CN100498370C - Error calibrating method for high dynamic, multivariate and asynchronous nonitoring system - Google Patents

Abstract

The invention discloses an error gauging method in the high-dynamic, multi-component, asynchronous monitoring system, which comprises the following steps: (1) gathering the same monitor data of n>1 group of the kth object from radar ground station and ADS-B ground station; (2) uniforming the radar referred polar coordinates system of radar station and ADS-B data referred Geodetic coordinate system; obtaining the real ECEF coordinate Xdt(k) of radar and object real ECEF coordinate Xat (k) based on ADS-B; (3) calculating system error of Xat(k) and Xdt(k) under the same coordinate ECEF; (4) gauging the error of the system based on calculated synthetic system. The invention realizes error gauging of two types of isomeric monitor data of ADS-B and radar, which improves the error gauging efficiency to reduce the approximate error due to synchronous time difference.

Description

A kind of error calibrating method of high dynamic, polynary, asynchronous nonitoring system

Technical field

The present invention relates to a kind of error calibrating method of surveillance, particularly a kind of error calibrating method of high dynamic, polynary, asynchronous nonitoring system belongs to the air traffic control field.

Background technology

The basic goal of air traffic control is to make aircraft safety on the course line, effective and plannedly fly in the spatial domain, and the controller need dynamically carry out real time monitoring to the flight of aircraft in the control zone.

Traditional radar surveillance means adopt interrogator-responder system to target detection.In the long run, radar system self has a lot of limitation, has limited the raising of monitor performance.The rectilinear propagation of radar beam has formed a large amount of radar shadow, can't cover areas such as ocean and desert; The radar swing circle has limited the raising of data updating rate, thereby has limited the raising that monitors precision; The situation data such as plan air route, speed of aircraft be can't obtain, the raising of tracking accuracy and the ability that short-term collision detects alarm STCA limited.Therefore, need the new supervision means of exploitation.

Automatic dependent surveillance ADS (Automatic Dependent Surveillance) is the surveillance technology that ICAO (the International Civil Aviation Organization of International Civil Aviation Organization) recommends in new navigation system, it is meant the navigation information that airborne navigational system obtains, data chainning or very high frequency(VHF) Air-Ground data chainning via satellite, sending to ground automatically real-time receives and disposal system, provide pseudo-radar picture by display device then, for the running status of ground surveillance aircraft.

Automatic dependent surveillance ADS is divided into contract formula automatic dependent surveillance ADS-C and Automatic dependent surveillance broadcast ADS-B again according to mode of operation.Contract formula automatic dependent surveillance ADS-C is that data communication is carried out in the end-to-end connection of setting up between aircraft and air traffic control unit on demand, aircraft position report and additional data send automatically by about fixed cycle, also can be by Event triggered, it can be used as the means of supplementing out economy of SSR (secondary surveillance radar Secondary Surveillance Radar), realizes ocean and backwoodsman supervision.But because the ADS-C data chainning is many based on satellite link, its message delay is long, the Data Update cycle is slow, and is used for telemonitoring more, so usage range is narrower.Automatic dependent surveillance broadcast ADS-B utilizes aircraft to broadcast the precise location information that is generated by airborne satellite-based navigation and positioning system automatically, uphole equipment and other aircrafts receive this information by aeronautical data chain, and satellite system, aircraft and ground based system are realized the integrative coordinated supervision in the empty world by the high-speed data chain.ADS-B has overcome some problems of traditional radar surveillance means, has with respect to ADS-C to postpone advantages such as less, that turnover rate is high, range of application is wider.

If but with ADS-B as unique supervision means, in case navigational system goes wrong, will cause the forfeiture of function for monitoring.Therefore, radar surveillance and ADS-B monitor and will coexist in considerable time.Yet, have the ADS-B of high dynamic perfromance and traditional radar surveillance technology when descending monitoring data, because the asynchronous arrival of the difference of turnover rate meeting ground receiving end, how ADS-B data and radar surveillance data are effectively combined, bring into play their comprehensive effectiveness to greatest extent, improving the supervision precision, is a problem demanding prompt solution.

In surveillance, the relative position of target and orientation are very important.When surveillance source was the forms data source, the deviation of its distance and bearing was the same to the effect of all aircrafts, to not influence of performance.But when having coverage two or more overlapping data sources are arranged mutually, require that the different pieces of information of same target is carried out the space and coincide, this just need calibrate each data source data.As a kind of new supervision means, the ADS-B data have its own particularity, and therefore, calibrating for error of ADS-B and radar system is different from traditional calibrating for error.

Past, traditional single radar can't be calibrated self systematic error, and the data that multiple radar system calibrates for error can directly calibrate for error all from the radar data source.

Occur after the ADS-C, radar and ADS-C overlapping covered they may monitor certain target simultaneously, need calibrate systematic error at this moment.The two reference frame difference, so can not directly calibrate for error, existing method is that two different coordinates with ADS-C and radar system reference are converted to same coordinate system, and then under this coordinate system, unifiedly calculate systematic error, this method has reached certain requirement that calibrates for error, but it does not consider problem time calibration, is based on the constantly identical hypothesis in collection point each time.

Because the satellite data chain that ADS-C air-ground dialogue link uses, the update cycle of position data is 300 seconds, and the turnover rate of radar data in the air route is 12 seconds/time, accurately collecting the monitoring data that ADS-C and radar put at one time in the ideal case needs 10 minutes at least, and get N=10 such data then needs 100 minutes at least.The systematic error of radar is changing along with the variation of target and radar station distance, and especially systematic error changes more obvious when large-scale variable in distance.Through 100 minutes flight, target flew away from this radar coverage probably, but the former radar system error of still using when the computing system error can make calibration accuracy obviously reduce like this.

This process can illustrate by Fig. 1, and the radar plot that " circle " expression collects, " fork " are then represented the ADS-C point mark that collects.Therefore, present error calibrating method be asynchronous polynary monitoring data originally is assumed to be synchronous, and at many with Yu Haiyangs and backwoodsman low turnover rate ADS-C monitoring datas design.Based on above-mentioned analysis, present method can't be applicable in the reality calibrating for error of high dynamic, polynary and asynchronous nonitoring system.

Because high dynamically ADS-B data have its own particularity, multiple radar system calibrates for error and radar and ADS-C systematic error Calibration Method all can not be directly used in the calibration of radar and ADS-B systematic error.The present invention's innovation has provided the calibration steps of ADS-B and radar error, has made full use of the characteristics of ADS-B with respect to the ADS-C message.

Summary of the invention

Technology of the present invention is dealt with problems: overcome the deficiencies in the prior art, a kind of calibration steps of error of high dynamic, polynary, the asynchronous nonitoring system that can calibrate ADS-B and radar system error effectively is provided, this method has realized calibrating for error of ADS-B and radar two class isomery monitoring datas, and has improved the efficient that calibrates for error when reducing the approximate error that lock in time, difference caused.

Technical solution of the present invention: height is dynamic, polynary, the error calibrating method of asynchronous nonitoring system, and its characteristics are that step is as follows:

(1) gather n from radar land station and ADS-B land station respectively from same k target〉1 group monitoring data;

(2) the radar station polar coordinate system of radar reference and the Geodetic coordinate system of ADS-B data refer are unified to obtain the true ECEF coordinate X of radar to true ECEF coordinate system _Dt(k) and target based on the true ECEF coordinate X of ADS-B _At(k), the true ECEF coordinate X of radar wherein _Dt(k) be:

X _dt(k)＝X _dte(k)+R×J _d(k)×ξ _d (3)

J _d(k) be illustrated in ξ _d=0 X of place _DlTo ξ _dJacobian matrix

X _dte(k)＝[x _dte(k)，y _dte(k)，z _dte(k)] ^T (2)

R is a rotation matrix, $R=\left(\begin{array}{ccc}-\sin {\mathrm{\λ}}_s& -\sin L_s\cos {\mathrm{\λ}}_s& \cos L_s\cos {\mathrm{\λ}}_s\\ \cos {\mathrm{\λ}}_s& -\sin L_s\sin {\mathrm{\λ}}_s& \cos L_s\sin {\mathrm{\λ}}_s\\ 0& \cos L_s& \sin L_s\end{array}\right)$

L _s, λ _sLatitude and longitude for radar station;

Target is based on the true ECEF coordinate X of ADS-B _At(k) be:

X _at(k)＝X _ate(k)+J _A(k)×ξ _A (5)

J _A(k) be illustrated in ξ _A=0 X of place _Ate(k) to ξ _AJacobian matrix

X _ate(k)＝[x _ate(k)，y _ate(k)，z _ate(k)] ^T (4)

x _ate＝[N+h _A(k)+Δh]×cos[φ _A(k)+Δφ]×cos[λ _A(k)+Δλ]

y _ate＝[N+h _A(k)+Δh]×cos[φ _A(k)+Δφ]×sin[λ _A(k)+Δλ]

z _ate＝[N(1-e ²)+h _A(k)+Δh]×sin[φ _A(k)+Δφ]

ξ _A=[Δ λ, Δ φ, Δ h] ^T, N is a geoid height, e is an eccentricity of ellipsoid, λ _A(k) Φ _A(k) and h _A(k) be respectively longitude, latitude and the height that ADS-B records k target, △ λ, △ Φ and △ h are respectively longitude error, latitude error and the height error that ADS-B records k target;

(3) basis is based on the X under the same coordinate system ECEF _At(k) and X _Dt(k) computing system error

A. be normative reference with the radar data, if comprise tendency information in the ADS-B data, utilize tendency information that the ADS-B data are derived to the time point at standard radar data place, the tendency information in the ADS-B data comprises motor-driven information, has:

X _dte(k)+R×J _d(k)×ξ _d＝X _ate(k)+J _A(k)×ξ _A+v1t ₁+v ₂t ₂ (6)

V wherein ₁And v ₂Be respectively before the target maneuver and the speed after motor-driven, t ₁And t ₂Then be respectively before the target maneuver and the time of motor-driven back flight;

If b. do not comprise tendency information in the ADS-B data, represent no motor-driven information, then have:

X _dte(k)+R×J _d(k)×ξ _d＝X _ate(k)+J _A(k)×ξ _A+vt (7)

Wherein v is the targeted surveillance speed based on ADS-B, and t is the time interval that target arrives standard radar data place time point;

C. formula (6) or formula (7) being written as matrix form obtains: L (k) ξ=Δ X (k) (8)

Wherein, L (k)=[R * J _d(k) ,-J _A(k)]

Δ X (k)=X _Ate(k)+v ₁t ₁+ v ₂t ₂-X _Dte(k) or Δ X (k)=X _Ate(k)+vt-X _Dte(k), ξ=[ξ _d, ξ _A] ^T

D. try to achieve the system ensemble error of ADS-B and radar by n group measured value by formula (9),

Lξ＝ΔX (9)

L=[L (1) wherein ..., L (N)] ^T, Δ X=[Δ X (1) ..., Δ X (N)], solve system ensemble error ξ=(L ^TL) ^-1L ^TΔ X

(4) based on the system ensemble error that calculates system is calibrated for error at last, thereby realize improving the purpose that monitors precision.

The coordinate system switch process of radar data is in the described step (2):

(1) under the radar station polar coordinate system, records the monitoring data X of k target _d(k) and radar system error ξ _d, X wherein _d(k)=[r _d(k), θ _d(k), η _d(k)] ^T, oblique distance, position angle, the angle of pitch of k the target that the expression radar records, the systematic error of radar is ξ _d=[Δ r, Δ θ, Δ η] ^T

(2) according to above-mentioned X _d(k) and radar system error ξ _d, calculate the local Cartesian coordinates X of radar of k target by formula (1) _Dl(k),

X _dl(k)＝[x _dl(k)，y _dl(k)，z _dl(k)] ^T (1)

Wherein:

x _dl(k)＝[r _d(k)+Δr]sin[θ _d(k)+Δθ]×cos[η _d(k)+Δη]

y _dl(k)＝[r _d(k)+Δr]cos[θ _d(k)+Δθ]×cos[η _d(k)+Δη]

z _dl(k)＝[r _d(k)+Δr]sin[η _d(k)+Δη]

(3) by the radar local Di Kaer coordinate X of formula (2) with k target _Dl(k) be converted to measurement

ECEF coordinate X _Dte(k)

X _dte(k)＝[x _dte(k)，y _dte(k)，z _dte(k)] ^T (2)

Wherein: X _Dte(k)=X _s+ R * X _Dl(k)

X _s=[x _s, y _s, z _s] ^TFor the ECEF coordinate R of radar station is a rotation matrix, $R=\left(\begin{array}{ccc}-\sin {\mathrm{\λ}}_s& -\sin L_s\cos {\mathrm{\λ}}_s& \cos L_s\cos {\mathrm{\λ}}_s\\ \cos {\mathrm{\λ}}_s& -\sin L_s\sin {\mathrm{\λ}}_s& \cos L_s\sin {\mathrm{\λ}}_s\\ 0& \cos L_s& \sin L_s\end{array}\right)$

L _s, λ _sBe the latitude of radar station, longitude;

(4) according to above-mentioned X _Dte(k) and radar system error ξ _d, obtain the true ECEF coordinate of target X by formula (3) _Dt(k),

X _dt(k)＝X _dte(k)+R×J _d(k)×ξ _d (3)

J _d(k) be illustrated in ξ _d=0 X of place _DlTo ξ _dJacobian matrix;

The coordinate system switch process of the ADS-B data in the described step (2) is as follows:

(1) under the Geodetic coordinate, the monitoring data X of k the target that records _A(k) and the systematic error ξ of ADS-B _A, X wherein _A(k)=[λ _A(k), φ _A(k), h _A(k)] ^TThe longitude of k the target that records for ADS-B, latitude and height; ξ _A=[Δ λ, Δ φ, Δ h] ^T

(2) the Geodetic coordinate conversion of k the target that ADS-B is recorded by formula (4) is for measuring ECEF coordinate X _Ate(k)

X _ate(k)＝[x _ate(k)，y _ate(k)，z _ate(k)] ^T (4)

Wherein:

x _ate＝[N+h _A(k)+Δh]×cos[φ _A(k)+Δφ]×cos[λ _A(k)+Δλ]

y _ate＝[N+h _A(k)+Δh]×cos[φ _A(k)+Δφ]×sin[λ _A(k)+Δλ]

z _ate＝[N(1-e ²)+h _A(k)+Δh]×sin[φ _A(k)+Δφ]

N is a geoid height, and e is an eccentricity of ellipsoid;

(3) according to measuring ECEF coordinate X _Ate(k) and the systematic error ξ of ADS-B _A, obtain true ECEF coordinate X by formula (5) _At(k),

X _at(k)＝X _ate(k)+J _A(k)×ξ _A (5)

J _A(k) be illustrated in ξ _A=0 X of place _Ate(k) to ξ _AJacobian matrix.

The present invention's advantage compared with prior art is:

(1) since the ADS-B message data based on Airplane Navigation Equipment, accurate velocity information can be provided, radar then can't provide velocity information, therefore the radar data that collects with a certain moment is a benchmark, to the ADS-B message data that collects before this moment, then utilize tendency information wherein that positional information is at this moment derived to benchmark radar data place time point, thereby overcome the error that the time difference in different pieces of information source brings in the conventional calibration method, when reducing the approximate error that lock in time, difference caused, improved the efficient that calibrates for error.

(2) in addition, because the renewal rate of ADS-B position message data is very fast, reach as high as 1 second/time, therefore in a short time just can be by deriving ADS-B and the radar site data that find a plurality of identical time points, and the variation of radar system error in a short time can not influence the calculating and the calibration of whole system ensemble error, thereby has improved the efficient that calibrates for error.

Description of drawings

Fig. 1 is ADS-C and a radar plot collection synoptic diagram in the reality;

Fig. 2 is a method block diagram of the present invention;

Fig. 3 is the coordinate system flow path switch figure of radar data of the present invention;

Fig. 4 is the coordinate system flow path switch figure of ADS-B data of the present invention;

Fig. 5 is the treatment scheme of measuring error of the present invention;

Flight path when Fig. 6 does not calibrate for showing;

Fig. 7 is through being presented at the flight path after the calibration in the ECEF coordinate system after the inventive method.

Embodiment

The symbol description that relates to below the present invention:

X _d(k): the radar station polar coordinates of k the target that radar records;

ξ _d: the systematic error of radar;

X _Dl(k): the local Di Kaer coordinate of the radar of k target;

X _Dte(k): the radargrammetry ECEF coordinate of k target;

X _Dt(k): the true ECEF coordinate of the radar of k target;

X _A(k): the Geodetic coordinate of k the target that ADS-B records;

ξ _A: the systematic error of ADS-B;

X _Ate(k): the ADS-B of k target measures the ECEF coordinate;

X _At(k): the true ECEF coordinate of the ADS-B of k target;

The system ensemble error of ξ: ADS-B and radar.

The solution that ADS-B of the present invention and radar calibrate for error as shown in Figure 2, comprise 4 key steps: the conversion of the collection of radar and ADS-B monitoring data, coordinate system, systematic error are calculated and are calibrated for error, and the core then is that coordinate system conversion, systematic error are calculated two steps.Its treatment scheme is as follows:

(1) gathers monitoring data

Gather monitoring data from radar land station and ADS-B land station respectively,, need to gather the measured value of N (N〉1) group target in order to obtain system error accurately from same target.

(2) converted coordinate system

Because the different coordinates of ADS-B and radar data reference, need at first that they are unified under same coordinate system, particularly, the Geodetic coordinate system of ADS-B data refer, the radar station polar coordinate system of radar reference, unified to the ECEF coordinate system, based on different separately data characteristics, difference to some extent in transfer process.Concrete steps comprise as shown in Figure 3:

The coordinate system conversion of radar data

A. at first obtain the local Cartesian coordinates of radar, make X according to the monitoring data of k the target that records under the radar station polar coordinate system and radar system error _d(k)=[r _d(k), θ _d(k), η _d(k)] ^TOblique distance, position angle, the angle of pitch of k the target that the expression radar records, the systematic error of radar is expressed as ξ _d=[Δ r, Δ θ, Δ η] ^T, then oblique distance, position angle, the angle of pitch of k the target that can be recorded by radar obtain the local Di Kaer coordinate of the radar X of target _Dl(k)=[x _Dl(k), y _Dl(k), z _Dl(k)] ^T, wherein:

x _dl(k)＝[r _d(k)+Δr]sin[θ _d(k)+Δθ]×cos[η _d(k)+Δη]

y _dl(k)＝[r _d(k)+Δr]cos[θ _d(k)+Δθ]×cos[η _d(k)+Δη] (1)

z _dl(k)＝[r _d(k)+Δr]sin[η _d(k)+Δη]

B. then the local Di Kaer coordinate conversion of the radar of k target is measurement ECEF coordinate X _Dte(k)=[x _Dte(k), y _Dte(k), z _Dte(k)] ^T:

X _dte(k)＝X _s+R×X _dl(k) (2)

$R=\left(\begin{array}{ccc}-\sin {\mathrm{\λ}}_s& -\sin L_s\cos {\mathrm{\λ}}_s& \cos L_s\cos {\mathrm{\λ}}_s\\ \cos {\mathrm{\λ}}_s& -\sin L_s\sin {\mathrm{\λ}}_s& \cos L_s\sin {\mathrm{\λ}}_s\\ 0& \cos L_s& \sin L_s\end{array}\right)$

Wherein R is a rotation matrix, X _s=[x _s, y _s, z _s] ^TBe the ECEF coordinate of radar station, L _s, λ _sBe respectively the latitude and the longitude of radar station.

C. make J _d(k) be illustrated in ξ _d=0 X of place _DlTo ξ _dJacobian matrix.Consider that systematic error is less relatively, can utilize first-order approximation to estimate true ECEF coordinate by the target measurement ECEF coordinate that obtains by radar:

X _dt(k)＝X _dte(k)+R×J _d(k)×ξ _d (3)

The coordinate system conversion of ADS-B data, as shown in Figure 4,

The Geodetic coordinate conversion of k the target that d. ADS-B is recorded is for measuring ECEF coordinate X _Ate(k)=[x _Ate(k), y _Ate(k), z _Ate(k)] ^T:

x _ate＝[N+h _A(k)+Δh]×cos[φ _A(k)+Δφ]×cos[λ _A(k)+Δλ]

y _ate＝[N+h _A(k)+Δh]×cos[φ _A(k)+Δφ]×sin[λ _A(k)+Δλ] (4)

z _ate＝[N(1-e ²)+h _A(k)+Δh]×sin[φ _A(k)+Δφ]

X in the formula _A(k)=[λ _A(k), φ _A(k), h _A(k)] ^TThe longitude of k the target that records for ADS-B, latitude and height, the systematic error of ADS-B is expressed as ξ _A=[Δ λ, Δ φ, Δ h] ^T, N is a geoid height, e is an eccentricity of ellipsoid.

E. make J _A(k) be illustrated in ξ _A=0 X of place _Ate(k) to ξ _AJacobian matrix.Because systematic error is less relatively, can utilize first-order approximation to estimate true ECEF coordinate: X by the target measurement ECEF coordinate that obtains by ADS-B _At(k)=X _Ate(k)+J _A(k) * ξ _A(5)

(3) computing system error, as shown in Figure 5

Though what radar and ADS-B surveyed is same target, but owing to need to consider problem time calibration, so need to consider one section difference bringing time calibration between formula (3) and the formula (5), be normative reference in the method with the radar data, if comprise tendency information in the ADS-B data, then utilize tendency information that the ADS-B data are derived to the time point at standard radar data place, the tendency information in the ADS-B data comprises motor-driven information, has: X _Dte(k)+R * J _d(k) * ξ _d=X _Ate(k)+J _A(k) * ξ _A+ v ₁t ₁+ v ₂t ₂(6)

V wherein ₁And v ₂Be respectively before the target maneuver and the speed after motor-driven, t ₁And t ₂Then be respectively before the target maneuver and the time of motor-driven back flight.

If do not comprise tendency information in the ADS-B data, represent no motor-driven information, then have:

X _dte(k)+R×J _d(k)×ξ _d＝X _ate(k)+J _A(k)×ξ _A+vt (7)

Wherein v is the targeted surveillance speed based on ADS-B, and t is the time interval that target arrives standard radar data place time point.

Following formula is written as matrix form: L (k) ξ=Δ X (k) (8)

Wherein, L (k)=[R * J _d(k) ,-J _A(k)],

Δ X (k)=X _Ate(k)+v ₁t ₁+ v ₂t ₂-X _Dte(k) or Δ X (k)=X _Ate(k)+vt-X _Dte(k), ξ=[ξ _d, ξ _A] ^T

Only can't obtain the unique solution of equation (6) by one group of measured value.And, can separate the systematic error that obtains ADS-B and radar by the minimum variance of asking equation by the measured value of the individual target of N (N〉1):

Lξ＝ΔX (9)

L=[L (1) wherein ..., L (N)] ^T, Δ X=[Δ X (1) ..., Δ X (N)], solve ξ=(L ^TL)- ¹L ^TΔ X

(4) calibrate for error

At last just be based on the system ensemble error that calculates system is calibrated for error, thereby realize improving the purpose that monitors precision.

Example 1:

Gather the way point monitoring data and carry out l-G simulation test on the western air route of China, earth model adopts WGS-84 model, e ²=0.0066944, the radar station position vector is X _s=[0.56882rad, 1.72795rad, 50m], observed object point number n=10, simulation result is shown in table 1 and Fig. 6,7.

Residual systematic error after table 1 is calibrated in the ECEF coordinate system

Coordinate system	Δλ(rad) 10 -6	Δφ(rad) 10 -6	Δh(m)	Δr(m)	Δθ(rad) 10 -4	Δη(rad) 10 -4
							ECEF	1.276	3.168	-25	27	0	-0.435

The equatorial plane of the earth is represented on x among Fig. 6,7-y plane, and initial point is positioned at ground ball center, and x axle positive axis is pointed to Greenwich meridian by ground ball center, and y axle positive axis is pointed to east longitude 90 degree meridians by ground ball center.Flight path is the projection of physics flight path on earth equatorial plane among the figure.The point that is labeled as " * " is the ADS-B track points, and the point that is labeled as " ◇ " is the track points that radar records, and the point that is labeled as " zero " is the true track points as benchmark that records.Fig. 6 shows the flight path when not calibrating, and Fig. 7 is presented at the flight path after the calibration in the ECEF coordinate system.

As can be seen from Table 1, through after the coordinate conversion, under the ECEF coordinate system, each systematic error parameter value all had and calibrate effect preferably.As seen from Figure 7, because the turnover rate of ADS-B and radar is different, the flight path that causes measuring varying number in the identical time is counted; In addition because the existence of the two systematic error, the flight path data that record also exist than large deviation with true flight path data, through based on ADS-B tendency information and velocity information derive and the latter two the flight path data of calibrating for error then more approach true flight path data, and then reached and improved the purpose that monitors precision.

Claims (3)

1, a kind of error calibrating method of high dynamic, polynary, asynchronous nonitoring system is characterized in that step is as follows:

(1) gather the monitoring data that the n from same k target organizes, wherein n from radar land station and Automatic dependent surveillance broadcast ADS-B land station respectively〉1;

(2) the radar station polar coordinate system of radar reference and the earth Geodetic coordinate system of ADS-B data refer are unified to obtain the true ECEF coordinate X of radar to true ECEF coordinate system _Dt(k) and target based on the true ECEF coordinate X of ADS-B _At(k), the true ECEF coordinate X of radar wherein _Dt(k) be:

X _dt(k)＝X _dte(k)+R×J _d(k)×ξ _d (3)

J _d(k) be illustrated in ξ _d=0 X of place _DlTo ξ _dJacobian matrix, ξ _dThe systematic error of expression radar;

X _dte(k)＝[x _dte(k)，y _dte(k)，z _dte(k)] ^T (2)

R is a rotation matrix, $R=\left(\begin{array}{ccc}-\sin {\mathrm{\λ}}_s& -\sin L_s\cos {\mathrm{\λ}}_s& \cos L_s\cos {\mathrm{\λ}}_s\\ \cos {\mathrm{\λ}}_s& -\sin L_s\sin {\mathrm{\λ}}_s& \cos L_s\sin {\mathrm{\λ}}_s\\ 0& \cos L_s& \sin L_s\end{array}\right)$

L _s, λ _sLatitude and longitude for radar station;

Target is based on the true ECEF coordinate X of ADS-B _At(k) be:

X _at(k)＝X _ate(k)+J _A(k)×ξ _A (5)

J _A(k) be illustrated in ξ _A=0 X of place _Ate(k) to ξ _AJacobian matrix

X _ate(k)＝[x _ate(k)，y _ate(k)，z _ate(k)] ^T (4)

x _ate＝[N+h _A(k)+Δh]×cos[φ _A(k)+Δφ]×cos[λ _A(k)+Δλ]

y _ate＝[N+h _A(k)+Δh]×cos[φ _A(k)+Δφ]×sin[λ _A(k)+Δλ]

z _ate＝[N(1-e ²)+h _A(k)+Δh]×sin[φ _A(k)+Δφ]

ξ _A=[Δ λ, Δ φ, Δ h] ^T, N is a geoid height, e is an eccentricity of ellipsoid, λ _A(k), Φ _A(k) and h _A(k) be respectively longitude, latitude and the height that ADS-B records k target, Δ λ, ΔΦ and Δ h are respectively longitude error, latitude error and the height error that ADS-B records k target;

X _Dte(k) the radargrammetry ECEF coordinate of k target of expression, x _Dte(k), y _Dte(k), z _Dte(k), X _DlThe local Di Kaer coordinate of the radar of expression target;

(3) basis is based on the X under the same coordinate system ECEF _At(k) and X _Dt(k) computing system error

A. be normative reference with the radar data, if comprise tendency information in the ADS-B data, utilize tendency information that the ADS-B data are derived to the time point at standard radar data place, the tendency information in the ADS-B data comprises motor-driven information, has:

X _dte(k)+R×J _d(k)×ξ _d＝X _ate(k)+J _A(k)×ξ _A+v ₁t ₁+v ₂t ₂ (6)

V wherein ₁And v ₂Be respectively before the target maneuver and the speed after motor-driven, t ₁And t ₂Then be respectively before the target maneuver and the time of motor-driven back flight;

If b. do not comprise tendency information in the ADS-B data, represent no motor-driven information, then have:

X _dte(k)+R×J _d(k)×ξ _d＝X _ate(k)+J _A(k)×ξ _A+vt (7)

Wherein v is the targeted surveillance speed based on ADS-B, and t is the time interval that target arrives standard radar data place time point;

C. formula (6) or formula (7) being written as matrix form obtains: L (k) ξ=Δ X (k) (8)

Wherein, L (k)=[R * J _d(k) ,-J _A(k)]

Δ X (k)=X _Ate(k)+v ₁t ₁+ v ₂t ₂-X _Dte(k) or Δ X (k)=X _Ate(k)+vt-X _Dte(k), ξ=[ξ _d, ξ _A] ^T

D. try to achieve the system ensemble error of ADS-B and radar by n group measured value by formula (9),

Lξ＝ΔX (9)

L=[L (1) wherein ..., L (N)] ^T, Δ X=[Δ X (1) ..., Δ X (N)], solve system ensemble error ξ=(L ^TL) ^-1L ^TΔ X;

(4) based on the system ensemble error that calculates system is calibrated for error at last, thereby realize improving the purpose that monitors precision.

2, the error calibrating method of dynamic, polynary, the asynchronous nonitoring system of height according to claim 1 is characterized in that: the coordinate system switch process of radar data is in the described step (2):

(1) under the radar station polar coordinate system, records the monitoring data X of k target _d(k) and radar system error ξ _d, X wherein _d(k)=[r _d(k), θ _d(k), η _d(k)] ^T, r _d(k), θ _d(k), η _d(k) oblique distance, position angle, the angle of pitch of k target recording of expression radar, the systematic error of radar is ξ _d=[Δ r, Δ θ, Δ η] ^T

(2) according to above-mentioned X _d(k) and radar system error ξ _d, calculate the local Cartesian coordinates X of radar of k target by formula (1) _Dl(k),

X _dl(k)＝[x _dl(k)，y _dl(k)，z _dl(k)] ^T (1)

Wherein:

x _dl(k)＝[r _d(k)+Δr]sin[θ _d(k)+Δθ]×cos[η _d(k)+Δη]

y _dl(k)＝[r _d(k)+Δr]cos[θ _d(k)+Δθ]×cos[η _d(k)+Δη]

z _dl(k)＝[r _d(k)+Δr]sin[η _d(k)+Δη]

(3) by the radar local Di Kaer coordinate X of formula (2) with k target _Dl(k) be converted to measurement

ECEF coordinate X _Dte(k)

X _dte(k)＝[x _dte(k)，y _dte(k)，z _dte(k)] ^T (2)

Wherein: X _Dte(k)=X _s+ R * X _Dl(k)

X _s=[x _s, y _s, z _s] ^TBe the ECEF coordinate of radar station,

R is a rotation matrix, $R=\left(\begin{array}{ccc}-\sin {\mathrm{\λ}}_s& -\sin L_s\cos {\mathrm{\λ}}_s& \cos L_s\cos {\mathrm{\λ}}_s\\ \cos {\mathrm{\λ}}_s& -\sin L_s\sin {\mathrm{\λ}}_s& \cos L_s\sin {\mathrm{\λ}}_s\\ 0& \cos L_s& \sin L_s\end{array}\right)$

L _s, λ _sBe the latitude of radar station, longitude;

(4) according to above-mentioned X _Dte(k) and radar system error ξ _d, obtain the true ECEF coordinate of target X by formula (3) _Dt(k),

X _dt(k)＝X _dte(k)+R×J _d(k)×ξ _d (3)

J _d(k) be illustrated in ξ _d=0 X of place _DlTo ξ _dJacobian matrix.

3, the error calibrating method of dynamic, polynary, the asynchronous nonitoring system of height according to claim 1, it is characterized in that: the coordinate system switch process of the ADS-B data in the described step (2) is as follows:

(1) under the Geodetic coordinate, the monitoring data X of k the target that records _A(k) and the systematic error ξ of ADS-B _A, X wherein _A(k)=[λ _A(k), φ _A(k), h _A(k)] ^TThe longitude of k the target that records for ADS-B, latitude and height; ξ _A=[Δ λ, Δ φ, Δ h] ^T

(2) the Geodetic coordinate conversion of k the target that ADS-B is recorded by formula (4) is for measuring ECEF coordinate X _Ate(k)

X _ate(k)＝[x _ate(k)，y _ate(k)，zx(k)] ^T (4)

Wherein:

x _ate＝[N+h _A(k)+Δh]×cos[φ _A(k)+Δφ]×cos[λ _A(k)+Δλ]

y _ate＝[N+h _A(k)+Δh]×cos[φ _A(k)+Δφ]×sin[λ _A(k)+Δλ]

z _ate＝[N(1-e ²)+h _A(k)+Δh]×sin[φ _A(k)+Δφ]

N is a geoid height, and e is an eccentricity of ellipsoid;

(3) according to measuring ECEF coordinate X _Ate(k) and the systematic error ξ of ADS-B _A, obtain true ECEF coordinate X by formula (5) _At(k),

X _at(k)＝X _ate(k)+J _A(k)×ξ _A (5)

J _A(k) be illustrated in ξ _A=0 X of place _Ate(k) to ξ _AJacobian matrix.

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