WO2021109430A1 - 基于ads-b广播信号飞机航路监测方法、装置及计算机存储介质 - Google Patents
基于ads-b广播信号飞机航路监测方法、装置及计算机存储介质 Download PDFInfo
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- WO2021109430A1 WO2021109430A1 PCT/CN2020/086929 CN2020086929W WO2021109430A1 WO 2021109430 A1 WO2021109430 A1 WO 2021109430A1 CN 2020086929 W CN2020086929 W CN 2020086929W WO 2021109430 A1 WO2021109430 A1 WO 2021109430A1
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- aircraft
- route
- ads
- position information
- broadcast signal
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- 238000000034 method Methods 0.000 title claims abstract description 25
- 238000012544 monitoring process Methods 0.000 title claims abstract description 10
- 238000005259 measurement Methods 0.000 claims abstract description 33
- 230000003044 adaptive effect Effects 0.000 claims description 5
- 238000004590 computer program Methods 0.000 claims description 4
- 238000012806 monitoring device Methods 0.000 claims description 3
- 238000010276 construction Methods 0.000 claims description 2
- 238000010586 diagram Methods 0.000 description 3
- 230000001788 irregular Effects 0.000 description 2
- 238000012545 processing Methods 0.000 description 2
- 230000002159 abnormal effect Effects 0.000 description 1
- 230000005856 abnormality Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 230000000052 comparative effect Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000002474 experimental method Methods 0.000 description 1
- 238000004088 simulation Methods 0.000 description 1
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Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/0009—Transmission of position information to remote stations
- G01S5/0018—Transmission from mobile station to base station
- G01S5/0027—Transmission from mobile station to base station of actual mobile position, i.e. position determined on mobile
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W12/00—Security arrangements; Authentication; Protecting privacy or anonymity
- H04W12/12—Detection or prevention of fraud
- H04W12/121—Wireless intrusion detection systems [WIDS]; Wireless intrusion prevention systems [WIPS]
Definitions
- the invention belongs to the field of aviation surveillance and air traffic management, and specifically relates to a method, a device and a computer storage medium for monitoring an aircraft route based on an ADS-B broadcast signal.
- ADS-B positioning monitoring system has higher positioning accuracy and lower cost.
- ADS-B is designed as a broadcast signal, there are situations where ADS-B messages are tampered with and attacked, and there are big problems in security and reliability.
- multi-point positioning can not only improve positioning accuracy and robustness, but also improve the security of the surveillance system, and overcome the above-mentioned risks and problems.
- one of the objectives of the present invention is to provide a way to track and monitor a certain aircraft route to replace the traditional radar positioning and supervisors.
- the aircraft ADS-B message is tampered and attacked , Or when the plane deviates from the route, give warnings and prompts.
- the embodiment of the present invention discloses an aircraft route monitoring method based on ADS-B broadcast signals, including: dividing a selected route into multiple route sections, and obtaining multiple optimal stations for each section of the route; passing the optimal station Receive the ADS-B broadcast signal of the aircraft, and obtain multiple measurement information of the aircraft, where the measurement information includes at least the required arrival time difference and the angle of arrival of the aircraft; locate the aircraft according to the measurement information, and obtain The first position information of the aircraft; the first position information is compared with the second position information of the aircraft obtained according to the ADS-B broadcast signal, and a prompt message is issued when the error between the two exceeds a preset threshold.
- obtaining the optimal station for each section of air route includes: taking the start and end points of the air route section as two diagonal vertices of a rectangle to form a rectangular area, and expand the area of the rectangular area by one.
- the candidate area is obtained by multiplying; the candidate area is gridded, where the grid points of the grid are the positions of the stations corresponding to the route section; the 4 optimal stations are obtained by traversing.
- positioning the aircraft according to measurement information, and obtaining the first position information of the aircraft includes: sending the measurement information to an adaptive multi-model algorithm, and using an extended Kalman filter Realize the positioning of the aircraft and obtain the first position information of the aircraft.
- it also includes that the motion state of the aircraft when flying on the route follows the CV and CT models.
- the second position information of the aircraft obtained according to the ADS-B broadcast signal includes: converting the position information of the aircraft in the ADS-B broadcast signal into position information corresponding to the WGS-84 coordinate system, that is, the second position information.
- the embodiment of the present invention also discloses an aircraft route monitoring device based on ADS-B broadcast signal, including: an optimal station module, used to divide the selected route into multiple route sections, and obtain multiple optimal routes for each section. Station; receiving module, used to receive the aircraft’s ADS-B broadcast signal through the optimal site, and obtain multiple measurement information of the aircraft, where the measurement information includes at least the required time difference and angle of arrival of the aircraft Positioning module, used to locate the aircraft according to measurement information, to obtain the first position information of the aircraft; comparison module, used to compare the first position information with the first position information of the aircraft obtained according to the ADS-B broadcast signal The second position information is compared, and a prompt message is issued when the error between the two exceeds a preset threshold.
- an optimal station module used to divide the selected route into multiple route sections, and obtain multiple optimal routes for each section. Station
- receiving module used to receive the aircraft’s ADS-B broadcast signal through the optimal site, and obtain multiple measurement information of the aircraft, where the measurement information includes at least the required time difference and angle of
- the optimal station module includes: a construction unit, configured to use the start and end points of the route section as two diagonal vertices of the rectangle to form a rectangular area, and the area of the rectangular area Double the expansion to obtain the candidate area; the grid unit is used to grid the candidate area, where the grid point of the grid is the position of the station corresponding to the route section; the traversal unit is used to obtain through the traversal method 4 best sites.
- the positioning unit is further configured to send the measurement information into an adaptive multi-model algorithm, realize the positioning of the aircraft through the extended Kalman filter, and obtain the first position information of the aircraft.
- it also includes that the motion state of the aircraft when flying on the route follows the CV and CT models.
- the comparison unit is also used to convert the aircraft positioning information in the ADS-B broadcast signal into the position information corresponding to the WGS-84 coordinate system, that is, the second position information.
- the embodiment of the present invention also discloses a computer storage medium that stores a computer program, and when the computer program is executed, the method according to any one of the foregoing is implemented.
- the solution of the present invention finds out the positions of the best 4 stations on the route by gridding the aircraft route and then violently solving it, and adds the measurement information of the angle of arrival to the traditional multi-point positioning technology based only on the time difference of arrival.
- the positioning accuracy and robustness are improved, and the problem of ADS-B broadcast signals being easily tampered and attacked is effectively solved, and the reliability of route positioning can be effectively guaranteed.
- Fig. 1 is a flowchart of a method according to an embodiment of the present invention
- Fig. 2 is a schematic diagram of an optimal site selection principle according to an embodiment of the present invention.
- FIG. 3 is a schematic diagram of an aircraft route flight motion model according to an embodiment of the present invention.
- Fig. 4 is a flowchart of a specific method according to an embodiment of the present invention.
- Fig. 5 is a schematic structural diagram of an apparatus according to an embodiment of the present invention.
- an aircraft route monitoring method based on ADS-B broadcast signal includes:
- S101 Divide the selected route into multiple route sections, and obtain multiple optimal stops for each section of the route.
- the airway is divided into multiple airway segments through slicing processing.
- the aircraft route may be irregular, so the position of the station receiving the aircraft signal has a greater influence on the aircraft route positioning.
- a certain irregular route is divided into regular small sections, and each small section is approximately regular. And the smaller the route section, the higher the positioning accuracy, but the corresponding cost is higher. Taking into account the large range of aircraft positioning, the positioning accuracy does not need to be too high, and each small section of the route can be set to about 200Km, which can not only ensure the positioning accuracy of the aircraft route, but also save costs.
- the optimal receiver site location can be found through gridding and exhaustive methods.
- the start and end positions are taken as the two diagonal vertices of the rectangle to form a rectangular area, and then the area of this rectangular area is doubled, which is called a candidate area.
- this candidate area we mesh.
- S102 Receive the ADS-B broadcast signal of the aircraft through the optimal site, and obtain a plurality of measurement information of the aircraft, where the measurement information includes at least the required arrival time difference and the arrival angle of the aircraft.
- S103 Position the aircraft according to the measurement information, and obtain first position information of the aircraft.
- the extended Kalman filter can be used to locate the aircraft position, and the adaptive multi-model algorithm IMM can be used to automatically switch the aircraft motion model. Obtain the first position information of the aircraft.
- S104 Compare the first position information with the second position information of the aircraft acquired according to the ADS-B broadcast signal, and send out a prompt message when the error between the two exceeds a preset threshold.
- the ground station When the ground station receives the aircraft's ADS-B signal, it can not only obtain the measurement information of the aircraft, but also read the positioning information of the ADS-B message. Convert the positioning information in the ADS-B message to the position under the WGS-84 coordinates, and compare it with the multi-point positioning information. When the error exceeds the set threshold, it clearly indicates that an abnormal situation has occurred, and an abnormality prompt and alarm will be issued.
- the signal receiving equipment is used to collect ADS-B signals
- the simulation is implemented on the matlab platform, which mainly includes several steps. Refer to Figure 4, among which:
- Step 1 Get the aircraft route.
- Step 2 Divide the aircraft route into several small sections.
- Step 3 Use gridding to find the 4 best stop locations for each flight section.
- Step 4 Obtain the ADS-B broadcast signal transmitted by the aircraft on the route, and obtain the required measurement information such as the time difference of arrival and the angle of arrival.
- Step 5 Send the aircraft measurement information into the positioning tracking monitoring algorithm model, and realize the automatic positioning and tracking of the aircraft's position through the extended Kalman filter.
- Step 6 Draw the flight path of the aircraft based on the measurement information of multi-point positioning and the extended Kalman algorithm.
- Step 7 Read the ADS-B signal broadcast by the aircraft on the route, extract useful aircraft position information and convert it into coordinates under WGS-84 coordinates.
- Step 8 Compare the positioning and tracking results with the flight path position of the aircraft read in the ADS-B message. When the error exceeds the threshold, an alarm and prompt will be issued.
- the embodiment of the present invention also discloses an aircraft route monitoring device 10 based on ADS-B broadcast signals, as shown in FIG. 5, including: an optimal station module 101, which is used to divide the selected route into multiple route sections and obtain each section A plurality of optimal stations on the route section; the receiving module 102 is used to receive the ADS-B broadcast signal of the aircraft through the optimal station, and obtain a plurality of measurement information of the aircraft, wherein the measurement information includes at least the The required arrival time difference and angle of arrival of the aircraft; the positioning module 103 is used to locate the aircraft according to the measurement information and obtain the first position information of the aircraft; the comparison module 104 is used to compare the first position information with According to the comparison of the aircraft's second position information obtained by the ADS-B broadcast signal, a prompt message will be issued when the error between the two exceeds a preset threshold.
- an optimal station module 101 which is used to divide the selected route into multiple route sections and obtain each section A plurality of optimal stations on the route section
- the receiving module 102 is used to receive the A
- the disclosed device and method may be implemented in other ways.
- the above-described embodiments are only illustrative.
- the division of units is only a logical function division.
- multiple units or components can be combined or integrated into Another system, or some features can be ignored, or not implemented.
- the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place, or they may be distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the objectives of the solutions of the embodiments of the present invention.
- the functional units in the various embodiments of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units may be integrated into one unit.
- the above-mentioned integrated unit can be implemented in the form of hardware or software functional unit.
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- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Computer Security & Cryptography (AREA)
- Computer Networks & Wireless Communication (AREA)
- Signal Processing (AREA)
- Traffic Control Systems (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
Abstract
Description
Claims (9)
- 一种基于ADS-B广播信号飞机航路监测方法,其特征在于,包括:将选择的航路划分为多段航路段,并获取每一段航路段的多个最优站点;通过所述最优站点接收飞机的ADS-B广播信号,并获取所述飞机的多个量测信息,其中量测信息至少包括所述飞机所需到达时间差和到达角度;根据量测信息对所述飞机进行定位,获取所述飞机的第一位置信息;将所述第一位置信息与根据ADS-B广播信号获取的飞机第二位置信息比对,当两者误差超过预设阈值时发出提示信息;其中,获取每一段航路段的最优站点包括:以所述航路段的起点和终点作为矩形的两个对角顶点,形成一个矩形区域,将所述矩形区域面积扩大一倍获得备选区域;将备选区域网格化,其中网格化的格点是所述航路段对应站点的位置;通过遍历的方法获取4个最优站点。
- 如权利要求1所述的方法,其特征在于,根据量测信息对所述飞机进行定位,获取所述飞机的第一位置信息包括:将所述量测信息送入自适应多模型算法,通过扩展卡尔曼滤波器实现对飞机的定位,获取飞机的第一位置信息。
- 如权利要求2所述的方法,其特征在于,还包括,飞机在航路上飞行时的运动状态遵循CV和CT模型。
- 如权利要求1所述的方法,其特征在于,根据ADS-B广播信号获取的飞机第二位置信息包括:将ADS-B广播信号中的飞机定位信息转化成WGS-84坐标系对应的位置信息,即第二位置信息。
- 一种基于ADS-B广播信号飞机航路监测装置,其特征在于,包括:最优站点模块,用于将选择的航路划分为多段航路段,并获取每一段航路段的多个最优站点;接收模块,用于通过所述最优站点接收飞机的ADS-B广播信号,并获取所述飞机的多个量测信息,其中量测信息至少包括所述飞机所需到达时间差和到达角度;定位模块,用于根据量测信息对所述飞机进行定位,获取所述飞机的第一位置信息;对比模块,用于将所述第一位置信息与根据ADS-B广播信号获取的飞机第二位置信息比对,当两者误差超过预设阈值时发出提示信息;其中,所述最优站点模块包括:构造单元,用于以所述航路段的起点和终点作为矩形的两个对角顶点,形成一个矩形区域,将所述矩形区域面积扩大一倍获得备选区域;网格化单元,用于将备选区域网格化,其中网格化的格点是所述航路段对应站点的位置;遍历单元,用于通过遍历的方法获取4个最优站点。
- 如权利要求5所述的装置,其特征在于,所述定位模块还用于,将所述量测信息送入自适应多模型算法,通过扩展卡尔曼滤波器实现对飞机的定位,获取飞机的第一位置信息。
- 如权利要求6所述的装置,其特征在于,还包括,飞机在航路上飞行时的运动状态遵循 CV和CT模型。
- 如权利要求5所述的装置,其特征在于,所述对比模块还用于,将ADS-B广播信号中的飞机定位信息转化成WGS-84坐标系对应的位置信息,即第二位置信息。
- 一种计算机存储介质,其存储计算机程序,其特征在于,在所述计算机程序被执行时,实施根据权利要求1-4中任一项所述的方法。
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CN115441983A (zh) * | 2022-08-30 | 2022-12-06 | 中国民航大学 | 基于到达时间间隔差的广播式自动相关监视位置消息验证方法 |
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CN111508281B (zh) * | 2020-04-27 | 2021-03-23 | 上海航天计算机技术研究所 | 一种星载平台对ads-b目标进行分类引导的方法 |
CN115775473B (zh) * | 2022-11-09 | 2024-01-19 | 航大防务(海南)科技有限公司 | 一种ads-b航空监视系统中的航空器定位系统 |
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