 =T per3 。
Wherein, T per1 Duration of Δ T, T per2 Periodic time duration, T, for the periodic transmission of current position data of an aircraft to an onboard device per3 Periodically sending the period duration of the current speed data of the aircraft to the airborne device; the same onboard device transmits any position data at a different time than any speed data.
In one possible embodiment, T per2 =T per3 1 second, T per1 And may be 1-10 seconds.
Preferably, T per1 =T per2 =T per3 。
Thus, compare to T per1 ＞T per2 =T per3 According to the technical scheme, the time length corresponding to delta t, the period time length for the target airborne device to send the target position data and the period time length for the target airborne device to send the target speed position data are the same, a plurality of target position data to be fused can be made to be the same target position data sent by the target airborne device as much as possible, a plurality of target speed data to be fused can be made to be the same target speed data sent by the target airborne device as much as possible, the situation that the target position data to be fused are different due to different target position data sent by the corresponding target airborne device is reduced, the situation that the target speed data to be fused are different due to different target speed data sent by the corresponding target airborne device is reduced, the factor that the target position data corresponding to the fused position data are different and the factor that the target speed data corresponding to the fused speed data are different are reduced, and the accuracy of the fused data is further improved.
Optionally, the same on-board device transmits a speed data after transmitting a position data and before transmitting the next position data of the position data.
For example, the cycle duration of the target airborne device sending the target position data is 1 second, the cycle duration of the target airborne device sending the target speed data is also 1 second, after the target airborne device sends one piece of target position data, one piece of target speed data is sent after 0.5s, one piece of target position data is sent after 0.5s, and the like.
Optionally, each speed data is received by at least c2 of a number of satellites 1 And each satellite receives the signal.
Wherein, c2 1 The following conditions are satisfied: c2 1 /c 2 Is more than 0.5; wherein, c 2 Is the number of satellites;
at least e2 of the satellites receiving the speed data after the onboard device transmits the speed data 1 The velocity received by a satelliteData loss or data change has occurred with respect to the velocity data sent by the on-board device.
Wherein, e2 1 The following conditions are satisfied: e2 1 /e2 2 Is more than 0.5; wherein, e2 2 Is the number of satellites that receive the velocity data.
C2 due to the large coincidence of the data receiving ranges corresponding to any two adjacent satellites 1 /c 2 Is greater than 0.5. Preferably, c2 1 /c 2 > (2/3). Because the distance between the satellite and the target airborne device is long, data transmission between the target airborne device and the satellite is easily interfered, and then e2 1 /e2 2 ＞0.5。
Although some specific embodiments of the present invention have been described in detail by way of illustration, it should be understood by those skilled in the art that the above illustration is only for the purpose of illustration and is not intended to limit the scope of the invention. It will also be appreciated by those skilled in the art that various modifications may be made to the embodiments without departing from the scope and spirit of the invention. The scope of the invention is defined by the appended claims.

Claims (9)

1. A data fusion system based on multiple satellite data sources is characterized by comprising a server, an airborne device and a plurality of satellites, wherein the airborne device is installed on an aircraft; the onboard device is used for periodically sending the current position data of the aircraft; each satellite is provided with a corresponding data receiving range and is used for receiving position data sent by an onboard device positioned in the corresponding data receiving range;
each of the satellites is configured to perform the steps of:
s110, responding to the received target position data, and sending the target position data to the server; the target position data is position data sent by a target airborne device; the target on-board device is any one of the on-board devices;
the server is used for executing the following steps:
s210, responding to the data acquisition time t1, acquiring a target position data set S = (S) corresponding to the target onboard device 1 ,s 2 ,...,s i ,...,s k )，s i =(lon i ,lat i ,alt i ) I =1,2, ·, k; wherein s is i The ith target position data received by the server in a target time period delta t is obtained, and the end time of the delta t is t1; k is the number of target position data received by the server in delta t, and k is more than or equal to 2; lon i Is s is i Corresponding longitude information, lat i Is s is i Corresponding latitude information, alt i Is as s i Corresponding height information;
s220, acquiring a weight coefficient set W1= (W) corresponding to a plurality of target position data 1 ,w 2 ,...,w i ,...,w k )，w i =min(w di ,w si ) (ii) a Wherein w i Is s is i A corresponding weight coefficient; min () is a preset minimum value determining function; w is a di Is s is i Corresponding distance coefficient, w di =1/nor 1 (dis(s i ,s i ) Dis () is a preset distance determining function, s i For sending s to the server i Position information of the satellite; nor 1 () Is a preset first normalization function; w is a si Is s is i Corresponding delay factor, w si =1/nor 2 (t 1i -t 2i )，t 1i For sending s to the server i Is received by a satellite s i Time of (t) 2i Sending s for the target onboard device i The time of (d); nor 2 () Is a preset second normalization function;
s230, acquiring fusion position data S 0 =(lon 0 ,lat 0 ,alt 0 ) (ii) a Wherein, lon 0 Is s is 0 Corresponding longitude, lat 0 Is s is 0 Corresponding latitude, alt 0 Is s is 0 A corresponding height; lon 0 、lat 0 And alt 0 The following conditions are satisfied:
will be lon 0 、lat 0 And alt 0 Substitution intoThe target function G (lon, lat, alt) is minimum;
G(lon,lat,alt)=∑ i=1 k ((lon-lon i ) 2 *w i )+∑ i=1 k ((lat-lat i ) 2 *w i )+∑ i=1 k ((alt-alt i ) 2 *w i )；
nor 1 (dis(s i ,s i ) ) satisfies the following conditions:
nor 1 (dis(s i ,s i ))=dis(s i ,s i )/s max (ii) a Wherein s is max Is the maximum spacing, s max =max(dis(s 1 ,s 1 ),dis(s 2 ,s 2 ),...,dis(s i ,s i ),...,dis(s k ,s k ) Max () is a preset maximum value determination function;
nor 2 (t 1i -t 2i ) The following conditions are satisfied:
nor 2 (t 1i -t 2i )=(t 1i -t 2i )/t max (ii) a Wherein, t max Is a first maximum duration, t max =max((t 11 -t 21 ),(t 12 -t 22 ),...,(t 1i -t 2i ),...,(t 1k -t 2k ))。
2. The system according to claim 1, wherein the step S220 comprises:
s221, obtaining a weight coefficient set W = (W) corresponding to a plurality of the target position data 1 ,w 2 ,...,w i ,...,w k )，w i =min(w di ,w si ,ε i ) (ii) a Wherein epsilon i Is s is i Coefficient of operating state of the corresponding satellite, epsilon i =max(w di ,w si ) Or 0,max () is a preset maximum value determining function, ε i =max(w di ,w si ) For representing epsilon i The working state of the corresponding satellite is normal, epsilon i =0 for representing ε i The operating state of the corresponding satellite is abnormal.
3. The system of claim 1, wherein each of said location data is received by at least c1 of a plurality of said satellites 1 Receiving by each satellite; c1 1 The following conditions are satisfied: c1 1 /c 2 Is more than 0.5; wherein, c 2 Is the number of said satellites;
at least e1 of the satellites receiving the position data after the onboard device transmits the position data 1 The position data received by each satellite is subjected to data loss or data change relative to the position data sent by the airborne device; e1 1 The following conditions are satisfied: e1 1 /e1 2 Is more than 0.5; wherein, e1 2 Is the number of satellites that receive the position data.
4. The system of claim 1, wherein T is per1 ≥T per2 ，T per1 Duration of Δ T, T per2 A cycle duration for periodically transmitting the current position data of the aircraft to the onboard device.
5. The system of claim 1, wherein the onboard device is further configured to periodically transmit current speed data of the aircraft; each satellite is also used for receiving speed data sent by the onboard device within the data receiving range corresponding to the satellite;
each of the satellites is further configured to perform the steps of:
s120, responding to the received target speed data, and sending the target speed data to the server; the target speed data is the speed data sent by the target airborne device;
the server is further configured to perform the steps of:
and S240, responding to the t1, acquiring a target speed data set A = (a) corresponding to the target onboard device 1 ,a 2 ,...,a j ,...,a q )，a j =(v1 j ,v2 j ,v3 j ,v4 j ) J =1,2, ·, q; wherein, a j Receiving jth target speed data within a target time period delta t for the server; q is the number of target speed data received by the server in delta t, and q is more than or equal to 2; v1 j Is a j Corresponding airspeed information, v2 j Is a j Corresponding ground speed information, v3 j Is a j Corresponding course angle information, v4 j Is a j Corresponding climb rate information;
s220, acquiring a weight coefficient set W2= (W) corresponding to a plurality of target speed data 1 ,w 2 ,...,w j ,...,w q )，w j =min(w sj ,ε j ) (ii) a Wherein, w j Is a j A corresponding weight coefficient; w is a sj Is a j Corresponding delay factor, w sj =1/nor 3 (t 1j -t 2j )，nor 3 () Is a predetermined third normalization function, t 1j For sending a to the server j A satellite of j Time of (t) 2j Sending a for the target onboard device j The time of (d); epsilon j Is a j Coefficient of operating state of the corresponding satellite, epsilon j =w sj Or 0, epsilon j =w sj For representing epsilon j The working state of the corresponding satellite is normal, epsilon j =0 for representing ε j The working state of the corresponding satellite is abnormal;
the step S230 includes the steps of:
s231, acquiring fused data SA = (S) 0 ,a 0 )，a 0 =(v1 0 ,v2 0 ,v3 0 ,v4 0 ) (ii) a Wherein, a 0 Fusing the speed data; lon 0 、lat 0 、alt 0 、v1 0 、v2 0 、v3 0 And v4 0 The following conditions are satisfied:
will be lon 0 、lat 0 、alt 0 、v1 0 、v2 0 、v3 0 And v4 0 When the target function G (lon, lat, alt, v1, v2, v3, v 4) is substituted, G (lon, lat, alt, v1, v2, v3, v 4) is minimum;
object letterThe number G (lon, lat, alt, v1, v2, v3, v 4) satisfies the following condition: g (lon, lat, alt, v1, v2, v3, v 4) = ∑ Σ i=1 k ((lon-lon i ) 2 *w i )+∑ i=1 k ((lat-lat i ) 2 *w i )+∑ i=1 k ((alt-alt i ) 2 *w i )+∑ j=1 q ((v1-v1 j ) 2 *w j )+∑ j=1 q ((v2-v2 j ) 2 *w j )+∑ j=1 q ((v3-v3 j ) 2 *w j )+∑ j=1 q ((v4-v4 j ) 2 *w j )。
6. The system of claim 5, wherein nor 3 (t 1j -t 2j ) The following conditions are satisfied:
nor 3 (t 1j -t 2j )=(t 1j -t 2j )/t max (ii) a Wherein, t max Is the second maximum duration, t max =max((t 11 -t 21 ),(t 12 -t 22 ),...,(t 1j -t 2j ),...,(t 1q -t 2q ))。
7. The system of claim 5, wherein T is per1 ≥T per2 =T per3 ，T per1 Duration of Δ T, T per2 A period duration, T, for periodically transmitting the current position data of the aircraft for the onboard device per3 A cycle duration for periodically transmitting the current speed data of the aircraft to the onboard device; the same onboard device transmits any position data at a different time than any speed data.
8. The system of claim 7, wherein the same onboard device transmits a velocity data after transmitting a position data and before transmitting the next position data for the position data.
9. The system of claim 5, wherein each of said velocity data is derived from at least c2 of a plurality of said satellites 1 Receiving by each satellite; c2 1 The following conditions are satisfied: c2 1 /c 2 Is more than 0.5; wherein, c 2 Is the number of said satellites;
at least e2 of the satellites receiving the speed data after the onboard device transmits the speed data 1 The speed data received by each satellite is subjected to data missing or data change relative to the speed data sent by the airborne device; e2 1 The following conditions are satisfied: e2 1 /e2 2 Is more than 0.5; wherein, e2 2 Is the number of satellites that receive the velocity data.
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