CN105491122B - Data fusion and the system exchanged between a kind of more Control Centre - Google Patents
Data fusion and the system exchanged between a kind of more Control Centre Download PDFInfo
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Abstract
The present invention relates to the data fusions and exchange system between a kind of more Control Centre, including front end data processing subsystem, fusion and switching subsystem.Front end data processing subsystem receives the integrated track and flying quality of multiple Control Centre by the control to input-output equipment, carries out parsing and data quality monitoring, and each channel data after parsing is sent to fusion and switching subsystem；Fusion and switching subsystem complete fusion treatment, the association process of flight visual simulation, flying quality of data between each Control Centre, form fusion flying quality and fusion integrated track.Data exchange and fusion can be completed in real time between Control Centre of the invention, realize the automatic transfer of seamless connection, the control of regulatory service between Control Centre.Ensured in area control area, between the difference ATC system of area control section radar control task continuity and compatibility.
Description
Technical field
The present invention relates to a kind of data fusion and exchange systems, and in particular to the data fusion between a kind of more Control Centre
With exchange system.
Background technique
Civil Aviation ATM system passes through construction in more than 20 years, especially builds by " eight or five ", " 95 " two five-year plans
If the ATC system of large quantities of Control Centre comes into operation in succession, regulatory service ability is made to reach a new height, blank pipe guarantee
Ability has the raising of essence, plays in terms of ensureing flight safety, normal and good service more and more prominent and crucial
Effect.Especially successively implement thunder in Beijing termination environment, Beijing Area, Zhuhai termination environment, Guangzhou region, the wide air route in capital in recent years
Up to control, preferable economic benefit and social benefit are produced.
With the high speed development of China Civil Aviation, civil aviaton's flight amount constantly increases, and the safety guarantee that Civil Aviation ATM is faced is appointed
Business system is increasingly heavier, and the requirement to blank pipe safeguards system is higher and higher.However, due to " seven states of China's air traffic control system equipment
Eight systems " status, providing the data between each Control Centre's automated system by country variant and manufacturer cannot be exchanged with each other and share,
The capacity and efficiency that greatly affected system, make the process from procedural control to radar control be affected.With civil aviaton's sky
The progress of pipe system reform, blank pipe Upper Control Area number will be reduced to 7 or so from more than present 20, with three regions
The foundation of the automated systems such as Control Centre, Beijing termination environment effectively improves the air traffic control ability in China, and real
Apply the grand strategy step of radar control strategy.For the function and effect for giving full play to Control Centre, Control Centre great Qu is completed
How domain operation realizes that information exchange and data fusion will be most important between Control Centre.
To implement in full radar control strategy, the automatic transfer in control section, zonal information sharing, whole nation flight meter
It draws processing (FDP) data fusion and has become Civil Aviation ATM control three important steps and demand.And realize that " system interconnection is certainly
Dynamic, information sharing interaction, data uniform synchronization " is the development trend of air traffic control automation system.
The Eleventh Five-Year Plan period, middle-size and small-size air traffic control automation system implements production domesticization, carries out the pipe of China's independent intellectual property right
The relevant technologies of air traffic control automation system data fusion and switching technology are formulated in data fusion and switching technology research between center processed
Standard is imperative.Foreign countries, especially European, the work of this aspect since the nineties in last century is, in system interface skill
The formulation of art specification and the various communications protocols of realization, and in terms of exploitation meets the ATC system that new air traffic control requires
A large amount of work has been done, the seamless connection and control for realizing the air traffic control data between control zone in control zone are transferred,
Comparable technological achievement is achieved, greatly impetus is played to realization " European Space integration ".
The data of existing Control Centre's data fusion system processing are relatively unilateral, are unable to real-time perfoming data exchange and melt
It closes, such as " design and realization of ATC Multi-Radar Data Fusion System " that Jiang Naixin is delivered (avionics, 2004 years the
The phase of volume 35 the 2nd) and Xue Wenan etc. deliver " data fusion of traffic information in civil aviaton's ATC system " (China Civil Aviation College's journal,
The 4th phase of volume 15 in 1997).And the data volume of each Control Centre is very big, and handle data whether comprehensively, accurately, data are
It is no can real-time exchange fusion be undoubtedly blank pipe effect quality determinant, therefore, the present invention to Civil Aviation ATM Control Centre it
Between, especially high-altitude Control Centre and the fusion of the data between low-to-medium altitude Control Centre and exchanges processing technique and studied.
Summary of the invention
The technical problems to be solved by the present invention are: provide a kind of data fusion between more Control Centre with exchange system
System realizes the real-time exchange and fusion, the seamless connection of regulatory service of control data between Control Centre.
The technical scheme is that data fusion and exchange system between a kind of more Control Centre, including front end number
According to processing subsystem, fusion and switching subsystem；Front end data processing subsystem is received by the control to input-output equipment
The integrated track and flying quality of multiple Control Centre carry out parsing and data quality monitoring, and each port number after parsing
According to sending fusion and switching subsystem to；Fusion and switching subsystem complete the fusion treatment of data between each Control Centre, flight
Data processing, flying quality association process, formed fusion flying quality and fusion integrated track；Front end data processing subsystem
Also the fusion flying quality and fusion integrated track of received fusion and switching subsystem output are output to by physical interface
Corresponding Control Centre's system front end.
The data fusion and exchange system further include digital simulation simulation subsystem, carry out mould to Control Centre's running environment
Quasi-, then data caused by the Control Centre of simulating realistic lead to generated integrated track, radar data and message data
It crosses output port and is output to other subsystems, the basic data source as entire data fusion and exchange system；It simultaneously can be with
The data of other subsystems and the transmission of other Control Centre are received by input port to swap and detect.
Front end data processing subsystem includes multi-channel data Processing Interface, data format parsing module, data format group
Die-filling piece, the quality of data check that module, multichannel track establish module, multichannel Target track displaying module, Human-machine Control module, interior
Portion's format assembles module；Multi-channel data Processing Interface carries out more according to access system demand control physical communication interface hardware
The parallel data in channel outputs and inputs control；Data format parsing module receives Control Centre's blank pipe automation in multiple channels
System output data, is parsed according to data format；Data format assembles module, to fusion flying quality and the comprehensive boat of fusion
Mark carries out data assembling, sends each Control Centre to by multi-channel data Processing Interface；The quality of data checks module, according to solution
The flight track and flight plan data of analysis carry out quality discrimination to the data that front end data processing subsystem receives, and provide and work as
Preceding quality of data state；Multichannel track establishes module, establishes parallel multi-channel data according to the setting of physical channel and stores
Area stores all flight tracks and flight plan data according to airbound target according to different receiving channels；Multichannel track is aobvious
Show module, the flight track data of module are established according to multichannel track, flying for all channels is shown by X-Y scheme mode
Row track data, while Concurrent Display mechanism is established, according to selection, different channel datas is shown simultaneously；Man-machine control
Molding block, controls human-computer interaction process；Internal form assembles module, to being input in front end data processing subsystem
Integrated track carries out data assembling, through network uniform transmission into fusion and switching subsystem.
Fusion and switching subsystem include front end data input interface, spatial registration module, Data Quality Analysis module, when
Between registration module, data association module, data fusion module, fused data display module, flying quality filtering module, flight number
According to analysis module, flying quality conversion module, flying quality display module, fused data and flying quality relating module, data
Output control module；Front end data input interface, receiving front-end data process subsystem are output in fusion and switching subsystem
The monitoring data of portion's local area network, integrated track data these system internal format data, and be sent to accordingly according to data type
Module is handled；Spatial registration module eliminates coordinate conversion deformation, Control Centre's systematic error these constant errors to fusion
The influence of effect；Data Quality Analysis module is analyzed by the monitoring data of spatial registration, using clustering method
Split data into normal data, lag data, abnormal data, output to the corresponding module monitoring to various quality states respectively
Data are handled；Temporal registration module is determined as normal number to by Data Quality Analysis module using least-squares algorithm
According to monitoring data carry out time synchronizing；Data association module, association track and point mark data, according to the monitoring number of processing
It is divided into normal data association and lag data correlation two parts according to the difference of quality；Data fusion module, according to monitoring data matter
The difference of amount carries out fusion treatment using different data fusion methods respectively, is divided into normal data fusion and lag data fusion
Two parts；Fused data display module shows fusion track data by X-Y scheme mode according to fusion track data；Fly
The flying quality of input is filtered screening, extracts required information by row data filtering module；Flying quality analyzes mould
Block analyzes obtained information, and required data item can be associated with fused data by parsing, for generating integrated track
It uses；Flying quality conversion module realizes conversion, start of heading and the conversion of end mark, time showing lattice of CRC validation algorithm
Formula conversion；Flying quality display module shows information by interface manner according to flying quality；Fused data and flying quality
Relating module, according to catchword in fused data and flying quality, flight plan, flight track to fused data and flight information into
Row association, forms integrated track data；Data output control module monitors data, flying quality and comprehensive inside the control system
Close the output state of track data.
Spatial registration module in fusion and switching subsystem is realized using following methods: whithin a period of time in two pipes system
There is N number of target in heart control zone overlapping region, has for k-th of integrated track data:
Wherein, N >=2, k=1,2 ..., N, xa,k、ya,kIndicate the integrated track target of Control Centre a Control Centre a's
The position at kth moment, x under local coordinate systemb,k、yb,kIndicate the integrated track target of Control Centre b in the part of Control Centre b
The position at kth moment under coordinate system, Δ raIndicate the oblique distance deviation of Control Centre a, θa,kIndicate Control Centre a at the kth moment
Azimuth, i.e., with the clockwise angle of due north, ra,kIndicate Control Centre a in the oblique of kth moment and integrated track target
Away from Δ θaIndicate the azimuth angle deviation of Control Centre a, Δ rbIndicate the oblique distance deviation of Control Centre b, θb,kIndicate Control Centre b
At the azimuth at kth moment, i.e., with the clockwise angle of due north, rb,kIndicate Control Centre b in kth moment and synthesis
The oblique distance of track target, Δ θbIndicate the azimuth angle deviation of Control Centre b；
To N number of integrated track data, there is 2N equation, indicate that 2N equation obtains with matrix form:
Z=Ax
Wherein, x is each Control Centre's systematic error, and z indicates coordinate difference value vector between Control Centre, and A is coefficient matrix；
This is a linear logical equations, normal equation are as follows:
ATAx=ATz
That is, x=(ATA)-1ATz
For convenience of calculation, enable:
Then: x=B-1C,
Wherein, T representing matrix in the above formulas turns order.
Digital simulation simulation subsystem includes basic data module, script production module, data control block, system administration
Module, graph image module, algoritic module；Master data is organized into system library by basic data module, is provided for other modules
Necessary basic database；Script makes module, makes script, by customized air route script, flight attitude synthesis script and flies
Three submodule compositions of row plan message script；Data control block generates data, sends and receives and control, data
Control module is able to record that all environmental datas include all transmitting-receiving situations, including the setting of supervision equipment information parameter, data
Output protocol setting and data output quality control；System management module carries out integrated pipe to the digital simulation simulation subsystem
Reason, the filing management including system parameter management, project；Graph image module, the Control Centre simulated by map denotation
Information and each associated script manufacturing process and whole life cycle；Algoritic module, generate alarm, collision event,
Data required for flare maneuver and flight plan.
Customized air route script submodule can be realized the arbitrarily devised flight route of user, then allow corresponding aircraft at this
It is run on air route, corresponding up and down, acceleration and deceleration is realized by design flight route.
Flight attitude synthesis script submodule can freely design entire flight path according to the performance of aircraft, and different flies
Machine performance generates different flight tracks.
Flight plan message script submodule is fixed in different positions according to the flight performance parameter of aircraft, air route, time
Justice issues different flight plan messages, while can automatically reply or manually reply telegram, and the content of generation can also give birth to automatically
At telegram or hand filling telegram, flight route is mainly made of the air route in fixed air route library, cannot be modified longitude and latitude, can be repaired
Change corresponding cruising altitude and speed.
The advantages of the present invention over the prior art are that:
Data exchange and fusion can be completed in real time between Control Centre of the invention, realize regulatory service between Control Centre
Seamless connection, control automatic transfer.It has ensured in area control area, radar pipe between the difference ATC system of area control section
The continuity and compatibility of task processed.
Detailed description of the invention
Fig. 1 is the structure chart of data fusion of the present invention and exchange system first embodiment.
Fig. 2 is the structure chart of data fusion of the present invention and exchange system second embodiment.
Fig. 3 is front end data processing subsystem structure chart of the present invention.
Fig. 4 is present invention fusion and switching subsystem structure chart.
Fig. 5 is digital simulation simulation subsystem structure chart of the present invention.
Fig. 6 is DoD formatted data process of analysis figure.
Fig. 7 is SMR formatted data process of analysis figure.
Fig. 8 is that data format assembles module diagram.
Specific embodiment
The present invention is described in further detail with reference to the accompanying drawing.
As shown in Figure 1, the first embodiment of the present invention, data fusion and exchange system between a kind of more Control Centre,
Including front end data processing subsystem, fusion and switching subsystem；Front end data processing subsystem passes through to input-output equipment
Control, receive the integrated track and flying quality of multiple Control Centre, carry out parsing and data quality monitoring, and parsing after
Each channel data send fusion and switching subsystem to；Fusion and switching subsystem complete the fusion of data between each Control Centre
Processing, flight visual simulation, flying quality association process, formed fusion flying quality and fusion integrated track；Front end data
The fusion flying quality and fusion integrated track of received fusion and switching subsystem output are also passed through physics by processing subsystem
Interface is output to corresponding Control Centre's system front end.
As shown in figure 3, front end data processing subsystem structure chart of the present invention, the front end data processing subsystem includes more
Channel data Processing Interface, data format parsing module, data format assembling module, the quality of data check module, multichannel boat
Mark establishes module, multichannel Target track displaying module, Human-machine Control module, internal form assembling module；Multi-channel data processing connects
For mouth according to access system demand control physical communication interface hardware, the parallel data for carrying out multichannel outputs and inputs control；Number
Control Centre's air traffic control automation system output data that multiple channels are received according to format parsing module, is solved according to data format
Analysis；Data format assembles module, data assembling is carried out to fusion flying quality and fusion integrated track, at multi-channel data
Reason interface sends each Control Centre to；The quality of data checks module, according to the flight track of parsing and flight plan data to preceding
The data that end data processing subsystem receives carry out quality discrimination, provide current data quality state；Multichannel track is established
Module establishes parallel multi-channel data memory block according to the setting of physical channel, according to different receiving channels, according to flight
Target stores all flight tracks and flight plan data；Multichannel Target track displaying module establishes module according to multichannel track
Flight track data, the flight track data in all channels are shown by X-Y scheme mode, while establishing Concurrent Display machine
System shows different channel datas according to selection simultaneously；Human-machine Control module, controls human-computer interaction process；
Internal form assembles module, carries out data assembling to the integrated track being input in front end data processing subsystem, passes through network
Uniform transmission is into fusion and switching subsystem.
Wherein, internal form includes data item message structure and track data structure two parts.Data item message structure is such as
Shown in table 1, track data structure is as shown in table 2.
Table 1
Table 2
| Title | Identifier |
| Coordinate | coor |
| Current acceleration | fa |
| Current angular velocity | fw |
| The current climb rate | cli |
| Present level | alt |
| Present speed | fv |
| Work as front direction | fbear |
Currently, the output data physical interface of the air traffic control automation system of each Control Centre is different, while they
The way of output and agreement are also different.The DOD of the THALES system output of three big Control Centre be using X.25 mode, and
SMR integrated data using TCP/IP the way of output.The Thunder God system and current domestic air traffic control system life of installation at home
The integrated data way of output for producing the air traffic control automation system of producer is HDLC mode.According to such case, present invention employs
HDLC protocol is to ICP/IP protocol conversion equipment (abbreviation protocol conversion device), as its physics access device.Protocol conversion
Equipment supports HDLC and X.25 waits interface modes, while supporting while inputting the ability of 16 ports.Present invention employs agreements
The input mode that conversion equipment and asynchronous serial port, TCP/IP are combined passes through front end for the reliability and stability for improving system
Data processor is unified to carry out output data to be converted to network data.It is carried out according to the data of different channels input real-time
Data format parsing and data processing, and it is input to fusion and switching subsystem progress Data Fusion.
DOD data interface standard is that the provider THALES of the EUROCAT-X of three big Control Centre is formulated, data source
Radar data record is generated in NESACC radar data processing (RDP) function, flight plan, which is handled, generates boat in (FDP) function
Class's data record, associated automatic monitoring (ADS) function generate ADS data record.DOD data message parsing as shown in FIG. 6,
According to DOD data format standard, TRAI (tracking action message), TDUP (tracking data update), TERM (tracking terminates) are reported
Text is parsed, and according to its rule, establishes flight plan information entrained in track information and its message.
SMR data interface standard is that the provider THALES of the EUROCAT-X of three big Control Centre is formulated, data source
Radar data record is generated in NESACC radar data processing (RDP) function, is generated and is flown in flight visual simulation (FDP) function
Row data record.Its output has point-device location information, the planned information of some airbound target.Due to SMR's
Radar data and flight plan data are transmitted using different data frames in data, in data parsing, parsing RDR and
FDR data, and information correlation is carried out using secondary code, establish unified system track.Process such as Fig. 7 of SMR data parsing
It is shown.
As shown in figure 8, data format assembles module, by flight plan information and plans relevant air route information, be assembled into
In output integrated track, specifically include:
1) data type determines
Since the data that each Control Centre receives are different, data fusion of the present invention and exchange system can be to Control Centre
Export the various formatted datas such as radar, DOD, ADS-B.Judgement assembling data are set according to user first during data assembling
Data type.
2) data format selects
Same type data also have different formats, if radar data takes second place point with regard to You Yici bis-, the data of different manufacturers
Format is also not quite similar.System provides flexible data format and sets mode, and various types data can be set separately with assembling
Format.And wrong data format can be set.
3) data item is assembled
Extract the letter such as aircraft secondary code, catchword, position, height, speed, heading in fusion integrated track data
Breath, matches corresponding flight information, is assembled according to selected data format to each data item in the data type.And it can root
According to the wrong data item such as setup parameter assembling jump, loss, messy code.
4) data length is calculated
According to the format of the data item and data setting assembled, the data length of the integrated track data is calculated.And it can
Wrong data length is returned according to setup parameter.
5) integrated track data are assembled
Data item data is assembled according to the data format of selection and calculated data length, it is comprehensive to obtain system
Close track data.
As shown in figure 4, present invention fusion and switching subsystem structure chart, the fusion and switching subsystem include front end number
According to input interface, spatial registration module, Data Quality Analysis module, temporal registration module, data association module, data fusion mould
Block, fused data display module, flying quality filtering module, flying quality analysis module, flying quality conversion module, flight number
According to display module, fused data and flying quality relating module, data output control module；Front end data input interface receives
Front end data processing subsystem be output to the monitoring data of fusion and switching subsystem internal lan, integrated track data these
System internal format data, and corresponding module is sent to according to data type and is handled；Spatial registration module is eliminated coordinate and is turned
The influence of transformation shape, Control Centre's systematic error these constant errors to syncretizing effect；Data Quality Analysis module, to by empty
Between the monitoring data that are registrated analyzed, normal data, lag data, abnormal number are splitted data into using clustering method
According to output is respectively handled the monitoring data of various quality states to corresponding module；Temporal registration module, using minimum
Two multiplication algorithms carry out time synchronizing to the monitoring data for being determined as normal data by Data Quality Analysis module；Data are closed
Gang mould block, association track and point mark data, are divided into normal data association and lag according to the difference of the monitoring quality of data of processing
Data correlation two parts；Data fusion module is distinguished according to the difference of the monitoring quality of data using different data fusion methods
Fusion treatment is carried out, normal data fusion and lag data fusion two parts are divided into；Fused data display module navigates according to fusion
Mark data show fusion track data by X-Y scheme mode；Flying quality filtering module carries out the flying quality of input
Filtering screening extracts required information；Flying quality analysis module analyzes obtained information, and parsing can
It is associated with required data item with fused data, is used for generating integrated track；Flying quality conversion module realizes CRC validation
Conversion, start of heading and the end mark of algorithm are converted, time showing format is converted；Flying quality display module, according to flight
Data show information by interface manner；Fused data and flying quality relating module, according in fused data and flying quality
Catchword, flight plan, flight track are associated fused data and flight information, form integrated track data；Data output
Control module monitors the output state of data, flying quality and integrated track data inside the control system.
The integrated track data of Control Centre's output are primarily present two kinds of error: random error and systematic error.
Random error is generated by the trueness error factor of supervision equipment each in Control Centre itself；Systematic error is by Formula of Coordinate System Transformation
It is generated using factors such as approximate algorithms.Random error can be eliminated in fusion process by blending algorithm well, and system
Error is a kind of error of fixation, cannot be eliminated automatically using blending algorithm, it is necessary to be estimated during realization, to each pipe
Center processed carries out error compensation, to eliminate registration error, improves fusion accuracy.
Since data have the multiple formats such as DOD, SMR, MH4008-03, EUR62, a part of data are indicated with longitude and latitude,
A part of data are to use right angle or polar coordinate representation, therefore to carry out spatial registration.Spatial registration passes through high-precision longitude and latitude first
Data, are uniformly converted to rectangular coordinate system form by degree conversion, then carry out Error processing to the data of each Control Centre.?
3 ° of points of band methods of Gauss Kru&4&ger projection are used to carry out coordinate conversion during spatial registration.Error processing includes at random error
Reason and systematic error processing.Random error is generated by the trueness error factor of supervision equipment each in Control Centre itself；System
Error is generated by Formula of Coordinate System Transformation using factors such as approximate algorithms.Random error can pass through blending algorithm in fusion process
It eliminates well, and systematic error is a kind of error of fixation, cannot be eliminated automatically using blending algorithm, it is necessary in the process of realization
In estimated, to each Control Centre carry out error compensation, to eliminate registration error.The present invention is using least square method to being
System error is registrated.
Spatial registration module in fusion and switching subsystem, is implemented as follows:
There is N number of target in control zone overlapping region in two pipes system center whithin a period of time, for k-th of integrated track data
Have:
Wherein, N >=2, k=1,2 ..., N, xa,k、ya,kIndicate the integrated track target of Control Centre a Control Centre a's
The position at kth moment, x under local coordinate systemb,k、yb,kIndicate the integrated track target of Control Centre b in the part of Control Centre b
The position at kth moment under coordinate system, Δ raIndicate the oblique distance deviation of Control Centre a, θa,kIndicate Control Centre a at the kth moment
Azimuth, i.e., with the clockwise angle of due north, ra,kIndicate Control Centre a in the oblique of kth moment and integrated track target
Away from Δ θaIndicate the azimuth angle deviation of Control Centre a, Δ rbIndicate the oblique distance deviation of Control Centre b, θb,kIndicate Control Centre b
At the azimuth at kth moment, i.e., with the clockwise angle of due north, rb,kIndicate Control Centre b in kth moment and synthesis
The oblique distance of track target, Δ θbIndicate the azimuth angle deviation of Control Centre b；
To N number of integrated track data, there is 2N equation, indicate that 2N equation obtains with matrix form:
Z=Ax
Wherein, x is each Control Centre's systematic error, and z indicates coordinate difference value vector between Control Centre, and A is coefficient matrix.
This is a linear logical equations, normal equation are as follows:
ATAx=ATz
That is, x=(ATA)-1ATz
For convenience of calculation, enable:
Then: x=B-1C,
Wherein, T representing matrix in the above formulas turns order.
Tracking gate is one piece of region in entire tracking airspace, and target data is divided by it may be derived from target and can not
The energy is in two parts of target.Its center is located at the predicted position of tracked target, and size is by receiving the general of correct target data
Rate determines.
The present invention is using oval tracking gate, if γ is oval tracking gateThresholding size, if integrated track data zk
Meet
Then zkFor candidate echo.Above formula is oval tracking gate rule.
According to oval tracking gate rule, its maximum likelihood thresholding γ can be determined0, so that being located at correct in tracking gate
Echo maximum possible is from tracked target, rather than extra echo.Optimal tracking thresholding γ0Expression formula are as follows:
In formula, PDFor detection probability, β is new echo density, and M is observation dimension, | S | it is the ranks of residual covariance matrix
Formula.
If an echo is fallen into the tracking gate of the target, this echo is directly used in track update；If being more than one
A above echo is fallen in the tracking gate of tracked target, then can be determined roughly for track more by tracking gate logic
New echo ensembles, then determine target echo by shortest-path method.
Data association module, using oval tracking gate and shortest-path method association track and point mark data.
Since each Control Centre is mutually indepedent to the monitoring of aircraft target at this stage, Control Centre's output integrated track number
It is believed that the period of breath is not often identical therefore often also not identical at the time of each Control Centre's output integrated track data.Melting
It needs the integrated data of different cycles, different moments carrying out time synchronization during closing.The present invention uses the least square time
Registration method carries out time synchronization operation to the integrated data that different Control Centre export.
If a, b is adjacent Control Centre, integrated track data output period is respectively τ and T1, and ratio between two is
τ: T1=n, it is next time comprehensive to navigate if Control Centre a is (k-1) τ to dbjective state the last time integrated track output time
Mark output time is (k-1) τ+nT1, this means that Control Centre a twice in succession between the output of dbjective state integrated track
Control Centre b has the output of n times integrated track.This n times integrated track data is merged using least square method, come eliminate by
Each Control Centre's integrated track output is asynchronous caused by the time deviation, to eliminate time deviation to more Control Centre
Between influence caused by integrated track data fusion.
Use Zn=[z1,z2,…,zn]TIndicate the collection that (k-1) is constituted to the n times integrated track data of k moment Control Centre b
It closes, znIt is synchronous with the measuring value of k moment Control Centre a, if withIndicate z1,z2,…,znMerge later comprehensive boat
The column vector that mark data and its derivative are constituted, then the integrated track data z of Control Centre biIt can be expressed as
Wherein: viIndicate the noise of integrated track data.
Above formula is rewritten into vector form are as follows:
Zn=WnU+Vn
Wherein: Vn=[v1,v2,…,vn]T, mean value zero, covariance matrix are as follows:
To merge pervious position measuring noise square difference, simultaneously
There is objective function J according to criterion of least squares:
It is rightLocal derviation is sought, and enables it be equal to zero and obtains
To have
Corresponding error covariance matrixFor
So:
Wherein:T representing matrix in above-mentioned each formula turns order.
Time synchronizing effectively can be carried out to the integrated track data of each Control Centre output using this method, be
The fusion of integrated track data is got ready.
The present invention carries out normal data using federal algorithm fusion-reconfigurable structure (fusion-reset mode, FR)
Fusion treatment.
Federated Filters are a kind of Decentralized Filter methods with two-level configuration, he has several subfilters and one
Senior filter composition, each subfilter independently carry out time update and measurement updaue.The function of senior filter has:
(1) time update is carried out；(2) result of each filter is merged, fused result can be fed back each
A filter, the initial value as next process cycle.
● fusion-reconfigurable structure (fusion-reset mode, FR)
(1) information assigning process:
Wherein: βi> 0, βiIt is information sharing scheme, and
(2) time of information updates:
Time renewal process independently carries out between each Control Centre and data fusion of the present invention and exchange system
(3) it measures and updates:
Data fusion of the present invention is not measured with exchange system, is measured update and is only carried out in each Control Centre
(4) information merges:
The partial estimation information (integrated track data) of each Control Centre is merged as the following formula
In above-mentioned each formula, the covariance matrix for being is kth moment fused integrated track data estimated value, when being kth
The state vector at quarter, the covariance matrix for being are that the Control Centre is estimated in integrated track data of the kth moment to the K+1 moment
Meter；State-transition matrix, be the Control Centre the kth moment integrated track number it is estimated that being the Control Centre kth
The state vector at+1 moment estimates that the covariance matrix for being, the covariance matrix for being is the Control Centre error in measurement covariance,
It is the measurement matrix of the Control Centre, is the integrated track data of the Control Centre, i.e. metric data；The covariance for being
Battle array, is integrated track data of the data fusion module to the fused global optimum of Local synthesis track data of each Control Centre
Estimate, the T representing matrix in above-mentioned each formula turns order.
The present invention carries out fusion treatment to lag data using non-sequential data asynchronous fusion algorithm.
Usually from the transmission scanning of different Control Centre to data fusion of the present invention and when exchange system, due to data transfer rate compared with
Height, there are random time lags for network transmission, and each Control Centre's integrated track pretreatment time is different, then from same
The integrated track earlier of one target reaches the case where data fusion of the present invention and exchange system after later integrated track
It is likely to occur, here it is the situations of non-sequential data.
One target is tracked, dynamical equation can be indicated with stochastic differential equation are as follows:
DX (t)=A (t) X (t) dt+ σ (t) d ξ (t)
Wherein: X (t) ∈ Rn；A (t), σ (t) are the coefficient matrixes of appropriate dimension；ξ (t) is increased with zero-mean and unit
Measure the Wiener process of covariance matrix；R indicates that real number, t indicate the time, and n is natural number, and n indicates real vector space.
If Φ (t, s) is the corresponding state-transition matrix of A (t), s is that each Control Centre's integrated track data reach the present invention
The maximum lag time of data fusion and exchange system, T2 is the sampling period of system, then to Time Continuous described in above formula
Linear system carries out discretization and obtains:
Xk=X (tk)=Φk,k-1Xk-1+wk,k-1
Wherein:
Φk,k-1=Φ (tk,tk-1)
tk=kT2
It is apparent from, wk,k-1Covariance matrix are as follows:
To Control Centre's integrated track data zkEquation are as follows: zk=HkXk+vk
Wherein: vkIt is mean value is zero, covariance matrix RkWhite noise, HkIndicate the measurement square at Control Centre's kth moment
Battle array, k is positive integer, and T representing matrix turns order.
Assuming that coming from moment tdIntegrated track data zdFor the step number l of step lag, that is to say, that tk-l<td<tk-l+1,
In, 1≤l≤s.It is available:
Xk=Φk,dXd+wk,d
So:
In moment t=tk'sAnd Pk|k, obtain from moment tdIntegrated track data earlier
zd=HdXd+vd
It is updated with this integrated track dataAnd Pk|k。
In formula zd=HdXd+vdIn, HdFor Control Centre's system measurements matrix, vdControl Centre's system measurements noise to
Amount, and be the white Gaussian noise of 0 mean value；Indicate the integrated track number at kth moment it is estimated that Pk|kForCovariance.
As shown in Fig. 2, the second embodiment of the present invention, which further includes digital simulation simulation subsystem, in control
Heart running environment is simulated, data caused by the Control Centre of simulating realistic, then by generated integrated track, radar
Data and message data are output to other subsystems by output port, the basic number as entire data fusion and exchange system
According to source；The data that other subsystems and other Control Centre send can also be received by input port simultaneously to swap and
Detection.
As shown in figure 5, digital simulation simulation subsystem structure chart of the present invention, the digital simulation simulation subsystem includes base
Plinth data module, script make module, data control block, system management module, graph image module, algoritic module.
Basic data module, the module are mainly organized into system library to master data, provide for other modules necessary
Basic database specifically includes that fixed air route, fixed way point, type of aircraft, GIS data, airport parameter and ginseng of transmitting messages
Number.Fixed air route, fixed way point are from the existing practical flight air route of national regulation and way point, and fixed way point is by name
Claim, longitude and latitude composition, fixed air route is made of title and fixed way point information；Type of aircraft includes that common civil aviaton of army flies
Row device is mainly made of information such as the title of aircraft, type, cruising speed, the climb rate, turning rates；GIS data is as system
Background data be made of national maps information, it is therefore an objective to intuitively show relevant geography information, specifically include that the whole nation
(or whole world) map, regulatory area, regulatory area boundary, alarm area, no-fly zone, the area RVSM, control tower area, mosaic area etc.；Airport ginseng
Number contain the airport titles in the whole nation, longitude and latitude, four word code of airport, four word codes of alternate airport, into departure procedure and
Runway information etc.；Parameter of transmitting messages is mainly some underlying parameters needed for flight plan, mainly including each center of transmiting and receive telegrams
It transmits and receive telegrams the information such as address.
Script makes module, script is made, by customized air route script, flight attitude synthesis script and flight plan message
Three submodule compositions of script.
Customized air route script submodule can be realized the arbitrarily devised flight route of user, then allow corresponding aircraft at this
It is run on air route, corresponding up and down, acceleration and deceleration is realized by design flight route.
Flight attitude synthesis script submodule can freely design entire flight path according to the performance of aircraft, and different flies
Machine performance generates different flight tracks.
Flight plan message script submodule is fixed in different positions according to the flight performance parameter of aircraft, air route, time
Justice issues different flight plan messages, while can automatically reply or manually reply telegram, and the content of generation can also give birth to automatically
At telegram or hand filling telegram, flight route is mainly made of the air route in fixed air route library, cannot be modified longitude and latitude, can be repaired
Change corresponding cruising altitude and speed.
Data control block generates data, sends and receives and control, and data control block is able to record all rings
Border data include all transmitting-receiving situations, including the setting of supervision equipment information parameter, the setting of data output protocol and data output
Quality control.The module can generate more radar datas, DOD data, MH03 integrated track, ADS-B etc., can also be counted according to flight
It draws script and generates flight plan data；Simultaneously the drama parameter and each output thunder of each track can be exported in internal network
Up to track data to " assessing system ", flight plan data is issued by serial ports；The module can also receive corresponding flight plan.
System management module, to subsystem progress integrated management, the filing management including system parameter management, project,
It can complete the filing optimization of Control Centre's information.
Graph image module, the information for the Control Centre simulated by map denotation and the system of each associated script
Make process and whole life cycle.
Algoritic module generates data required for alarm, collision event, flare maneuver and flight plan.
The present invention establishes data fusion and switching technology side between Control Centre based on advanced three big Control Centre
Case, carry out data fusion/Fabric Interface technology between Radar Data Fusion/flight plan data exchange transmission technology, Control Centre,
AIDC specification application between ATC system interconnection technique, the emulation of control intermediate data, monitoring check and evaluation technical research and control facility
Journal of Sex Research, unified air traffic control automation system function and configuration standard, radar control device configuration standard, blank pipe dynamic message are automatic
Processing standard develops automated system data fusion exchange confirmation verification tool and message monitoring instrument, reduces message error rate,
The automatic transfer process based on AIDC (ATS Interfacility Data Communications) has been pushed, has been done step-by-step
It is shared from control handover information automatic interaction between Control Centre to flying quality, finally realizes the FDP of close-coupled between system
Fusion.
Claims (8)
1. data fusion and exchange system between a kind of more Control Centre, which is characterized in that handle subsystem including front end data
System, fusion and switching subsystem；
Front end data processing subsystem is received the integrated track of multiple Control Centre and is flown by the control to input-output equipment
Row data carry out parsing and data quality monitoring, and each channel data after parsing are sent to fusion and switching subsystem；
Fusion and switching subsystem complete the pass of the fusion treatment of data between each Control Centre, flight visual simulation, flying quality
Connection processing forms fusion flying quality and fusion integrated track；
Front end data processing subsystem also integrates the fusion flying quality and fusion of received fusion and switching subsystem output
Track is output to corresponding Control Centre's system front end by physical interface；
It is described fusion and switching subsystem include front end data input interface, spatial registration module, Data Quality Analysis module, when
Between registration module, data association module, data fusion module, fused data display module, flying quality filtering module, flight number
According to analysis module, flying quality conversion module, flying quality display module, fused data and flying quality relating module, data
Output control module；
Front end data input interface, receiving front-end data process subsystem are output to fusion and switching subsystem internal lan
It monitors data, integrated track data these system internal format data, and is sent at corresponding module according to data type
Reason；
Spatial registration module eliminates coordinate conversion deformation, these constant errors of Control Centre's systematic error to the shadow of syncretizing effect
It rings；
Data Quality Analysis module is analyzed by the monitoring data of spatial registration, using clustering method by data
Be divided into normal data, lag data, abnormal data, output to corresponding module respectively to the monitoring data of various quality states into
Row processing；
Temporal registration module, using least-squares algorithm to the monitoring number for being determined as normal data by Data Quality Analysis module
According to progress time synchronizing；
Data association module, association track and point mark data, are divided into normal data according to the difference of the monitoring quality of data of processing
Association and lag data correlation two parts；
Data fusion module is carried out at fusion according to the difference of the monitoring quality of data using different data fusion methods respectively
Reason is divided into normal data fusion and lag data fusion two parts；
Fused data display module shows fusion track data by X-Y scheme mode according to fusion track data；Flight number
According to filtering module, the flying quality of input is filtered screening, extracts required information；
Flying quality analysis module analyzes obtained information, and required data can be associated with fused data by parsing
, it is used for generating integrated track；
Flying quality conversion module realizes conversion, start of heading and the conversion of end mark, time showing lattice of CRC validation algorithm
Formula conversion；
Flying quality display module shows information by interface manner according to flying quality；
Fused data and flying quality relating module, according to catchword, flight plan, flight track in fused data and flying quality
Fused data and flight information are associated, integrated track data are formed；
Data output control module monitors the output state of data, flying quality and integrated track data inside the control system；
The data fusion module specifically uses non-sequential data asynchronous fusion algorithm pair using lag Data Fusion method
It lags data and carries out fusion treatment, specifically include: a target being tracked, dynamical equation can use stochastic differential equation
It indicates are as follows:
DX (t)=A (t) X (t) dt+ σ (t) d ξ (t)
Wherein: X (t) ∈ Rn；A (t), σ (t) are the coefficient matrixes of appropriate dimension；ξ (t) is with zero-mean and unit increment association side
The Wiener process of poor battle array；R indicates that real number, t indicate the time, and n is natural number, and n indicates real vector space；
If Φ (t, s) is the corresponding state-transition matrix of A (t), s is that each Control Centre's integrated track data reach data of the present invention
The maximum lag time of fusion and exchange system, T2 is the sampling period of system, then linear to Time Continuous described in above formula
System carries out discretization and obtains:
Xk=X (tk)=Φk,k-1Xk-1+wk,k-1
Wherein:
Φk,k-1=Φ (tk,tk-1)
tk=kT2
It is apparent from, wk,k-1Covariance matrix are as follows:
To Control Centre's integrated track data zkEquation are as follows: zk=HkXk+vk
Wherein: vkIt is mean value is zero, covariance matrix RkWhite noise, HkIndicate the calculation matrix at Control Centre's kth moment, k
For positive integer, T representing matrix turns order,
Assuming that coming from moment tdIntegrated track data zdFor the step number l of step lag, that is to say, that tk-l<td<tk-l+1, wherein 1≤
L≤s, available:
Xk=Φk,dXd+wk,d
So:
In moment t=tk'sAnd Pk|k, obtain from moment tdIntegrated track data earlier
zd=HdXd+vd
It is updated with this integrated track dataAnd Pk|k,
In formula zd=HdXd+vdIn, HdFor Control Centre's system measurements matrix, vdIt is Control Centre's system measurements noise vector,
It and is the white Gaussian noise of 0 mean value；Indicate the integrated track number at kth moment it is estimated that Pk|kForCovariance.
2. system according to claim 1, which is characterized in that the system further includes digital simulation simulation subsystem, to pipe
Center running environment processed is simulated, data caused by the Control Centre of simulating realistic, then by generated integrated track,
Radar data and message data are output to other subsystems by output port, the base as entire data fusion and exchange system
Plinth data source；The data of other subsystems and the transmission of other Control Centre can also be received by input port simultaneously to be handed over
It changes and detects.
3. system according to claim 1, which is characterized in that front end data processing subsystem includes multi-channel data processing
Interface, data format parsing module, data format assembling module, the quality of data check that module, multichannel track establish module, more
Channel Target track displaying module, Human-machine Control module, internal form assemble module；
Multi-channel data Processing Interface according to access system demand control physical communication interface hardware, carry out multichannel and line number
It is controlled according to outputting and inputting；
Data format parsing module receives Control Centre's air traffic control automation system output data in multiple channels, according to data format
It is parsed；
Data format assembles module, carries out data assembling to fusion flying quality and fusion integrated track, passes through multi-channel data
Processing Interface sends each Control Centre to；
The quality of data checks module, is received according to the flight track of parsing and flight plan data to front end data processing subsystem
The data arrived carry out quality discrimination, provide current data quality state；
Multichannel track establishes module, parallel multi-channel data memory block is established according to the setting of physical channel, according to difference
Receiving channel, all flight tracks and flight plan data are stored according to airbound target；
Multichannel Target track displaying module establishes the flight track data of module according to multichannel track, passes through X-Y scheme mode
It shows the flight track data in all channels, while establishing Concurrent Display mechanism, according to selection, simultaneously to different channel datas
It is shown；
Human-machine Control module, controls human-computer interaction process；Internal form assembles module, handles front end data is input to
Integrated track in subsystem carries out data assembling, through network uniform transmission into fusion and switching subsystem.
4. system according to claim 1, which is characterized in that the spatial registration module in fusion and switching subsystem uses
Following methods are realized: there is N number of target in control zone overlapping region in two pipes system center whithin a period of time, for k-th of comprehensive boat
Mark data have:
Wherein, N >=2, k=1,2 ..., N, xa,k、ya,kIndicate the integrated track target of Control Centre a in the part of Control Centre a
The position at kth moment, x under coordinate systemb,k、yb,kIndicate local coordinate of the integrated track target in Control Centre b of Control Centre b
It is the position at lower kth moment, Δ raIndicate the oblique distance deviation of Control Centre a, θa,kIndicate Control Centre a in the orientation at kth moment
Angle, i.e., with the clockwise angle of due north, ra,kIndicate oblique distance of the Control Centre a at kth moment and integrated track target,
ΔθaIndicate the azimuth angle deviation of Control Centre a, Δ rbIndicate the oblique distance deviation of Control Centre b, θb,kIndicate Control Centre b the
The azimuth at k moment, i.e., with the clockwise angle of due north, rb,kIndicate Control Centre b in kth moment and integrated track
The oblique distance of target, Δ θbIndicate the azimuth angle deviation of Control Centre b；
To N number of integrated track data, there is 2N equation, indicate that 2N equation is as follows with matrix form:
Z=Ax
Wherein, x is each Control Centre's systematic error, and z indicates coordinate difference value vector between Control Centre, and A is coefficient matrix；
This is a linear logical equations, normal equation are as follows:
ATAx=ATz
That is, x=(ATA)-1ATz
For convenience of calculation, enable:
Then: x=B-1C,
Wherein, T representing matrix in the above formulas turns order.
5. system according to claim 2, which is characterized in that digital simulation simulation subsystem include basic data module,
Script makes module, data control block, system management module, graph image module, algoritic module；
Master data is organized into system library by basic data module, provides necessary basic database for other modules；
Script makes module, script is made, by customized air route script, flight attitude synthesis script and flight plan message script
Three submodule compositions；
Data control block generates data, sends and receives and control, and data control block is able to record all environment numbers
Quality is exported according to including all transmitting-receiving situations, including the setting of supervision equipment information parameter, the setting of data output protocol and data
Control；
System management module carries out integrated management to the digital simulation simulation subsystem, returns including system parameter management, project
Shelves management；
Graph image module, the production of the information and each associated script of the Control Centre simulated by map denotation
Journey and whole life cycle；Algoritic module generates data required for alarm, collision event, flare maneuver and flight plan.
6. system according to claim 5, which is characterized in that it is any that customized air route script submodule can be realized user
Design flight route, corresponding aircraft then allowed to run on the air route, realized by design flight route corresponding rising,
Decline accelerates and slows down.
7. system according to claim 5, which is characterized in that flight attitude synthesis script submodule can be according to aircraft
Performance freely designs entire flight path, and different aeroplane performances generates different flight tracks.
8. system according to claim 5, it is characterised in that: flight plan message script submodule is according to the flight of aircraft
Performance parameter, air route, time define in different positions issues different flight plan message, while can automatically reply or manually
Telegram is replied, the content of generation can automatically generate telegram or hand filling telegram, and flight route is mainly by fixed air route library
Air route composition, cannot modify longitude and latitude, can modify corresponding cruising altitude and speed.
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| CN111078687B (en) * | 2019-11-14 | 2023-07-25 | 青岛民航空管实业发展有限公司 | Flight operation data fusion method, device and equipment |
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