阅读说明：本技术 基于ads-b广播信号飞机航路监测方法、装置及计算机存储介质 (Aircraft route monitoring method and device based on ADS-B broadcast signal and computer storage medium ) 是由 桂冠 赵东旭 于 2019-12-06 设计创作，主要内容包括：一种基于ADS-B广播信号飞机航路监测方法、装置及计算机存储介质。所述方法包括：选择的航路划分为多段航路段,并获取每一段航路段的多个最优站点；通过所述最优站点接收飞机的ADS-B广播信号,并获取所述飞机的多个量测信息,其中量测信息至少包括所述飞机所需到达时间差和到达角度；根据量测信息对所述飞机进行定位,获取所述飞机的第一位置信息；将所述第一位置信息与根据ADS-B广播信号获取的飞机第二位置信息比对,当两者误差超过预设阈值时发出提示信息。该方案提高了定位精度与鲁棒性,并且有效解决了ADS-B广播信号易被篡改与攻击的问题,可以有效保障航路定位的可靠性。(An aircraft route monitoring method and device based on ADS-B broadcast signals and a computer storage medium. The method comprises the following steps: dividing the selected air route into multiple sections of air route sections, and acquiring multiple optimal stations of each section of air route section; receiving ADS-B broadcast signals of an airplane through the optimal station, and acquiring a plurality of measurement information of the airplane, wherein the measurement information at least comprises arrival time difference and arrival angle required by the airplane; positioning the airplane according to the measurement information to obtain first position information of the airplane; and comparing the first position information with second position information of the airplane acquired according to the ADS-B broadcast signal, and sending prompt information when the error between the first position information and the second position information exceeds a preset threshold value. The scheme improves the positioning precision and robustness, effectively solves the problem that the ADS-B broadcast signal is easy to be tampered and attacked, and can effectively guarantee the reliability of the airway positioning.)

1. An aircraft route monitoring method based on ADS-B broadcast signals is characterized by comprising the following steps: dividing the selected airway into multiple segments of airway sections, and acquiring multiple optimal stations of each segment of airway section; receiving ADS-B broadcast signals of an airplane through the optimal station, and acquiring a plurality of measurement information of the airplane, wherein the measurement information at least comprises arrival time difference and arrival angle required by the airplane; positioning the airplane according to the measurement information to obtain first position information of the airplane; and comparing the first position information with second position information of the airplane acquired according to the ADS-B broadcast signal, and sending prompt information when the error between the first position information and the second position information exceeds a preset threshold value.

2. The method of claim 1, wherein obtaining an optimal site for each segment of the road segment comprises: taking the starting point and the end point of the navigation road section as two opposite angle vertexes of a rectangle to form a rectangular area, and multiplying the area of the rectangular area by one time to obtain an alternative area; gridding the alternative area, wherein the gridded grid points are the positions of the stations corresponding to the airway segment; and 4 optimal sites are obtained through a traversal method.

3. The method of claim 1, wherein locating the aircraft based on metrology information, and wherein obtaining first location information for the aircraft comprises: and sending the measurement information into a self-adaptive multi-model algorithm, positioning the airplane through an extended Kalman filter, and acquiring first position information of the airplane.

4. The method of claim 3, further comprising the state of motion of the aircraft as it flies on the airways following CV and CT models.

5. The method of claim 1, wherein the obtaining the second position information of the aircraft according to the ADS-B broadcast signal comprises converting the aircraft position information in the ADS-B broadcast signal into position information corresponding to a WGS-84 coordinate system, i.e., the second position information.

6. An aircraft airway monitoring device based on ADS-B broadcast signals, comprising: the optimal station module is used for dividing the selected air route into multiple sections of air route sections and acquiring multiple optimal stations of each section of air route section; the receiving module is used for receiving ADS-B broadcast signals of the airplane through the optimal station and acquiring a plurality of pieces of measuring information of the airplane, wherein the measuring information at least comprises arrival time difference and arrival angle required by the airplane; the positioning module is used for positioning the airplane according to the measurement information to acquire first position information of the airplane; and the comparison module is used for comparing the first position information with second position information of the airplane acquired according to the ADS-B broadcast signal, and sending prompt information when the error between the first position information and the second position information exceeds a preset threshold value.

7. The apparatus of claim 6, wherein the optimal site module comprises: the construction unit is used for forming a rectangular area by taking the starting point and the end point of the navigation road section as two opposite angle vertexes of a rectangle, and multiplying the area of the rectangular area by one time to obtain an alternative area; the gridding unit is used for gridding the alternative areas, wherein the gridded grid points are the positions of the stations corresponding to the airway sections; and the traversing unit is used for acquiring 4 optimal sites by a traversing method.

8. The apparatus of claim 6, wherein the positioning unit is further configured to send the measurement information to an adaptive multi-model algorithm, and to achieve positioning of the aircraft through an extended kalman filter, so as to obtain the first position information of the aircraft.

9. The apparatus of claim 8, further comprising the state of motion of the aircraft as it flies on the airways following CV and CT models.

10. The apparatus of claim 6, wherein the comparing unit is further configured to convert the aircraft location information in the ADS-B broadcast signal into location information corresponding to a WGS-84 coordinate system, i.e., the second location information.

11. A computer storage medium storing a computer program, characterized in that the computer program, when executed, implements the method according to any one of claims 1-5.

Technical Field

The invention belongs to the field of aviation monitoring and air traffic management, and particularly relates to an aircraft route monitoring method and device based on ADS-B broadcast signals and a computer storage medium.

Background

The traditional airway monitoring mainly depends on a radar system, so that the cost is high, and the positioning precision is not high enough. With the evolution of the aircraft monitoring and air traffic management from the radar mode to the ADS-B mode, the air-ground integrated communication requirement in the future puts higher requirements on the positioning and tracking of the aircraft airway, and it is necessary to introduce more advanced positioning means in the airway scene. The ADS-B positioning monitoring system has higher positioning precision and lower cost. However, because the ADS-B is designed as a broadcast signal, the ADS-B message is tampered and attacked, and the safety and reliability have great problems. In a wide area route scene, multi-point positioning can improve positioning accuracy and robustness, improve the safety of a monitoring system and overcome the risks and problems.

Disclosure of Invention

In view of the above-mentioned shortcomings of the prior art, an object of the present invention is to provide a method for tracking and monitoring a determined aircraft route, which replaces the traditional radar positioning and monitoring, and gives an early warning and prompt when the aircraft ADS-B message is tampered and attacked or the aircraft is flying off the route.

The embodiment of the invention discloses an aircraft route monitoring method based on ADS-B broadcast signals, which comprises the following steps: dividing the selected airway into multiple segments of airway sections, and acquiring multiple optimal stations of each segment of airway section; receiving ADS-B broadcast signals of an airplane through the optimal station, and acquiring a plurality of measurement information of the airplane, wherein the measurement information at least comprises arrival time difference and arrival angle required by the airplane; positioning the airplane according to the measurement information to obtain first position information of the airplane; and comparing the first position information with second position information of the airplane acquired according to the ADS-B broadcast signal, and sending prompt information when the error between the first position information and the second position information exceeds a preset threshold value.

In one possible embodiment, obtaining the optimal station for each of the plurality of navigation segments comprises: taking the starting point and the end point of the navigation road section as two opposite angle vertexes of a rectangle to form a rectangular area, and multiplying the area of the rectangular area by one time to obtain an alternative area; gridding the alternative area, wherein the gridded grid points are the positions of the stations corresponding to the airway segment; and 4 optimal sites are obtained through a traversal method.

In one possible embodiment, the positioning the aircraft according to the measurement information, and the obtaining the first position information of the aircraft includes: and sending the measurement information into a self-adaptive multi-model algorithm, positioning the airplane through an extended Kalman filter, and acquiring first position information of the airplane.

In one possible embodiment, the method further comprises following the CV and CT models for the motion state of the aircraft as it flies on the airways.

In one possible embodiment, the obtaining of the second position information of the aircraft according to the ADS-B broadcast signal includes converting the aircraft positioning information in the ADS-B broadcast signal into position information corresponding to a WGS-84 coordinate system, i.e., the second position information.

The embodiment of the invention also discloses an aircraft route monitoring device based on ADS-B broadcast signals, which comprises: the optimal station module is used for dividing the selected air route into multiple sections of air route sections and acquiring multiple optimal stations of each section of air route section; the receiving module is used for receiving ADS-B broadcast signals of the airplane through the optimal station and acquiring a plurality of pieces of measuring information of the airplane, wherein the measuring information at least comprises arrival time difference and arrival angle required by the airplane; the positioning module is used for positioning the airplane according to the measurement information to acquire first position information of the airplane; and the comparison module is used for comparing the first position information with second position information of the airplane acquired according to the ADS-B broadcast signal, and sending prompt information when the error between the first position information and the second position information exceeds a preset threshold value.

In one possible embodiment, the optimal site module includes: the construction unit is used for forming a rectangular area by taking the starting point and the end point of the navigation road section as two opposite angle vertexes of a rectangle, and multiplying the area of the rectangular area by one time to obtain an alternative area; the gridding unit is used for gridding the alternative areas, wherein the gridded grid points are the positions of the stations corresponding to the airway sections; and the traversing unit is used for acquiring 4 optimal sites by a traversing method.

In a possible embodiment, the positioning unit is further configured to send the measurement information to an adaptive multi-model algorithm, and position the aircraft by using an extended kalman filter to obtain the first position information of the aircraft.

In one possible embodiment, the method further comprises following the CV and CT models for the motion state of the aircraft as it flies on the airways.

In one possible embodiment, the comparing unit is further configured to convert the aircraft positioning information in the ADS-B broadcast signal into position information corresponding to a WGS-84 coordinate system, i.e., second position information.

An embodiment of the present invention also discloses a computer storage medium storing a computer program which, when executed, implements the method according to any one of the preceding claims.

The invention has the beneficial effects that:

according to the scheme of the invention, the positions of the optimal 4 stations on the airway are found out by gridding the aircraft airway and then carrying out violent solution, the measurement information of the arrival angle is added in the traditional multipoint positioning technology based on the arrival time difference, the positioning precision and the robustness are improved, the problem that the ADS-B broadcast signal is easy to be distorted and attacked is effectively solved, and the reliability of the airway positioning can be effectively ensured.

Drawings

FIG. 1 is a flow chart of a method according to an embodiment of the present invention;

fig. 2 is a schematic diagram illustrating an optimal site selection principle according to an embodiment of the present invention;

FIG. 3 is a schematic diagram of an aircraft route flight motion model according to an embodiment of the present invention;

FIG. 4 is a flowchart of a method embodying the present invention;

fig. 5 is a schematic structural diagram of an apparatus according to an embodiment of the present invention.

Detailed Description

In order to facilitate understanding of those skilled in the art, the present invention will be further described with reference to the following examples and drawings, which are not intended to limit the present invention.

Referring to fig. 1, an aircraft route monitoring method based on ADS-B broadcast signals includes:

s101, dividing the selected air route into multiple sections of air route sections, and acquiring multiple optimal stations of each section of air route section.

In one embodiment, the airway is divided into a plurality of airway segments by a slicing process.

The aircraft routes may be irregular, so the location of the station receiving the aircraft signal has a greater impact on the aircraft route location. A determined irregular route is divided into regular small route segments, each of which is approximately regular. And the smaller the leg, the higher the positioning accuracy, but the corresponding cost. Considering that the aircraft navigation positioning range is large, the positioning accuracy does not need to be too high, each small navigation road section can be taken to be about 200Km, the positioning accuracy of the aircraft route can be ensured, and the cost can be saved.

In one embodiment, the optimal receiver site location may be found for each route segment by gridding and exhaustive methods.

For example, for a certain route segment, a rectangular area is formed by taking the starting point and the end point as two diagonal vertices of a rectangle, and then the area of the rectangular area is enlarged by one time, which is called as a candidate area. For this candidate region, we perform gridding. Through comparative experiments, the length and the width of the rectangular area can be divided into 5 blocks respectively to form 25 grid points, and the grid points are selected positions of the station. Each navigation section can select 4 stations, so that the optimal positions of the four stations can be found through a traversal method. As shown in fig. 2.

S102, receiving ADS-B broadcast signals of the airplane through the optimal station, and acquiring a plurality of measurement information of the airplane, wherein the measurement information at least comprises the arrival time difference and the arrival angle required by the airplane.

S103, positioning the airplane according to the measurement information, and acquiring first position information of the airplane.

Generally, an aircraft follows two flight models, i.e., CV and CT models, as shown in fig. 3 below, when flying on the road. According to the motion state equation of the airplane and the measurement information obtained by the ADS-B signal received by the optimal station, the position of the airplane can be positioned by using extended Kalman filtering, and the airplane motion model is automatically switched by adopting an adaptive multi-model algorithm IMM to obtain the first position information of the airplane.

And S104, comparing the first position information with second position information of the airplane obtained according to the ADS-B broadcast signal, and sending prompt information when the error between the first position information and the second position information exceeds a preset threshold value.

When the ground station receives the ADS-B signal of the airplane, the measuring information of the airplane can be obtained, and the positioning information of the ADS-B message can be read. And converting the positioning information in the ADS-B message into a position under WGS-84 coordinates, and comparing the position with the information of multipoint positioning. When the error exceeds the set threshold, the abnormal condition is indicated, and an abnormal prompt and an alarm are sent.

The invention will be further illustrated with reference to specific embodiments. In the embodiment of the invention, the ADS-B signal is collected by a signal receiving device, and the simulation is realized on a matlab platform, which mainly comprises several steps, referring to FIG. 4, wherein:

step 1: and acquiring the aircraft route.

Step 2: the aircraft route is divided into a plurality of small route sections.

And 3, step 3: and finding out 4 optimal station positions for each navigation section by adopting gridding.

And 4, step 4: the ADS-B broadcast signal transmitted by the airplane on the air route is obtained, and measurement information such as the required arrival time difference and the arrival angle is obtained.

And 5, step 5: and (3) sending the measured information of the airplane into a monitoring algorithm model for positioning and tracking, and realizing automatic positioning and tracking of the airplane position through an extended Kalman filter.

And 6, step 6: and drawing the flight path of the airplane according to the measurement information of the multipoint positioning and the extended Kalman algorithm.

And 7, step 7: and reading ADS-B signals broadcast by the airplanes on the airway, extracting useful airplane position information and converting the useful airplane position information into coordinates under WGS-84 coordinates.

And 8, step 8: and comparing the positioning and tracking result with the aircraft route position read by the ADS-B message, and sending an alarm and a prompt when the error exceeds a threshold value.

The embodiment of the invention also discloses an aircraft route monitoring device 10 based on ADS-B broadcast signals, as shown in FIG. 5, comprising: an optimal station module 101, configured to divide the selected airway into multiple segments of airway segments, and obtain multiple optimal stations of each segment of airway segment; a receiving module 102, configured to receive an ADS-B broadcast signal of an aircraft through the optimal station, and obtain a plurality of measurement information of the aircraft, where the measurement information at least includes an arrival time difference and an arrival angle required by the aircraft; the positioning module 103 is configured to position the aircraft according to the measurement information, and obtain first position information of the aircraft; and the comparison module 104 is configured to compare the first position information with second position information of the aircraft obtained according to the ADS-B broadcast signal, and send a prompt message when an error between the first position information and the second position information exceeds a preset threshold.

The apparatus corresponds to the foregoing method embodiment, and specific reference may be made to the description of the method embodiment, which is not repeated herein.

In the several embodiments provided in the present application, it should be understood that the disclosed apparatus and method may be implemented in other ways. For example, the above-described embodiments are merely illustrative, and for example, a division of a unit is merely a division of a logic function, and an actual implementation may have another division, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed.

Units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment of the present invention.

In addition, functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.

While the invention has been described in terms of its preferred embodiments, it will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the invention.