CN111986522B - Airborne equipment positioning method based on ADS-B signal, airborne equipment and storage medium thereof - Google Patents
Airborne equipment positioning method based on ADS-B signal, airborne equipment and storage medium thereof Download PDFInfo
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Abstract
本发明公开了一种基于ADS‑B信号的机载设备定位方法、机载设备及其存储介质，该方法包括接收从多个机载设备采集的飞机的周期性ADS‑B信息；根据所述ADS‑B信息，确定所述飞机的ADS‑B报文数据包；根据所述ADS‑B报文数据包以及预设的报文数据解析策略，确定所述飞机在多个周期内的轨迹点数据；根据所述飞机在多个周期内的轨迹点数据，将下一周期内的多个轨迹点数据进行数据修正；根据所述数据修正的多个轨迹点数据，确定所述飞机的飞行参考坐标特征信息。由此，可以减少在计算中产生的误差，避免机载设备与飞机共同飞机时产生位置偏离，定位更为精准。
The invention discloses an airborne equipment positioning method based on ADS-B signals, an airborne equipment and a storage medium thereof. The method includes receiving periodic ADS-B information of an aircraft collected from a plurality of airborne equipments; ADS-B information, determine the ADS-B message data packet of the aircraft; according to the ADS-B message data packet and the preset message data analysis strategy, determine the trajectory points of the aircraft in multiple cycles data; according to the trajectory point data of the aircraft in multiple cycles, perform data correction on the multiple trajectory point data in the next cycle; according to the multiple trajectory point data corrected by the data, determine the flight reference of the aircraft Coordinate feature information. As a result, the error generated in the calculation can be reduced, the positional deviation of the airborne equipment and the aircraft can be avoided, and the positioning is more accurate.
Description
Technical Field
The invention relates to the technical field of ADS-B, in particular to an airborne equipment positioning method based on ADS-B signals, airborne equipment and a storage medium thereof.
Background
ADS-B refers to broadcast-based auto-correlation surveillance, which is a surveillance technology proposed by the International Civil Aviation Organization (ICAO) based on satellite technology, data communication technology and computer technology for the development of future air traffic.
The ADS-B system takes an advanced ground-air/air-air data link as a communication means, takes information generated by a GPS navigation system and other airborne equipment as a data source, externally broadcasts own state parameters in real time, spontaneously and intermittently, and can directly monitor an air target by using a data link receiving device on the ground; the aircrafts which run adjacently in the air can realize the comprehensive and detailed understanding of the traffic condition of the surrounding airspace by mutually intercepting the adjacent broadcast by the airborne equipment.
Airborne equipment can be used for receiving ADS-B information of other airplanes or ground station, and airborne equipment can make the precision of calculation have certain error because of external disturbance influences down when the positioning control to the aircraft, leads to this airborne equipment can produce the position deviation, is difficult to satisfy the accurate demand of location.
Disclosure of Invention
The present invention is directed to solving, at least to some extent, one of the technical problems in the related art. To this end, a first object of the present invention is to provide a method for positioning an airborne device based on ADS-B signals, including:
receiving periodic ADS-B information of the aircraft collected from a plurality of onboard devices;
determining an ADS-B message data packet of the airplane according to the ADS-B information of the airplane acquired from the airborne equipment; determining the track point data of the airplane in a plurality of periods according to the ADS-B message data packet and a preset message data analysis strategy;
according to the track point data of the airplane in a plurality of periods, carrying out data correction on a plurality of track point data in the next period;
and determining the coordinate information of the airplane according to the data of the plurality of track points corrected by the data, and taking the coordinate information as the characteristic information of the flight reference coordinate.
Preferably, according to an embodiment of the present invention, the determining, according to the ADS-B packet and a preset packet data parsing policy, trace point data of the aircraft in multiple periods in the ADS-B packet includes:
dividing the ADS-B message data packet into a plurality of types;
analyzing field data of each data string according to the data string in the ADS-B message data packet of each type;
determining a message frame header and a message length in each field data according to the field data of each data string;
determining a plurality of horizontal position data sources of the airplane according to the message frame header and the message length;
and determining the track point data of the airplane in a plurality of periods according to the plurality of horizontal position data sources.
Preferably, according to an embodiment of the present invention, the data correction is performed on the multiple trace point data in the next cycle according to the trace point data of the aircraft in multiple cycles:
determining first track point data in the current period, second track point data in the previous period and third track point data in the next period according to the track point data in the multiple periods;
calculating the distance deviation amount of the first track point data, the second track point data and the preset track point data according to the first track point data, the second track point data, the third track point data and the preset track point data;
and performing data correction on the third track point data according to the distance deviation.
Preferably, according to an embodiment of the present invention, the calculating distance deviations between the first track point data, the second track point data, and the preset track point data according to the first track point data, the second track point data, the third track point data, and the preset track point data includes:
determining the distance offset by the following calculation formula:
Preferably, according to an embodiment of the present invention, the data correction of the third trace point data according to the distance deviation amount includes:
and correcting the data of the third track point by the following calculation formula:
wherein, (K'XK′Y,K′Z) For the coordinate characteristics of the data of the third track point after data correction, (K)X,KY,KZ) Is the coordinate feature of the third track point data, (S)X,SY,SZ) Is the distance offset in the coordinate direction.
Preferably, according to one embodiment of the invention, the data is corrected to K 'of the third waypoint data when the aircraft is in flight'XK 'of third track point data obtained by correcting the data serving as X-axis reference coordinates of the airplane'YK 'of third track point data obtained by correcting the data serving as Y-axis reference coordinates of the airplane'ZAs Z-axis reference coordinates for the aircraft.
The second purpose of the invention is to provide an airborne equipment positioning device based on ADS-B signals, comprising:
the receiving module is used for receiving the periodic ADS-B information of the airplane collected from the plurality of airborne equipment;
the first determining module is used for determining an ADS-B message data packet of the airplane according to a plurality of ADS-B information of the airplane acquired from the plurality of airborne equipment;
the second determining module is used for determining the track point data of the airplane in a plurality of periods according to the ADS-B message data packet and a preset message data analysis strategy;
the correction module is used for correcting the data of the plurality of track point data in the next period according to the track point data of the airplane in the plurality of periods;
and the third determining module is used for determining the coordinate characteristic information of the airplane according to the data of the plurality of track points corrected by the data.
Preferably, according to an embodiment of the present invention, the second determining module includes:
the classification submodule is used for dividing the ADS-B message data packet into a plurality of types;
the analysis submodule is used for analyzing the field data of each data string according to the data string in the ADS-B message data packet of each type;
the first determining submodule is used for determining a message frame header and a message length in each field data according to the field data of each data string;
the second determining submodule is used for determining a plurality of horizontal position data sources of the airplane according to the message frame header and the message length;
and the third determining submodule is used for determining the track point data of the airplane in each period according to the plurality of horizontal position data sources.
A third object of the present invention is to provide an onboard device, which includes a memory, a processor, and a computer program stored on the memory and executable on the processor, wherein the processor executes the computer program to implement the method for positioning an onboard device based on ADS-B signals as described above.
A fourth object of the present invention is to provide a computer storage medium, on which a computer program is stored, which when executed by a processor, implements the method for positioning an onboard device based on ADS-B signals as described above.
According to the positioning method of the airborne equipment based on the ADS-B signals, provided by the embodiment of the invention, the periodical ADS-B information of the airplane collected from a plurality of airborne equipment is received, the ADS-B message data packet of the airplane is determined according to the ADS-B information, then the track point data of the airplane in a plurality of periods is determined according to the ADS-B message data packet and a preset message data analysis strategy, and the data correction is carried out on the plurality of track point data in the next period according to the track point data of the airplane in the plurality of periods, so that the error generated in calculation can be reduced, the position deviation generated when the airborne equipment and the airplane share the airplane is avoided, and the positioning is more accurate.
And determining the flight reference coordinate characteristic information of the airplane according to the data of the plurality of track points corrected by the data.
Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the structures shown in the drawings without creative efforts.
FIG. 1 is a schematic view of an application scenario of an airborne device based on ADS-B signals provided by the present invention;
FIG. 2 is a schematic flow chart of the positioning method of the airborne equipment based on ADS-B signals provided by the invention;
FIG. 3 is another schematic flow chart of the positioning method of the airborne equipment based on ADS-B signals provided by the present invention;
FIG. 4 is another schematic flow chart of the positioning method of the airborne equipment based on ADS-B signals provided by the present invention;
FIG. 5 is a block diagram of the positioning device of the airborne equipment based on ADS-B signals provided by the present invention;
FIG. 6 is another block diagram of the positioning device of the airborne equipment based on ADS-B signals provided by the present invention;
fig. 7 is a block diagram of the onboard apparatus provided by the present invention.
The implementation, functional features and advantages of the objects of the present invention will be further explained with reference to the accompanying drawings.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the accompanying drawings are illustrative only for the purpose of explaining the present invention, and are not to be construed as limiting the present invention.
Referring to fig. 1, the aircraft is provided with airborne equipment, the airborne equipment can communicate with a satellite and acquire information of the position, the height and the like of the aircraft, the airborne equipment of each aircraft forms the information of the position, the height and the like of the aircraft into ADS-B information, the ADS-B information can be received and transmitted mutually, and meanwhile, the ground station can also receive the ADS-B information, so that the aircraft can be monitored.
Referring to fig. 2, an embodiment of the present invention provides an airborne device positioning method based on ADS-B signals, including:
and step S10, receiving the periodic ADS-B information of the airplane collected from the plurality of onboard devices.
In this embodiment, the onboard equipment comprises a GNSS receiver, an 1090ES transponder, an 1090ES receiver and a CDTI, wherein the GNSS receiver is used for onboard GPS reception, the 1090ES transponder can receive positioning information sent by the GNSS receiver, the 1090ES receiver is an electronic device used for receiving and decoding 1090MHz information, and the CDTI can provide an approaching traffic condition for a pilot; the system comprises an airborne device, an airborne antenna, an airborne transponder, a control unit and a control unit, wherein the airborne device on the airplane can acquire information such as the position and the height of the airplane and transmit the acquired information to the airborne transponder, so that the transponder recombines the information to form ADS-B information, and the airborne antenna sends the ADS-B information to other airplanes, so that airborne devices on other airplanes can receive the ADS-B information; it can be understood that the on-board device of the other airplane can acquire the ADS-B information of the own airplane through the on-board device of the own airplane, so that the other airplane can monitor the own airplane,
and step S20, determining the ADS-B message data packet of the airplane according to the ADS-B information.
In this embodiment, the ADS-B information is periodically sent, and the ADS-B information includes data such as the identity, longitude and latitude, altitude, speed, and airplane status of the local machine. The local machine can determine ADS-B message data packets of other airplanes by acquiring ADS-B information on other airplanes, wherein the ADS-B message data packets comprise horizontal positions, horizontal position integrity, unique 24-bit ICAO (independent communications operating System) airplane address codes, airplane identification codes, special position identification codes, air pressure heights, emergency states, emergency instructions and version numbers; it is understood that the on-board device of each aircraft may determine the ADS-B message packets of other aircraft for subsequent parsing.
And step S30, determining the track point data of the airplane in a plurality of periods according to the ADS-B message data packet and a preset message data analysis strategy.
Referring to fig. 3, a specific implementation manner of step S30 includes:
step S301, dividing ADS-B message data packets into a plurality of types;
step S302, according to the data string in each type of ADS-B message data packet, analyzing the field data of each data string;
step S303, determining a message frame header and a message length in each field data according to the field data of each data string;
step S304, determining a plurality of horizontal position data sources of the airplane according to the header and the length of the message frame;
step S305, determining the track point data of the airplane in a plurality of periods according to a plurality of horizontal position data sources.
In this embodiment, the ADS-B packet data packet may be classified into different types, where the ADS-B packet data packet includes a type, a length, and a field description of the packet, and is composed of a hexadecimal data string, and during parsing, a horizontal position data source included in the packet data packet may be parsed by a packet header and a packet length, where the horizontal position data source includes a latitude and a longitude of an airplane, and after determining the latitude and the longitude of the airplane, a plurality of latitudes and a plurality of longitudes of the airplane in a plurality of periods are determined as the trajectory point data.
And step S40, according to the track point data of the airplane in a plurality of periods, correcting the data of a plurality of track points in the next period.
Referring to fig. 4, a specific implementation manner of step S40 includes:
s401, according to the track point data in a plurality of periods, determining first track point data in the current period, second track point data in the previous period and third track point data in the next period;
s402, calculating the distance deviation amount of the first track point data, the second track point data and the preset track point data according to the first track point data, the second track point data, the third track point data and the preset track point data;
and S403, performing data correction on the third track point data according to the distance deviation.
In this embodiment, the current period may be set to 5 minutes, the track point of the airplane within 5 minutes may be determined as first track point data, the first 5 minutes of the current period may be determined as a previous period, the track point within the previous period may be determined as second track point data, the last 5 minutes of the current period may be determined as a next period, and the track point data of the next period may be determined as third track point data; the method comprises the steps that a preset route of an airplane is provided with preset track point data, and the first track point data and the second track point data are calculated through the preset track point data, so that the distance offset is determined.
Further, the specific implementation manner of the step S402 includes:
the distance offset is determined by the following calculation formula:
In this embodiment, the first locus point data may be set to L1，L2……LnSetting the second locus point data to H1，H2……HnThe third trace point data is set to K1，K2……KnThe preset track point data is set to L'1，L′2……L′nWhen the position of the airplane deviates, the distance offset S can be calculatediWhen calculating according to the above formula, when the first locus point data L1，L2……LnSecond locus point data H1，H2……HnAnd preset track point data L'1，L′2……L′nIf the positions of the aircraft and the airplane are consistent, the position of the airplane is not deviated; when the first track point data L1，L2……LnOr a second locus point H1，H2……HnAnd preset track point data L'1，L′2……L′nConsistent, second trajectory point data H1，H2……HnOr first locus point data L1，L2……LnAnd preset track point data L'1，L′2……L′nWhen the two points are different, the position of the airplane deviates when the point P is 1, and therefore the first track point L can be calculated1，L2……LnOr the distance offset generated by the second track point; when the first track point data L1，L2……LnAnd second locus point data H1，H2……HnAnd preset track point data L'1，L′2……L′nWhen the two points are different, P is 2, and the first track point data L of the airplane is represented1，L2……LnAnd second locus point data H1，H2……HnIf the data all deviate, the first track point data L is calculated1，L2……LnAnd second locus point data H1，H2……HnThe distance offset of (d); thus, the calculation thereof can be made more accurate.
Further, the specific implementation manner of step S403 includes:
and correcting the data of the third track point by the following calculation formula:
wherein, (K'XK′Y,K′Z) For the coordinate characteristics of the data of the third track point after data correction, (K)X,KY,KZ) Is the coordinate feature of the third track point data, (S)X,SY,SZ) Is the distance offset in the coordinate direction.
In this embodiment, after calculating the position deviations of the aircraft in different directions, the third trajectory point data K is calculated by the above calculation formula1，K2……KnData correction is carried out, so that the airplane can determine the flying track point data of the airplane in advance to adjust, and the airplane is prevented from deviating; it is understood that, in the current cycle, the course of the next cycle may be corrected in advance, wherein the course correction may be in the X-axis direction, the Y-axis direction or the Z-axis direction of the aircraft, and therefore, the third trajectory point data K1，K2……KnIs arranged in the X-axis direction ofKXAnd the Y-axis direction is set to KYZ axis direction is set to KZAnd when the data is corrected, the data is corrected through track point data in different directions of the airplane, so that the positioning of the airplane can be more accurate.
And step S50, determining the flight reference coordinate characteristic information of the airplane according to the plurality of track point data corrected by the data.
Specifically, the specific implementation manner of S50 in the above step includes: k 'of the data-corrected third track point data when the airplane is flying'XK 'of third track point data obtained by correcting data as X-axis reference coordinates of the airplane'YK 'of third track point data obtained by correcting data as Y-axis reference coordinates of the airplane'ZAs a Z-axis reference coordinate for the aircraft.
Wherein the reference coordinate after data correction may be set to K'X，K′Y，K′ZAfter data correction, the coordinates of the aircraft flight may be in K'X，K′Y，K′ZAnd the reference coordinate of the next period is corrected, so that the data correction of the flight coordinate of the airplane can be continuously carried out in the flight process, the position deviation is avoided, and the flight coordinate is more accurate.
According to the positioning method of the airborne equipment based on the ADS-B signals, provided by the embodiment of the invention, the periodical ADS-B information of the airplane collected from a plurality of airborne equipment is received, the ADS-B message data packet of the airplane is determined according to the ADS-B information, then the track point data of the airplane in a plurality of periods is determined according to the ADS-B message data packet and a preset message data analysis strategy, and the data correction is carried out on the plurality of track point data in the next period according to the track point data of the airplane in the plurality of periods, so that the error generated in calculation can be reduced, the position deviation generated when the airborne equipment and the airplane share the airplane is avoided, and the positioning is more accurate.
Referring to fig. 5, a second object of the present invention is to provide an on-board device positioning apparatus based on ADS-B signals, wherein the on-board device positioning apparatus 60 includes:
the receiving module 601 is configured to receive periodic ADS-B information of an aircraft collected from a plurality of onboard devices;
a first determining module 602, configured to determine, according to the ADS-B information, an ADS-B packet of the aircraft;
a second determining module 603, configured to determine trajectory point data of the aircraft in multiple periods according to the ADS-B packet and a preset packet data parsing policy;
the correction module 604 is configured to perform data correction on the multiple trace point data in the next period according to the trace point data of the aircraft in multiple periods;
a third determining module 605, configured to determine coordinate feature information of the aircraft according to the data-corrected plurality of trajectory point data.
Referring to fig. 6, the second determining module 602 includes:
a classification submodule 6021, configured to classify the ADS-B packet into multiple types;
the analysis submodule 6022 is configured to analyze field data of each data string according to the data string in each type of ADS-B packet data packet;
a first determining submodule 6023, configured to determine a header and a length of the packet in each field data according to the field data of each data string;
a second determining submodule 6024, configured to determine a plurality of horizontal position data sources of the aircraft according to the header and the length of the message frame;
a third determination sub-module 6025 is configured to determine trajectory point data for the aircraft during each cycle based on the plurality of horizontal position data sources.
It should be noted that, in the present specification, the embodiments are all described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments may be referred to each other. For the device or system type embodiment, since it is basically similar to the method embodiment, the description is simple, and for the relevant points, refer to the partial description of the method embodiment.
Referring to fig. 7, fig. 7 is a schematic structural diagram of an embodiment of an onboard device provided in an embodiment of the present invention, and for convenience of description, only parts related to the embodiment of the present invention are shown. Specifically, the onboard apparatus 700 includes a memory 702, a processor 701, and a computer program stored in the memory 702 and executable on the processor 701, and when the processor 701 executes the computer program, the steps of the method according to the above embodiment, such as the steps S10 to S50 shown in fig. 1, are implemented. Alternatively, the processor 701, when executing the computer program, implements the functions of each module/unit in the apparatus according to the above-described embodiment, for example, the functions of the modules 601 to 605 shown in fig. 5.
Illustratively, the computer program may be partitioned into one or more modules/units that are stored in the memory 702 and executed by the processor 701 to implement the present invention. The one or more modules/units may be a series of computer program instruction segments capable of performing specific functions, which are used to describe the execution of the computer program in the on-board device 700.
The onboard device 700 may include, but is not limited to, a processor 701 and a memory 702. Those skilled in the art will appreciate that the figure is merely an example of an on-board device 700 and does not constitute a limitation on the on-board device 700 and may include more or fewer components than shown, or some components in combination, or different components, for example, the on-board device 700 may also include input-output devices, network access devices, buses, etc.
The Processor 701 may be a Central Processing Unit (CPU), other general purpose Processor 701, a Digital Signal Processor 701 (DSP), an Application Specific Integrated Circuit (ASIC), a Field Programmable Gate Array (FPGA) or other programmable logic device, discrete Gate or transistor logic, discrete default hardware components, or the like. The general purpose processor 701 may be a microprocessor 701 or the processor 701 may be any conventional processor 701 or the like.
The memory 702 may be an internal storage unit of the onboard device 700, such as a hard disk or a memory of the onboard device 700. The memory 702 may also be an external storage device of the onboard device 700, such as a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card), or the like provided on the onboard device 700. Further, the memory 702 may also include both internal and external memory units of the onboard device 700. The memory 702 is used for storing the computer programs and other programs and data required by the onboard device 700. The memory 702 may also be used to temporarily store data that has been output or is to be output.
Embodiments of the present invention further provide a computer-readable storage medium, which stores a computer program, and when the computer program is executed by the processor 701, the steps in the method described in the above embodiments are implemented, for example, steps S10 to S50 shown in fig. 2. Alternatively, the computer program realizes the functions of each module/unit in the apparatus in the above embodiments when executed by the processor 701, for example, the functions of the modules 601 to 605 shown in fig. 5.
The computer program may be stored in a computer readable storage medium, and when executed by the processor 701, may implement the steps of the above-described method embodiments. Wherein the computer program comprises computer program code, which may be in the form of source code, object code, an executable file or some intermediate form, etc. The computer-readable medium may include: any entity or device capable of carrying the computer program code, recording medium, usb disk, removable hard disk, magnetic disk, optical disk, computer Memory, Read-Only Memory (ROM), Random Access Memory (RAM), electrical carrier wave signals, telecommunications signals, software distribution medium, and the like.
It should be noted that the computer readable medium may contain other components which may be suitably increased or decreased as required by legislation and patent practice in jurisdictions, for example, in some jurisdictions, computer readable media which may not include electrical carrier signals and telecommunications signals in accordance with legislation and patent practice.
In the above embodiments, the descriptions of the respective embodiments have respective emphasis, and reference may be made to the related descriptions of other embodiments for parts that are not described or illustrated in a certain embodiment.
The steps in the method of the embodiment of the invention can be sequentially adjusted, combined and deleted according to actual needs.
The modules or units in the system of the embodiment of the invention can be combined, divided and deleted according to actual needs.
Those of ordinary skill in the art would appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic pre-set hardware or in a combination of computer software and electronic pre-set hardware. Whether these functions are performed by pre-determined hardware or software depends on the particular application and design constraints imposed on the solution. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present invention.
In the embodiments provided herein, it should be understood that the disclosed apparatus/onboard device 700 and method may be implemented in other ways. For example, the above-described embodiments of the apparatus/on-board device 700 are merely illustrative, and for example, the division of the modules or units is only one logical division, and other divisions may be realized in practice, for example, multiple units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.
The above-mentioned embodiments are only used for illustrating the technical solutions of the present invention, and not for limiting the same; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; such modifications and substitutions do not substantially depart from the spirit and scope of the embodiments of the present invention, and are intended to be included within the scope of the present invention.
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| CN202010745045.7A CN111986522B (en) | 2020-07-29 | 2020-07-29 | Airborne equipment positioning method based on ADS-B signal, airborne equipment and storage medium thereof |
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