CN112070305A - A method for evaluating the quality of ADS-B four-dimensional track - Google Patents

Abstract

A method for evaluating ADS-B four-dimensional track quality is provided, which can position flaw messages and ensure that smooth and stable ADS-B track messages are output. Which comprises the following steps: (1) establishing a flight path; (2) determining a position large-scale deviation point; (3) determining a position sawtooth type swing point; (4) determining a position back jumping point; (5) determining a height jump point; when the new message is subjected to the four-dimensional track quality evaluation described in the steps (2) to (5), no position and height problems are found, and the position and height of the track point represented by the message are changed smoothly and stably.

Description

A method for evaluating the quality of ADS-B four-dimensional track

technical field

The invention relates to the technical field of civil aviation data processing, in particular to a method for evaluating the quality of an ADS-B four-dimensional track, which uses a relationship model among the four dimensions of time, longitude, latitude and altitude to evaluate the quality.

Background technique

In order to meet the needs of future air transport development, the International Civil Aviation Organization (ICAO) proposed an advanced technology that combines satellite navigation, communications, airborne and ground equipment, namely automatic dependent surveillance-broadcast ADS- B) Technology. This technology enhances the controller and pilot's awareness of the aircraft's operational situation, and improves the level of operational safety, airspace capacity and operational efficiency. The Civil Aviation Administration of China also focuses on promoting this new technology. According to the planning, the Air Traffic Management Bureau organized and planned the civil aviation automatic dependent surveillance-broadcast (ADS-B) engineering construction project in the eastern and western regions, which has now been put into operation and played an active role.

While the ADS-B system is running, it is necessary to conduct all-round quality inspection and monitoring of the ADS-B data. The Federal Aviation Administration (FAA) has long monitored various quality indicators of aircraft, including parameters contained in the aircraft's downlink ADS-B messages, data items integrity and continuity parameters, and outlier detection. , system stability parameters, etc., which is a complex and comprehensive evaluation system. my country is also gradually promoting the research and system construction of related technologies, and has already achieved monthly quality assessment of ADS-B data.

There are many directions and contents that can be evaluated by ADS-B data and systems, but for control operations, the most important is the latitude and longitude position and altitude of the aircraft. The packets with Category for Position) value can filter out some unqualified packets, but in the actual data application, it is found that the position and height of some high NUCp or high NIC packets are not perfect, and there are various flaws. . Although the frequency of occurrence is low, it will still have an impact on the ADS-B track, which in turn affects the system track stability of the automated system.

SUMMARY OF THE INVENTION

In order to overcome the defects of the prior art, the technical problem to be solved by the present invention is to provide a method for evaluating the quality of the ADS-B four-dimensional track, which can locate the defective message and ensure the smooth and stable output of the ADS-B track message. .

The technical scheme of the present invention is: this method for evaluating the quality of the ADS-B four-dimensional track, which comprises the following steps:

(1) Establish a track;

(2) Determine the large-scale deviation point of the position;

(3) Determine the position of the sawtooth swing point;

(4) Determine the position bounce point;

(5) Determine the altitude jump point;

When the new message undergoes the four-dimensional track quality evaluation described in steps (2)-(5), and no problems with position and altitude are found, the position and altitude of the track point represented by this message change smoothly and stably.

The present invention analyzes the position and altitude quality of the latest track point by analyzing the relationship between the position, altitude and time of the three track points before and after, so as to select the flawed points and ensure the output of a smooth and stable ADS-B flight path. trace message.

Description of drawings

FIG. 1 is a schematic diagram of a position large-scale deviation point according to the present invention.

FIG. 2 is a schematic diagram of a position sawtooth swing point according to the present invention.

FIG. 3 is a schematic diagram of a position bounce point according to the present invention.

FIG. 4 shows a schematic diagram of a height jump point according to the present invention.

Figure 5 shows a flow chart of track establishment according to the present invention.

FIG. 6 is a flow chart showing the location of large scale deviation points according to the present invention.

FIG. 7 is a flow chart showing a position sawtooth swing point according to the present invention.

FIG. 8 is a flow chart showing a position jumping point according to the present invention.

Figure 9 shows a flow chart of track establishment according to the present invention.

FIG. 10 is an overall flow chart of the method for evaluating the quality of the ADS-B four-dimensional track according to the present invention.

Detailed ways

In order to make the objectives, technical solutions and advantages of the present invention clearer, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention, but not to limit the present invention.

In order to make the description of the present disclosure more detailed and complete, the following provides an illustrative description of the embodiments and specific embodiments of the present invention; but this is not the only form of implementing or using the specific embodiments of the present invention. The features of various specific embodiments as well as method steps and sequences for constructing and operating these specific embodiments are encompassed in the detailed description. However, other embodiments may also be utilized to achieve the same or equivalent function and sequence of steps.

First, the parameter symbols and their meanings used in the calculation are given below:

{P ₁ , P ₂ , P ₃ , P ₄ , P ₅ }: 5 messages used to establish the start of the track;

V _max : the maximum flight speed that the aircraft can reach;

{P _i-1 , P _i , P _i+1 }: 3 adjacent packets;

P _i (lat _i ,lon _i ,GS _i ,FL _i ,TRP _i ): the information involved in the calculation in each message, including longitude, latitude, ground speed, altitude and time;

DIS(P _i ,P _i+1 ): Use the great circle route algorithm to calculate the distance between the two messages before and after;

HEADING(P _i ,P _i+1 ): Use the great circle route algorithm to calculate the true north heading angle determined by the two preceding and following messages;

SPEED(i,i+1): The calculation speed determined by the third message and the second message, the formula is DIS(P _i ,P _i+1 )/(TPR _i+1 -TPR _i );

ΔHEADING: the angle change value of the heading angle calculated between the 3rd message and the 2nd message and the heading angle calculated between the 2nd message and the 1st message, the formula is ΔHEADING=HEADING(P _i ,P _i+1 )-HEADING(P _i-1 ,P _i );

ΔRATE _heading : The angular change rate of the heading angle calculated between the 3rd message and the 2nd message and the heading angle calculated between the 2nd message and the 1st message, the formula is [HEADING(P _i ,P _i+1 )-HEADING(P _i-1 ,P _i )]/(TPR _i+1 -TPR _i );

ΔRATE _FL : The calculated air pressure altitude change rate between the 3rd message and the 2nd message, the formula is [FL _i+1 -FL _i ]/(TPR _i+1 -TPR _i ).

As shown in Figure 10, this method for evaluating the quality of the ADS-B four-dimensional track includes the following steps:

(1) Establish a track;

(2) Determine the large-scale deviation point of the position;

(3) Determine the position of the sawtooth swing point;

(4) Determine the position bounce point;

(5) Determine the altitude jump point;

When the new message undergoes the four-dimensional track quality evaluation described in steps (2)-(5), and no problems with position and altitude are found, the position and altitude of the track point represented by this message change smoothly and stably.

The present invention analyzes the position and altitude quality of the latest track point by analyzing the relationship between the position, altitude and time of the three track points before and after, so as to select the flawed points and ensure the output of a smooth and stable ADS-B flight path. trace message.

Preferably, as shown in Figure 5, the step (1) includes the following sub-steps:

(1.1) Take the first 5 messages {P ₁ , P ₂ , P ₃ , P ₄ , P ₅ } of the aircraft with the same 24-bit address code and the same flight number;

(1.2) Using the flashback traversal method, from P ₅ to P ₁ , select 3 packets whose time difference is greater than 0.4 seconds and less than 4 seconds in sequence, and record them as {RP ₁ , RP ₂ , RP ₃ };

(1.3) Mutual verification is performed on these three packets {RP ₁ , RP ₂ , RP ₃ }, and the verification formula is (1)-(3):

DIS(RP ₁ ,RP ₂ )<V _max ×(TPR ₁ -TPR ₂ ) (1)

DIS(RP ₂ ,RP ₃ )<V _max ×(TPR ₂ -TPR ₃ ) (2)

|HEADING(RP ₁ ,RP ₂ )-HEADING(RP ₂ ,RP ₃ )|<120 degrees (3)

(1.4) If {RP ₁ , RP ₂ , RP ₃ } satisfies the equations (1), (2) and (3), the track is established successfully, and {RP ₁ , RP ₂ , RP ₃ } is output as the starting point of the track string, jump to step (2);

(1.5) If {RP ₁ , RP ₂ , RP ₃ } does not satisfy equations (1), (2) and (3), then the track establishment is unsuccessful, and traverse to find three new messages according to step (1.2) again , and execute steps (1.3) and (1.4) after traversing, if no 3 messages that satisfy step (1.3) are found after the traversal, it means that the current {P ₁ , P ₂ , P ₃ , P ₄ , P ₅ } queue If the 5 messages cannot establish the track, release and clear the queue, go back to step (1.1), and re-collect 5 messages for the track establishment process until the track is successfully established.

Preferably, as shown in Figure 6, the step (2) includes the following sub-steps:

(2.1) Judging the time difference between each new message P _i+1 received and the previous message P _i , if (TRP _i+1 -TRP _i )<0.4 seconds, discard P _i+1 , Receive a new message and carry out the judgment in step (2.1) until a message with (TRP _i+1 -TRP _i )>=0.4 seconds is found;

(2.2) The new message P _i+1 satisfying the condition of (TRP _i+1 -TRP _i )<0.4 seconds is combined with the previous two messages {P _i-1 ,P _i } to form three adjacent messages before and after Text string {P _i-1 , P _i , P _i+1 };

(2.3) Calculate the calculation distance DIS(P _i ,P _i+1 ) and the calculation speed SPEED(i,i+1) between the third message and the second message;

(2.4) If DIS(P _i ,P _i+1 )>800m and SPEED(i,i+1)>500m/s, then there is a large scale deviation between the new message P _i+1 and the previous message , the point P _i+1 is the large-scale deviation point of the position; otherwise, there is no large-scale deviation problem in P _i+1 ;

(2.5) After the large-scale deviation detection is completed, go to step (3).

Preferably, as shown in Figure 7, the step (3) includes the following sub-steps:

(3.1) After successfully establishing the track according to step (1), judge the ground speed and altitude in each new message P _i+1 received, if GS _i+1 > 182.5 km/h or FL _i+1 > 1000 feet, then go to step (3.2), otherwise give up the judgment on P _i+1 , receive a new message and carry out the judgment of step (3.1);

(3.2) Judging the time difference between P _i+1 and the previous message P _i , if (TRP _i+1 -TRP _i )<0.4 seconds, discard P _i+1 and receive a new message and go to step (3.1) judgment;

(3.3) Find the new message P _i+1 that satisfies steps (3.1) and (3.2) and combine the previous two messages {P _i-1 , P _i } to form three adjacent message strings {P _i-1 ,P _i ,P _i+1 };

(3.4) Calculate ΔHEADING and ΔRATE _heading , if ΔHEADING < 170 degrees and ΔRATE _heading > 16 degrees per second, then the new message P _i+1 is the position sawtooth swing point, otherwise, Pi ₊₁ does not have sawtooth swing problem ;If several consecutive points in the front and back are oscillated, there will be obvious sawtooth-shaped continuous oscillation of the dot traces;

(3.5) After the zigzag swing detection is completed, go to step (4).

Preferably, as shown in Figure 8, the step (4) includes the following sub-steps:

(4.1) After successfully establishing the track according to step (1), judge the ground speed and altitude in each new message P _i+1 received, if GS _i+1 > 182.5 km/h or FL _i+1 > 1000 feet, then execute step (4.2), otherwise give up the judgment on P _i+1 , receive a new message and carry out the judgment in step (4.1);

(4.2) Judging the time difference between P _i+1 and the previous message P _i , if (TRP _i+1 -TRP _i )<0.4 seconds, discard P _i+1 and receive a new message and go to step (4.1) judgment;

(4.3) Find the new message P _i+1 that satisfies steps (4.1) and (4.2) and combine the previous two messages {P _i-1 , P _i } to form three adjacent message strings {P _i-1 ,P _i ,P _i+1 };

(4.4) Calculate ΔHEADING and ΔRATE _heading , if ΔHEADING > 170 degrees and ΔRATE _heading > 16 degrees per second, then the new message P _i+1 and the previous message have a position bounce, and the point P _i+1 is the position return Jump point; otherwise, there is no rebound problem for P _i+1 ;

(4.5) After the bounce detection is completed, go to step (5).

Preferably, as shown in Figure 9, the step (5) includes the following sub-steps:

(5.1) After the track is successfully established according to step (1), judge the height in each new message P _i+1 received. If the height FL _i+1 exists, execute step (5.2), otherwise give up on P i+1 Judgment of _i+1 , receive a new message and perform the judgment of step (5.1);

(5.2) Judging the time difference between P _i+1 and the previous message P _i , if (TRP _i+1 -TRP _i )<0.4 seconds, discard P _i+1 and receive a new message and go to step (5.1) judgment;

(5.3) Find the new message P _i+1 that satisfies steps (5.1) and (5.2) and combine the previous two messages {P _i-1 , P _i } to form three adjacent message strings {P _i-1 ,P _i ,P _i+1 };

(5.4) Calculate ΔRATE _FL , if |ΔRATE _FL | > 180 m/s, then the new message P _i+1 and the previous message have a barometric altitude jump, and the point P _i+1 is the barometric altitude jump point; Otherwise, P _i+1 does not have the problem of pressure-altitude jump;

(5.5) The pressure and altitude jump detection is completed.

When the new message has undergone the four-dimensional track quality evaluation described in steps (2)-(5), and no problems with position and altitude are found, then the quality of the four-dimensional parameters of the track point represented by this message is high, and the position and height Altitude changes are smooth and stable.

The above are only preferred embodiments of the present invention, and do not limit the present invention in any form. Any simple modifications, equivalent changes and modifications made to the above embodiments according to the technical essence of the present invention still belong to the present invention The protection scope of the technical solution of the invention.

Claims (6)

1. a method for evaluating ADS-B four-dimensional track quality, is characterized in that: it comprises the following steps: (1) Establish a track; (2) Determine the large-scale deviation point of the position; (3) Determine the position of the sawtooth swing point; (4) Determine the position bounce point; (5) Determine the altitude jump point; When the new message undergoes the four-dimensional track quality evaluation described in steps (2)-(5), and no problems with position and altitude are found, the position and altitude of the track point represented by this message change smoothly and stably. 2. the method for evaluating ADS-B four-dimensional track quality according to claim 1, is characterized in that: described step (1) comprises the following sub-steps: (1.1) Take the first 5 messages {P ₁ , P ₂ , P ₃ , P ₄ , P ₅ } of the aircraft with the same 24-bit address code and the same flight number; (1.2) Using the flashback traversal method, from P ₅ to P ₁ , select 3 packets whose time difference is greater than 0.4 seconds and less than 4 seconds in sequence, and record them as {RP ₁ , RP ₂ , RP ₃ }; (1.3) Mutual verification is performed on these three packets {RP ₁ , RP ₂ , RP ₃ }, and the verification formula is (1)-(3): DIS(RP ₁ ,RP ₂ )<V _max ×(TPR ₁ -TPR ₂ ) (1) DIS(RP ₂ ,RP ₃ )<V _max ×(TPR ₂ -TPR ₃ ) (2) |HEADING(RP ₁ ,RP ₂ )-HEADING(RP ₂ ,RP ₃ )|<120 degrees (3) (1.4) If {RP ₁ , RP ₂ , RP ₃ } satisfies the equations (1), (2) and (3), the track is established successfully, and {RP ₁ , RP ₂ , RP ₃ } is output as the starting point of the track string, jump to step (2); (1.5) If {RP ₁ , RP ₂ , RP ₃ } does not satisfy equations (1), (2) and (3), then the track establishment is unsuccessful, and traverse to find three new messages according to step (1.2) again , and perform steps (1.3) and (1.4) after traversing, if 3 messages that satisfy step (1.3) are not found after traversing, it means that the current {P ₁ , P ₂ , P ₃ , P ₄ , P ₅ } queue If the 5 messages cannot establish the track, release the queue to clear the queue, go back to step (1.1), and re-collect 5 messages for the track establishment process until the track is successfully established. 3. the method for evaluating ADS-B four-dimensional track quality according to claim 2, is characterized in that: described step (2) comprises the following substeps: (2.1) Judging the time difference between each new message P _i+1 received and the previous message P _i , if (TRP _i+1 -TRP _i )<0.4 seconds, discard P _i+1 , Receive a new message and carry out the judgment in step (2.1) until a message with (TRP _i+1 -TRP _i )>=0.4 seconds is found; (2.2) The new message P _i+1 satisfying the condition of (TRP _i+1 -TRP _i )<0.4 seconds is combined with the previous two messages {P _i-1 ,P _i } to form three adjacent messages before and after Text string {P _i-1 , P _i , P _i+1 }; (2.3) Calculate the calculation distance DIS(P _i ,P _i+1 ) and the calculation speed SPEED(i,i+1) between the third message and the second message; (2.4) If DIS(P _i ,P _i+1 )>800m and SPEED(i,i+1)>500m/s, then there is a large scale deviation between the new message P _i+1 and the previous message , the point P _i+1 is the large-scale deviation point of the position; otherwise, there is no large-scale deviation problem in P _i+1 ; (2.5) After the large-scale deviation detection is completed, go to step (3). 4. the method for evaluating ADS-B four-dimensional track quality according to claim 3, is characterized in that: described step (3) comprises the following substeps: (3.1) After successfully establishing the track according to step (1), judge the ground speed and altitude in each new message P _i+1 received, if GS _i+1 > 182.5 km/h or FL _i+1 > 1000 feet, then go to step (3.2), otherwise give up the judgment on P _i+1 , receive a new message and carry out the judgment of step (3.1); (3.2) Judging the time difference between P _i+1 and the previous message P _i , if (TRP _i+1 -TRP _i )<0.4 seconds, discard P _i+1 and receive a new message and go to step (3.1) judgment; (3.3) Find the new message P _i+1 that satisfies steps (3.1) and (3.2) and combine the previous two messages {P _i-1 , P _i } to form three adjacent message strings {P _i-1 ,P _i ,P _i+1 }; (3.4) Calculate ΔHEADING and ΔRATE _heading , if ΔHEADING < 170 degrees and ΔRATE _heading > 16 degrees per second, then the new message P _i+1 is the position sawtooth swing point, otherwise, Pi ₊₁ does not have sawtooth swing problem ;If several consecutive points in the front and back are oscillated, there will be obvious sawtooth-shaped continuous oscillation of the dot traces; (3.5) After the zigzag swing detection is completed, go to step (4). 5. the method for evaluating ADS-B four-dimensional track quality according to claim 4, is characterized in that: described step (4) comprises the following sub-steps: (4.1) After successfully establishing the track according to step (1), judge the ground speed and altitude in each new message P _i+1 received, if GS _i+1 > 182.5 km/h or FL _i+1 > 1000 feet, then execute step (4.2), otherwise give up the judgment on P _i+1 , receive a new message and carry out the judgment in step (4.1); (4.2) Judging the time difference between P _i+1 and the previous message P _i , if (TRP _i+1 -TRP _i )<0.4 seconds, discard P _i+1 and receive a new message and go to step (4.1) judgment; (4.3) Find the new message P _i+1 that satisfies steps (4.1) and (4.2) and combine the previous two messages {P _i-1 , P _i } to form three adjacent message strings {P _i-1 ,P _i ,P _i+1 }; (4.4) Calculate ΔHEADING and ΔRATE _heading , if ΔHEADING > 170 degrees and ΔRATE _heading > 16 degrees per second, then the new message P _i+1 and the previous message have a location bounce, and the point P _i+1 is the location return Jump point; otherwise, there is no rebound problem for P _i+1 ; (4.5) After the bounce detection is completed, go to step (5). 6. the method for evaluating ADS-B four-dimensional track quality according to claim 5, is characterized in that: described step (5) comprises the following sub-steps: (5.1) After the track is successfully established according to step (1), judge the altitude in each new message P _i+1 received, if the altitude FL _i+1 exists, execute step (5.2), otherwise give up on P i+1 Judgment of _i+1 , receive a new message and perform the judgment of step (5.1); (5.2) Judging the time difference between P _i+1 and the previous message P _i , if (TRP _i+1 -TRP _i )<0.4 seconds, discard P _i+1 and receive a new message and go to step (5.1) judgment; (5.3) Find the new message P _i+1 that satisfies steps (5.1) and (5.2) and combine the previous two messages {P _i-1 , P _i } to form three adjacent message strings {P _i-1 ,P _i ,P _i+1 }; (5.4) Calculate ΔRATE _FL , if |ΔRATE _FL | > 180 m/s, then the new message P _i+1 and the previous message have a pressure-altitude jump, and the point P _i+1 is the pressure-altitude jump point; Otherwise, P _i+1 does not have the problem of pressure-altitude jump; (5.5) The pressure and altitude jump detection is completed.

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