Data processing dual-computer hot backup method based on flight path fusion

Abstract

The invention relates to the field of radar data processing, in particular to a data processing dual-computer hot backup method based on track fusion. The host machine and the standby machine simultaneously receive front-end data and independently operate data processing programs to maintain internal tracks of the host machine and the standby machine. A track fusion module is adopted to carry out track fusion of a host and a standby, a special data structure is designed to complete fused track data recording, and the fused track data of the host and the standby are synchronized in real time to ensure that the host and the standby keep consistent. According to the method, the problems that when a cold backup piece is adopted, due to complete loss of current intelligence, the judgment of attributes and sorties before and after the same track is inconsistent is caused, and the time consumed for manually replacing the backup piece and re-recording the track is too long are solved.

Description

Technical Field

[0001] The invention relates to the field of radar data processing, and in particular to a data processing dual-machine hot backup method based on track fusion. Background Art

[0002] Data processing is mainly responsible for track tracking, tactical command response, and air situation reporting in various radar subsystems. Specifically, data processing needs to convert the point tracks specified by the operator into tracks, and when the radar continues to update the point tracks, it continuously associates the current point tracks with the historical tracks based on the measurement and prediction of the target's motion trajectory to achieve track tracking; the operator needs to edit, attribute, and judge the current tracked air situation, and correct the track that has errors in the tracking. These tactical operations all need to be achieved through the response of data processing, so as to manually intervene and manage the air situation; after forming a stable air situation, data processing will report the air situation to the superior command and control system using the specified port and format, so that it can integrate the air situation of each radar, thereby achieving more stable and accurate intelligence, and forming an air situation map within the defense zone to assist commanders in making command decisions.

[0003] Therefore, the data processing system is the core subsystem of the radar, and the tasks it undertakes determine the realization of the basic functions of the radar. Once a data processing failure occurs, the radar will shut down and lose its detection capability, resulting in serious consequences.

[0004] At present, radar mainly uses cold backup to deal with possible failures in the data processing subsystem. When the working part fails, the operator can manually shut down the data processing subsystem, remove the working part, replace the backup part, and restart the power supply. This method will cause the following problems:

[0005] 1. Manually replacing the backup parts and restoring the power supply takes several minutes, which is too time-consuming. If there is an emergency air situation, the intelligence will be lost during the replacement process, resulting in serious consequences.

[0006] 2. The data processing itself maintains the batch number, attributes and historical tracks of the intelligence that has been recorded by the current radar. This information exists in the form of temporary internal data in the faulty working piece. After replacing the backup piece, all the intelligence that has been recorded will be lost, and it is necessary to manually re-record and batch it, and the attributes of the track need to be re-judged. The process of re-recording, batching and judging the attributes and flight number is not only time-consuming, but also prone to inconsistent attributes and flight number judgments before and after the same track, resulting in intelligence accidents, causing great trouble to users. Summary of the invention

[0007] In view of the shortcomings of the prior art, the present invention adopts a data processing dual-machine hot backup technical solution, uses two servers to run data processing programs at the same time, and designs an arbitration mechanism to automatically determine the two servers as the main machine and the backup machine. The present invention avoids the problems of inconsistent intelligence accidents caused by the complete loss of current intelligence when using cold backups, such as inconsistent judgments on the attributes and flight times of the same track before and after, and the time-consuming manual replacement of backups and re-recording of tracks.

[0008] The technical solution of the present invention is: a data processing dual-machine hot backup method based on track fusion, comprising the following steps:

[0009] Step 1: Both machines are started at the same time, and each machine runs the data processing program independently. The arbitration mechanism automatically determines the master and backup machines. At this time, only the master machine outputs information to the outside, and the output port of the backup machine is suspended.

[0010] Step 2: Different permissions are granted to the host and backup machine. The host is responsible for receiving and parsing the trace message and tactical operation message, generating internal numbers such as trace number and manual operation sequence number, storing them and forwarding them to the backup machine for actual processing.

[0011] Step 3: The fusion module of the host starts to perform track fusion processing. According to the point track number and manual operation sequence number, the track messages of the host and standby aircraft are merged into a unique track and sent to the back-end for display.

[0012] Step 4: Start the synchronization mechanism to synchronize the fused track data between the host and backup machines in real time to ensure that the fused track messages of the two machines are always consistent and that all current track information is not lost in the event of a fault switch.

[0013] Step 5: The heartbeat message mechanism is used between the host and the backup machine to detect each other's status in real time. When the host is found to be unresponsive, the backup machine is switched in real time to realize dual-machine hot backup for data processing.

[0014] The advantages of the present invention are that the method of the present invention can switch to the backup part in real time when the data processing workpiece fails, and retain all kinds of information of the currently recorded air situation. The system can continue to track and update the air situation on this basis, and the intelligence reporting will not be interrupted. The adoption of this method can avoid intelligence accidents and improve the mission reliability of the radar. The traditional method uses the idea of ​​cold backup parts to deal with the failure of data processing workpieces. When the workpiece works normally, the cold backup part is in a completely shut down state, and no information of the currently mastered air situation is saved on it. When the workpiece fails, the operator needs to shut down, power off and manually replace the backup part, and this process takes several minutes. For emergency air situations, several minutes have caused the air situation to be lost, resulting in serious consequences. For the air situation that has been mastered, since the backup part does not save any information in the cold backup state, all the mastered air situations will disappear after replacement, and must be recorded from the beginning, which is not only time-consuming, but also more likely to cause inconsistent attributes and flight judgments before and after the same track, resulting in intelligence accidents. The present method uses a dual-machine hot backup solution, and two servers run data programs at the same time. During the operation, the host and the backup machine are determined by the arbitration mechanism. Through permission management, the host is given unique entry data processing permission and export data output permission to ensure the consistency of global intelligence data. During operation, the host and backup aircraft each complete data processing, but the air conditions formed by the two are fused by the host before output to ensure the uniqueness of the output air conditions. All relevant information of the current track is recorded in the fused track data, and a real-time synchronization mechanism is used to keep the fused track data consistent between the host and backup aircraft at all times, ensuring that all current track information is backed up in the backup aircraft after a failure occurs. The heartbeat message mechanism is used to continuously query the status of the host and backup aircraft. Once an abnormality is found in the host, the backup aircraft switches to the host in real time, obtains the host permission and calls the backup fusion data structure to output the air condition, realizing seamless switching between the host and backup aircraft, and completely solving the problem of time-consuming replacement of cold backup parts. After the switch, the current track data is restored, completely avoiding the intelligence accident of inconsistent air condition reporting caused by users re-entering the air condition. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 This is a flowchart of the dual-machine hot backup method for data processing based on track fusion. DETAILED DESCRIPTION

[0016] Definition: Primary point trace: The radar actively transmits electromagnetic waves and receives the energy reflected by the target. After signal processing, the units that pass the threshold are condensed into a point based on their distance, direction and altitude, representing a target.

[0017] Secondary dot trace: The dot trace formed by the response of the transponder on the aircraft through secondary radar interrogation.

[0018] Track: The positions of the points in the past 3-5 scans of the radar are combined into a motion track, and the tracks that meet the motion characteristics are selected, called tracks, which represent the targets that the radar currently needs to observe.

[0019] Batch editing: After a track is decided to be recorded as an air situation, it is necessary to manually or automatically assign a number from 0 to 999 to the track, which is called the track batch number. The process of assigning batch numbers is called batch editing. The batch number is unique among all the air situations currently on the radar. The batch number is used as the query condition for viewing historical air situations.

[0020] Flights: Dense formations often appear in current training or combat aircraft formations, that is, multiple aircraft fly densely together, which will appear as a track when observed by radar. At this time, the operator needs to manually judge how many aircraft are included in the track based on other detailed features provided by the radar, fill in the judged number in the flight information of the track, and report it together with the track intelligence.

[0021] Attributes: When recording the air situation, the operator needs to make a manual judgment on the attributes of the aircraft, including whether it is an enemy aircraft, a friendly aircraft, or an unknown aircraft. This information is a key part of the air situation and is reported together with the track information.

[0022] The technical solution of the present invention is further described below in conjunction with the accompanying drawings.

[0023] like Figure 1 As shown, the method of the present invention includes the following steps. Step 1: two servers are started at the same time, and each server independently runs a data processing program. After starting, the data processing program first sends an internal message to query each other whether the other data processing program is online, and arbitrates the master and the backup according to the current status according to the following mechanism:

[0024] Scenario 1: After the data processing of the two servers is completed and started, each receives the status message from the other party and it is normal. Then both parties decide the master and backup machine according to the pre-set rules. 1 As the host, the IP address is X 2 As a backup machine;

[0025] Scenario 2: If one of the servers fails to start, the other server will not receive a response when it queries the other server. After a certain period of time (such as 100ms), the data processing that successfully starts will set itself as the master and continuously send commands to the other server, telling it that it is the master and making it the backup server.

[0026] Scenario 3: The air situation data of the host aircraft is allowed to be output to the display control, and the air situation data of the standby aircraft is automatically suspended, that is, only the standby aircraft is allowed to perform track tracking, but it does not output any air situation, ensuring the uniqueness of the terminal intelligence;

[0027] Step 2: Grant different operation response permissions to the master and backup machines, and distribute the data and commands sent by external programs to the master and backup machines differently, so that they can respond to some messages at the same time, while only the master can respond to some messages.

[0028] The messages sent by external programs mainly include primary trace data, scan line position data, host and standby status messages, etc. sent by signal processing, secondary trace and IFF data, operation command (mainly manual batch start command, which will start a new track) data, etc. sent by display control. Except for scan line position data, host and standby status messages, secondary trace and IFF data, which require the data processing of the host and standby to receive responses at the same time, the rest of the messages can only be responded to by the host data processing software.

[0029] The scan line orientation data, secondary point traces and IFF data are the information needed for track tracking. The master and standby status messages are used to manually switch the master and standby, so the master and standby need to respond at the same time.

[0030] The primary point track data and operation command data are important conditions for subsequent track fusion, and only the host is allowed to respond. The host's track fusion module assigns a globally unique number to the primary point track data: the point track number. The operation command data is assigned a globally unique number: the manual operation sequence number. After completing the numbering, the host track fusion module distributes the data to the track tracking modules of the host and standby aircraft.

[0031] Step 3: After receiving the uniquely numbered point data and manual operation sequence number, the track tracking modules of the host and standby aircraft respectively perform target correlation, track initiation, tracking and filtering to form internal track messages. The internal track message includes the point number, manual operation sequence number, track update time, current position (distance, azimuth, altitude), flight number, attributes, historical point number, etc.

[0032] The host and standby aircraft each send their internal track messages to the host's track fusion module. The track fusion module uses the point track number and manual operation sequence number as the main fusion conditions and the track update time as the secondary fusion condition to generate a unique fused track, and batches the fused track according to the prescribed batching rules, and finally generates a fused track report for display control.

[0033] The track fusion process is as follows:

[0034] Step 1: traverse the internal track message of the host, select an internal track message, and take out its point track number and manual operation sequence number;

[0035] Step 2: Find the message with the same point track number and manual operation sequence number in the internal track message of the standby aircraft, and take it out from the track message list of the standby aircraft;

[0036] Step 3: Merge the two internal track messages of the master and standby machines, generate a track batch number according to the user batch editing operation or the default batch number generation rule, fill it into the fused track message, and send it to the display control for display;

[0037] Step 4. If no message with the same point track number and manual operation sequence number is found in the standby machine, then find the internal track message with the same manual operation sequence number as the current host to be processed message in the standby machine, and compare the track update time in the host and standby messages. If the track update time is less than 30ms, the two tracks are considered to be the same track updated at the same time (since track tracking is a random process based on statistical probability, there is a small probability that the points of the same track tracked will be inconsistent during the operation of the data processing of the host and standby machines). At this time, the point track number in the host message shall prevail, and the internal track message of the standby machine shall be synchronized, and the points of the two tracks that are most recently associated shall be modified to be consistent, and a fused track message shall be formed. The track batch number shall be generated according to the user's batch editing operation or the default batch number generation rule, and sent to the display control for display;

[0038] Step 5. If no internal track message with the same manual operation sequence number as the message to be processed by the current host is found in the standby machine, it means that the track in the standby machine has been lost. At this time, it is necessary to copy the internal track message of the host machine to the standby machine and recreate the track in the standby machine. Generate the fused track message based on the host machine, generate the track batch number according to the user batch editing operation or the default batch number generation rule, and send it to the display control for display;

[0039] Step 6, repeat the above 5 steps until all internal track messages in the host are processed (meaning all tracks have been processed). At this time, if there are still unprocessed internal track messages in the standby machine (because track tracking is a random process based on statistical probability, there is a small probability that the data processing of the host and the standby machine will have inconsistent tracking of the same target during operation, and at this time, there may be tracks in the standby machine that have disappeared in the host), delete them, cancel the track in the standby machine, and ensure that the track information of the host and the standby machine is consistent.

[0040] Step 4: When the master and backup aircraft generate the fused track message, they synchronize the fused track data structure in real time according to the timing to ensure that the fused track data structure of the master and backup aircraft remain consistent, so that the track information will not be lost when the master and backup aircraft switch.

[0041] The fused track message includes the point track number, manual operation sequence number, batch number, track update time (master and backup), current position (distance, direction, altitude), flight number, attributes, historical point track number, etc. All fused track messages constitute the fused track data structure.

[0042] Since only the track fusion module of the host data processing software is working, the track fusion module of the backup machine is always in standby state (suspended, no output). In order to ensure that the track fusion module can be seamlessly connected when the host and backup machine states are switched, the fused track data structure needs to be synchronized in real time.

[0043] The opportunities for fusion data structure synchronization include:

[0044] Timing 1: When any data structure information is updated, the host (server A) sends the updated information to the backup machine (server B), such as internal track report update, etc. After receiving it, the backup machine updates the fusion data structure to the local machine;

[0045] Opportunity 2: When the original standby machine (Server B) switches to the master machine, the original standby machine will send all its fusion data structure information to the new standby machine (Server A), and send the system time to the new standby machine (Server A). After receiving it, the new standby machine (Server A) saves all fusion data structures to the local machine and sets the new standby machine system time according to the received system time data.

[0046] Opportunity 3: When the original host (Server A) switches to the standby, it will send a synchronization request to the new host (Server B). After receiving the synchronization request, the new host will send all fusion data structures and system time information to the new standby (Server A). After receiving the fusion data, the new standby (Server A) will save all fusion data structures locally and set the local system time according to the received system time data.

[0047] Opportunity 4: When the standby machine (Server B) starts, it will also send a synchronization request to the host machine (Server A). After receiving the synchronization request, the host machine (Server A) will send all fusion data structures and system time information to the standby machine (Server B). After receiving it, Server B will save all fusion data structures locally and set the local system time according to the sent system time data.

[0048] When any one or more of the situations from timing 1 to timing 4 occur, synchronization is performed.

[0049] Step 5: The master and backup machines use heartbeat messages to detect each other's status once at a fixed interval (10ms). When the backup machine finds that the master is unresponsive, it automatically switches to the master, starts the track fusion module, and outputs the track. In addition to automatic switching, the master and backup machines can be switched manually at any time.

Claims

1. A data processing dual-machine hot backup method based on track fusion, characterized by: The steps include: Step 1: Start the two servers at the same time, each running the data processing program independently, arbitrating the master and the backup: Step 2: Different operation response permissions are assigned to the host and standby machines, and the data and commands sent by the external program are distributed to the host and standby machines differently. The host and standby machines respond to some messages at the same time, and only the host machine can respond to some messages. The track fusion module of the host machine assigns a globally unique number to the point track data: the point track number; and assigns a globally unique number to the operation command data: the manual operation sequence number; after completing the numbering, the host track fusion module distributes the data to the track tracking modules of the host and standby machines; Step 3: After receiving the uniquely numbered point track data and the manual operation sequence number, the track tracking modules of the host and standby aircraft respectively perform target correlation, track initiation, tracking and filtering to form internal track messages; The master and standby aircraft each send their internal track messages to the track fusion module of the master. The track fusion module uses the point track number and manual operation sequence number as the main fusion conditions and the track update time as the secondary fusion condition to generate a unique fused track. The track fusion process is as follows: Step 1: traverse the internal track message of the host, select an internal track message, and take out its point track number and manual operation sequence number; Step 2: Find the message with the same point track number and manual operation sequence number in the internal track message of the standby aircraft, and take it out from the track message list of the standby aircraft; Step 3: Merge the two internal track messages of the master and standby machines, generate a track batch number according to the user batch editing operation or the default batch number generation rule, fill it into the fused track message, and send it to the display control for display; Step 4: If no message with the same point track number and manual operation sequence number is found in the standby machine, an internal track message with the same manual operation sequence number as the message to be processed by the current host is found in the standby machine, and the two tracks are considered to be the same track updated at the same time. The point track number in the host message is used as the basis, and the internal track message of the standby machine is synchronized, and the points of the two tracks are modified to be consistent, and a fused track message is formed; the track batch number is generated according to the user batch editing operation or the default batch number generation rule, and sent to the display control for display; Step 5: If no internal track message with the same manual operation sequence number as the message to be processed by the current host is found in the standby machine, it indicates that the track in the standby machine has been lost. At this time, it is necessary to copy the internal track message of the host machine to the standby machine and recreate the track in the standby machine; generate a fused track message based on the host machine, generate a track batch number according to the user batch editing operation or the default batch number generation rule, and send it to the display control for display; Step 6: Repeat the above 5 steps until all internal track messages in the master are processed; if there are unprocessed internal track messages in the standby, delete them and cancel the track in the standby; Step 4: When the master and backup aircraft generate the fused track message, they synchronize the fused track data structure in real time according to the timing to ensure that the fused track data structure of the master and backup aircraft is consistent; Step 5: The host and backup machines use heartbeat messages to detect each other's status once at a fixed interval. When the backup machine finds that the host is unresponsive, it automatically switches to the host, starts the track fusion module, and outputs the track.

2. According to the data processing dual-machine hot backup method based on track fusion according to claim 1, it is characterized by: In step 1, the master and backup machines are arbitrated according to the following situations: Scenario 1: After the data processing of the two servers is completed and started, each receives a status message from the other party that is normal, and the master and backup machine are determined according to the pre-set rules; Scenario 2: If one of the servers fails to start, the other server will not receive a response when querying the other server. After the time has expired, the successfully started data processing server will set itself as the master server and the other server as the backup server. Scenario 3: The air situation data of the host aircraft is allowed to be output to the display control, and the air situation data of the standby aircraft is automatically suspended.

3. The data processing dual-machine hot backup method based on track fusion according to claim 2 is characterized in that: In case 2, the exceeding time is 100ms.

4. The data processing dual-machine hot backup method based on track fusion according to claim 1 is characterized by: In step 2, except for the scan line position data, host and standby status messages, secondary traces and IFF data, which require the data processing of the host and standby to receive responses at the same time, only the host data processing software can respond to the remaining messages.

5. The data processing dual-machine hot backup method based on track fusion according to claim 1 is characterized by: The internal track message in step 3 includes a point track number, a manual operation sequence number, a track update time, a current position, a flight number, attributes or a historical point track number.

6. The data processing dual-machine hot backup method based on track fusion according to claim 1 is characterized by: The method for considering the two tracks to be at the same time in step 4 of step 3 is: comparing the track update time in the master and backup machine messages. If the track update time is less than 30ms, it is considered to be at the same time.

7. The data processing dual-machine hot backup method based on track fusion according to claim 1 is characterized by: The fused track message in step 4 includes a point track number, a manual operation sequence number, a batch number, a track update time, a current position, a flight number, an attribute or a historical point track number; all fused track messages constitute a fused track data structure.

8. A data processing dual-machine hot backup method based on track fusion according to any one of claims 1 to 7, characterized in that: The timing of real-time synchronous fusion of track data structure is: Timing 1: When any data structure information is updated, the master sends the updated information to the standby machine; Opportunity 2: When the original standby machine switches to the master machine, the original standby machine sends all its fusion data structure information to the new standby machine, and sends the system time to the new standby machine. After receiving the information, the new standby machine saves all the fusion data structures locally and sets the new standby machine system time according to the received system time data. Opportunity 3: When the original host switches to the standby host, it will send a synchronization request to the new host. After receiving the synchronization request, the new host will send all fusion data structures and system time information to the new standby host. After receiving the fusion data structure, the new standby host will save it locally and set the local system time according to the received system time data. Opportunity 4: When the standby server starts, it will also send a synchronization request to the host server. After receiving the synchronization request, the host server will send all fusion data structures and system time information to the standby server. After receiving the fusion data structures, Server B will save them locally and set the local system time according to the sent system time data. When any one or more of the situations from timing 1 to timing 4 occur, synchronization is performed.

9. A data processing dual-machine hot backup method based on track fusion according to any one of claims 1 to 7, characterized in that: The master and backup machines can be switched at any time through manual intervention.

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