RU2785810C1 - Method for monitoring aerodrome traffic and device for its implementation - Google Patents

Abstract

FIELD: aircraft navigation.

SUBSTANCE: inventions group relates to the field of aircraft navigation and is intended for air traffic control and flight safety through the use of automatic dependent surveillance signals on board the aircraft. Aeronautical information about the aerodrome, coordinates of signal reception points, the maximum allowable difference between the estimated coordinates of the aircraft and the received ones, the calculated ground speed and the received one are set. Planned four-dimensional trajectories of the aircraft are accepted. Information is extracted from the signals about the time points of the signal transmission from the aircraft. The time interval is determined between the moments of transmission of two signals from one aircraft. The time interval between the time points of receiving these signals is determined. The radial velocity is estimated relative to the signal receiving point. The coordinates and ground speed are estimated. The reliability of the coordinates and ground speed received in the signal is evaluated. The device contains a module for processing planned information, a database of aeronautical and planned data, a module for estimating the coordinates and parameters of movement of objects, an observation database, and an air situation indication system.

EFFECT: accuracy of estimation of observation information in the aerodrome area is improved.

2 cl, 2 dwg

Description

FIELD OF TECHNOLOGY TO WHICH THE INVENTION RELATES

The invention relates to the field of navigation of aircraft (LA) and is intended for air traffic control and ensuring aircraft flight safety by using automatic dependent surveillance (ADS) signals on board the aircraft.

The object of the invention is to provide a method and apparatus for improving the accuracy of the assessment of surveillance information within an aerodrome. The technical result of the invention is to improve the accuracy of the assessment of surveillance information in the area of the airfield.

BACKGROUND OF THE INVENTION

Traditionally, the problem of air traffic control is solved with the help of radars installed at control towers [1]. The air situation monitored by radar is used for air traffic control purposes. The disadvantages of the traditional method of solving the problem are the low rate of updating navigation data (4-12 seconds), low accuracy of determining the coordinates of the aircraft (hundreds of meters or more), the high cost of ground equipment and its unavailability in remote areas.

Currently, another solution to the problem is known - ADS in broadcasting mode (ADS-B - Automatic Dependent Surveillance - Broadcast) [2]. ADS-B is a technology that is currently being implemented around the world and allows on board the aircraft, as well as at the ground control tower, to see the movement of the aircraft on the screen of the traffic indicator without the use of traditional radars. The advantages of this method of solving the problem are a high rate of updating navigation data (1 sec), high accuracy in determining the coordinates of the aircraft (about 1 meter), lower cost, and availability in remote areas.

A significant drawback of the ADS lies in the low noise immunity and the lack of protection against specially organized interference (for example, from decoys). In the case of using a radar, due to the high power, as well as the spatial and temporal selection of signals, the production of specially organized interference is significantly difficult. In the ADS system, the transmission of intentionally unreliable data can be performed using simple equipment, as a result of which false marks from non-existent aircraft will appear on the screen of the air situation indicator [3]. It can be assumed that over time cryptographic methods for protecting the ADS-B system will be introduced, but they are not used in modern equipment [4].

At present, a number of methods have been proposed to protect the ADS system from interference.

Known options for protecting ADS from specially organized interference, using ground-based multi-position surveillance systems (multilateration systems) to determine the location of the source of radio emission [5-7]. Such variants require an extensive network of ground stations or a constellation of satellites, since at least four signals are required to determine the coordinates in this way. A similar method can be used in a network of interconnected ground stations, but is difficult to implement on board an aircraft.

Known methods for protecting ADS using directional antennas or antenna arrays [8-11]. Anti-jamming is performed by comparing the measured angular coordinate of the signal source received by the directional antenna with the calculated angular coordinate based on the use of the spatial coordinates of the aircraft and the signal source. Such methods require a multi-element phased antenna array and a multi-channel receiver on board the aircraft and involve the use of phase information. The last requirement greatly complicates the implementation of the receiver, since in the ADS system, the signals have a large dynamic range of about 80 dB. In standard receivers, the problem of a large dynamic range is solved by using a logarithmic intermediate frequency amplifier implemented on a single chip. Phase processing requires a multi-channel receiver with linear processing and sophisticated automatic gain control. Another disadvantage of this protection method when used on an aircraft is the large size of the antenna system.

A known method of protecting ADS from interference, which compares the calculated range of the signal source, obtained using the spatial coordinates of the aircraft and the coordinates of the source, with the range obtained by measuring the propagation delay of the signal [12, 13]. This method does not require the complexity of the receiving device and can be used on board the aircraft.

There is a method in which range comparison is supplemented by checking the direction of signal arrival, however, such a check is difficult to implement on board the aircraft [14].

There is also a method that makes it difficult to create interference due to the introduction of distortions in the transmitted message [15]. However, this method violates the broadcast principle of the ADS operation, since it is assumed that only some consumers can restore the exact coordinates (the use of this method limits the number of consumers of the ADS system information).

There is a method [13], based on a comparison of the calculated and measured range.

The disadvantage of the method [13] is that a method is proposed for controlling the reliability of data from an automatic dependent surveillance (ADS) system, which involves the joint use of the ADS system and a satellite navigation system (SNS), in which SNS signals are received and the coordinates and velocity vector of its aircraft are determined. device (LA), receiving ADS signals and determining the coordinates of neighboring aircraft, calculating the ranges of neighboring aircraft by certain coordinates, forming a time scale and measuring the ranges of neighboring aircraft by the delay time of the ADS signals, comparing the difference between the above-mentioned calculated and measured distances with a specified threshold, in case of exceeding by said difference of the predetermined threshold, an ADS data invalid signal is generated and the invalid signal is displayed on the air situation indicator, while in accordance with the mentioned time scale, ADS signals are generated and emitted.

The closest analogue is the method of broadcasting automatically dependent surveillance [16], which is taken as a prototype. The prototype method consists in the fact that from the onboard GNSS system and the inertial navigation system on board the aircraft, data on the location, speed of the aircraft and associated indicators of accuracy and data integrity are received, data on its location (latitude and longitude) are transmitted from the aircraft, altitude, speed, identification index and other information received from on-board systems. Each ADS-B position message includes a data quality indication to allow users to determine if the quality of the information supports the intended function. Data is received by a ground station for receiving ADS-B signals. The data is transmitted to the surveillance data processing device, from where the data is transmitted to the ATC display system.

In airborne applications, aircraft equipped with ADS-B receivers can process messages from other aircraft to determine the traffic situation in support of applications such as CDTI.

DISCLOSURE OF THE INVENTION

The object of the invention is to provide a method and apparatus for improving the accuracy of the assessment of surveillance information within an aerodrome.

This problem is solved using a method for monitoring airfield traffic and a device for its implementation.

The proposed method consists in the fact that from the meters located on the observed object, in particular on the aircraft, transmit signals containing data on the location, ground speed and ground angle of the observed object; receive these signals; allocate from them data on the location, ground speed and ground angle of the observed object, as well as indicators of data accuracy and integrity associated with them; on the basis of the data extracted from the signals, a complex assessment of the location, ground speed and ground angle of the observed object, as well as the accuracy and integrity of the integrated estimates of the position, ground speed and ground angle of the observed object is carried out; generate a signal containing the identification index of the observed object, complex estimates of the location, ground speed and track angle of the observed object, indicators of accuracy and integrity of the complex estimates and other data; transmit a signal to consumers; receive a signal; allocate from the signal data on the location, ground speed and ground angle of the observed object; combine into one array the data on the observed objects extracted from different signals; display combined data about observed objects. In the proposed method, before generating the signal, information about the time of signal transmission is included in it; before receiving signals, aeronautical information about the aerodrome is set, including data on the permissible trajectories of movement of objects, depending on their type, and related functions of the dependence of the coordinates of the object on the distance to the point of receiving signals; set the coordinates of the signal reception points; set the maximum allowable difference between the estimated coordinates of the aircraft and accepted, the calculated ground speed of the aircraft and adopted, used to assess the reliability of these data; take the planned four-dimensional trajectory of the aircraft, which must land on the airfield or take off from it; after receiving the signals, the time points of receiving the signals are determined; extract from the signals information about the time points of signal transmission from the aircraft; determine the time interval between the moments of transmission of two signals from one LA; determine the time interval between the time points of receiving these signals from one LA; according to the time intervals between the time points of receiving two signals from one aircraft and between the time points of transmission of two signals from one aircraft, the radial velocity of the aircraft relative to the signal reception point is estimated; the difference between the times of signal transmission and reception determines the distance from the point of signal reception to the aircraft; according to aeronautical information about the airfield, the planned four-dimensional trajectory of the aircraft, the assessment of the radial velocity of the aircraft and the distance between the point of receiving signals and the observed aircraft, the coordinates and ground speed of the aircraft are estimated; by comparing the difference between the coordinates estimated and received in the signal with a given maximum allowable difference, as well as the difference between the ground speed estimated and calculated from the data transmitted in the signal, with a given maximum allowable difference, the reliability of the coordinates and ground speed of the aircraft received in the signal is estimated; if these data are reliable, they are transmitted to consumers, otherwise, the estimated coordinates and ground speed of the aircraft are transmitted to consumers, and displayed on the surveillance information display means.

The closest of the known technical solutions regarding the proposed device is a device for implementing ADS-B technology [16], containing a SNS signal receiver, an inertial navigation system, an ADS-B signal transceiver, a ground station that receives signals from ADS-B, and a surveillance data processing device. and air situation indication system.

The disadvantage of this device is the low accuracy of the monitoring information.

The device for implementing the method according to the invention comprises a satellite navigation system signal receiver, a computing module, an automatic dependent surveillance signal transceiver in broadcast mode (ADS-B), a ground station that receives signals from ADS-B, a surveillance data processing device and an inertial navigation system connected in series. , the output of which is connected to the second input of the computing module. The device additionally contains a series-connected planning information processing module, aeronautical and planning data base, a module for estimating the coordinates and parameters of movement of objects, the output of which is connected to the second input of the observation data processing device, and the second input is connected to the second output of the ground station receiving signals from ADS-B , a surveillance database and an air situation indication system, the input of the surveillance database being connected to the output of the surveillance data processing device, and the output to the input of the air situation indication system.

BRIEF DESCRIPTION OF THE DRAWINGS

In FIG. 1 shows the principle of determining the functions x(r) and y(r);

In FIG. 2 shows a device for implementing a method for monitoring aerodrome traffic.

IMPLEMENTATION OF THE INVENTION

The proposed method is carried out as follows.

1. Aeronautical information about the aerodrome is set, including data on the allowable trajectories of movement of objects, depending on their type, and related functions of the dependence of the object's coordinates on the distance to the signal reception point. For example, the axes of runways, taxiways, parking areas and other places where an object of this type can be located. The object types may be, for example, light aircraft, medium aircraft, heavy aircraft, snowplow, vehicle, tractor, gangway, unidentified type. Permissible trajectories of movement of objects consist of sections of movement, defined as the axes of the runway (RH), taxiways, parking areas, etc. sections of motion can be specified functionally, or as arrays of coordinates that define the curve.

2. Set the coordinates of signal reception points, for example, where ADS receiving stations are located.

3. The maximum allowable values of the deviation of the parameters being checked for validity, calculated from the data transmitted in the signal, from those estimated from the time points of signal transmission and reception are set. If the specified threshold is exceeded by the difference between the calculated, according to the data transmitted in the signal, parameter and the estimated one, this parameter is considered unreliable. The maximum allowable deviation values are set for the following parameters: the distance between the aircraft and the signal reception point and the ground speed of the aircraft. The maximum allowable parameter deviation values can be specified as functional dependencies, for example, on the coordinates of an object.

4. For each movement section with reference to the signal reception point, two functions x(r) and y(r) are set, which determine the dependences of the possible coordinates x and y of an object moving along the axis of the movement section, on the distance r between the observed object and the reception point signal. To eliminate the ambiguity, each of the two functions x(r) and y(r) is tied to the sign of the object's radial velocity, depending on which the object's coordinate will be determined by distance. The principle of determining the functions x(r) and y(r) is shown in Fig. one.

5. They accept planned four-dimensional trajectories of the aircraft, which must land on the airfield or take off from it.

6. Each object receives data from the meters about its position, ground speed and ground angle, as well as associated accuracy and data integrity indicators. For an aircraft, data can come from, for example, SNS and an inertial navigation system.

7. An integrated assessment of the position, ground speed and ground angle of the object is carried out, as well as the accuracy and integrity of the integrated estimates of the position, ground speed and ground angle of the object, for example, by integrating data from the SNA and the inertial navigation system.

8. A signal is generated containing the identification index of the object, complex estimates of the location, ground speed and ground angle of the object, indicators of the accuracy and integrity of these complex estimates, the time of signal transmission and other data.

9. Transmit a signal to consumers, for example, using an ADS transponder.

10. Signals are received, for example, by ADS signal receiving stations.

11. Determine the moment of signal reception.

12. Extract from the signal information about the moment of signal transmission.

13. Determine the time interval between the moments of transmission of two signals from one LA Δt _ist. As analyzed signals, you can take, for example, signals transmitted with a time interval of 10-30 seconds.

14. Determine the time interval between the time points of acceptance of these signals Δt _obs .

15. The distance between the aircraft and the signal reception point is estimated by the difference in the times of signal transmission and reception.

16. According to the time intervals between the time points of receiving two signals from one aircraft and between the time points of transmission of these signals from one aircraft, the radial velocity of the aircraft ν _r relative to the signal reception point is estimated, for example, according to the following formula [17]:

where Δt _est is the time interval between the moments of signal transmission by the source, for example, an ADS transponder on the aircraft, Δt _obs is the time interval between the moments of signal reception at the receiving point, for example, the ADS receiving station, c is the speed of light.

17. According to the planned four-dimensional trajectory of the movement of the aircraft, those sections of the movement of the aircraft and the dependencies х(r) and y(r) associated with them, along which the movement of the aircraft is planned, are distinguished from the total set.

18. According to the estimated distance between the aircraft and the signal reception point r, and the given dependencies x(r) and y(r), the coordinates and the ground angle of the object are determined, equal to the angle between the north and the tangent axis of the movement section at the object location point. The track angle at the point (x(r), y(r)) can be calculated based on neighboring known points, for example,

(x(r+Δr), y(r+Δr)).

19. Based on the assessment of the radial speed ν _r and the ground angle of the object, the ground speed of the object is determined by the formula:

where ϕ is the angle between the current track angle of the object and the straight line between the object and the signal reception point, relative to which the radial velocity of the object is determined.

20. Data on coordinates, ground speed and ground angle of the object are extracted from the signal.

21. According to the estimated coordinates of the aircraft, the ground speed and the aircraft data received in the signal, the reliability of the received data is evaluated, for example, by calculating the difference between the transmitted in the signal and the estimated ground speed of the aircraft, and the difference between the transmitted in the signal and the estimated coordinates of the aircraft, comparing the corresponding difference with the corresponding threshold. If the threshold is exceeded, the data is considered invalid.

22. If the data is reliable, they are transmitted to consumers, otherwise, the coordinates and ground speed of the object are replaced by those estimated by the times of transmission and reception of signals and transmitted to consumers.

23. Combine the data extracted from different signals, forming a single array of data on all observed objects.

24. Display the combined data.

In FIG. 2 shows a device for implementing a method for monitoring aerodrome traffic. In FIG. 2 introduced the following notation:

1. SNA signal receiver;

2. the first computing device;

3. signal transceiver ADS-B;

4. ground station receiving signals from ADS-B;

5. monitoring data processing module;

6. inertial navigation system;

7. planning information processing module

8. database of aeronautical and planning data;

9. module for assessing the coordinates and parameters of the movement of objects;

10. surveillance database;

11. air situation indication system.

The aeronautical and planning data base 8 is loaded with aeronautical information, for example, by copying data from a flash drive, an optical storage medium or data transmission over a network. The planning information processing module 7 transmits the planned information to the aeronautical and planning data base 8, where it is stored. Through another information channel, the receiver 1 of the SNS signals and the inertial navigation system 6 transmit to the first computing device 2 signals containing data on the location, ground speed and ground angle of the observed object, as well as associated accuracy and data integrity indicators. In the first computing device 2, a comprehensive assessment of the location, ground speed and ground angle of the observed object, as well as the accuracy and integrity of the integrated estimates of the position, ground speed and ground angle of the observed object is carried out, and the estimated data is transmitted to the transceiver 3 of the ADS-B signals, where the signal is generated , containing these data and the identification index of the observed object, which is transmitted to the ground station 4, receiving signals from the ADS-B. In the observation data processing module 5, data on the position, ground speed and ground angle of the observed object are extracted from the signal from the ground station 4, receiving signals from the ADS-B, the data on the observed objects extracted from different signals are combined into one array. Also in the observation data processing module 5, from the module 9 for estimating the coordinates and parameters of the movement of objects, data on the coordinates and parameters of the movement of objects is extracted, their reliability is assessed, a label on the reliability of the data is added to the generated message, and the estimated data is transferred to the database 10 observation data. Valid data is transmitted from the surveillance data base 10 to the air situation indication system 11, which displays them.

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Claims (6)

1. A method for monitoring aerodrome traffic, which consists in the fact that from meters located on the observed object, in particular on an aircraft, signals are transmitted containing data on the location, ground speed and ground angle of the observed object, these signals are received, extracted from them data on the position, ground speed and ground angle of the observed object, as well as associated data accuracy and integrity indicators, based on the data extracted from the signals, carry out a comprehensive assessment of the position, ground speed and ground angle of the observed object, as well as the accuracy and integrity of complex position estimates , ground speed and ground angle of the observed object, form a signal containing the identification index of the observed object, complex estimates of the location, ground speed and ground angle of the observed object, indicators of the accuracy and integrity of complex estimates and other data, transmit a signal to consumers, receive a signal, extract data on the position, ground speed and ground angle of the observed object from the signal, combine the data on the observed objects extracted from different signals into one array, display the combined data on the observed objects, characterized in that before generating a signal, information is included in it about the time of signal transmission; before receiving signals, aeronautical information about the aerodrome is specified, including data on the permissible trajectories of objects, depending on their type, and related functions of the dependence of object coordinates on the distance to the signal reception point , set the coordinates of signal reception points, set the maximum allowable difference between the estimated coordinates of the aircraft and the received ones, the calculated ground speed of the aircraft and the received one, used to assess the reliability of these data, receive the planned four-dimensional trajectories of the aircraft, which must land on or take off from the airfield, after of receiving signals determine the time points of signal reception, extract from the signals information about the time points of signal transmission from the aircraft, determine the time interval between the time points of transmission of two signals from one aircraft, determine the time interval between the time points of receiving these signals ov from one aircraft, according to the time intervals between the time points of receiving two signals from one aircraft and between the time points of transmission of two signals from one aircraft, the radial velocity of the aircraft relative to the signal reception point is estimated, the distance from the reception point is determined from the difference between the time points of signal transmission and reception signal to the aircraft, according to aeronautical information about the aerodrome, the planned four-dimensional trajectory of the aircraft, the assessment of the radial velocity of the aircraft and the distance between the signal reception point and the observed aircraft, the coordinates and ground speed of the aircraft are estimated by comparing the difference between the estimated and received coordinates in the signal with a given maximum allowable difference , as well as the difference between the ground speed estimated and calculated from the data transmitted in the signal, with a given maximum allowable difference, the reliability of the coordinates and ground speed of the aircraft received in the signal is evaluated, if these data are reliable, they are transmitted to consumers, otherwise they are transmitted to consumers estimated ordinates and ground speed of the aircraft and display them on the means of displaying surveillance information. 2. A device for implementing the method according to claim 1, containing a receiver (1) of satellite navigation system signals, a computing module (2), a transceiver (3) of automatic dependent surveillance signals in broadcasting mode (AZN-B), a ground station (4) connected in series ) receiving signals from ADS-B, a device (5) for processing surveillance data and an inertial navigation system (6), the output of which is connected to the second input of the computing module (2), different in that additionally contains a series-connected module (7) for processing planned information, a base (8) of aeronautical and planned data, a module (9) for estimating the coordinates and parameters of movement of objects, the output of which is connected to the second input of the device (5) for processing observation data, and the second input with the second output of the ground station (4) receiving signals from the ADS-B, the surveillance data base (10) and the air situation indication system (11), wherein the input of the surveillance data base (10) is connected to the output of the surveillance data processing device (5), and output with the input of the air situation indication system (11).

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