A multi-data-source-based airborne collision avoidance system hybrid monitoring S-mode target track fusion method

Abstract

The application discloses a multi-data-source-based airborne collision avoidance system mixed monitoring S-mode target track fusion method, which comprises the following steps: an airborne collision avoidance system carried by an aircraft acquires DF0 and DF16 messages which are replied by S-mode transponders around the aircraft and extended interrupted oscillation DF17 messages which are broadcast by an ADS-B OUT device, and stores the messages into a track chain table; assuming that track information of a tracked target aircraft is stored into a track chain table; tracks in the track chain table are traversed, and the track in the track chain table is used to update a corresponding track of the target aircraft in the track chain table. The application reduces the display prompt conveying error to pilots due to target jump, and achieves the purpose of reducing the burden of pilots operating the aircraft.

Description

Technical Field

[0001] This application relates to the field of point fusion technology, and in particular to a method for fusion of target point fusion in a hybrid monitoring S-mode of an airborne collision avoidance system based on multiple data sources. Background Technology

[0002] The Airborne Collision Avoidance System (ACAS, also known as Traffic Alert and Collision Avoidance System, TCAS) is defined by the Federal Aviation Administration (FAA) as an airborne surveillance system that provides Traffic Alerts (TA) and Decision Alerts (RA). TCAS is an essential device for preventing dangerous approach and collision accidents between aircraft and can operate independently of ground traffic control systems. Its primary function is to provide airborne safety separation assurance for aircraft. The system uses secondary radar to detect approaching aircraft in the vicinity and, when necessary, alerts the pilot to take evasive action and maintain an appropriate safe distance from other aircraft to avoid collisions. Flight practice in recent years has proven that this system is the last line of defense against mid-air collisions and one of the most effective means currently available. It overcomes the limitations of ground-based air traffic control, providing flight safety assurance capabilities beyond those provided by ground traffic control, and plays a significant role in responding to sudden dangerous approach and preventing mid-air collisions.

[0003] With technological advancements, TCAS can often be used in conjunction with other data sources such as ADS-B (Automatic Dependent Surveillance-Broadcast) to reduce the number of queries, decrease electromagnetic interference to the airspace surrounding the aircraft, provide more comprehensive air traffic monitoring, and improve the efficiency and safety of air traffic management.

[0004] In the TCASII collision avoidance system, the directional antenna cannot be designed to be too large, consisting only of four vertically polarized monopoles, resulting in low direction-finding accuracy. Introducing an ADS-B data source can improve the accuracy of target tracking and the stability of the flight path for airborne collision avoidance equipment. Airborne collision avoidance equipment without an ADS-B data source tracks targets solely through active interrogation. When aircraft are in high-density areas such as terminal areas, each aircraft tracks the target through mutual interrogation and response, resulting in numerous interrogation and response signals in the airspace, making the electromagnetic environment more complex and potentially interfering with the aircraft's equipment. Introducing an ADS-B data source allows for mixed monitoring of targets in the airspace, reducing interrogation signals and lowering electromagnetic interference. Summary of the Invention

[0005] In view of this, this application provides a method for fusing target point traces in hybrid monitoring S-mode of an airborne collision avoidance system based on multiple data sources.

[0006] This application discloses a method for fusing target point traces in a hybrid surveillance S-mode airborne collision avoidance system based on multiple data sources, which includes: Step 1: The aircraft's onboard collision avoidance system acquires the DF0 (Downlink Format 0) and DF16 (Downlink Format 16) messages from surrounding Mode S transponders, as well as the extended discontinuous vibration DF17 (Downlink Format 17) message broadcast by the ADS-B OUT device, and stores them in... In the track list, it is assumed that the track information of the target aircraft has been stored. In the track chain; Step 2: Traverse The dots in the dot chain are based on Update the dots in the dot list. The track corresponding to the target aircraft in the track chain list.

[0007] Further, step 2 includes: Step 21: Traverse For each point in the linked list, determine whether any two points belong to the same data source and whether their S-mode address codes are the same. If they are the same, compare the heights of the two points. Step 22: Traverse track list, determine Does the track of any target aircraft in the track list match... Any two dots in the dotted list have the same S-mode address code, if and only if... The track list corresponds to the track of the target aircraft. If tracking has not yet been formally established, then it is judged and Whether it is a response point to a probe inquiry, whether it has directional information, comparison. and The confidence level of the signal amplitude and the signal pulse amplitude; Step 23: Comparison and Distance to this aircraft; Step 24: If The track list corresponds to the track of the target aircraft. Tracking and comparison have been established. and Whether all of them are response points from tracking inquiries depends on the received response signals from the target aircraft. The moment and receive response signal The moment and the target aircraft's flight path Update time ,predict exist Time and The position of time, respectively using and and The predicted location is matched for distance, bearing, and altitude. If all match are successful, the flight path is considered complete. ,and and If both dots have azimuth information, then according to the aircraft's receiver... and The time of the two dots and The track update time of the target aircraft in the track chain is predicted. The target aircraft in the track chain at time , The location; Step 25: If traversing In a linked list of dots, determine which two dots have the same S-mode address code but do not belong to the same data source. and The S-mode address code and its corresponding data source, from Obtaining from the track list and Any two points in the point list have the same S-mode address code. Step 26: If If the corresponding target aircraft has not yet been formally tracked, then the DF0 data source is determined to be... Whether it is a response trace obtained through probe query, otherwise determine the DF0 data source. Is it a response track obtained through follow-up inquiry? Step 27: Based on the DF0 data source Does it have location information? (Using DF17 data source) Information on DF0 data source The information has been corrected; the corrected DF0 data source Tracking the flight path of the target aircraft Perform maintenance and updates.

[0008] Further, step 21 includes: Step 211: Traverse the point information of all target aircraft responses received by the aircraft's onboard collision avoidance system within the preset period and store it in... A linked list of dots, if The i-th dot in the dot chain With the j-th point If the data sources are both DF0 or DF16 and the S-mode address codes are the same, then proceed to step 212; if the S-mode address codes are the same but the data sources are different, namely DF0 and DF17, then proceed to step 25. Step 212: Comparison and If one of the points has no height information, discard the point without height information and keep the other point with height information; otherwise, proceed to step 22.

[0009] Further, step 22 includes: Step 221: Traverse If the track list, The track of the kth target aircraft in the track chain list and , Having the same S-mode address code, and If the target aircraft has not yet had a formal tracking track established, proceed to step 222; if Once the trajectory of the target aircraft has been established, proceed to the comparison in step 24. and Are all of these response points obtained through follow-up inquiries? Step 222: Determine and If the response point was obtained by the aircraft's onboard collision avoidance system through detection and interrogation, discard the response point that was not obtained through detection and interrogation. and If both traces are response traces obtained through probing queries, proceed to step 223; Step 223: Comparison and If a point has no orientation information, discard the point without orientation information and keep the point with orientation information; otherwise, proceed to step 224. Step 224: Comparison and If the signal amplitude of one of the traces causes the receiver of the aircraft's onboard collision avoidance system to saturate, then the trace that causes receiver saturation is discarded, and the trace that does not cause receiver saturation is retained; otherwise, proceed to step 225. Step 225: [Regarding...] and The signal pulse amplitudes received from multiple channels are scored, and the confidence levels of the signal pulse amplitudes of two points are compared. Points with high confidence are retained, and points with low confidence are discarded. If the confidence levels of the signal pulses of two points are the same, then proceed to step 23.

[0010] Further, step 23 includes: Step 231: Comparison and If the distance to the aircraft is determined, keep the points with smaller distances and discard the points with larger distances, then proceed to step 2.

[0011] Further, step 24 includes: Step 241: Comparison and If both are response points obtained through follow-up queries, retain the response points obtained through follow-up queries; if both are response points obtained through follow-up queries, proceed to step 242. Step 242: According to the aircraft's reception The moment and receiving The moment And update the target aircraft's trajectory The moment ,predict exist Time and The position of time, respectively using and and The predicted location is matched for distance, orientation, and altitude. A point with a lower correlation value is discarded. , The two points can match the flight path in all three dimensions: distance, orientation, and altitude. Then proceed to step 243; Step 243: If If the track has no orientation information, then retain it. and Zhongyu If the trajectory prediction points are relatively close, If the flight path contains directional information, proceed to step 244; Step 244: If and If only one point has directional information, then the point with directional information is retained, and the point without directional information is discarded; if neither point has directional information, then the point with the same directional information is discarded based on the distance information between the points. The track prediction distance deviates more from the point; if both points have azimuth information, proceed to step 245; Step 245: Receive information from the aircraft's onboard collision avoidance system. The moment and receiving The moment and updates The moment Predicting target aircraft The flight path in Time and Discard points whose azimuth deviates more from the predicted azimuth angle at any given time.

[0012] Furthermore, in step 242, the following formula is used for prediction. exist Time and Location at any given time:

[0013]

[0014] in, For target aircraft track in Predicted distance at any given time; For target aircraft track in Predicted altitude at any given moment; For target aircraft track in The slant range rate at time; For target aircraft track in Vertical velocity at time; In step 245, the target aircraft is obtained using the following formula. track in Time and Location at any time:

[0015]

[0016]

[0017]

[0018]

[0019] in, For target aircraft track in The component of the distance at any given time on the X-axis. For target aircraft track in The distance at any given moment in the Y-axis component. For target aircraft track in The distance of time, For target aircraft track in Location at any time for target aircraft at any time The velocity component of the trajectory along the X-axis. for target aircraft at any time The velocity component of the trajectory along the Y-axis. for The timing of the dot signal reception For target aircraft The moment the track is maintained and updated For target aircraft track in Predicted location at any given time.

[0020] Further, step 25 includes: like and The S-mode address codes are the same, but one is identified as a DF0 data source and the other as a DF17 data source, traversing the track information of all currently tracked target aircraft. Query and trace , Target aircraft with the same S-mode address code If the path list is traversed No traces have been found yet. If the target aircraft is specified, the trace from the DF17 data source is deleted, while the trace from the DF0 data source is retained; if the track list... Existing If the target aircraft information is indicated, proceed to step 26.

[0021] Further, step 26 includes: Step 261: If If the tracking of the target aircraft has not yet been formally established, proceed to step 262; otherwise, proceed to step 263. Step 262: Determine the DF0 data source If the response point was obtained through a probe query, delete it if it was obtained through a tracing query; otherwise, determine the DF17 data source. Are the distance, bearing, and altitude all within range of the target aircraft? Track matching, if the DF17 data source It is consistent with the three dimensions of distance, orientation, and altitude. If a match is successful, the DF17 data source will be used. Correcting the DF0 data source The location information is obtained using the modified DF0 data source. Target aircraft The flight path is being maintained and updated; Step 263: If If the trajectory representation has tracked the target, then the DF0 data source is determined to be... Is it a response trace obtained through tracking and querying? If not, discard the trace; otherwise, proceed to step 27.

[0022] Further, step 27 includes: Step 271: Determine the DF0 data source Does it have directional information? If it does not have directional information, proceed to step 272; otherwise, proceed to step 273. Step 272: Determine the DF17 data source Are the distance, bearing, and altitude all within range of the target aircraft? If all track matches are successful, then the DF17 data source will be... The orientation information for the DF0 data source The orientation information is corrected, and the corrected DF0 data source is used. right The flight path is being maintained and updated; Step 273: If the DF17 data source... The receiving time is Its distance, bearing, and altitude are all similar to the target aircraft. track in Predicted distance at time Predicting direction Predicted height Matching, and the DF17 data source Location information and target aircraft If the predicted bearing of the flight path is closer, then the DF17 data source is used. The orientation information for the DF0 data source The orientation is corrected, and the corrected DF0 data source is used. Target aircraft The flight track information is being maintained and updated.

[0023] Due to the adoption of the above technical solution, this application has the following advantages: This application is a target point fusion extraction method for hybrid surveillance S-mode based on multiple data sources for airborne collision avoidance systems. When the airborne collision avoidance system receives DF0, DF16, and ADS-B OUT points from multiple data sources within one cycle (1 second ± 0.1 seconds), the method attempts to select and correct a point from the numerous points that has a better match with the tracked target aircraft track for updating and maintaining the target track. This reduces the probability of jumps in the bearing, altitude, and distance dimensions of the tracked target track, reduces the display prompts to the pilot due to target jumps, and achieves the purpose of reducing the pilot's workload in operating the aircraft. Attached Figure Description

[0024] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments recorded in the embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings.

[0025] Figure 1 This is a flowchart illustrating a method for fusing target point traces in a hybrid monitoring S-mode of an airborne collision avoidance system based on multiple data sources, according to an embodiment of this application. Figure 2 This is a schematic diagram illustrating the interrogation and response between the target aircraft and the aircraft's onboard collision avoidance system, as described in an embodiment of this application. Detailed Implementation

[0026] The present application will be further described in conjunction with the accompanying drawings and embodiments. The described embodiments are only some, not all, of the embodiments of the present application. All other embodiments obtained by those skilled in the art should fall within the protection scope of the embodiments of the present application.

[0027] See Figure 1 and Figure 2 This application provides an embodiment of a method for fusing target point traces in a hybrid surveillance S-mode of an airborne collision avoidance system based on multiple data sources, which includes the following steps: Step 1: The aircraft's onboard collision avoidance system acquires the DF0 (downlink format 0) and DF16 (downlink format 16) messages from Mode S transponders surrounding the aircraft, as well as the extended intermittent vibration DF17 (downlink format 17) message broadcast by the ADS-B OUT device, and stores them in... In the track list, it is assumed that the track information of the target aircraft has been stored. In the track chain; Optionally, step 1 specifically includes: S1 and TCAS acquire DF0 and DF16 messages from Mode S transponders around the unit, as well as the extended intermittent vibration DF17 message broadcast by ADS-B OUT devices, via the upper or lower directional antenna, and store them in... In the track list, assuming the target track information has been stored... In the track chain; Step 2: Traverse The dots in the dot chain are based on Update the dots in the dot list. The track corresponding to the target aircraft in the track chain list.

[0028] Optionally, step 2 specifically includes the following steps S2 to S21: S2. Traverse all response traces received within one cycle (usually 1 second ± 0.1 seconds). If the dots with dots If the data sources are both DF0 and DF16, and the S-mode address codes are the same, then proceed to step 3; otherwise, if the S-mode address codes are the same but the data sources are different, namely DF0 and DF17, then proceed to step S15.

[0029] S3, Extraction and Comparison and If one of the two points has no height information, discard the point without height information and keep the other point with height information; otherwise, proceed to step S4. S4. Traverse all track information currently being tracked. If the flight path with dots , If the two have the same S-mode address code and the track has not yet been formally established, proceed to step S5; if the track has already been established, proceed to step S10. S5. Determine the dot pattern and If the two points are both probe response points, discard the non-probe response points. If both points are probe response points, proceed to step S4. S6. Comparison and If one of the two dots has directional information, discard the dot without directional information and keep the dot with directional information; otherwise, proceed to step S7. S7, Comparison and If the signal amplitude of one of the two points causes the receiver of the airborne collision avoidance system to saturate, then discard the point that causes the receiver to saturate and retain the response point that does not cause the receiver to saturate; otherwise, proceed to step S8. S8, to and The signal amplitudes of the two points received through four channels (0°, 90°, 180°, and 270°) are scored. The confidence levels of the signal pulse amplitudes of the two points are compared. The points with high confidence are retained, and the points with low confidence are discarded (the pulse sequence amplitude consistency of interfered, reflected, and refracted signals is generally poor). If the confidence levels of the signal pulses of the two points are the same, then proceed to step S9. S9. Compare the dots generated by two aircraft targeting the same target. and Based on the distance from the aircraft, retain the point that is closer to the aircraft and discard the other point that is farther away (reflected and refracted signals have longer propagation paths, so they are discarded). S10, Comparison and If both are response points to a follow-up query, discard them and keep the response points to the follow-up query. If both are response points to a follow-up query, proceed to step S11. S11, According to the received The moment and receiving The moment and update flight paths The moment Predicting targets exist Time and The new position at each moment is determined by performing distance, azimuth, and altitude correlation matching between two points and the predicted position of the target trajectory. The point with the lower quality score after correlation is discarded. , The two points can match the flight path in all three dimensions: distance, orientation, and altitude. Then proceed to step S12;

[0030]

[0031] in: To track flight paths exist Predicted distance at any given time; To track flight paths exist Predicted altitude at any given moment; To track flight paths exist The slant range rate at time; To track flight paths exist Vertical velocity at any given time.

[0032] S12, If tracking the flight path If there is no orientation information, then compare. and For tracking tracks, retain the closest available track. If location information is available, proceed to step S13; S13, if and If only one point has azimuth information, then the point with azimuth is retained and the point without azimuth is discarded; if neither point has azimuth information, then the point whose distance deviates more from the predicted distance of the track is discarded based on the distance information of the point; if both points have azimuth information, then proceed to step S14. S14, according to the received The moment and receiving The moment , and updates The moment Predicting flight paths exist Time and For the position at any given time, discard points whose azimuth deviates significantly from the predicted azimuth angle. The prediction formula is as follows:

[0033]

[0034]

[0035]

[0036]

[0037] in: Tracking flight paths exist The component of the distance at any given moment on the X-axis; Tracking flight paths exist The component of the distance at any given moment on the Y-axis; Tracking flight paths exist The distance of time; Tracking flight paths exist Location at any given time; Tracking flight paths exist The velocity component along the X-axis at any given moment; Tracking flight paths exist The velocity component along the Y-axis at any given moment; : The moment when the dotted signal is received; : The moment it is maintained and updated; : exist Predicted location at any given time.

[0038] S15, if and The two track points have the same S-mode address code, but one is identified as a DF0 data source and the other as a DF17 data source. This involves iterating through the currently tracked track information. Query and trace , Tracks with the same S-mode address code If the path list is traversed No traces found If the target aircraft is specified, delete the trace from the DF17 data source and retain the trace from the DF0 data source; if the trace list already exists... If the target aircraft information is indicated, proceed to step S16; S16, if the flight path If the target aircraft has not yet been formally tracked, proceed to step S17; otherwise, proceed to step S18. S17. Determine the DF0 data source. If the response point was obtained from a probe query, delete it; otherwise, try using the DF17 data source. Do the distance, bearing, and altitude all match the tracking track? Matching, if DF17 data source It is consistent with the three dimensions of distance, orientation, and altitude. If a match is successful, try using the DF17 data source. Correct DF0 data source The location information is obtained using the modified DF0 data source. Tracking the flight path Perform maintenance and updates; S18, if the flight path If the target has been tracked, then the DF0 data source is determined. Is it a response trace obtained from a follow-up query? If not, discard the trace; otherwise, proceed to step S19. S19. Determine the DF0 data source. Does it have location information? If there is no location information, proceed to step S20; otherwise, proceed to step S21. S20, Try DF17 data source Do the distance, bearing, and altitude all match the tracking track? If a match is found, the DF17 data source will be used. Orientation information for DF0 data source The orientation information is corrected, and then the corrected DF0 data source is used. Tracking the flight path Perform maintenance and updates; S21. If DF17 data source The receiving time is Its distance, bearing, and altitude are all consistent with the tracked flight path. exist Predicted distance at time Predicting direction Predicted height Matching, and DF17 data source Location information and flight path For more accurate azimuth predictions, use the DF17 data source. The location information for the DF0 data source The orientation is corrected, and then the corrected DF0 data source is used. Tracking the flight path Perform maintenance and updates.

[0039] For the tracked target trajectory, if multiple data sources exist (TCAS data source based on the principle of secondary radar, ADS-B data source based on global satellite navigation), this application can extract and compare the DF0 and DF16 trace information of the target response and the ADS-B OUT trace information of satellite positioning, and select the trace with the best quality and high reliability for subsequent maintenance and updating of the target's trajectory information, so as to ensure that the tracked target's trajectory is more stable and reliable.

[0040] The airborne collision avoidance system of this application acquires DF0, DF16, and ADS-B OUT point information from multiple data sources via a directional antenna. It then selects and corrects a point from the numerous points to find one that matches the tracked target trajectory better, which is then used for subsequent updates and maintenance of the target trajectory.

[0041] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this application and not to limit them. Although this application has been described in detail with reference to the above embodiments, those skilled in the art should understand that modifications or equivalent substitutions can still be made to the specific implementation of this application. Any modifications or equivalent substitutions that do not depart from the spirit and scope of this application should be covered within the protection scope of the claims of this application.

Claims

1. A method for fusing target point traces in a hybrid monitoring S-mode of an airborne collision avoidance system based on multiple data sources, characterized in that, include: Step 1: The aircraft's onboard collision avoidance system acquires the DF0 and DF16 messages from the Mode S transponders surrounding the aircraft, as well as the Extended Discontinuous Oscillation (EDO) DF17 message broadcast by the ADS-B OUT device, and stores them in... In the track list, it is assumed that the track information of the target aircraft has been stored. In the track chain; Step 2: Traverse The dots in the dot chain are based on Update the dots in the dot list. The track corresponding to the target aircraft in the track chain list; Step 2 includes: Step 21: Traverse For each point in the linked list, determine whether any two points belong to the same data source and whether their S-mode address codes are the same. If they are the same, compare the heights of the two points. Step 22: Traverse track list, determine Does the track of any target aircraft in the track list match... Any two dots in the dotted list have the same S-mode address code, if and only if... The track list corresponds to the track of the target aircraft. If tracking has not yet been formally established, then it is judged and Whether it is a response point to a probe inquiry, whether it has directional information, comparison. and The confidence level of the signal amplitude and the signal pulse amplitude; Step 23: Comparison and Distance to this aircraft; Step 24: If The track list corresponds to the track of the target aircraft. Tracking and comparison have been established. and Whether all of them are response points from tracking inquiries depends on the received response signals from the target aircraft. The moment and receive response signal The moment and the target aircraft's flight path Update time ,predict exist Time and The position of time, respectively using and and The predicted location is matched for distance, bearing, and altitude. If all match are successful, the flight path is considered complete. ,and and If both dots have azimuth information, then according to the aircraft's receiver... and The time of the two dots and The track update time of the target aircraft in the track chain is predicted. The target aircraft in the track chain at time , The location; Step 25: If traversing In a linked list of dots, determine which two dots have the same S-mode address code but do not belong to the same data source. and The S-mode address code and its corresponding data source, from Obtaining from the track list and Any two points in the point list have the same S-mode address code. Step 26: If If the corresponding target aircraft has not yet been formally tracked, then the DF0 data source is determined to be... Whether it is a response trace obtained through probe query, otherwise determine the DF0 data source. Is it a response track obtained through follow-up inquiry? Step 27: Based on the DF0 data source Does it have location information? (Using DF17 data source) Information on DF0 data source The information has been corrected; the corrected DF0 data source Tracking the flight path of the target aircraft Perform maintenance and updates; Step 24 includes: Step 241: Comparison and If both are response points obtained through follow-up queries, retain the response points obtained through follow-up queries; if both are response points obtained through follow-up queries, proceed to step 242. Step 242: According to the aircraft's reception The moment and receiving The moment And update the target aircraft's trajectory The moment ,predict exist Time and The position of time, respectively using and and The predicted location is matched for distance, orientation, and altitude. A point with a lower correlation value is discarded. , The two points can match the flight path in all three dimensions: distance, orientation, and altitude. Then proceed to step 243; Step 243: If If the track has no orientation information, then retain it. and Zhongyu If the trajectory prediction points are relatively close, If the flight path contains directional information, proceed to step 244; Step 244: If and If only one point has directional information, then the point with directional information is retained, and the point without directional information is discarded; if neither point has directional information, then the point with the same directional information is discarded based on the distance information between the points. The track prediction distance deviates more from the point; if both points have azimuth information, proceed to step 245; Step 245: Receive information from the aircraft's onboard collision avoidance system. The moment and receiving The moment and updates The moment Predicting target aircraft The flight path in Time and Discard points whose azimuth deviates more from the predicted azimuth angle at any given time.

2. The method according to claim 1, characterized in that, Step 21 includes: Step 211: Traverse the point information of all target aircraft responses received by the aircraft's onboard collision avoidance system within the preset period and store it in... A linked list of dots, if The i-th dot in the dot chain With the j-th point If the data sources are both DF0 or DF16 and the S-mode address codes are the same, then proceed to step 212; if the S-mode address codes are the same but the data sources are different, namely DF0 and DF17, then proceed to step 25. Step 212: Comparison and If one of the points has no height information, discard the point without height information and keep the other point with height information; otherwise, proceed to step 22.

3. The method according to claim 1 or 2, characterized in that, Step 22 includes: Step 221: Traverse If the track list, The track of the kth target aircraft in the track chain list and , Having the same S-mode address code, and If the target aircraft has not yet had a formal tracking track established, proceed to step 222; if Once the trajectory of the target aircraft has been established, proceed to the comparison in step 24. and Are all of these response points obtained through follow-up inquiries? Step 222: Determine and If the response point was obtained by the aircraft's onboard collision avoidance system through detection and interrogation, discard the response point that was not obtained through detection and interrogation. and If both traces are response traces obtained through probing queries, proceed to step 223; Step 223: Comparison and If a point has no orientation information, discard the point without orientation information and keep the point with orientation information; otherwise, proceed to step 224. Step 224: Comparison and If the signal amplitude of one of the traces causes the receiver of the aircraft's onboard collision avoidance system to saturate, then the trace that causes receiver saturation is discarded, and the trace that does not cause receiver saturation is retained; otherwise, proceed to step 225. Step 225: [Regarding...] and The signal pulse amplitudes received from multiple channels are scored, and the confidence levels of the signal pulse amplitudes of two points are compared. Points with high confidence are retained, and points with low confidence are discarded. If the confidence levels of the signal pulses of two points are the same, then proceed to step 23.

4. The method according to claim 3, characterized in that, Step 23 includes: Step 231: Comparison and If the distance to the aircraft is determined, keep the points with smaller distances and discard the points with larger distances, then proceed to step 2.

5. The method according to claim 1, characterized in that, In step 242, the following formula is used for prediction. exist Time and Location at any given time: in, For target aircraft track in Predicted distance at any given time; For target aircraft track in Predicted altitude at any given moment; For target aircraft track in The slant range rate at time; For target aircraft track in Vertical velocity at time; In step 245, the target aircraft is obtained using the following formula. track in Time and Location at any time: in, For target aircraft track in The component of the distance at any given time on the X-axis. For target aircraft track in The distance at any given moment in the Y-axis component. For target aircraft track in The distance of time, For target aircraft track in Location at any time for target aircraft at any time The velocity component of the trajectory along the X-axis. for target aircraft at any time The velocity component of the trajectory along the Y-axis. for The timing of the dot signal reception For target aircraft The moment the track is maintained and updated For target aircraft track in Predicted location at any given time.

6. The method according to claim 1, characterized in that, Step 25 includes: like and The S-mode address codes are the same, but one is identified as a DF0 data source and the other as a DF17 data source, traversing the track information of all currently tracked target aircraft. Query and trace , Target aircraft with the same S-mode address code If the path list is traversed No traces have been found yet. If the target aircraft is specified, the trace from the DF17 data source is deleted, while the trace from the DF0 data source is retained; if the track list... Existing If the target aircraft information is indicated, proceed to step 26.

7. The method according to claim 1, 5, or 6, characterized in that, Step 26 includes: Step 261: If If the tracking of the target aircraft has not yet been formally established, proceed to step 262; otherwise, proceed to step 263. Step 262: Determine the DF0 data source If the response point was obtained through a probe query, delete it if it was obtained through a tracing query; otherwise, determine the DF17 data source. Are the distance, bearing, and altitude all within range of the target aircraft? Track matching, if the DF17 data source It is consistent with the three dimensions of distance, orientation, and altitude. If a match is successful, the DF17 data source will be used. Correcting the DF0 data source The location information is obtained using the modified DF0 data source. Target aircraft The flight path is being maintained and updated; Step 263: If If the trajectory representation has tracked the target, then the DF0 data source is determined to be... Is it a response trace obtained through tracking and querying? If not, discard the trace; otherwise, proceed to step 27.

8. The method according to claim 7, characterized in that, Step 27 includes: Step 271: Determine the DF0 data source Does it have directional information? If it does not have directional information, proceed to step 272; otherwise, proceed to step 273. Step 272: Determine the DF17 data source Are the distance, bearing, and altitude all within range of the target aircraft? If all track matches are successful, then the DF17 data source will be... The orientation information for the DF0 data source The orientation information is corrected, and the corrected DF0 data source is used. right The flight path is being maintained and updated; Step 273: If the DF17 data source... The receiving time is Its distance, bearing, and altitude are all similar to the target aircraft. track in Predicted distance at time Predicting direction Predicted height Matching, and the DF17 data source Location information and target aircraft If the predicted bearing of the flight path is closer, then the DF17 data source is used. The orientation information for the DF0 data source The orientation is corrected, and the corrected DF0 data source is used. Target aircraft The flight track information is being maintained and updated.

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