A data processing method and device for TDOA multi-point positioning system

Abstract

The present invention discloses a data processing method and device for a TDOA multi-point positioning system, which relates to message data processing and solves the problem in the prior art that the reply signals or broadcast signals sent by multiple aircraft targets at the same time cannot be accurately identified. The present application identifies and clusters the same signal sent by the same flight target, formulates a relevant data encapsulation format, and groups and sends the information stored in the node. The sending is to send the grouped data to an ADS-B track processing module and a multi-point track processing module, so as to determine the effective track data of the flight target, improve the management efficiency of the flight target and ensure aviation safety.

Description

Technical Field

[0001] The present invention relates to the field of message data processing, and more specifically, to a data processing method and device for a TDOA multi-point positioning system. Background Art

[0002] Passive positioning technology uses multiple distributed reconnaissance stations to determine the specific location of the radar. Common passive positioning technologies include direction finding cross positioning, time difference positioning, Doppler difference positioning, etc. Passive positioning technology is introduced into civil airport surface monitoring and operation management, and a passive positioning technology based on the target signal arrival time difference TDOA is introduced, also known as multi-point positioning system technology (Multilateration, MLAT). It belongs to cooperative monitoring and is a new type of monitoring technology proposed for the vicinity of the airport and the surface, terminal area and airway. Subsequently, the positioning technology was expanded to be applied to airway and terminal area monitoring, which is called Wide Area Multilateration (WAM). This system can not only solve the problem of limited coverage of traditional radar monitoring systems, but also make up for the problem of positioning failure of ADS-B (Automatic Dependent Surveillance–Broadcast) systems. Compared with traditional secondary radars, multi-point positioning technology has the advantages of simple target recognition, strong compatibility, high refresh rate, high monitoring accuracy, wide coverage and strong anti-interference.

[0003] Since the principle of the multi-point positioning system is to calculate the time difference between the flight target's reply A / C / S mode signal or the broadcast ADS-B signal arriving at each receiving station, each receiving station is arranged in a different position, and the distance between the receiving stations ranges from several hundred meters to tens of kilometers. After each receiving station receives the reply signal of the flight target, it marks the time stamp and sends it to the central processing station for analysis and calculation via wireless or wired form. Because the aircraft continuously sends reply signals or broadcast signals, the TDOA calculation needs to identify the time when the aircraft sends the same signal to each receiving station. Therefore, it is crucial to accurately identify the two types of signals.

[0004] Therefore, the present application proposes a data processing method and device for a TDOA multi-point positioning system to accurately identify response signals or broadcast signals continuously sent by multiple aircraft. Summary of the invention

[0005] The present application solves the problem in the prior art that it is impossible to accurately identify the reply signals or broadcast signals sent by multiple aircraft targets at the same time. The present application provides a data processing method and device for a TDOA multi-point positioning system. The present application identifies and clusters the same signal sent by the same flight target, formulates a relevant data encapsulation format to group and send the information stored in the node. The sending is to send the grouped data to the ADS-B track processing module and the multi-point track processing module to determine the effective track data of the flight target, improve the management efficiency of the flight target and ensure aviation safety.

[0006] The above technical objectives of the present invention are achieved through the following technical solutions:

[0007] On the one hand, the present application provides a data processing method for a TDOA multi-point positioning system, comprising:

[0008] S1, obtaining the original message data received in real time by the TDOA multi-point positioning system;

[0009] S2, extract the data information carried by the original message data, and insert the data information and the original message data into the map container as a node, where the node information includes the time information of the original message, the signal amplitude information, the local time of the first insertion into the map container, the number of each original message group, and the number of each original message in each group of data;

[0010] S3, traverse the nodes in the map container at a preset time, take out a node in the map container and obtain the current local time;

[0011] S4, when the difference between the current local time and the local time is greater than and equal to the first time threshold, the preset data encapsulation format is used to group and send the information stored in the extracted node, and the extracted node is removed from the map container, and the process returns to step S3 to continue acquiring the next node until the current round of traversal ends, and the next round of traversal is performed after the timing time is reached.

[0012] In a possible implementation, before step S2, the method further includes:

[0013] The original message data that does not conform to the data format is eliminated, wherein the data format includes the mode information of the message and the location information of the site.

[0014] In a possible implementation, the mode information of the message includes A / C mode, S mode, time information, and signal amplitude information of the message, wherein the time information is 4 bytes of seconds plus 4 bytes of nanoseconds;

[0015] The location information of the receiving station includes the device IP information, site ID and longitude and latitude of each receiving station, wherein the location information of the station is analyzed according to the socket resolution data source IP address to determine whether it is the original message data of each station. If not, the corresponding original message data is discarded.

[0016] In a possible implementation, before inserting the data information and the original message data as a node into the map container, the process further includes: converting the format of the original message data into a string format as a key value of a node of the map container.

[0017] In a possible implementation, data information and original message data are inserted into a map container as a node, including:

[0018] By searching the key value of the map container of the original message data converted into string format, determine whether the node corresponding to the original message already exists in the current container;

[0019] Accordingly,

[0020] When the node corresponding to the original message does not exist in the map container, insert the key value of the node corresponding to the original message into the map container, record the local time of inserting into the map container in the node, and set the original message group inserted into the new node and the number of original messages in the group to 1;

[0021] When a node corresponding to the original message exists in the map container, the time information of the original message is obtained, the original message group corresponding to the key value is traversed to obtain the time information of the first original message in each group, and the difference between the time information and the time information of the first original message in each group and the size of the second time threshold are analyzed to determine whether it is stored in the original message group, wherein one quarter of the first time threshold is the second time threshold.

[0022] In a possible implementation, the difference between the time information and the time information of the first original message of each group and the size of the second time threshold are analyzed to determine whether to store in the original message group, specifically:

[0023] If it is less than the second time threshold, the original message is inserted into the original message group, otherwise the next group of data of the node content is obtained, otherwise the next original message group stored by the node is obtained, and the difference between the time information and the time information of the first original message of each group and the size of the second time threshold are analyzed. After traversing all the original message groups, if the original message group that meets the time threshold less than the second time threshold is still not found, the original message is placed in the new group stored by the node.

[0024] In a possible implementation, S4 further includes:

[0025] When the difference between the current local time and the local time is less than the first time threshold, the node is retained, and the next node in the map container is obtained for analysis until all nodes in the map container are traversed;

[0026] Wait for the next timing time to continue traversing the map container, analyze the difference between the current local time and the local time and the size of the first time threshold, and perform corresponding processing steps on the information stored in the nodes in the map container according to the analysis results.

[0027] In a possible implementation, a preset data encapsulation format is used to group and send the information stored in the fetching node, specifically:

[0028] If the format of the original message is DF17 or DF18, the current original message is grouped and reported according to the ADS-B encapsulation format, and sent to the ADS-B track processing module after the grouping is completed. If it is not in DF17 or DF18 format, the original message is discarded;

[0029] Accordingly,

[0030] Take out the original message group stored in the node;

[0031] Determine the number of original messages in the group. If the number of original messages is greater than or equal to a preset minimum number, execute the next judgment process; otherwise, discard the original message group and obtain the next original message group.

[0032] The next judgment process is as follows: obtaining the site ID according to the site information stored in the node of the map container and the data source IP stored in the current original message group;

[0033] Determine the site layout based on the site ID, and use the preset layout conditions to analyze whether the site layout meets the site layout requirements. If it does, the current original message group will be grouped and reported according to the TOA encapsulation format. After the group reporting is completed, it will be sent to the MLAT track processing module. If it does not meet the requirements, the original message group will be discarded and the next original message group will be obtained. Repeat the above steps until all the original message groups in the node are traversed and taken out.

[0034] In a possible implementation, the ADS-B encapsulation format is specifically as follows: encapsulation is performed in sequence according to the message length, message sequence number, signal mode, time information, and signal amplitude information of the original message;

[0035] The TOA encapsulation format is as follows: encapsulate the original message in sequence according to its message length, message sequence number, message classification flag, signal mode, and site time information, where the structure of the site time information is the site ID indication, time information, and signal amplitude information.

[0036] On the other hand, the present application provides a data processing device for a TDOA multi-point positioning system, comprising:

[0037] A data acquisition module is used to acquire the original message data received in real time by the TDOA multi-point positioning system;

[0038] The data insertion module is used to extract the data information carried by the original message data, and insert the data information and the original message data into the map container as a node, where the node information includes the time information of the original message, the signal amplitude information, the local time of the first insertion into the map container, the number of each original message group, and the number of each original message in each group of data;

[0039] The data retrieval module is used to traverse the nodes in the map container at a preset time, retrieve a node in the map container and obtain the current local time;

[0040] The data processing module is used to group and send the information stored in the extracted node in a preset data encapsulation format when the difference between the current local time and the local time is greater than and equal to the first time threshold, and remove the extracted node from the map container. According to the data extraction module, the next node continues to be obtained and data processing is performed until the current round of traversal is completed, and the next round of traversal is performed after the timing time is reached.

[0041] Compared with the prior art, the present invention has the following beneficial effects:

[0042] This application identifies and clusters the same signal sent by the same flight target, formulates relevant data encapsulation formats to group and send the information stored in the node, and sends the grouped data to the ADS-B track processing module and the multi-point track processing module to determine the effective track data of the flight target, improve the management efficiency of the flight target and ensure aviation safety. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] The drawings described herein are used to provide a further understanding of the embodiments of the present invention, constitute a part of this application, and do not constitute a limitation of the embodiments of the present invention. In the drawings:

[0044] Figure 1 A flowchart of a data processing method for a TDOA multi-point positioning system provided in an embodiment of the present application;

[0045] Figure 2An overall flow chart of a data processing method for a TDOA multi-point positioning system provided in an embodiment of the present application;

[0046] Figure 3 A schematic diagram of a process for operating a map container to implement message screening and clustering provided in an embodiment of the present application;

[0047] Figure 4 A schematic diagram of a process for group reporting and sending information stored in a node provided in an embodiment of the present application;

[0048] Figure 5 A principle block diagram of a data processing device for a TDOA multi-point positioning system is provided for an embodiment of the present application. DETAILED DESCRIPTION

[0049] In order to make the objectives, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with embodiments and drawings. The exemplary embodiments of the present invention and their description are only used to explain the present invention and are not intended to limit the present invention.

[0050] It should be understood that the terms "first" and "second" are used for descriptive purposes only and should not be understood to indicate or imply relative importance or implicitly indicate the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features. In the description of the present invention, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0051] In the embodiment of the present application, the principle of the multi-point positioning system based on TDOA technology is to solve the time difference between the flight target's reply A / C / S mode signal or the broadcast ADS-B signal arriving at each receiving station. Each receiving station is arranged in a different position, and the distance between the receiving stations ranges from a few hundred meters to tens of kilometers. After each receiving station receives the reply signal of the flight target, it marks the timestamp and sends it to the central processing station for analysis and settlement in wireless or wired form. Because the aircraft continuously sends out reply signals or broadcast signals, the TDOA settlement needs to identify the time when the aircraft sends the same signal to each receiving station, so how to accurately identify the two types of signals is crucial. Therefore, the embodiment of the present application proposes a data processing method for a TDOA multi-point positioning system to accurately identify the reply signals or broadcast signals continuously sent by multiple aircraft.

[0052] For the above implementation environment, see Figure 1 and Figure 2 This embodiment provides a method for data processing. The method flow provided in this embodiment is as follows:

[0053] S1, obtain the original message data received by the TDOA multi-point positioning system in real time.

[0054] Specifically, generally speaking, flight targets generally refer to aircraft, unmanned aerial vehicles, etc. The acquisition of aircraft track information has always been an important part of aviation management. There are two ways to obtain track information, one is active detection and the other is passive acquisition. Active detection is to actively send a detection signal to the aircraft and determine the track data based on the returned signal. Passive acquisition is to passively wait for the aircraft's track data report.

[0055] Before obtaining the original message data received in real time based on the TDOA multi-point positioning system, it is necessary to load the information of each receiving station, mainly including the device IP information, site ID, site longitude and latitude of each receiving station.

[0056] Then wait to receive the original message sent by each receiving station, that is, to obtain the original message data solved in real time by the TDOA multi-point positioning system. The original message data includes multiple original messages, and the information sent by the ground receiving station or answering station is as shown in the following table 1:

[0057] Table 1 Information format of original message information

[0058] Byte order name describe 0 MESSAGE_ORIGN(14) A / C mode or S mode original message 88+24 16 MESSAGE_TIME(8) Message time (4 bytes of seconds + 4 bytes of nanoseconds) 24 MESSAGE_AMPLITUDE(2) Signal Amplitude

[0059] S2, extract the data information carried by the original message data, and insert the data information and the original message data into the map container as a node, where the node information includes the time information of the original message, the signal amplitude information, the local time of the first insertion into the map container, the number of each original message group, and the number of each original message in each group of data.

[0060] In this embodiment, the original message data obtained in step S1 is stored and classified. In order to find the original message sent by the same flight target at the same time, the original message data is converted into a string format as the key value of a node in the map container. The clustering of the original messages at the same time is realized by continuously inserting and removing the corresponding key value in the map container, and the high-precision time information, signal amplitude information, etc. carried in the message information are extracted; the target message data item information TargetInformationGrp is used as a node in the map container, that is,<string,TargetInformationGrp> Insert the node into the map container as a node of the map container; TargetInformationGrp mainly contains the information carried by the message, such as high-precision time information, signal amplitude information, local time of first insertion into the map container, number of information groups of the message, number of messages contained in each group of information; store the node information into the map container.

[0061] It should be understood that the node information of a node in the map container stores the timestamp marked after each receiving station receives the reply signal from the flying target, and also correspondingly stores the address information of each receiving station or reply station, as well as the data structure of the original message, such as the data structure of Table 1 in the above embodiment.

[0062] S3, traverse the nodes in the map container at a preset timing, take out a node of the map container and obtain the current local time.

[0063] In this embodiment, in order to filter and cluster the same message sent by the aircraft target at the same time, this function is implemented by inserting and removing the map container. In step S2, the insertion operation is for the map container, and in this embodiment, it is for the removal operation of the map container. Therefore, the map container is operated by presetting the timing time through the timer. When the timing time of the timer is reached, the map container is traversed. Each traversal takes out an inserted node in the map container and obtains the current local time, that is, the real-time time of the location.

[0064] S4, when the difference between the current local time and the local time is greater than and equal to the first time threshold, the preset data encapsulation format is used to group and send the information stored in the extracted node, and the extracted node is removed from the map container, and the process returns to step S3 to continue acquiring the next node until the current round of traversal ends, and the next round of traversal is performed after the timing time is reached.

[0065] Specifically, by judging whether the difference between the current local time and the local time is greater than and equal to the first time threshold, it is determined whether to group and send the retrieved information. If the difference is greater than the first time threshold, the stored information is grouped and reported in a preset data encapsulation format, and after the group reporting is completed, it is sent to the corresponding track processing module for processing. When the group reporting and message sending are completed, the node is removed from the container and the next node is acquired; if it is less than the first time threshold, the node is retained, and the next node is acquired for judgment, and the above steps S3-S4 are repeated until the traversal is completed. When the timer expires, the next traversal process is repeated.

[0066] It should be noted that the preset data encapsulation format is for group reporting of ADS-B and MLAT track data.

[0067] It should be noted that the processing method of the present application is performed in two threads, wherein the first thread executes steps S1-S2, and the second thread executes steps S3-S4. The following beneficial effects are achieved through the processing procedures of the two threads: real-time identification of the reply signal sent by the flight target; identification and clustering of the same signal sent by the same flight target; formulation of relevant data protocols, and sending the pre-processed data to the ADS-B track processing module and the multi-point track processing module.

[0068] In summary, the embodiments of the present application identify and cluster the same signal sent by the same flight target, formulate relevant data encapsulation formats to group and send the information stored in the node, and send the grouped data to the ADS-B track processing module and the multi-point track processing module to determine the effective track data of the flight target, improve the management efficiency of the flight target and ensure aviation safety.

[0069] In one embodiment, before step S2, the method further comprises:

[0070] The original message data that does not conform to the data format is eliminated, wherein the data format includes the mode information of the message and the location information of the site.

[0071] Specifically, there may be illegal signals in the original message information sent by each receiving station or answering station, so it is necessary to judge and process the format of the original message information and remove the original message that does not conform to the data format. The data format includes the station address IP information, latitude and longitude information, etc. of each receiving station or answering station.

[0072] Specifically, as an implementation mode, the mode information of the message includes A / C mode, S mode, time information, and signal amplitude information of the message, wherein the time information is 4 bytes of seconds plus 4 bytes of nanoseconds;

[0073] The location information of the receiving station includes the device IP information, site ID and longitude and latitude of each receiving station, wherein the location information of the station is analyzed according to the socket resolution data source IP address to determine whether it is the original message data of each station. If not, the corresponding original message data is discarded.

[0074] In one implementation, before inserting the data information and the original message data as a node into a map container, the format of the original message data is converted into a string format as a key value of a node of the map container.

[0075] Specifically, in order to realize the storage of original message information in the map container, the format of the original message data is converted into a string format.

[0076] In one possible implementation, Figure 3 As shown, the data information and the original message data are inserted into the map container as a node, including:

[0077] By searching the key value of the map container of the original message data converted into string format, determine whether the node corresponding to the original message already exists in the current container;

[0078] Accordingly,

[0079] When the node corresponding to the original message does not exist in the map container, insert the key value of the node corresponding to the original message into the map container, record the local time of inserting into the map container in the node, and set the original message group inserted into the new node and the number of original messages in the group to 1;

[0080] When a node corresponding to the original message exists in the map container, the time information of the original message is obtained, the original message group corresponding to the key value is traversed to obtain the time information of the first original message of each group, and the difference between the time information and the time information of the first original message of each group and the size of the second time threshold are analyzed to determine whether it is stored in the original message group, wherein one quarter of the time value of the first time threshold is the second time threshold.

[0081] Specifically, since the transponder may send multiple identical reply messages in a very short time, which depends on factors such as the number of surrounding aircraft and the number of secondary radars, there may be multiple messages for processing the same original message of the same aircraft within the fixed second time threshold ΔT1. The preprocessing program will receive multiple groups of messages sent by different receiving stations. Therefore, the map container should set multiple groups of node contents corresponding to a certain original message to realize the storage of data information. If the corresponding node is not found, the node corresponding to the original message is inserted, and the time t0 of the current insertion of the node is recorded in the node content, the number of message groups is set to 1, and the number of messages in the group is set to 1. At the same time, the high-precision time corresponding to the message, the source IP address of the message, and the original message information of the message carrying the high-precision time are recorded in the group.

[0082] If the map container finds the corresponding node, it needs to analyze the difference between the time information of the original message and the time information of the first original message stored in each group and the size of the second time threshold to determine whether to store it in the original message group or create a new group in the node.

[0083] The second time threshold of ΔT1 is to filter out the same message sent by the same flight target. Assuming that each receiving station transmits it to the processing program through the network, the network processing time delay is Tdelay, and the time delay required by the central processing station performance processing is Tprocess, then Tdelay<ΔT1 <Tprocess。

[0084] In one implementation, the difference between the time information and the time information of the first original message of each group and the size of the second time threshold are analyzed to determine whether to store in the original message group, specifically:

[0085] If it is less than the second time threshold, the original message is inserted into the original message group, otherwise the next group of data of the node content is obtained, otherwise the next original message group stored by the node is obtained, and the difference between the time information and the time information of the first original message of each group and the size of the second time threshold are analyzed. After traversing all the original message groups, if the original message group that meets the time threshold less than the second time threshold is still not found, the original message is placed in the new group stored by the node.

[0086] Specifically, Figure 3 As shown, the specific steps are as follows:

[0087] S21, assuming that the high-precision time information of the message is Tm, and the high-precision time information of the first message of the current group in the map container node content is Tn;

[0088] S22, if Tm-Tn<ΔT1, insert the message into the group, otherwise obtain the next group of data of the node content, and repeat steps S21 to S22;

[0089] S23, after traversing all the groups, if a group that satisfies Tm-Tn<ΔT1 is still not found, the message is placed in a new group of the node content.

[0090] In one embodiment, the S4 further comprises:

[0091] When the difference between the current local time and the local time is less than the first time threshold, the node is retained, and the next node in the map container is obtained for analysis until all nodes in the map container are traversed;

[0092] Wait for the next timing time to continue traversing the map container, analyze the difference between the current local time and the local time and the size of the first time threshold, and perform corresponding processing steps on the information stored in the nodes in the map container according to the analysis results.

[0093] Specifically, the second thread is responsible for regularly maintaining the map container, taking out the messages that have reached a certain time threshold since they were inserted into the map container, and group reporting them. The operation process is as follows:

[0094] Step S41, when the timer expires, the map container is traversed and a node content of the container is taken out;

[0095] Step S42, if the current local time is Tb, and it is known that the local time when the node inserts the message is t0, then if Tb-t0>=ΔT2, then start group reporting, release the current node, and obtain the next node;

[0096] Step S43, if Tb-t0<ΔT2, then the content of the node is not processed, and the next node is obtained for judgment;

[0097] Step S44, repeating steps S42 to S43;

[0098] Step S45, the traversal is completed, wait for the timing time of the timer, and repeat steps S41 to S44.

[0099] In one implementation, the preset data encapsulation format is used to group and send the information stored in the fetching node, specifically:

[0100] If the format of the original message is DF17 or DF18, the current original message is grouped and reported according to the ADS-B encapsulation format, and sent to the ADS-B track processing module after the grouping is completed. If it is not in DF17 or DF18 format, the original message is discarded;

[0101] Correspondingly,

[0102] Retrieve the original message group stored by the node;

[0103] Determine the number of original messages in this group. If the number of original messages is greater than or equal to the preset minimum quantity value, execute the next judgment process; otherwise, discard this original message group and obtain the next original message group.

[0104] The next judgment process is as follows: Obtain the site ID according to the site information stored by the node of the map container and the data source IP stored in the current original message group;

[0105] Determine the site layout based on the site ID, and analyze whether the site layout meets the station layout requirements according to the preset layout conditions. If it meets the requirements, group the current original message group according to the TOA encapsulation format, and send it to the MLAT track processing module after grouping. If it does not meet the requirements, discard this original message group and obtain the next original message group, and repeat the above steps until all the original message groups in the node are retrieved and traversed.

[0106] Specifically, through the above embodiments, the screening of data has been completed. The currently received data, that is, the data in the map container node, is the data that can be directly used for message grouping. After grouping, it is sent to the ADS-B track processing module and the MLAT track processing module. For the detailed process, see Figure 4 , and the specific implementation is as follows:

[0107] (1) Obtain the dummy content of this node and judge the format of this original message. If the message format is DF17 / DF18, directly group it and send it to the ADS-B track processing module, and the grouping format is as shown in Table 2 below;

[0108] Table 2 ADS-B Data Structure Table

[0109]

[0110]

[0111] (2) At the same time, judge and group whether this message information conforms to the multi-point track format. Assume that there are M groups of messages in the content of this node, and retrieve the current group of messages;

[0112] (3) The number of messages in this group is N. If N < Ncnt, where Ncnt represents the preset minimum quantity value, discard this group of messages and obtain the next group of messages;

[0113] (4) If N >= Ncnt, continue to judge;

[0114] (5) Obtain the current site ID according to the stored site information and the data source IP stored in the current grouped message;

[0115] (6) Analyze whether the group of messages meets the site layout requirements based on the current site ID and the specific site layout;

[0116] (7) If the conditions are met, the multi-point track processing message is started, and the message format is in accordance with Tables 3 and 4;

[0117] Table 3 TOA data structure table

[0118]

[0119] Table 4 Site time information data structure table

[0120]

[0121]

[0122] (8) If it does not meet the site deployment requirements, discard the group of messages, obtain the next group of messages, and repeat steps (3) to (8);

[0123] (9) After the group report is completed, it is sent to the multi-point track processing module.

[0124] In one implementation, the ADS-B encapsulation format is specifically as follows: encapsulation is performed in sequence according to the message length, message sequence number, signal mode, time information, and signal amplitude information of the original message;

[0125] The TOA encapsulation format is as follows: encapsulate the original message in sequence according to its message length, message sequence number, message classification flag, signal mode, and site time information, where the structure of the site time information is the site ID indication, time information, and signal amplitude information.

[0126] Specifically, Table 2 and Table 3 in the above embodiment have described in detail the preset data encapsulation format of the present invention, so no redundant description is given here.

[0127] Based on the same inventive concept, this embodiment provides a device for unsupervised learning of pedestrian re-identification. Figure 1 The data processing method shown is similar to that of the one shown in FIG. Figure 1 The embodiments of the method shown in FIG. 1 are not repeated in detail. Figure 5 As shown, including:

[0128] A data acquisition module is used to acquire the original message data received in real time by the TDOA multi-point positioning system;

[0129] The data insertion module is used to extract the data information carried by the original message data, and insert the data information and the original message data into the map container as a node, where the node information includes the time information of the original message, the signal amplitude information, the local time of the first insertion into the map container, the number of each original message group, and the number of each original message in each group of data;

[0130] The data retrieval module is used to traverse the nodes in the map container at a preset time, retrieve a node in the map container and obtain the current local time;

[0131] The data processing module is used to group and send the information stored in the extracted node in a preset data encapsulation format when the difference between the current local time and the local time is greater than and equal to the first time threshold, and remove the extracted node from the map container. According to the data extraction module, the next node continues to be obtained and data processing is performed until the current round of traversal is completed, and the next round of traversal is performed after the timing time is reached.

[0132] The device is also used to achieve the following functions:

[0133] In one embodiment, for:

[0134] The original message data that does not conform to the data format is eliminated, wherein the data format includes the mode information of the message and the location information of the site.

[0135] In one embodiment, the mode information of the message includes A / C mode, S mode, time information, and signal amplitude information of the message, wherein the time information is 4 bytes of seconds plus 4 bytes of nanoseconds;

[0136] The location information of the receiving station includes the device IP information, site ID and longitude and latitude of each receiving station, wherein the location information of the station is analyzed according to the socket resolution data source IP address to determine whether it is the original message data of each station. If not, the corresponding original message data is discarded.

[0137] In a possible implementation, it is also used to convert the format of the original message data into a string format as a key value of a node in the map container.

[0138] In one implementation, data information and original message data are inserted into a map container as a node, including:

[0139] By searching the key value of the map container of the original message data converted into string format, determine whether the node corresponding to the original message already exists in the current container;

[0140] Accordingly,

[0141] When the node corresponding to the original message does not exist in the map container, insert the key value of the node corresponding to the original message into the map container, record the local time of inserting into the map container in the node, and set the original message group inserted into the new node and the number of original messages in the group to 1;

[0142] When a node corresponding to the original message exists in the map container, the time information of the original message is obtained, the original message group corresponding to the key value is traversed to obtain the time information of the first original message in each group, and the difference between the time information and the time information of the first original message in each group and the size of the second time threshold are analyzed to determine whether it is stored in the original message group, wherein one quarter of the first time threshold is the second time threshold.

[0143] In one implementation, the difference between the time information and the time information of the first original message of each group and the size of the second time threshold are analyzed to determine whether to store in the original message group, specifically:

[0144] If it is less than the second time threshold, the original message is inserted into the original message group, otherwise the next group of data of the node content is obtained, otherwise the next original message group stored by the node is obtained, and the difference between the time information and the time information of the first original message of each group and the size of the second time threshold are analyzed. After traversing all the original message groups, if the original message group that meets the time threshold less than the second time threshold is still not found, the original message is placed in the new group stored by the node.

[0145] In one embodiment, the data processing module is further configured to:

[0146] When the difference between the current local time and the local time is less than the first time threshold, the node is retained, and the next node in the map container is obtained for analysis until all nodes in the map container are traversed;

[0147] Wait for the next timing time to continue traversing the map container, analyze the difference between the current local time and the local time and the size of the first time threshold, and perform corresponding processing steps on the information stored in the nodes in the map container according to the analysis results.

[0148] In one implementation, the preset data encapsulation format is used to group and send the information stored in the fetching node, specifically:

[0149] If the format of the original message is DF17 or DF18, the current original message is grouped and reported according to the ADS-B encapsulation format, and sent to the ADS-B track processing module after the grouping is completed. If it is not in DF17 or DF18 format, the original message is discarded;

[0150] Accordingly,

[0151] Take out the original message group stored in the node;

[0152] Determine the number of original messages in the group. If the number of original messages is greater than or equal to a preset minimum number, execute the next judgment process; otherwise, discard the original message group and obtain the next original message group.

[0153] The next judgment process is as follows: obtaining the site ID according to the site information stored in the node of the map container and the data source IP stored in the current original message group;

[0154] Determine the site layout based on the site ID, and use the preset layout conditions to analyze whether the site layout meets the site layout requirements. If it does, the current original message group will be grouped and reported according to the TOA encapsulation format. After the group reporting is completed, it will be sent to the MLAT track processing module. If it does not meet the requirements, the original message group will be discarded and the next original message group will be obtained. Repeat the above steps until all the original message groups in the node are traversed and taken out.

[0155] In one implementation, the ADS-B encapsulation format is specifically as follows: encapsulation is performed in sequence according to the message length, message sequence number, signal mode, time information, and signal amplitude information of the original message;

[0156] The TOA encapsulation format is as follows: encapsulate the original message in sequence according to its message length, message sequence number, message classification flag, signal mode, and site time information, where the structure of the site time information is the site ID indication, time information, and signal amplitude information.

[0157] The beneficial effects of the data processing device provided in this embodiment are as follows: identifying and clustering the same signal sent by the same flight target, formulating relevant data encapsulation formats to group and send the information stored in the nodes, and sending the grouped data to the ADS-B track processing module and the multi-point track processing module to determine the effective track data of the flight target, improve the management efficiency of the flight target and ensure aviation safety.

[0158] The specific implementation methods described above further illustrate the objectives, technical solutions and beneficial effects of the present invention in detail. It should be understood that the above description is only a specific implementation method of the present invention and is not intended to limit the scope of protection of the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A data processing method for a TDOA multi-point positioning system, characterized in that: include: S1, obtaining the original message data received in real time by the TDOA multi-point positioning system; S2, extract the data information carried by the original message data, and insert the data information and the original message data into the map container as a node, where the node information includes the time information of the original message, the signal amplitude information, the local time of the first insertion into the map container, the number of each original message group, and the number of each original message in each group of data; S3, traverse the nodes in the map container at a preset time, take out a node in the map container and obtain the current local time; S4: When the difference between the current local time and the local time when the node was first inserted into the map container is greater than or equal to the first time threshold, the preset data encapsulation format is used to group and send the information stored in the retrieved node, and the retrieved node is removed from the map container, and the process returns to step S3 to continue acquiring the next node until the current round of traversal ends, and the next round of traversal is performed after the timing time is reached.

2. The method according to claim 1, characterized in that Before step S2, the method further comprises: The original message data that does not conform to the data format is eliminated, wherein the data format includes the mode information of the message and the location information of the site.

3. The method according to claim 2, characterized in that The mode information of the message includes A / C mode, S mode, time information and signal amplitude information of the message, wherein the time information is 4 bytes of seconds plus 4 bytes of nanoseconds; The location information of the site includes the device IP information, site ID and longitude and latitude of each site, wherein the location information of the site is analyzed according to the socket resolution data source IP address to determine whether it is the original message data of each site. If not, the corresponding original message data is discarded.

4. The method according to claim 1, characterized in that: Before inserting the data information and the original message data as a node into the map container, the method further includes: converting the format of the original message data into a string format as a key value of a node of the map container.

5. The method according to claim 4, characterized in that Insert the data information and original message data into the map container as a node, including: By searching the key value of the map container of the original message data converted into string format, determine whether the node corresponding to the original message already exists in the current container; Accordingly, When the node corresponding to the original message does not exist in the map container, insert the key value of the node corresponding to the original message into the map container, record the local time of inserting into the map container in the node, set the number of original message groups to 1, and set the number of original messages in the original message group to 1; When a node corresponding to the original message exists in the map container, the time information of the original message is obtained, the original message group corresponding to the key value is traversed to obtain the time information of the first original message in each group, and the difference between the time information and the time information of the first original message in each group and the size of the second time threshold are analyzed to determine whether it is stored in the original message group, wherein one quarter of the first time threshold is the second time threshold.

6. The method according to claim 5, characterized in that The difference between the time information and the time information of the first original message of each group and the size of the second time threshold are analyzed to determine whether it is stored in the original message group, specifically: If it is less than the second time threshold, the original message is inserted into the original message group. Otherwise, the next original message group stored in the node is obtained, and the difference between the time information and the time information of the first original message in each group and the size of the second time threshold are analyzed. After traversing all the original message groups, if the original message group that is less than the second time threshold is still not found, the original message is placed in the new group stored in the node.

7. The method according to claim 1, characterized in that The S4 further comprises: When the difference between the current local time and the local time when the node is first inserted into the map container is less than the first time threshold, the node is retained, and the next node in the map container is obtained for analysis until all nodes in the map container are traversed; Wait for the next timing time to continue traversing the map container, analyze the difference between the current local time and the local time and the size of the first time threshold, and perform corresponding processing steps on the information stored in the nodes in the map container according to the analysis results.

8. The method according to claim 1, characterized in that The preset data encapsulation format is used to group and send the information stored in the fetching node, specifically: If the format of the original message is DF17 or DF18, the current original message is grouped and reported according to the ADS-B encapsulation format, and sent to the ADS-B track processing module after the grouping is completed. If it is not in DF17 or DF18 format, the original message is discarded; Accordingly, Take out the original message group stored in the node; Determine the number of original messages in the group. If the number of original messages is greater than or equal to a preset minimum number, execute the next judgment process; otherwise, discard the original message group and obtain the next original message group. The next judgment process is as follows: obtaining the site ID according to the site information stored in the node of the map container and the data source IP stored in the current original message group; Determine the site layout based on the site ID, and use the preset layout conditions to analyze whether the site layout meets the site layout requirements. If it does, the current original message group will be grouped and reported according to the TOA encapsulation format. After the group reporting is completed, it will be sent to the MLAT track processing module. If it does not meet the requirements, the original message group will be discarded and the next original message group will be obtained. Repeat the above steps until all the original message groups in the node are traversed and taken out.

9. The method according to claim 8, characterized in that The specific ADS-B encapsulation format is: encapsulate the original message in sequence according to the message length, message sequence number, signal mode, time information and signal amplitude information; The TOA encapsulation format is as follows: encapsulate the original message in sequence according to its message length, message sequence number, message classification flag, signal mode, and site time information, where the structure of the site time information is the site ID indication, time information, and signal amplitude information.

10. A data processing device for a TDOA multi-point positioning system, characterized in that: include: A data acquisition module is used to acquire the original message data received in real time by the TDOA multi-point positioning system; The data insertion module is used to extract the data information carried by the original message data, and insert the data information and the original message data into the map container as a node, where the node information includes the time information of the original message, the signal amplitude information, the local time of the first insertion into the map container, the number of each original message group, and the number of each original message in each group of data; The data retrieval module is used to traverse the nodes in the map container at a preset time, retrieve a node in the map container and obtain the current local time; The data processing module is used to group and send the information stored in the extracted node in a preset data encapsulation format when the difference between the current local time and the local time when the node is first inserted into the map container is greater than or equal to the first time threshold, and remove the extracted node from the map container. According to the data extraction module, the next node continues to be obtained and data processing is performed until the current round of traversal is completed, and the next round of traversal is performed after the timing time is reached.

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