CN113422847A - Aircraft identification number unified coding method based on airborne ADS-B - Google Patents

Abstract

Translated fromChinese

本发明提供了一种基于机载ADS‑B的航空器识别号统一编码方法，航空器偏远地区、海上和境外非航线飞行，时常遇到管制监视盲区，因此需要航空器驾驶员自主感知空管监视态势、完成飞行任务，即在没有合作ADS‑B地面站和飞行情报服务条件下，通过己方航空器航空数据链协同进行ADS‑B数据分布式处理，在空中己方航空器成员之间形成精确的空管态势信息，实现多航空器协同空管监视。为此，提出了基于机载ADS‑B的航迹统一目标编识号方法，目的是解决民用航空器越洋飞行在没有地面ADS‑B设备时，己方不同航空器机载ADS‑B发现的目标，通过分布式处理，对周边飞行情报缺失的其他航空器按一个序列统一分配编识号的问题。

The present invention provides a unified coding method for aircraft identification numbers based on airborne ADS-B. Aircraft flying in remote areas, seas and overseas on non-airlines often encounter control and monitoring blind spots. Complete the flight mission, that is, without the cooperative ADS‑B ground station and flight information service, cooperatively conduct ADS‑B data distributed processing through the aeronautical data link of your own aircraft, and form accurate air traffic control situation information among the members of your own aircraft in the air , to achieve multi-aircraft cooperative air traffic control surveillance. To this end, a unified target numbering method based on the airborne ADS-B is proposed. The purpose is to solve the targets discovered by the airborne ADS-B of different aircraft of one's own side when there is no ground ADS-B equipment for the cross-ocean flight of civil aircraft. Through distributed processing, the problem of uniformly assigning identification numbers to other aircraft lacking in the surrounding flight information in a sequence.

Description

Translated fromChinese

一种基于机载ADS-B的航空器识别号统一编码方法A Uniform Encoding Method of Aircraft Identification Number Based on Airborne ADS-B

技术领域technical field

本发明属于空中交通管制监视技术领域，尤其涉及一种基于机载ADS-B的航空器识别号统一编码方法。The invention belongs to the technical field of air traffic control and monitoring, and in particular relates to a unified coding method for aircraft identification numbers based on airborne ADS-B.

背景技术Background technique

民用航空器飞行基于机载ADS-B系统进行无中心节点组网，空中各航空器通过目标感知、边缘计算、交换服务等分布式处理，对ADS-B监视目标进行复合跟踪，ADS-B地面组网系统网内所有成员能够共享一张精确合成态势图，支持协同间隔管理。The flight of civil aircraft is based on the airborne ADS-B system for non-central node networking. Through distributed processing such as target perception, edge computing, and switching services, each aircraft in the air performs compound tracking of ADS-B surveillance targets. ADS-B ground networking All members in the system network can share a precise synthetic situation map to support collaborative interval management.

复合跟踪在空中多个航空器传感器之间进行，每一个航空器将本航空器ADS-B监视的目标信息向协同组网系统网内成员分发，同时接收非系统内航空器发出的ADS-B目标信息，各航空器的协同处理单元对本航空器目标和系统外航空器ADS-B目标进行关联解算和编识号处理，确定目标的统一编识号、地理位置、海拔高度、速度和航向等实时信息，在空中各航空器之间并行形成一致的复合航迹。这里，统一编识号是指各航空器协同处理单元共用同一目标编识号段，各自分配目标编识号，结果应该是一致的，不会出现多名或重名。Composite tracking is carried out among multiple aircraft sensors in the air. Each aircraft distributes the target information monitored by its own aircraft ADS-B to members in the collaborative networking system network, and simultaneously receives ADS-B target information sent by non-system aircraft. The collaborative processing unit of the aircraft performs correlation calculation and numbering processing on the target of the aircraft and the ADS-B target of the aircraft outside the system, and determines the real-time information such as the unified identification number, geographic location, altitude, speed and heading of the target, and it is A consistent composite track is formed in parallel between the aircraft. Here, the unified identification number means that each aircraft cooperative processing unit shares the same target identification number segment, and assigns the target identification number to each, and the result should be consistent, and there will be no multiple or duplicate names.

现有技术包括：（1）分布式航迹融合，基于ADS-B信息生成的空管态势图，精度和实时性要求均低于精确合成态势图，在事先网络规划阶段，为每个航空器传感器分配互不重叠的目标编号段，多航空器通过航迹择优、编识号接替即可实现目标编识号统一；而本发明针对的精确合成态势图是基于ADS-B组网系统实现的，没有网络规划阶段，航空器共用同一个目标编识号段，通过竞争方式实现多航空器统一目标编识号。（2）集中式点迹融合处理，空中各航空器将目标点迹汇聚到同一个节点集中处理，目标编识号在单节点完成，不涉及多航空器统一目标编识号问题，集中式点迹融合处理带来的问题是占用信道多，航迹时延大。（3）有关文献述及的ADS-B组网应用或航迹复合跟踪技术等均未见目标统一编识号相关内容。Existing technologies include: (1) Distributed track fusion, the air traffic situation map generated based on ADS-B information, the accuracy and real-time requirements are lower than the precise synthetic situation map, in the prior network planning stage, for each aircraft sensor Allocate non-overlapping target numbering segments, and multiple aircraft can realize the unification of target numbering and numbering through track selection and numbering succession; and the precise synthetic situation diagram for the present invention is based on the ADS-B networking system. In the network planning stage, the aircraft share the same target identification number segment, and achieve a unified target identification number for multiple aircraft through competition. (2) Centralized point trace fusion processing, each aircraft in the air aggregates the target point traces to the same node for centralized processing, and the target identification number is completed in a single node, which does not involve the problem of unified target identification number of multiple aircraft, centralized point trace fusion The problem brought by the processing is that many channels are occupied and the track delay is large. (3) The ADS-B networking application or track composite tracking technology mentioned in the relevant literature does not see the relevant content of the unified target identification number.

发明内容SUMMARY OF THE INVENTION

发明目的：本发明所要解决的问题是针对现有技术不足，提供一种空管监视系统ADS-B目标统一编识号方法，通过竞争方式，在航空器无中心节点条件下，多航空器能够按同一序列进行目标统一编号，实现ADS-B在网航空器所有成员共享态势的一致性。Purpose of the invention: The problem to be solved by the present invention is to provide a method for uniform numbering and numbering of ADS-B targets in an air traffic control surveillance system. The sequence is numbered uniformly to achieve the consistency of the shared situation of all members of the ADS-B networked aircraft.

本发明包括如下步骤：The present invention comprises the following steps:

步骤1，建立目标编识号表；Step 1, establish the target numbering list;

步骤2，分配目标编识号；Step 2, assign the target ID number;

步骤3，远端目标共享；Step 3, remote target sharing;

步骤4，目标多名处理；Step 4, multi-target processing;

步骤5，目标重名处理；Step 5, target duplicate name processing;

步骤6，删除目标编识号。Step 6, delete the target ID number.

步骤1包括：各航空器协同处理单元建立相同的目标编识号表，表长N，表地址0～N，用于保存目标编识号，其中0单元不使用，即初始指针指向1单元，除了0以外的其他单元初始值设为空，目标编识号表从1～N循环使用。Step 1 includes: each aircraft cooperative processing unit establishes the same target number table, the table length is N, and the table addresses are 0 to N, which are used to store the target number, wherein the 0 unit is not used, that is, the initial pointer points to the 1 unit, except The initial value of other units other than 0 is set to be empty, and the target number table is used cyclically from 1 to N.

步骤2包括：如果本航空器ADS-B接收一个新的航空器目标，协同处理单元为所述新的航空器目标分配一个编识号 i，并将编识号登记在目标编识号表中，然后将目标航迹向网络分发，后续以同一编识号跟踪所述新的航空器目标，如果跟踪期间出现航迹丢点，协同处理单元进行航迹外推，得到k时刻目标航迹的状态估计

及其误差协方差矩阵

：Step 2 includes: if the own aircraft ADS-B receives a new aircraft target, the cooperative processing unit assigns an identification number i to the new aircraft target, registers the identification number in the target identification number table, and then records the The target track is distributed to the network, and the new aircraft target is subsequently tracked with the same identification number. If the track is lost during the tracking period, the cooperative processing unit performs track extrapolation to obtain the state estimate of the target track at time k.

and its error covariance matrix

:

，

,

，

,

其中，

为目标的状态转移矩阵，

是过程噪声协方差矩阵；得到的外推数据不向网络分发。in,

is the state transition matrix of the target,

is the process noise covariance matrix; the resulting extrapolated data is not distributed to the network.

步骤3包括：如果协同处理单元收到新航空器目标N的航迹，其k时刻状态估计为

，应与本航空器已知目标i作相关处理，过程如下：Step 3 includes: if the cooperative processing unit receives the track of the new aircraft target N, its state at time k is estimated as:

, should be related to the known target i of the aircraft, the process is as follows:

计算两航迹状态估计量的误差

：Calculate the error of the two-track state estimator

:

,

,

由于两条航迹相互独立，上式对应的协方差

为：Since the two tracks are independent of each other, the covariance corresponding to the above equation

for:

，

,

其中，

为新目标k时刻状态估计

的误差协方差矩阵；in,

Estimate the state at time k for the new target

The error covariance matrix of ;

描述航迹i和N相似性的充分统计量

为：Sufficient statistic describing the similarity of tracks i and N

for:

，

,

当两条航迹对应同一个目标时，

服从自由度为

的卡方分布，其中

是航迹状态的维数；如果

低于使用卡方分布获得的门限，则判定两条航迹相关，否则，判定为不相关；When two tracks correspond to the same target,

obey the degrees of freedom

The chi-square distribution of , where

is the dimension of the track state; if

If it is lower than the threshold obtained by using the chi-square distribution, it is determined that the two tracks are related, otherwise, it is determined to be irrelevant;

如果判定为不相关，则完全接受新的航空器目标，并将目标编识号登记在目标编识号表中；如果判定为相关，而且本航空器是新接收到的目标，或者是已跟踪目标的更新数据但编识号相同，则作航迹融合处理，保持目标编识号不变，得到：If it is determined to be irrelevant, the new aircraft target is fully accepted and the target ID is registered in the target ID table; if it is determined to be relevant, and this aircraft is a newly received target, or a tracked target If the data is updated but the identification number is the same, the track fusion process is performed, and the target identification number is kept unchanged, and the following results are obtained:

，

,

。

.

步骤4包括：如果协同处理单元在分布式处理过程中发现两个以上目标，即同一个目标被两个航空器用不同编识号向网络分发，则进行目标多名处理，保留数值小的编识号，丢弃数值大的编识号（即不同平台分别发现同一航迹，则丢弃数值大的码，保留数值小的码），然后向网络发送相关指令，所有航空器收到后采用保留的编识号合并目标，并将要丢弃的编识号从目标编识号表中删除。Step 4 includes: if the cooperative processing unit finds more than two targets in the distributed processing process, that is, the same target is distributed to the network by two aircrafts with different identification numbers, multi-target processing is performed, and the identification number with a small value is reserved. number, discard the ID number with a large value (that is, if different platforms find the same track respectively, discard the code with a large value and keep the code with a small value), and then send relevant instructions to the network, and all aircraft use the reserved code after receiving it. merge targets and delete the IDs to be discarded from the target ID table.

步骤5包括：如果协同处理单元在分布式处理过程中发现目标重名，即两个不同目标被两个航空器用同一编识号向网络分发，则进行目标重名处理，接受航空器编识号小的航空器目标报告，丢弃航空器编识号大的航空器目标报告，并发出解相关指令，航空器编识号大的航空器发现重名或收到指令后，重新为目标分配一个编识号并向网络分发，所有航空器收到后在目标编识号表中登记新编识号。Step 5 includes: if the cooperative processing unit finds that the target has the same name in the distributed processing process, that is, two different targets are distributed to the network by two aircraft with the same identification number, then the target duplicate name processing is performed, and the aircraft with the smaller identification number is accepted. The target report of the aircraft with the larger aircraft identification number is discarded, and the de-correlation instruction is issued. After the aircraft with the larger aircraft identification number finds the same name or receives the instruction, it assigns a new identification number to the target and distributes it to the network. , all aircraft will register a new identification number in the target identification number table upon receipt.

步骤6包括：如果协同处理单元在分布式处理过程中发现航迹消失或作废，则删除航迹文件，并将目标编识号从目标编识号表中删除。Step 6 includes: if the cooperative processing unit finds that the track disappears or is invalid during the distributed processing, delete the track file, and delete the target ID number from the target ID number table.

本发明的优点主要体现在：The advantages of the present invention are mainly reflected in:

（1）各航空器对ADS-B数据进行分布式处理，依据本发明可实现目标统一编识号，解决统一管制区内航空去在无中心节点条件下，共享合成态势图的一致性问题；(1) Distributed processing of ADS-B data by each aircraft, according to the present invention, a unified target identification number can be realized, and the consistency problem of sharing synthetic situation diagrams in a unified control area under the condition of no central node can be solved;

（2）将多航空器分布式处理中目标统一编识号问题提炼为处理规则，便于航空器协同处理单元软件研发、维护和升级；(2) Refine the problem of unified target identification number in multi-aircraft distributed processing into processing rules, which is convenient for the development, maintenance and upgrade of aircraft collaborative processing unit software;

（2）各航空器协同处理单元执行同样的程序实现多航空器ADS-B目标复合跟踪，便于异构航空器协同处理单元软件产品化。(2) Each aircraft cooperative processing unit executes the same procedure to realize multi-aircraft ADS-B target composite tracking, which is convenient for the software productization of heterogeneous aircraft cooperative processing unit.

附图说明Description of drawings

下面结合附图和具体实施方式对本发明做更进一步的具体说明，本发明的上述和/或其他方面的优点将会变得更加清楚。The present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments, and the advantages of the above-mentioned and/or other aspects of the present invention will become clearer.

图1是协同处理单元目标编识号表示意图。FIG. 1 is a schematic diagram of an object identification number table of a cooperative processing unit.

图2是协同处理单元目标统一编识号处理流程示意图。FIG. 2 is a schematic diagram of the processing flow of the target unified identification number of the cooperative processing unit.

具体实施方式Detailed ways

本发明公开了一种基于机载ADS-B的航空器识别号统一编码方法，针对空中各航空器协同处理单元获取的机载ADS-B监视信息构成的空管监视系统，建立统一目标编识号处理流程，所述流程包括建立目标编识号表、目标编识号分配、远端目标共享、目标多名处理、目标重名处理、目标编识号删除。具体地，各航空器协同处理单元通过执行以下步骤完成目标统一编识号：The invention discloses a unified coding method for aircraft identification numbers based on airborne ADS-B. For an air traffic control monitoring system composed of airborne ADS-B monitoring information obtained by cooperative processing units of various aircraft in the air, a unified target identification number processing is established. The process includes establishing a target ID table, target ID allocation, remote target sharing, target multiple processing, target duplicate name processing, and target ID deletion. Specifically, each aircraft cooperative processing unit completes the target unified identification number by performing the following steps:

1、各航空器协同处理单元建立相同的目标编识号表，表长N，表地址0～N，用于保存ADS-B目标编识号，其中0单元不使用，即初始指针指向1单元，其他单元初始值设为“空”，目标编识号表从1～63循环使用，如图1所示。1. Each aircraft cooperative processing unit establishes the same target number table, the table length is N, and the table address is 0~N, which is used to save the ADS-B target number.Unit 0 is not used, that is, the initial pointer points tounit 1. The initial value of other units is set to "empty", and the target number table is used cyclically from 1 to 63, as shown in Figure 1.

2、结合图2，协同处理单元接收本航空器已知的在网航空器ADS-B数据（P）和未知航空器新的ADS-B数据（J），在与已经建立的目标航迹（T）“相关－融合”过程中进行统一目标编识号处理，迭代生成目标航迹。目标统一编识号处理逻辑如下：2. Combined with Figure 2, the cooperative processing unit receives the known ADS-B data of the aircraft on the network (P) and the new ADS-B data of the unknown aircraft (J), which is in line with the established target track (T)" In the process of "correlation-fusion", the unified target identification number is processed, and the target track is generated iteratively. The processing logic of the target unified identification number is as follows:

（1）如果本航空器ADS-B接收一个新的航空器目标，协同处理单元应为该目标分配一个编识号i，并将编识号登记在目标编识号表中，然后将目标航迹向网络分发，后续以同一编识号跟踪该目标，如果跟踪期间出现航迹丢点，协同处理单元进行航迹外推，得到k时刻目标航迹的状态估计

及其误差协方差矩阵

：(1) If the aircraft ADS-B receives a new aircraft target, the cooperative processing unit shall assign an identification number i to the target, register the identification number in the target identification number table, and then send the target track to the target. Network distribution, and then follow the target with the same ID number. If the track is lost during the tracking period, the cooperative processing unit performs track extrapolation to obtain the state estimate of the target track at time k.

and its error covariance matrix

:

，

,

，

,

其中，

为目标的状态转移矩阵，

是过程噪声协方差矩阵；得到的外推数据不向网络分发。in,

is the state transition matrix of the target,

is the process noise covariance matrix; the resulting extrapolated data is not distributed to the network.

（2）如果协同处理单元收到新的航空器目标N的航迹，其k时刻状态估计为

，应与本航空器已知目标作“相关”处理，过程如下：(2) If the cooperative processing unit receives the new track of the aircraft target N, its state at time k is estimated as:

, should be "correlated" with the known target of this aircraft, the process is as follows:

计算两航迹估计量的误差：Compute the error of the two track estimators:

由于两条航迹相互独立，上式对应的协方差

为：Since the two tracks are independent of each other, the covariance corresponding to the above equation

for:

，

,

其中，

为新目标k时刻状态估计

的误差协方差矩阵；in,

Estimate the state at time k for the new target

The error covariance matrix of ;

因此，描述航迹i和N相似性的充分统计量

为：Therefore, a sufficient statistic to describe the similarity of tracks i and N

for:

当两条航迹对应同一个目标时，

服从自由度为

的卡方分布，其中

是航迹状态的维数；因而，如果

低于使用卡方分布获得的门限，则判定两条航迹“相关”，否则，认为二者“不相关”。When two tracks correspond to the same target,

obey the degrees of freedom

The chi-square distribution of , where

is the dimension of the track state; thus, if

Below the threshold obtained using the chi-square distribution, the two tracks are determined to be "correlated", otherwise, the two are considered "uncorrelated".

如果判断为“不相关”，则完全接受新的目标，并将目标编识号登记在目标编识号表中；如果“相关”，而且本航空器是新接收到的目标（无编识号），或者是已跟踪目标的更新数据但编识号相同，则作航迹融合处理，保持目标编识号不变，得到：If it is judged to be "irrelevant", the new target will be completely accepted and the target identification number will be registered in the target identification number table; if it is "relevant", and this aircraft is the newly received target (no identification number) , or the updated data of the tracked target but the same ID number, then perform track fusion processing, keep the target ID unchanged, and get:

，

,

。

.

（3）如果协同处理单元在分布式处理过程中发现目标多名，即同一个目标被两个航空器用不同编识号向网络分发，则进行目标多名处理，保留数值小的编识号，丢弃数值大的编识号，然后向网络发送“相关”指令，所有航空器收到后采用保留的编识号合并目标，并将要丢弃的编识号从编识号表中删除。(3) If the cooperative processing unit finds multiple targets in the distributed processing process, that is, the same target is distributed to the network by two aircrafts with different identification numbers, the multi-target processing is performed, and the identification number with the smaller value is reserved. Discard the ID number with a large value, and then send a "relevant" command to the network. After all aircraft receive it, use the reserved ID number to merge the target, and delete the ID number to be discarded from the ID number table.

（4）如果协同处理单元在分布式处理过程中发现目标重名，即两个不同目标被两个航空器用同一编识号向网络分发，则进行目标重名处理，接受航空器编识号小的航空器目标报告，丢弃航空器编识号大的航空器目标报告，并发出“解相关”指令，航空器编识号大的航空器发现重名或收到指令后，重新为目标分配编识号并向网络分发，所有航空器收到后在目标编识号表中登记新编识号。(4) If the cooperative processing unit finds that the target has the same name in the distributed processing process, that is, two different targets are distributed to the network by two aircraft with the same identification number, the target duplicate name processing will be performed, and the aircraft with the smaller identification number will be accepted. Aircraft target report, discard the target report of the aircraft with a large aircraft ID, and issue a "de-correlation" command. After the aircraft with a large aircraft ID is found to have the same name or received the command, the target will be assigned a new ID and distributed to the network. , all aircraft will register a new identification number in the target identification number table upon receipt.

（5）如果协同处理单元在分布式处理过程中发现航迹消失或作废，则删除航迹文件，并将目标编识号从编识号表中删除。(5) If the cooperative processing unit finds that the track disappears or is invalid during the distributed processing, it deletes the track file and deletes the target identification number from the identification number table.

3、网内所有传感器协同处理单元执行上述同样的操作。3. All sensors in the network cooperate with processing units to perform the same operations as above.

实施例Example

设定洋区飞行有A、B、C、D四架己方航空器，四机载架航空器机载ADS-B覆盖空间内需要识别的其他航空器目标总数不超过60个，ADS-B数据分布式处理中统一目标编识号过程如下：It is set that there are four own aircraft A, B, C, and D flying in the ocean area. The total number of other aircraft targets that need to be identified in the space covered by the four-aircraft ADS-B does not exceed 60, and the ADS-B data is processed in a distributed manner. The process of unified target number identification in China is as follows:

（1）建立目标编识号表，每个机载协同处理单元各自建立相同的目标编识号表，表长度为64，表地址为0～63，其中，0单元填0表示“不使用”，实际使用1～63，初始填FFH，表示“空”，如图1所示，图中N＝63。目标编识号用一个字节表示，低6bit有效。(1) Establish a target identification number table. Each airborne cooperative processing unit establishes the same target identification number table. The table length is 64, and the table address is 0 to 63. Among them, fill in 0 with 0 to indicate "not used" , 1 to 63 are actually used, and FFH is initially filled, indicating "empty", as shown in Figure 1, where N=63. The target identification number is represented by one byte, and the lower 6 bits are valid.

（2）分配目标编识号，随着本航空器机载ADS-B的协同处理单元接收航空器航迹。假设A航空器接收一个新目标航迹，则A的协同处理单元在目标编识号表查找“空”单元，首先查到1号单元为“空”，将1作为编识号赋给该目标，并将1写入1号单元，指针加1，然后，将处理生成的1号目标航迹向B、C、D分发。B、C、D收到1号目标后，均将目标编识号“1”写入自己的目标编识号表1号单元，指针加1，随着A航空器连续跟踪1号目标，不断产生1号目标航迹更新数据向网内分发，B、C、D航空器持续接受该目标，相当于也连续跟踪到1号目标。(2) Assign the target identification number, and receive the aircraft track with the cooperative processing unit of the ADS-B onboard the aircraft. Assuming that the aircraft A receives a new target track, the cooperative processing unit of A searches for the "empty" unit in the target identification number table, first finds that the No. 1 unit is "empty", and assigns 1 as the identification number to the target,Write 1 intoUnit 1, add 1 to the pointer, and distribute the No. 1 target track generated by processing to B, C, and D. After receiving target No. 1, B, C, and D all write the target identification number "1" into the No. 1 unit of their target identification number table, and add 1 to the pointer. The track update data of target No. 1 is distributed to the network, and aircraft B, C, and D continue to accept the target, which is equivalent to continuously tracking target No. 1.

（3）远端目标共享，同理，如果D航空器接收了一个新目标，D的协同处理单元在目标编识号表查找“空”单元，首先查到2号单元为“空”，将2作为编识号赋给该目标，并将“2”写入2号单元，指针加1，然后，将处理生成的2号目标航迹向A、B、C分发。A、B、C收到2号目标后，均将编识号“2”写入目标编识号表2号单元，指针加1，随着D航空器连续跟踪和信息分发，B、C、D航空器相当于也连续跟踪到2号目标。(3) Remote target sharing. Similarly, if aircraft D receives a new target, the cooperative processing unit of D searches for the "empty" unit in the target identification number table. The target is assigned as an identification number, and "2" is written into the No. 2 unit, the pointer is incremented by 1, and then the No. 2 target track generated by the processing is distributed to A, B, and C. After receiving target No. 2, A, B, and C all write the identification number "2" into the No. 2 unit of the target identification number table, and the pointer is incremented by 1. With the continuous tracking and information distribution of D aircraft, B, C, D The aircraft is equivalent to continuously tracking target No. 2.

（4）目标融合共享，如果2号目标处于机动状态，不断运动进入了A、D机载ADS-B重叠覆盖范围，A的协同处理单元在进行航迹数据处理过程中，会将2号目标已建航迹与本航空器接收的点迹、D航空器报告的2号航迹进行“相关”和融合，沿用编识号2标识融合航迹，并向网内分发，B、C、D收到后，均对2号目标航迹作数据更新；D航空器在下一个周期作同样的处理。(4) Target fusion and sharing, if target No. 2 is in a maneuvering state and continuously moves into the overlapping coverage of A and D airborne ADS-B, the cooperative processing unit of A will process target No. 2 in the process of track data processing. The established track is "correlated" and fused with the point track received by this aircraft and the No. 2 track reported by the D aircraft, and the fused track is identified by theID number 2, and distributed to the network, and received by B, C, and D. After that, the data of the No. 2 target track is updated; the aircraft D will do the same processing in the next cycle.

（5）目标多名处理，如果A、B两航空器同时接收同一个目标，A航空器以编识号3标识目标，B航空器以编识号4标识目标，均向网络分发，所有航空器收到后将编识号“3”写入目标编识号表3号单元、“4”写入4号单元，指针加2即指向5，然后融合处理识别出编识号3、编识号4为一个目标，即出现多名，这时，发现多名的航空器（1个或多个）向网络发送“相关”指令，通知3号、4号为一个目标，并且保留编识号“3”，丢弃编识号“4”，所有航空器收到后从编识号表中删除编识号4，即将4号单元恢复为“空”状态，但指针不修改，然后，以编识号3跟踪目标。(5) Multiple targets are processed. If two aircrafts A and B receive the same target at the same time, aircraft A will identify the target withID number 3, and aircraft B will identify the target with ID number 4, and they will be distributed to the network. Write the ID number "3" intoUnit 3 of the target ID number table, and write "4" into Unit 4, and add 2 to the pointer to point to 5, and then the fusion process identifiesID number 3 and ID number 4 as one The target, that is, there are multiple targets. At this time, the aircraft (1 or more) that are found to be more than one sends a "related" command to the network, notifying that No. 3 and No. 4 are one target, and retain the identification number "3" and discard it. ID number "4", all aircraft will delete ID number 4 from the ID number table after receiving it, that is, restore unit 4 to the "empty" state, but the pointer will not be modified, and then track the target withID number 3.

（6）目标重名处理，如果A、B两航空器都用5号标识各自接收新的目标，并向网络分发，所有航空器收到后进行“相关”处理，当识别两个5号目标不是同一个目标时，即出现重名，可默认A航空器报告的5号目标，丢弃B航空器报告的5号目标，并发出“解相关”指令，当B航空器发现重名或收到“解相关”指令后，重新将目标标识为6号向网络分发，然后，A航空器以编识号5、B航空器以编识号6跟踪和分发目标，C、D航空器相当于也连续跟踪到5号、6号目标，指针都指向7。(6) Target duplicate name processing. If both aircraft A and B use the No. 5 logo to receive a new target and distribute it to the network, all aircraft will perform "related" processing after receiving it. When it is recognized that the two No. 5 targets are not the same When a target has a duplicate name, it can default to target No. 5 reported by aircraft A, discard target No. 5 reported by aircraft B, and issue a "de-correlation" command. When aircraft B finds the same name or receives a "de-correlation" command After that, re-identify the target as No. 6 and distribute it to the network. Then, aircraft A tracks and distributes the target with ID number 5 and aircraft B with ID number 6. Aircraft C and D are equivalent to continuously tracking No. 5 and 6. The target, the pointers all point to 7.

（7）目标编识号删除，如果目标和/或航空器运动一段时间后，A航空器接收不到1号目标，则A的协同处理单元外推1号目标航迹，但外推航迹数据不向网络分发。如果连续外推若干周期均没收到ADS-B信息，也未收到该目标的远端报告，则判断1号目标航迹终止，应删除1号目标航迹文件，并从目标编识号表中删除编识号1，即将1单元恢复为“空”状态，指针不修改。B、C、D航空器作同样的处理，将编识号1从目标编识号表中删除。(7) The target identification number is deleted. If the target and/or the aircraft moves for a period of time, and the aircraft A cannot receive the target No. 1, the cooperative processing unit of A will extrapolate the target track of No. 1, but the extrapolated track data will not be used. Distribute to the network. If the ADS-B information and the remote report of the target are not received for several consecutive cycles of extrapolation, it is judged that the target track No. 1 is terminated, the target track file No. 1 should be deleted, and the target ID number table should be deleted. TheID number 1 is deleted in the middle, that is, theunit 1 is restored to the "empty" state, and the pointer is not modified. Aircraft B, C, and D are treated in the same way, andID 1 is deleted from the target ID list.

与现有分布式航迹融合方法相比，本发明提出的目标统一编识号方法，不需要事先网络规划，由多航空器共用同一个目标编识号段，通过竞争方式，实现分布式ADS-B数据处理中目标统一标识，而且网内每个机载ADS-B接收机探测到的目标数据都用于航迹更新，使得统一航迹的点密度更高、更精确、时延更小。而现有的分布式航迹融合必须进行事先网络规划，为每个传感器航空器分配互不重叠的目标编识号段，多航空器通过航迹择优、编识号接替实现目标编识号统一，其择优过程导致航迹点密度较小，航迹精度和时延指标难以满足国际民航组织缩小飞行间隔的要求。Compared with the existing distributed track fusion method, the unified target numbering method proposed by the present invention does not require prior network planning, and multiple aircraft share the same target numbering and numbering segment, and realize distributed ADS-IDS through competition. Targets are uniformly identified in B data processing, and the target data detected by each airborne ADS-B receiver in the network is used for track update, making the point density of the unified track higher, more accurate, and less time delay. However, in the existing distributed track fusion, network planning must be carried out in advance, and non-overlapping target identification number segments are allocated to each sensor aircraft. The selection process leads to a small density of track points, and the track accuracy and delay indicators cannot meet the requirements of ICAO to narrow the flight interval.

与现有集中式点迹融合方法相比，本发明提出的目标统一编识号方法，不依赖ADS-B地面站，空中各航空器协同处理单元运行同样的软件，执行同样的算法，自主实现目标统一编识号，特别适用于跨洋飞行、时延敏感应用的洋区和沙漠等地面设施稀缺环境。而现有的集中式点迹融合，仅适用于多航空器ADS-B航迹汇聚到ADS-B地面站集中处理，形成统一航迹后再返送到每个航空器，占用信道多，处理时延大，对地面设施要求高，难以满足ADS-B在偏远地区和洋区飞行的应用要求。Compared with the existing centralized point trace fusion method, the unified target numbering method proposed by the present invention does not rely on the ADS-B ground station, and the cooperative processing units of each aircraft in the air run the same software, execute the same algorithm, and realize the target autonomously. Unified identification number, especially suitable for transoceanic flight, time-delay-sensitive applications in ocean areas and deserts where ground facilities are scarce. However, the existing centralized point trace fusion is only suitable for the aggregation of multiple aircraft ADS-B tracks to the ADS-B ground station for centralized processing, forming a unified track and then returning it to each aircraft, which occupies many channels and causes a large processing delay. , it has high requirements for ground facilities, and it is difficult to meet the application requirements of ADS-B flying in remote areas and oceanic areas.

本发明提供了一种基于机载ADS-B的航空器识别号统一编码方法，具体实现该技术方案的方法和途径很多，以上所述仅是本发明的优选实施方式，应当指出，对于本技术领域的普通技术人员来说，在不脱离本发明原理的前提下，还可以做出若干改进和润饰，这些改进和润饰也应视为本发明的保护范围。本实施例中未明确的各组成部分均可用现有技术加以实现。The present invention provides a unified coding method for aircraft identification numbers based on airborne ADS-B. There are many specific methods and approaches for implementing this technical solution. The above are only the preferred embodiments of the present invention. It should be pointed out that for the technical field For those of ordinary skill in the art, without departing from the principle of the present invention, several improvements and modifications can also be made, and these improvements and modifications should also be regarded as the protection scope of the present invention. All components not specified in this embodiment can be implemented by existing technologies.

Claims (7)

1. An aircraft identification number unified coding method based on airborne ADS-B is characterized by comprising the following steps:

step 1, establishing a target number list;

step 2, distributing target identification numbers;

step 3, sharing the remote target;

step 4, processing the target multiple names;

step 5, processing the target duplicate name;

and 6, deleting the target identification number.

2. The method of claim 1, wherein step 1 comprises: the aircraft cooperative processing units establish the same target identification number table, the table length is N, the table addresses are 0-N, and the target identification number table is used for storing the target identification number, wherein the unit 0 is not used, namely the initial pointer points to the unit 1, the initial values of the units except for the unit 0 are set to be null, and the target identification number table is recycled from the unit 1-N.

3. The method of claim 2, wherein step 2 comprises: if the aircraft ADS-B receives a new aircraft target, the cooperative processing unit allocates an identification number i to the new aircraft target, the identification number is registered in a target identification number table, then a target track is distributed to a network, the new aircraft target is tracked by the same identification number, if a track loss point occurs during tracking, the cooperative processing unit extrapolates the track to obtain the state estimation of the target track at the moment k

And its error covariance matrix

：

，

，

Wherein,

is a state transition matrix for the target and,

is a process noise covariance matrix; the resulting extrapolated data is not distributed to the network.

4. The method of claim 3, wherein step 3 comprises: if the cooperative processing unit receives the flight path of the new aircraft target N, the state of the k moment is estimated to be

The correlation process with the known target i of the aircraft is as follows:

calculating the error of the two-track state estimator

：

,

The covariance of the above equation is due to the mutual independence of the two tracks

Comprises the following steps:

，

wherein,

estimating state for new target k time

The error covariance matrix of (2);

sufficient statistics describing the similarity of flight paths i and N

Comprises the following steps:

，

when the two tracks correspond to the same target,

obey degree of freedom of

Chi fang distribution of wherein

Is the dimension of the track state; if it is not

If the two tracks are lower than the threshold obtained by using chi-square distribution, judging that the two tracks are related, otherwise, judging that the two tracks are not related;

if the aircraft is judged to be irrelevant, completely accepting a new aircraft target and registering the target identification number in a target identification number table; if the correlation is judged, and the aircraft is a newly received target, or the updating data of the tracked target but the identification numbers are the same, performing track fusion processing, keeping the identification number of the target unchanged, and obtaining:

，

。

5. the method of claim 4, wherein step 4 comprises: if the cooperative processing unit finds more than two targets in the distributed processing process, namely the same target is distributed to the network by two aircrafts by using different identification numbers, the cooperative processing unit carries out multi-name processing on the target, reserves the identification number with a small numerical value, discards the identification number with a large numerical value, then sends a related instruction to the network, and all aircrafts adopt the reserved identification numbers to merge the targets after receiving the instruction, and delete the identification number to be discarded from the target identification number table.

6. The method of claim 5, wherein step 5 comprises: if the cooperative processing unit finds the target duplicate name in the distributed processing process, namely two different targets are distributed to the network by two aircrafts by using the same identification number, the target duplicate name processing is carried out, an aircraft target report with a small aircraft identification number is received, an aircraft target report with a large aircraft identification number is discarded, a decorrelation instruction is sent out, after the aircraft with the large aircraft identification number finds the duplicate name or receives the instruction, an identification number is distributed to the target again and is distributed to the network, and all aircrafts register new identification numbers in a target identification number table after receiving the identification numbers.

7. The method of claim 6, wherein step 6 comprises: if the cooperative processing unit finds that the flight path disappears or is invalid in the distributed processing process, the flight path file is deleted, and the target identification number is deleted from the target identification number table.

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