Track association method based on historical information

Abstract

The invention discloses a track association method based on historical information. The track association method based on the historical information comprises the following steps: acquiring track information of a target aircraft in a current monitoring period; screening the track information according to a preset threshold; if the number of the tracks corresponding to the target aircrafts meeting the preset threshold is greater than or equal to two, acquiring historical information of the tracks; calculating an association rate with the target aircraft based on the historical information, and comparing the association rate with a preset threshold value; and associating the historical track with the association rate greater than or equal to a preset threshold with the target aircraft. According to the technical scheme, track association errors can be effectively reduced, the target tracking accuracy is improved, the multi-data fusion effect is ensured, misjudgment on the identity of the aircraft is reduced, and influence on airspace situation awareness and operation safety is ensured.

Description

Technical Field

[0001] The present invention relates to the technical field of air traffic control, and particularly to a track association method based on historical information. Background Art

[0002] In modern air traffic control (ATC), track association is a key step in track management and data fusion.

[0003] The current track association methods based on historical information mainly rely on the characteristics of the target in the current monitoring period. However, when the tracks are briefly staggered and the target lacks complete identification information, etc., the air traffic control system may wrongly associate the tracks of different targets together. This mis-association not only reduces the accuracy of target tracking, but also affects the fusion effect of multi-data, and may even lead to incorrect judgment of the identity of the aircraft by the air traffic control system, affecting the airspace situation awareness and operation safety. Summary of the Invention

[0004] Aiming at the defects in the prior art, the present invention provides a track association method based on historical information, which can effectively reduce track association errors, improve the accuracy of target tracking, ensure the fusion effect of multi-data, reduce the incorrect judgment of the identity of the aircraft, and ensure the airspace situation awareness and operation safety.

[0005] A track association method based on historical information provided by the present application, the track association method based on historical information includes:

[0006] Obtain the track information of the target aircraft in the current monitoring period;

[0007] Screen the track information according to a preset threshold;

[0008] If the number of tracks corresponding to the target aircraft that meet the preset threshold is greater than or equal to two, obtain the historical information of the tracks;

[0009] Calculate the association rate with the target aircraft based on the historical information, and compare the association rate with a preset threshold;

[0010] Associate the historical tracks with an association rate greater than or equal to the preset threshold with the target aircraft.

[0011] In one aspect, the step of associating the historical tracks with an association rate greater than or equal to the preset threshold with the target aircraft includes:

[0012] When there is one historical track whose correlation rate is greater than or equal to the preset threshold, directly correlate the historical track with the target aircraft;

[0013] When there are two or more historical tracks whose correlation rates are greater than or equal to the preset threshold, merge two or more historical tracks into one, and correlate the merged track with the target aircraft.

[0014] In one aspect, the step of merging two or more historical tracks includes:

[0015] Select a main track and delete redundant tracks, where the main track is the merged track.

[0016] In one aspect, the step of selecting a main track includes:

[0017] Calculate the weight of the track information of the historical track, and select the historical track with the largest track information weight as the main track;

[0018] And / or, obtain the number of associated surveillance sources of the track, and select the historical track with the largest number of associated surveillance sources as the main track;

[0019] And / or, obtain the track generation time, and select the historical track with the earliest track generation time as the main track.

[0020] In one aspect, the weight items of the track information include the number of surveillance sources, address code, flight number, secondary code, altitude, speed, and heading;

[0021] Define the number of surveillance sources as N, N≥1, the weight item of the address code is defined as b, the weight item of the flight number is defined as c, the weight item of the secondary code is defined as d, the weight item of the altitude is defined as e, the weight item of the speed is defined as f, and the weight item of the heading is defined as g. Then the track information weight D satisfies: D = N * 10 + b * 10 + c * 10 + d * 10 + e * 10 + f * 10 + g * 10.

[0022] In one aspect, the step of calculating the correlation rate with the target aircraft based on the historical information includes:

[0023] Obtain the historical tracks within the preset time window range from the historical information;

[0024] Calculate the number of occurrences of the target aircraft in each historical track, and determine the number of monitoring cycle times of the preset time window;

[0025] Calculate the correlation rate of the target aircraft based on the number of monitoring cycle times and the number of occurrences of the target aircraft on the historical track.

[0026] In one aspect, after the step of comparing the association rate with a preset threshold, the method further includes:

[0027] When the association rate is less than the preset threshold, the historical track of the previous cycle of the preset time window is selected, and the historical track of the previous cycle is associated with the target aircraft.

[0028] In one aspect, after the step of screening the track information according to a preset threshold, it includes:

[0029] If the number of tracks corresponding to the target aircraft that meet the preset threshold is one, the track association is directly performed;

[0030] If there is no track corresponding to the target aircraft that meets the preset threshold, a new track is created.

[0031] In one aspect, the preset threshold at least includes a preset range, an error range, a predicted speed range, and a target heading;

[0032] The step of screening the track information according to a preset threshold includes:

[0033] Confirm whether the spatial position of the target aircraft is within the preset range;

[0034] And / or, confirm whether the altitude of the target aircraft is within the error range;

[0035] And / or, confirm whether the speed of the target aircraft is within the predicted speed range;

[0036] And / or, confirm whether the heading of the target aircraft is consistent with the target heading.

[0037] In one aspect, the track information is at least from one of radar, satellite, and automatic dependent surveillance - broadcast.

[0038] The beneficial effects of the present invention are reflected in that: by screening the track information according to a preset threshold, the probability of misjudging the target aircraft due to incorrect track association is reduced. By calculating the association rate with the target aircraft based on historical information, the association rate is compared with a preset threshold; and the historical tracks with an association rate greater than or equal to the preset threshold are associated with the target aircraft. In this way, historical tracks are fully utilized, greatly improving the accuracy of track association, thereby reducing track - association errors, improving the accuracy of target tracking, ensuring the fusion effect of multi - data, reducing incorrect judgment of the identity of the aircraft, and ensuring the impact on airspace situation awareness and operation safety. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] To more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the following will briefly introduce the accompanying drawings required for the description of the specific embodiments or the prior art. In all the drawings, similar elements or parts are generally identified by similar reference numerals. In the drawings, the elements or parts are not necessarily drawn to scale.

[0040] Figure 1 It is a schematic flow chart of the track association method based on historical information of this application;

[0041] Figure 2 It is a schematic flow chart of the track association method based on historical information of this application where the association rate is greater than or equal to a preset threshold;

[0042] Figure 3 It is a schematic flow chart of the process of merging historical tracks in the track association method based on historical information of this application;

[0043] Figure 4 It is a schematic flow chart of the process of calculating the association rate in the track association method based on historical information of this application;

[0044] Figure 5 It is a schematic flow chart of the track association method based on historical information of this application where the association rate is less than the preset threshold;

[0045] Figure 6 It is a schematic flow chart of the track association method based on historical information of this application where the target aircraft meeting the preset threshold is one or none;

[0046] Figure 7 It is a schematic flow chart of the process of screening track information by the preset threshold in the track association method based on historical information of this application;

[0047] Figure 8 It is a schematic diagram of the preset time window in the track association method based on historical information of this application. Specific Embodiments

[0048] The following will describe in detail the embodiments of the technical solutions of the present invention with reference to the accompanying drawings. The following embodiments are only used to more clearly illustrate the technical solutions of the present invention, so they are only examples and cannot be used to limit the protection scope of the present invention.

[0049] It should be noted that unless otherwise specified, the technical terms or scientific terms used in this application should have the ordinary meanings understood by those skilled in the art to which the present invention belongs.

[0050] Refer to Figure 1 As shown, this application provides a track association method based on historical information. The track association method based on historical information includes:

[0051] Step S10, obtain the track information of the target aircraft in the current monitoring period; the track information is at least from one of radar, satellite, and automatic dependent surveillance - broadcast. Radar, satellite, and automatic dependent surveillance - broadcast are key information - collection means in the modern aviation monitoring system, each with unique technical characteristics and advantages. Radar can accurately measure the distance, azimuth, and speed of the target in real - time, providing precise position and motion parameters for the track information; satellite monitoring has a wide range and is not restricted by geographical conditions, enabling global coverage and playing a key role in long - range and cross - regional monitoring; automatic dependent surveillance - broadcast relies on the aircraft's own equipment to actively send information such as position, speed, and heading, with timely data updates and high accuracy. The track information can be obtained from these different sources, ensuring the richness, complementarity, and reliability of the data, reducing the risk brought by the failure or limitations of a single data source, and enhancing the accuracy and stability of track association.

[0052] Multiple sources of track information provide sufficient data support for subsequent track - association operations. In steps such as screening track information according to preset thresholds, calculating the association rate, and performing track association, the rich data can be compared and analyzed in multiple dimensions. For example, by comparing information such as position, speed, and heading in data from different sources, the degree of association between the track and the target aircraft can be judged more accurately, avoiding misjudgment caused by errors in a single data source, ensuring the effective implementation of the track - association method based on historical information, and thus guaranteeing the accuracy of target tracking and data fusion, and enhancing the airspace situation awareness ability and aviation operation safety.

[0053] Among them, the air traffic control system reads radar surveillance data, etc., to obtain the track information of the target aircraft in the current monitoring period. This information includes key features such as spatial position, flight altitude, airspeed, heading, and track identifier (such as ICAO 24 - bit address code, flight number, secondary code), providing basic data for subsequent screening and association operations. In addition, the current monitoring period refers to the time for completing one monitoring. For radar, it is the time for the next scan and reflection.

[0054] Step S20, screen the track information according to preset thresholds; according to the preset thresholds, perform consistency screening on the obtained track information. The preset thresholds include spatial position (whether the target position is within the preset association threshold range), flight altitude (whether the altitude difference is within the allowable error range), airspeed (whether the speed of the current track point matches the predicted speed of the existing track), and heading (whether there is strong consistency between the target heading and the known track heading). By screening, judge whether the track meets the association conditions to exclude obviously irrelevant tracks. Among them, the preset thresholds also include track identifiers. If the target has track - identifier information, priority matching is performed.

[0055] Step S30, if the number of tracks corresponding to the target aircraft meeting the preset threshold is greater than or equal to two, obtain the historical information of the tracks; when the number of tracks corresponding to the target aircraft meeting the preset threshold after screening is greater than or equal to two, it indicates that the tracks associated with the target aircraft cannot be accurately determined only based on the information of the current monitoring period. At this time, to improve the accuracy of track association, it is necessary to obtain the historical information of these tracks. Make a judgment on the association by querying the historical information.

[0056] Step S40, calculate the association rate with the target aircraft based on the historical information, and compare the association rate with a preset threshold; the preset threshold can be 80%, or 90%, or can be adjusted according to needs. If the association rate of a certain track is higher than the set preset threshold, then this track has a higher priority in the association decision.

[0057] Step S50, associate the historical tracks with an association rate greater than or equal to the preset threshold with the target aircraft. By associating the tracks with a large association rate, the track association error can be effectively reduced, the movement track of the target aircraft can be accurately grasped, and the target tracking accuracy can be improved.

[0058] In this embodiment, the track information is screened by the preset threshold, reducing the probability of misjudging the target aircraft due to incorrect track association. Calculate the association rate with the target aircraft based on the historical information, compare the association rate with the preset threshold; and associate the historical tracks with an association rate greater than or equal to the preset threshold with the target aircraft. In this way, the historical tracks are fully utilized, greatly improving the accuracy of track association, thereby reducing track association errors, improving the accuracy of target tracking, ensuring the fusion effect of multi-data, reducing the misjudgment of the aircraft identity, and ensuring the impact on airspace situation awareness and operation safety.

[0059] As Figure 2 shown, the step of associating the historical tracks with an association rate greater than or equal to the preset threshold with the target aircraft includes:

[0060] Step S510, when there is one historical track whose correlation rate is greater than or equal to the preset threshold, directly correlate the historical track with the target aircraft; when only one historical track has a correlation rate greater than or equal to the preset threshold, it indicates that after the screening and calculation in the previous steps, this historical track has a high degree of correlation with the target aircraft. From the perspective of probability and actual situation, it can be basically determined that this historical track is the continuation of the flight track of the target aircraft before. In the air traffic control system, this correlation means integrating the track information of the target aircraft in the current monitoring period with this historical track, and subsequent operations such as tracking and analyzing the target aircraft are based on the correlated track data. For example, on the display interface, the current position of the target aircraft can be connected with the historical track for display, which is convenient for air traffic controllers to intuitively understand its flight path. This direct correlation method is simple and efficient, avoiding unnecessary complex judgments and processing, and can quickly and accurately complete track correlation, improving the processing efficiency and real-time performance of the system.

[0061] Step S520, when there are two or more historical tracks whose correlation rates are greater than or equal to the preset threshold, merge two or more historical tracks into one, and correlate the merged track with the target aircraft. When there are multiple historical tracks whose correlation rates meet the preset threshold requirements, if they are directly correlated without merging, it will lead to multiple different track data corresponding to the target aircraft, resulting in track redundancy and confusion, which is not conducive to the accurate tracking and management of the target aircraft. Merging these historical tracks can eliminate redundant information, ensure the uniqueness and accuracy of track data, and enable the system to more clearly present the real flight track of the target aircraft. Make the air traffic control system track the target aircraft more accurately and clearly, reduce misjudgments and management difficulties caused by track confusion, improve the accuracy and reliability of airspace situation awareness, and ensure the safety and efficiency of aviation operations.

[0062] As Figure 3 shown, the steps of merging two or more historical tracks include:

[0063] Step S521, select the main track and delete the redundant tracks, and the main track is the merged track. If the verification passes, it is necessary to select a main track. There are various strategies for selecting the main track. For example, calculate the weight of the track information of the historical track and select the one with the largest weight as the main track; or obtain the number of associated surveillance sources of the track, and the track with the largest number is determined as the main track; it is also possible to select the one with the earliest generation time as the main track according to the track generation time. After determining the main track, delete other redundant historical tracks and use the main track as the merged track.

[0064] Furthermore, the steps of selecting the main track include:

[0065] Step S5211: Calculate the weight of the track information of the historical track, and select the historical track with the largest track information weight as the main track; the weight items of the track information include the number of monitoring sources, address code, flight number, secondary code, altitude, speed, and heading; define the number of monitoring sources as N, N≥1, the weight item of the address code is defined as b, the weight item of the flight number is defined as c, the weight item of the secondary code is defined as d, the weight item of the altitude is defined as e, the weight item of the speed is defined as f, and the weight item of the heading is defined as g. Then the track information weight D satisfies: D = N * 10 + b * 10 + c * 10 + d * 10 + e * 10 + f * 10 + g * 10.

[0066] This calculation method comprehensively considers various important factors related to the track, and assigns a quantitative weight value to each historical track. The larger the weight, the richer and more reliable the key information contained in the track, and it may be more representative in reflecting the true movement track of the target aircraft. For example, if a historical track has a large number of monitoring sources, it means that more monitoring devices have monitored it, and the accuracy of the data is relatively higher; at the same time, if its identification information such as flight number and secondary code is complete, then it can correspond to the target aircraft more accurately. Therefore, selecting the track with the largest weight as the main track can ensure the quality and accuracy of the merged track to the greatest extent. Among them, the situation where the weight item is zero may occur, that is, there is no flight number or no speed information, etc., and the calculated weight will decrease.

[0067] Step S5212: Obtain the number of associated monitoring sources of the track, and select the historical track with the largest number of associated monitoring sources as the main track; the number of associated monitoring sources of the track reflects the reliability and accuracy of the track data. Multiple monitoring sources monitor the target aircraft from different angles and using different technologies. If a historical track is associated with a large number of monitoring sources, then the possibility of being affected by the error or failure of a single monitoring source is smaller, and its data can more comprehensively and accurately reflect the true movement state of the target aircraft.

[0068] Selecting the historical track with the largest number of associated monitoring sources as the main track can give priority to using the most reliable data. In a complex air traffic control environment, the data of different monitoring sources may vary. Using the number of monitoring sources as the selection criterion can integrate multi-source information, reduce track errors caused by abnormal individual monitoring sources, and thus improve the accuracy and reliability of track merging.

[0069] Step S5213: Obtain the track generation time, and select the historical track with the earliest track generation time as the main track. The earliest track generation time indicates that the target aircraft has a movement record in an earlier stage. During the flight of the target aircraft, its movement trajectory has a certain coherence and continuity. The earlier generated track can be used as a starting reference for subsequent tracks, which can better present the starting state and early movement trend of the target aircraft, and the data information is also more abundant. Selecting the track with the earliest generation time as the main track helps to construct a complete and continuous flight trajectory of the target aircraft. Especially when dealing with multiple potentially related historical tracks, based on the earliest generated track, the flight process of the target aircraft can be sorted out more clearly, avoiding confusion or incompleteness of the flight trajectory caused by improper selection, and ensuring that the merged track can accurately reflect the overall flight of the target aircraft.

[0070] It should be noted that Step S5211, Step S5212, and Step S5213 can be determined sequentially, or any two of them can be combined for judgment, or the main track can be judged separately.

[0071] For example, if it is found that the track information weights are the same after the judgment in Step S5211, then Step S5212 can be used for judgment. If it is found that the number of monitoring sources is the same after the judgment in Step S5212, then Step S5213 can be carried out.

[0072] Such as Figure 4 , the step of calculating the association rate with the target aircraft based on historical information includes:

[0073] Step S410: Obtain historical tracks within a preset time window range from historical information; the historical information stored in the system covers a large amount of data. The preset time window is a time range setting used to screen out historical tracks that are closer and more relevant to the current monitoring period. This can focus on track data that may be related to the target aircraft recently, avoiding affecting the accuracy and timeliness of the association rate calculation due to using outdated or irrelevant historical data.

[0074] Such as Figure 8 As shown, the air traffic control system maintains a data structure for storing historical association information, such as using an index table, with the index being (monitoring source identifier, single radar track identifier), and the index value being a fixed-size queue that records the track numbers that meet the association conditions. By querying this data structure and according to the time range limit of the preset time window, the corresponding historical track data is extracted. Among them, the range enclosed by the purple box represents the preset time window, and it can also be seen that the indexes are (1, 100), (1, 200), (8, 100), and (20, 200) respectively. Each time it is updated, new data is queued, and the old data n cycles ago, that is, the data within the preset time window, is popped out.

[0075] Step S420: Calculate the number of occurrences of the target aircraft in each historical track to determine the number of monitoring cycle times within the preset time window. Calculating the number of occurrences of the target aircraft in each historical track can intuitively reflect the degree of closeness of the association between the target aircraft and each historical track. The more the number of occurrences, the greater the possibility of an association between the two. At the same time, determining the number of monitoring cycle times within the preset time window provides an important reference base for calculating the association rate later, making the calculation of the association rate relative and comparable. For each historical track within the obtained preset time window, the system traverses and matches the stored track data to count the number of times the target aircraft appears in it. For the number of monitoring cycle times, it can be determined according to the monitoring frequency set by the system and the duration of the preset time window. For example, if the system monitors once every 10 seconds and the preset time window is 5 minutes (300 seconds), then the number of monitoring cycle times is 30 times.

[0076] Step S430: Calculate the association rate of the target aircraft based on the number of monitoring cycle times and the number of occurrences of the target aircraft on the historical track. The calculation of the association rate is to divide the number of occurrences of the target aircraft on a certain historical track by the number of monitoring cycle times within the preset time window. Suppose the target aircraft appears 24 times on a certain historical track and the number of monitoring cycle times within the preset time window is 30 times, then the association rate between this historical track and the target aircraft is 24÷30×100% = 80.0%.

[0077] As Figure 5 shown, after the step of comparing the association rate with the preset threshold, it further includes:

[0078] Step S60: When the association rate is less than the preset threshold, select the historical track of the previous cycle of the preset time window and associate the historical track of the previous cycle with the target aircraft. When the association rate of the target aircraft calculated based on the historical information within the current preset time window is less than the preset threshold, it indicates that within the currently selected range of historical tracks, no track with a high enough degree of association with the target aircraft is found. The preset threshold is set according to actual requirements or experience and is a standard for measuring the degree of association between the track and the target aircraft. For example, a common setting is 80%. If the calculated association rate is lower than this value, the operation of selecting the historical track of the previous cycle is initiated.

[0079] The reason for selecting the historical track of the previous cycle is that the flight trajectory of the target aircraft is coherent and continuous. When there is no suitable associated track in the current cycle, the historical track of the previous cycle is very likely to be associated with the target aircraft. Since the flight state of an aircraft usually does not change suddenly and significantly, the track of the previous cycle can reflect its recent flight trend and position information, and has a high degree of association with the target aircraft, which helps to make up for the insufficient association in the current cycle and improve the probability of successful track association.

[0080] The air traffic control system will obtain the historical track data of the previous cycle within a preset time window and associate it with the target aircraft. In this way, even in a complex flight environment, such as when tracks intersect and target information is incomplete, possible associated tracks can be found for the target aircraft, reducing track association errors, improving the accuracy of target tracking, ensuring the fusion effect of multiple data, and thus guaranteeing airspace situation awareness and operation safety, and maintaining the stable operation of the air traffic control system.

[0081] As Figure 6 shown, after the step of screening track information according to a preset threshold, it includes:

[0082] Step S70, if the number of tracks corresponding to the target aircraft that meet the preset threshold is one, directly perform track association; when there is only one track corresponding to the target aircraft that meets these preset thresholds, it means that in the current monitoring data, according to the established screening rules, the matching of this track with the target aircraft is unique and certain. This track is very likely to be the continuation of the real track of the target aircraft.

[0083] In the air traffic control system, directly associate this track with the target aircraft. This means integrating the track information of the target aircraft in the current monitoring cycle with this qualified track. For example, in the track display interface of the system, the real-time position of the target aircraft can be directly and coherently displayed with this track, facilitating the controller to intuitively grasp its flight path; at the data processing level, the data of the two are merged and stored for subsequent analysis.

[0084] Step S80, if there is no track corresponding to the target aircraft that meets the preset threshold, a new track is created. After screening the acquired track information according to the preset threshold, if no track meets the set conditions, it indicates that the currently monitored target aircraft is newly emerged, or its track characteristics are quite different from the existing track data and cannot be matched and associated with the existing tracks. The air traffic control system will create a new track record for the target aircraft. This process includes initializing the relevant information of the track, such as recording the basic data of the time, location, speed, heading, etc. when the target aircraft is first monitored, and assigning a unique track identifier for subsequent continuous tracking and data management of the target aircraft. After the new track is created, the system will continuously update the track information according to the established tracking algorithm and data update mechanism to achieve dynamic monitoring of the target aircraft. Creating a new track ensures the integrity of track association and guarantees that the air traffic control system will not miss any track information of the target aircraft. This is crucial for comprehensively grasping the operation of aircraft in the airspace, can effectively avoid target loss and management chaos caused by track missing, improves the accuracy and reliability of airspace surveillance, and ensures the safe and orderly operation of aviation.

[0085] Figure Figure 7 As shown, the preset threshold includes at least a preset range, an error range, a predicted speed range, and a target heading;

[0086] The step of screening the track information according to the preset threshold includes:

[0087] Step S210, confirm whether the spatial position of the target aircraft is within the preset range; the spatial position is an important basis for judging whether the tracks are relevant. The preset range is a specific area set according to the actual airspace management requirements, which limits the reasonable spatial range where the target aircraft may appear. By confirming whether the spatial position of the target aircraft is within the preset range, those tracks that are obviously in the wrong position can be initially excluded, reducing unnecessary subsequent processing.

[0088] The air traffic control system obtains the spatial position data of the target aircraft in the current monitoring cycle and compares it with the boundary data of the preset range. If the position coordinates of the target aircraft are within the boundary of the preset range, its spatial position is considered to meet the requirements; otherwise, it does not. For example, if the preset range is a circular area centered on a certain navigation point with a radius of 50 kilometers, the system will judge whether the current position of the target aircraft is less than or equal to 50 kilometers away from the navigation point.

[0089] Step S220: Confirm whether the altitude of the target aircraft is within the error range. Different aircraft have specific flight altitude ranges during flight, and due to factors such as measurement errors, a certain altitude deviation is allowed. Confirming whether the altitude of the target aircraft is within the error range can further screen out the tracks that may be related to the target aircraft and improve the accuracy of track association.

[0090] The air traffic control system obtains the altitude data of the target aircraft and the preset error range data. If the difference between the actual altitude of the target aircraft and the preset standard altitude is within the allowed error range, the altitude of this track meets the requirements. For example, the standard cruising altitude of a certain flight is 10,000 meters, and the allowed altitude error range is ±100 meters. When the altitude of the target aircraft is between 9,900 meters and 10,100 meters, it meets the altitude screening conditions.

[0091] Step S230: Confirm whether the speed of the target aircraft is within the predicted speed range. The flight speed of an aircraft has certain regularity. According to factors such as its flight phase (such as takeoff, cruise, landing) and aircraft type, its approximate speed range can be predicted. By judging whether the speed of the target aircraft is within the predicted speed range, the relevance between this track and the target aircraft can be judged, and further mismatched tracks can be excluded.

[0092] The air traffic control system calculates the predicted speed range based on information such as the type of the target aircraft, its flight phase, and previous flight data. Then, it compares the currently monitored speed of the target aircraft with the predicted speed range. If the current speed is within the predicted speed range, the speed of this track meets the screening requirements. For example, the predicted speed range of a certain type of passenger aircraft during the cruise phase is 800 - 900 km / h. If the speed of the target aircraft is within this range, the speed condition is met.

[0093] Step S240: Confirm whether the heading of the target aircraft is the same as the target heading. The heading reflects the flight direction of the aircraft. If the heading of the target aircraft is the same as the known target heading, then the possibility that this track is related to the target aircraft is relatively high.

[0094] The air traffic control system obtains the current heading data of the target aircraft and the preset target heading data, and judges by comparing their consistency. Usually, an angle tolerance can be set. When the angle between the heading of the target aircraft and the target heading is within the tolerance range, they are considered to be the same. For example, the target heading is 300°, and the set angle tolerance is ±5°. When the heading of the target aircraft is between 295° and 305°, it meets the heading screening conditions.

[0095] For the above embodiments, when screening the track information according to the preset threshold, one of step S210, step S220, step S230, and step S240 may be executed, or they may work together to perform the screening.

[0096] Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present invention, rather than limiting them; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: they can still modify the technical solutions described in the foregoing embodiments, or perform equivalent replacements on some or all of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the present invention, and they should all be covered within the scope of the claims and the specification of the present invention.

Claims

1. A track association method based on historical information, characterized in that: The track association method based on historical information includes: Obtain the target aircraft's track information for the current monitoring period; Filtering the track information according to a preset threshold; If the number of corresponding tracks of the target aircraft that meets the preset threshold is greater than or equal to two, obtaining historical track information; Calculating a correlation rate with the target aircraft based on the historical information, and comparing the correlation rate with a preset threshold; The historical tracks whose association rate is greater than or equal to the preset threshold are associated with the target aircraft.

2. The track association method based on historical information according to claim 1, characterized in that: The step of associating the historical tracks whose association rate is greater than or equal to the preset threshold with the target aircraft comprises: When there is a historical track whose association rate is greater than or equal to the preset threshold, directly associating the historical track with the target aircraft; When there are two or more historical tracks whose association rate is greater than or equal to the preset threshold, the two or more historical tracks are merged into one, and the merged track is associated with the target aircraft.

3. The track association method based on historical information according to claim 2, characterized in that: The steps for merging two or more historical tracks include: A main track is selected and redundant tracks are deleted, wherein the main track is the merged track.

4. The track association method based on historical information according to claim 3 is characterized in that: The steps to select the main track include: Calculate the track information weights of historical tracks, and select the historical track with the largest track information weight to determine it as the main track; and / or, obtaining the number of associated monitoring sources of the track, and selecting the historical track with the largest number of associated monitoring sources as the main track; And / or, obtain the track generation time, and select the historical track with the earliest track generation time as the main track.

5. The track association method based on historical information according to claim 4, characterized in that: The rights of the track information include the number of monitoring sources, address code, flight number, secondary code, altitude, speed and heading; Define the number of monitoring sources as N, N≥1, the weight of the address code as b, the weight of the flight number as c, the weight of the secondary code as d, the weight of the altitude as e, the weight of the speed as f, and the weight of the heading as g, then the track information weight D satisfies: D=N*10+b*10+c*10+d*10+e*10+f*10+g*10.

6. The track association method based on historical information according to any one of claims 1 to 5, characterized in that: The step of calculating the association rate with the target aircraft based on the historical information comprises: Acquire historical tracks within a preset time window from the historical information; Calculating the number of occurrences of the target aircraft in each historical track to determine the number of monitoring cycles in the preset time window; The relevance rate of the target aircraft is calculated based on the number of monitoring cycles and the number of appearances of the target aircraft on the historical track.

7. The track association method based on historical information according to claim 6, characterized in that: After the step of comparing the correlation rate with a preset threshold, the method further includes: When the association rate is less than the preset threshold, the historical track of the previous period of the preset time window is selected, and the historical track of the previous period is associated with the target aircraft.

8. The track association method based on historical information according to claim 1, characterized in that: After the step of screening the track information according to the preset threshold, the method includes: If the number of corresponding tracks of the target aircraft that meets the preset threshold is one, track association is performed directly; If there is no corresponding track of the target aircraft that meets the preset threshold, a new track is created.

9. The track association method based on historical information according to claim 1, characterized in that: The preset threshold at least includes a preset range, an error range, a predicted speed range and a target heading; The step of screening the track information according to a preset threshold includes: confirming whether the spatial position of the target aircraft is within the preset range; and / or, confirming whether the altitude of the target aircraft is within the error range; and / or, confirming whether the speed of the target aircraft is within the predicted speed range; And / or, confirm whether the heading of the target aircraft is consistent with the target heading.

10. The track association method based on historical information according to claim 1, characterized in that: The track information comes from at least one of radar, satellite, and automatic dependent surveillance broadcast.

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