CN1262846C - Track Data Fusion Processing Method - Google Patents

Abstract

The present invention is a track data fusion processing method, which is applied in a joint radar/automatic reporting device monitoring environment; the present invention defines the track status, track category and track category conversion rules when fusing track position signals; the present invention can assist the air traffic control system in tracking tracks in a joint radar/automatic reporting device monitoring environment, and provide the best flight service for the tracks of different airborne equipment.

Description

Track Data Fusion Processing Method

technical field

The invention belongs to the technical field of flight management, in particular to a flight track data fusion processing method in a combined radar/automatic return monitoring environment.

Background technique

Due to the rapid growth of air traffic volume (about 10% per year), the current flight management system cannot manage traffic efficiently. In order to solve the accompanying problems such as increased operating costs and delays in aircraft arrival time, the International Civil Aviation Organization (ICAO) formed the FANS Committee to propose an improvement plan for this situation. In 1991, FANS proposed new technologies for communication (COMMUNICATION), navigation (NAVIGATION) and surveillance (SURVEILLANCE) to be used in the future flight management system in 2010. In the monitoring part, FANS proposed the addressing automatic reporting device (ADS-A) and the broadcasting automatic reporting device (ADS-B), which are used to assist the current radar monitoring equipment.

In the future surveillance environment where radar, addressing automatic reporting and broadcasting automatic reporting are used simultaneously, the current air traffic control system that only uses radar for track tracking must be modified appropriately so that it can integrate multiple signals in the new surveillance environment in the future. track tracking. The present invention is to meet such needs.

Contents of the invention

The purpose of the present invention is to provide a track data fusion processing method. By using data fusion, the present invention can use multiple signals for track tracking in a complex monitoring environment.

The method of the present invention comprises: a kind of track data fusion processing method, is applied in the monitoring environment of joint radar and automatic reporting device, it is characterized in that, this method comprises:

The definition of the track state is to define the possible track states as track initial state, track establishment state, track tracking state, track missing state, and track end state, among them, when the track state is the track initial state , the air traffic management system initializes different types of tracks according to the respective reporting frequencies of different reporting devices; when the track state is the track tracking state, the air traffic management system will predict the positions and speeds of all aircraft in the monitoring environment, so that Display the corresponding track, and make danger warning accordingly; when the track status is track missing, the air traffic control system will calculate the possible position and speed of the track based on the existing information in order to display the corresponding track, And do danger warning processing accordingly; when the track status is the track end state, the air traffic control system will no longer track the track, but record the relevant information of the track;

The track category definition is to define possible track categories as search, code, precision, ADS precision, ADS code, ADS search, and ADS, where the air traffic management system only receives the main radar signal for an aircraft and is not associated with When the air traffic management system receives any track in the air traffic management system, the initial track type is search; The track type is code; when the air traffic management system only receives the broadcast automatic report signal for an aircraft and is not associated with any track in the air traffic management system, the initial track type is precise; when the air traffic management system allows the aircraft to log in to ADS In -A service, the initial track type is ADS; when the air traffic management system receives the position return signal from the primary radar and the automatic addressing return signal, the track type is ADS search; when the air traffic control system receives the position report from the secondary radar at the same time Signal and addressing automatic return signal, track type is ADS code; when the air traffic control system receives addressing automatic return signal and broadcast automatic return signal, the track type is ADS precise; and

The track category conversion rule definition is to define the conditions for track category conversion, where,

When the track type is initially search or code, the condition for entering the establishment state is to receive position reports for 3 consecutive times;

When the track category is initially precise, the condition for entering the establishment state is direct establishment;

When the track type is initially ADS, the condition for entering the establishment state is to receive the first ADS-A message;

When the track type is search or code, the condition for entering the missing state is that three consecutive batches of time tracks are not associated with any target report, and the condition for entering the end state is that eight consecutive batches of time tracks are not associated with any The target reports or the controller directly removes the track, where a batch time is a fixed time preset by the air traffic control system;

When the track type is ADS, the condition of entering the missing state is that the location report is not received twice in a row at the scheduled time, and the condition of entering the end state is that the ADS-A service is logged out, the track is handed over to other centers or the controller directly transfers remove the track;

When the track type is ADS Search, ADS Code, or ADS Accurate, the controller can directly input commands to delete the track;

When the track type is search, the track type is converted to code or ADS search under the manual input command of the controller;

When the track type is code: (1) under the condition that the controller manually inputs the command, the track type can be converted into search; (2) under the condition that the track is related to the target object automatically reported by the broadcast, the track type The category is converted to precise; (3) under the condition that the aircraft logs into the ADS-A service and the aircraft number matches, the track category is converted into an ADS code;

When the track category is accurate: (1) under the condition that the track is not associated with the target object reported automatically by broadcasting, but only with the target object reported by the secondary radar, the track category is converted into code; (2) at If the aircraft is logged into the ADS-A service and the aircraft number matches, the track type will be converted to ADS-accurate;

When the track type is ADS: (1) under the condition that the track is associated with the target reported by the primary radar, the track type is converted to ADS search; (2) the track is associated with the target reported by the secondary radar (3) Under the condition that the track is associated with the broadcast automatic report target and the aircraft number matches, the track type is converted to ADS precision;

When the track type is ADS search: (1) when the aircraft logs out of the ADS-A service, the track type is converted to search; (2) under the condition that the track is not associated with the main radar target report for a continuous period of time , the track type is converted to ADS; (3) under the condition that the track is associated with the target object reported by the secondary radar, the track type is converted into an ADS code; (4) the track is associated with the broadcast automatic report target Objects, and under the condition that the aircraft numbers match, the track category is converted to ADS accurately;

When the track type is ADS code: (1) Under the condition that the aircraft logs out of the ADS-A service, the track type is converted into a code; (2) the track is not associated with the target reported by the secondary radar for a continuous period of time (3) Under the condition that the track is associated with the broadcast automatic report target, the track category is converted to ADS precision;

When the track category is ADS precise: (1) under the condition that the aircraft logs out of the ADS-A service, the track category is converted to precise; (2) under the condition that there is no target object that broadcasts automatic reporting for a continuous period of time , the track category is converted to ADS; (3) under the condition that the track is related to the target object reported by the secondary radar and not related to the target object reported automatically by the broadcast, the track category is converted to ADS code.

Description of drawings

For further illustrating structural feature of the present invention, below in conjunction with accompanying drawing, the present invention is described in further detail, wherein:

FIG. 1 is a schematic diagram of the system environment of the present invention.

Detailed ways

Please refer to FIG. 1 for the combined radar/automatic return surveillance environment of the present invention. Among them, there are on the ground: the main radar station 11: can transmit the track position signal to the air traffic management center 10;

Secondary radar station 12: In addition to receiving track position and altitude signals, it can also receive track codes sent by track transceivers, and transmit the signals to the traffic control center 10; note that the main radar and the secondary radar are usually set up at Together;

Air Traffic Management Center 10: Integrate multiple signals for track tracking and flight services;

Broadcast automatic return signal receiving station 13: can receive information such as the position, altitude, and track number of the track broadcast, and send the signal back to the navigation control center 10;

Satellite signal receiving station 14: receiving track 20 utilizes the addressing automatic return signal transmitted by communication satellite 30.

In this joint surveillance environment, track 20 may have the following equipment depending on its class:

Code transceiver 21: transmit the code of the track;

Addressing and automatic reporting equipment 22: the track position is determined by the navigation satellite 40, and after logging into the ADS-A service to the air traffic management center 10, the track 20 sends an addressing automatic reporting signal to the air traffic management center 10 through the satellite 30;

Broadcast automatic reporting device 23: determine the location of the track by means of navigation satellites, and broadcast information such as the position, altitude, and track number of the track.

In the above-mentioned joint radar/automatic report monitoring environment framework, the present invention defines the rules of track state, track category and track category conversion during track data fusion processing, so as to provide track information for different airborne equipment. The largest airline services are shown in Table 1.

Table 1: Airline services derived from different airborne equipment trajectories airborne equipment Route Segregation Service Flight data processing service data link service Broadcast Automatic Reporting Equipment 3 nautical miles or less have none 1. The monitoring range of a single radar at the terminal is 3 miles per mile 2. The monitoring range of multiple radars on the route is 5 nautical miles have land Addressing Automatic Reporting Equipment 50 nautical miles have CPDLCPDCD-ATIS none No quarantine service none none

The track state defined by the present invention is as follows:

1. Track initialization: When the track position report received by the system is not associated with any track in the system, the system thinks that there is a new target at this time, so it will initialize a new track for this purpose. The target is tracked. Because the reporting frequency of different reporting devices is different, the system will initialize different types of tracks according to different reporting devices.

2. Track establishment: After several track position data updates, the system confirms that this is not an occasional noise, so it will create a track and track it.

3. Track tracking: The system regularly receives the track position report from the monitoring equipment and updates the track position. In addition, the system will predict the position and speed of all tracks, so that the air traffic management system can display the tracks, and do danger warning or flight data processing, etc.

4. Missing track: If a track has not been associated with any position report for a period of time, the track will enter the missing state. At this time, the system will calculate the possible position and speed of the track based on the existing information so that the air traffic control system can display the track and perform risk warning processing.

5. Track end: When the track is in the missing state and the system has not received any position report for a period of time, the track will enter the end state. The system will no longer track this track, but some relevant information of the track will be recorded.

Tables 2 and 3 show the conditions for different types of tracks to enter the initial, establishment, missing, and end states.

Table 2: The initial and establishment conditions of different tracks track category Conditions for entering the initial state Conditions for entering the build state search code The primary/secondary radar returns are not associated with any track of the system. The returned position and altitude will be used to initialize a new track Three consecutive position reports will establish a track. When the system establishes the track, it will calculate the track speed, turning speed and other information accurate The broadcast automatic report signal is not associated with any track of the system Create a track directly. When creating a track, the aircraft number will be recorded for track-to-track identification ADS ADS-A login or other traffic management center traffic management The first ADS-A message will initiate and establish the track ADS Search ADS Code ADS Accurate It is not possible to initiate such tracks with position signal returns. Tracks of this type are converted from other types of tracks directly build state

Table 3: Conditions for entering missing and ending states of different tracks track category Conditions for entering the missing state Conditions for entering the end state search code exact Three consecutive batches of time (about 3×4.5=13.5 seconds) track is not associated with any target report 1. Eight consecutive batches of time (about 8 x 4.5 = 36 seconds) track is not associated with any target report 2. The controller directly removes the track ADS Receive location reports twice in a row at the scheduled time 1. ADS logout 2. The track is handed over to other centers 3. The controller directly removes the track ADS Search ADS Code ADS Accurate none. Returning to three consecutive batches of time (about 3×4.5=13.5 seconds) the track is not associated with any target report, change the track type to ADS The controller directly removes the track

Among them, the track types in Table 2 and Table 3 are related to the airborne reporting device. In the joint radar/automatic reporting device surveillance environment, possible track position reporting devices include: primary radar, secondary radar, addressing automatic reporting device, and broadcast automatic reporting device. If the air traffic management system only receives one signal source for the same aircraft, for example: the main radar signal source, the initial new track type is "search"; similarly, if the signal source is secondary radar, broadcast automatic report or Addressing automatic reporting, the initial track category is "code", "accurate" and "ADS". In addition to the basic track categories described above ("Search", "Code", "Precise" and "ADS"), the present invention also defines the categories "ADS Search", "ADS Code" and "ADS Precise". When the track type is "ADS" and the signal reported by the main radar on the track position is received at the same time, the track type will change from "ADS" to "ADS search" at this time; The track will change from "ADS" to "ADS Code" or "ADS Accurate" if the radar signal or broadcast automatic return signal. The conditions for switching between different track categories are listed in Table 4. In the present invention, the principle of track type conversion is: when an aircraft has two or more position signal reports at the same time, the change of track type defined in the present invention must assist the system to effectively use all position return signals, So that the best available signal can be used to track the track at any time.

Table 4: Track category conversion conditions original track category Converted track class conversion condition search Code ADS Search Controller manually enters instructions Telegraphic code search Controller manually enters instructions accurate Objects linked to broadcast auto-reports ADS code The pilot logs into the ADS-A service and the route number matches accurate Telegraphic code Targets not linked to broadcast automatic reports, only linked to targets reported by secondary radar ADS accurate The pilot is logged into the ADS-A service and the track number matches ADS ADS search Objects linked to primary radar reports ADS code Objects linked to secondary radar returns ADS accurate Linked to the target that broadcasts the automatic report, and the track number matches ADS search search Pilots log out of ADS-A service ADS No radar target report received for a period of time ADS code Objects linked to secondary radar returns ADS accurate Linked to the target that broadcasts the automatic report, and the track number matches ADS code Telegraphic code Pilots log out of ADS-A service ADS The radar has not received target objects for a period of time ADS accurate Objects linked to broadcast auto-reports ADS accurate accurate Pilots log out of ADS-A service ADS Did not receive a broadcast automatic report target reward for a period of time ADS code Linked to the secondary radar to report the target, and there is no broadcast to automatically report the return of the target

With the aforementioned method of the present invention, it is assumed that a flight track 20 is equipped with "code transceiver" 21 and "automatic addressing return device" 22 at the same time, and is flying in the monitoring environment of FIG. 1 . When the track 20 registers the ADS-A service to the air traffic management center 10, the method of the present invention will initiate a track of the category "ADS" for the air traffic control system. When the track 20 continuously uses the addressing automatic reporting device 22 to transmit information such as track position, altitude, and track number through the satellite 30, the air traffic management center 10 will receive the information through the satellite signal ground receiving station 13, and use the information Establish and track this "ADS" track and provide appropriate flight services for track 20. When the track 20 flew into the coverage area of the secondary radar 12, the code transceiver 21 of the track 20 would receive the code query signal of the secondary radar 12, and now the transceiver 21 would send the aircraft's code, when the secondary radar 12 received code, it will transmit the code, position, height and other information of the track 20 to the air traffic control center 10. At this time, the air traffic control center will change the "ADS" track category to "ADS code", and use the secondary radar 12 at the same time. And addressing automatic reporting signal to track the track.

After flying for a period of time, the sub-radar 12 on the ground may not be able to receive the code due to weather factors or the failure of the airborne code transceiver 21. If this situation continues for a period of time, the track category will change from "ADS code" to "ADS code". For " ADS ", the present invention changes and tracks track (because can't receive the signal of sub-radar) with addressing automatic reporting. If after a period of time, the main radar 11 finds the track and sends the position signal back to the traffic control center 10, the track category will change from "ADS" to "ADS search", which means that the system uses the main radar 11 at the same time. And address automatic reporting to track the track.

After the aircraft has been flying for a period of time, the pilot may request the air traffic control center 10 to log out of the ADS-A service. After logging out of the ADS-A service, the system will only receive the position signal report from the main radar 11, so the track type will change from "ADS search" to "search", and the system will use the main radar 11 to track the track. After flying track 20 for a period of time, the aircraft may fly out of the coverage of the main radar 11, so the system will not receive the position signal report of the main radar of track 20 for a period of time, at this time the track will change from tracking state to In the missing state, when the position signal report of the main radar 11 has not been received after a period of time, the system will change the track from the missing state to the end state and delete this track, and stop tracking this track.

The above example illustrates that the present invention can assist the system to track the track 20 at any time using currently available tracking signals. And because the reporting frequency of different monitoring devices is quite different, for example: the automatic reporting of broadcasting can reach once a second, and the automatic reporting of addressing can be done once every 5 to 15 minutes. track, so that the track can get the best flight service.

To sum up, the present invention is different from the features of the prior art in terms of purpose, means and efficacy, and is actually an invention of great practical value. However, it should be noted that the above-mentioned embodiments are examples for convenience of description only, and the scope of rights claimed by the present invention should be determined by the scope of the patent application, rather than limited to the above-mentioned embodiments.

Claims (1)

1. A track data fusion processing method, applied in the surveillance environment of joint radar and automatic return device, is characterized in that, the method comprises: The definition of the track state is to define the possible track states as track initial state, track establishment state, track tracking state, track missing state, and track end state, among them, when the track state is the track initial state , the air traffic management system initializes different types of tracks according to the respective reporting frequencies of different reporting devices; when the track state is the track tracking state, the air traffic management system will predict the positions and speeds of all aircraft in the monitoring environment, so that Display the corresponding track, and make danger warning accordingly; when the track status is track missing, the air traffic control system will calculate the possible position and speed of the track based on the existing information in order to display the corresponding track, And do danger warning processing accordingly; when the track status is the track end state, the air traffic control system will no longer track the track, but record the relevant information of the track; The track category definition is to define possible track categories as search, code, precision, ADS precision, ADS code, ADS search, and ADS, where the air traffic management system only receives the main radar signal for an aircraft and is not associated with When the air traffic management system receives any track in the air traffic management system, the initial track type is search; The track type is code; when the air traffic management system only receives the broadcast automatic report signal for an aircraft and is not associated with any track in the air traffic management system, the initial track type is precise; when the air traffic management system allows the aircraft to log in to ADS In -A service, the initial track type is ADS; when the air traffic management system receives the position return signal from the primary radar and the automatic addressing return signal, the track type is ADS search; when the air traffic control system receives the position report from the secondary radar at the same time Signal and addressing automatic return signal, track type is ADS code; when the air traffic control system receives addressing automatic return signal and broadcast automatic return signal, the track type is ADS precise; and The track category conversion rule definition is to define the conditions for track category conversion, where, When the track type is initially search or code, the condition for entering the establishment state is to receive position reports for 3 consecutive times; When the track category is initially precise, the condition for entering the establishment state is direct establishment; When the track type is initially ADS, the condition for entering the establishment state is to receive the first ADS-A message; When the track type is search or code, the condition for entering the missing state is that three consecutive batches of time tracks are not associated with any target report, and the condition for entering the end state is that eight consecutive batches of time tracks are not associated with any The target reports or the controller directly removes the track, where a batch time is a fixed time preset by the air traffic control system; When the track type is ADS, the condition of entering the missing state is that the location report is not received twice in a row at the scheduled time, and the condition of entering the end state is that the ADS-A service is logged out, the track is handed over to other centers or the controller directly transfers remove the track; When the track type is ADS Search, ADS Code, or ADS Accurate, the controller can directly input commands to delete the track; When the track type is search, the track type is converted to code or ADS search under the manual input command of the controller; When the track type is code: (1) under the condition that the controller manually inputs the command, the track type can be converted into search; (2) under the condition that the track is related to the target object automatically reported by the broadcast, the track type The category is converted to precise; (3) under the condition that the aircraft logs into the ADS-A service and the aircraft number matches, the track category is converted into an ADS code; When the track type is accurate: (1) under the condition that the track is not associated with the target object reported automatically by broadcasting, but only with the target object reported by the secondary radar, the track type is converted into code; (2) at If the aircraft is logged into the ADS-A service and the aircraft number matches, the track type will be converted to ADS-accurate; When the track type is ADS: (1) under the condition that the track is associated with the target reported by the primary radar, the track type is converted to ADS search; (2) the track is associated with the target reported by the secondary radar (3) Under the condition that the track is associated with the broadcast automatic report target and the aircraft number matches, the track type is converted to ADS precision; When the track type is ADS search: (1) when the aircraft logs out of the ADS-A service, the track type is converted to search; (2) under the condition that the track is not associated with the main radar target report for a continuous period of time , the track type is converted to ADS; (3) under the condition that the track is associated with the target object reported by the secondary radar, the track type is converted into an ADS code; (4) the track is associated with the broadcast automatic report target Objects, and under the condition that the aircraft numbers match, the track category is converted to ADS accurately; When the track type is ADS code: (1) Under the condition that the aircraft logs out of the ADS-A service, the track type is converted into a code; (2) the track is not associated with the target reported by the secondary radar for a continuous period of time (3) Under the condition that the track is associated with the broadcast automatic report target, the track category is converted to ADS precision; When the track category is ADS precise: (1) under the condition that the aircraft logs out of the ADS-A service, the track category is converted to precise; (2) under the condition that there is no target object that broadcasts automatic reporting for a continuous period of time , the track category is converted to ADS; (3) under the condition that the track is related to the target object reported by the secondary radar and not related to the target object reported automatically by the broadcast, the track category is converted to ADS code.

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