CN111986522A - Airborne equipment positioning method based on ADS-B signal, airborne equipment and storage medium thereof - Google Patents

Abstract

The invention discloses an airborne equipment positioning method based on ADS-B signals, an airborne equipment and a storage medium thereof. The method includes receiving periodic ADS-B information of an aircraft collected from a plurality of airborne equipments; ADS-B information, determine the ADS-B message data packet of the aircraft; according to the ADS-B message data packet and the preset message data analysis strategy, determine the trajectory points of the aircraft in multiple cycles data; according to the trajectory point data of the aircraft in multiple cycles, perform data correction on the multiple trajectory point data in the next cycle; according to the multiple trajectory point data corrected by the data, determine the flight reference of the aircraft Coordinate feature information. As a result, the error generated in the calculation can be reduced, the positional deviation of the airborne equipment and the aircraft can be avoided, and the positioning is more accurate.

Description

Airborne equipment positioning method based on ADS-B signal, airborne equipment and storage medium thereof

technical field

The present invention relates to the technical field of ADS-B, and in particular, to an airborne device positioning method based on ADS-B signals, an airborne device and a storage medium thereof.

Background technique

ADS-B refers to Automatic Dependent Surveillance Broadcast, which is a surveillance technology proposed by the International Civil Aviation Organization (ICAO) based on satellite technology, data communication technology and computer technology for the needs of future air transport development.

The ADS-B system uses the advanced ground-air/air-air data link as the means of communication, takes the information generated by the GPS navigation system and other airborne equipment as the data source, and broadcasts its own state parameters in real time, spontaneously and intermittently. Ground-based data link receiving equipment can directly monitor air targets; aircrafts operating adjacent to each other in the air can listen to each other's proximity broadcasts through airborne equipment to achieve a comprehensive and detailed understanding of the surrounding airspace traffic conditions.

The airborne equipment can be used to receive ADS-B information from other aircraft or ground stations. When the airborne equipment controls the positioning of the aircraft, the calculation accuracy will have a certain error due to the influence of external interference. The device will deviate from the position, and it is difficult to meet the needs of accurate positioning.

SUMMARY OF THE INVENTION

The present invention aims to solve one of the technical problems in the related art at least to a certain extent. To this end, the first object of the present invention is to propose a method for locating an airborne device based on an ADS-B signal, including:

Receive periodic ADS-B information of the aircraft collected from multiple airborne devices;

According to the ADS-B information, determine the ADS-B message data packet of the aircraft;

According to the ADS-B message data packet and the preset message data analysis strategy, determine the trajectory point data of the aircraft in multiple cycles;

According to the trajectory point data of the aircraft in multiple cycles, perform data correction on the multiple trajectory point data in the next cycle;

According to the plurality of trajectory point data corrected by the data, the flight reference coordinate feature information of the aircraft is determined.

Preferably, according to an embodiment of the present invention, according to the ADS-B message data packet and a preset message data analysis strategy, it is determined that the aircraft in the ADS-B message data packet is in multiple Trajectory point data within a cycle, including:

dividing the ADS-B message data packet into multiple types;

Parse the field data of each data string according to the data string in the ADS-B message data packet of each type;

According to the field data of each data string, determine the message frame header and message length in each of the field data;

Determine a plurality of horizontal position data sources of the aircraft according to the message frame header and the message length;

According to the plurality of horizontal position data sources, the trajectory point data of the aircraft in a plurality of cycles is determined.

Preferably, according to an embodiment of the present invention, performing data correction on the plurality of trajectory point data according to the trajectory point data of the aircraft in multiple cycles includes:

According to the trajectory point data in the multiple cycles, determine the first trajectory point data in the current cycle, the second trajectory point data in the previous cycle, and the third trajectory point data in the next cycle;

According to the first trajectory point data, the second trajectory point data, the third trajectory point data and the preset trajectory point data, the first trajectory point data, the second trajectory point data and the The distance deviation of the preset track point data;

Data correction is performed on the third trajectory point data according to the distance deviation amount.

Preferably, according to an embodiment of the present invention, calculating the first trajectory point data according to the first trajectory point data, the second trajectory point data, the third trajectory point data, and preset trajectory point data The track point data, the distance deviation between the second track point data and the preset track point data, including:

The distance offset is determined by the following calculation formula:

其中，1≤P≤2，L为第一轨迹点数据，L′为预设轨迹点数据，H为第二轨迹点数据，n为轨迹点的数量，S为距离偏移量，i为坐标方向。

Where, 1≤P≤2, L is the first track point data, L' is the preset track point data, H is the second track point data, n is the number of track points, S is the distance offset, and i is the coordinate direction.

Preferably, according to an embodiment of the present invention, performing data correction on the third trajectory point data according to the distance deviation includes:

The data of the third track point is corrected by the following calculation formula:

Among them, (K′ _X K′ _Y , K′ _Z ) are the coordinate features of the third track point data after data correction, (K _X , K _Y , K _Z ) are the coordinate features of the third track point data, (S _X , S _Y , S _Z ) are the distance offsets in the coordinate direction.

Preferably, according to an embodiment of the present invention, when the aircraft is flying, K′ _X of the third trajectory point data after the data correction is used as the X-axis reference coordinate of the aircraft, and the data is corrected The K′ _Y of the third trajectory point data after the data is used as the Y-axis reference coordinate of the aircraft, and the K′ _Z of the third trajectory point data after the data correction is used as the Z-axis reference coordinate of the aircraft.

The second object of the present invention is to propose a device for positioning airborne equipment based on ADS-B signals, including:

The receiving module is used to receive the periodic ADS-B information of the aircraft collected from multiple airborne devices;

a first determining module, configured to determine the ADS-B message data packet of the aircraft according to the ADS-B information;

a second determination module, configured to determine the trajectory point data of the aircraft in multiple cycles according to the ADS-B message data packet and a preset message data analysis strategy;

a correction module, configured to perform data correction on a plurality of trajectory point data in the next cycle according to the trajectory point data of the aircraft in a plurality of cycles;

The third determining module is configured to determine the coordinate feature information of the aircraft according to the multiple track point data corrected by the data.

Preferably, according to an embodiment of the present invention, the second determining module includes:

A classification submodule for dividing the ADS-B message data packet into multiple types;

A parsing submodule for parsing the field data of each data string according to the data string in the ADS-B message data packet of each type;

The first determination submodule is used to determine the message frame header and message length in each of the field data according to the field data of each data string;

a second determination submodule, configured to determine a plurality of horizontal position data sources of the aircraft according to the message frame header and the message length;

The third determination submodule is configured to determine the trajectory point data of the aircraft in each cycle according to the multiple horizontal position data sources.

A third object of the present invention is to provide an airborne device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, when the processor executes the computer program The above-mentioned method for locating the airborne equipment based on the ADS-B signal is realized.

The fourth object of the present invention is to provide a computer storage medium on which a computer program is stored, and when the program is executed by a processor, realizes the above-mentioned method for locating an airborne device based on an ADS-B signal.

According to the method for locating an airborne device based on an ADS-B signal provided by an embodiment of the present invention, the periodic ADS-B information of the aircraft collected from a plurality of airborne devices is received, and according to the ADS-B information, the The ADS-B message data packet of the aircraft, and then according to the ADS-B message data packet and the preset message data analysis strategy, determine the trajectory point data of the aircraft in multiple cycles, and determine the trajectory point data of the aircraft in multiple cycles. For the trajectory point data in multiple cycles, the data of multiple trajectory points in the next cycle can be corrected, thereby reducing the error generated in the calculation, avoiding the position deviation when the airborne equipment and the aircraft share the plane, positioning more precise.

According to the plurality of trajectory point data corrected by the data, the flight reference coordinate feature information of the aircraft is determined.

Additional aspects and advantages of the present invention will be set forth, in part, from the following description, and in part will be apparent from the following description, or may be learned by practice of the invention.

Description of drawings

In order to explain the embodiments of the present invention or the technical solutions in the prior art more clearly, the following briefly introduces the accompanying drawings that need to be used in the description of the embodiments or the prior art. Obviously, the accompanying drawings in the following description are only These are some embodiments of the present invention, and for those of ordinary skill in the art, other drawings can also be obtained according to the structures shown in these drawings without creative efforts.

1 is a schematic diagram of an application scenario of an airborne device based on an ADS-B signal provided by the present invention;

2 is a schematic flowchart of an airborne device positioning method based on an ADS-B signal provided by the present invention;

3 is another schematic flowchart of the method for locating an airborne device based on an ADS-B signal provided by the present invention;

4 is another schematic flowchart of the method for locating an airborne device based on an ADS-B signal provided by the present invention;

Fig. 5 is the structural block diagram of the airborne equipment positioning device based on ADS-B signal provided by the present invention;

Fig. 6 is another structural block diagram of the airborne equipment positioning device based on ADS-B signal provided by the present invention;

FIG. 7 is a structural block diagram of an airborne device provided by the present invention.

The realization, functional characteristics and advantages of the present invention will be further described with reference to the accompanying drawings in conjunction with the embodiments.

Detailed ways

The following describes in detail the embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein the same or similar reference numerals refer to the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary, only used to explain the present invention, and should not be construed as a limitation of the present invention.

Referring to Figure 1, the aircraft is equipped with onboard equipment, which can communicate with satellites and obtain information such as the position and altitude of the aircraft. The onboard equipment of each aircraft forms the position and altitude of the aircraft ADS-B information, and can receive and transmit ADS-B information between each other, and the ground station can also receive ADS-B information, so as to monitor the aircraft.

Referring to FIG. 2 , an embodiment of the present invention provides a method for locating an airborne device based on an ADS-B signal, including:

Step S10, receiving periodic ADS-B information of the aircraft collected from multiple airborne devices.

In this embodiment, the airborne equipment includes a GNSS receiver, a 1090ES transponder, a 1090ES receiver and a CDTI, wherein the GNSS receiver is used for airborne GPS reception, and the 1090ES transponder can receive the positioning sent by the GNSS receiver Information, 1090ES receiver is an electronic device used to receive and decode 1090MHz information, CDTI can provide pilots with nearby traffic conditions; among them, the on-board equipment on the aircraft can collect the location, altitude and other information of the aircraft, and the collected information It is transmitted to the airborne transponder, so that the transponder reorganizes the information to form ADS-B information, and the airborne antenna sends the ADS-B information to other aircraft, so that the airborne equipment on other aircraft can receive it. The ADS-B information; it can be understood that the onboard equipment of other aircraft can obtain the ADS-B information of the aircraft through the onboard equipment of the aircraft, so that other aircraft can monitor the aircraft,

Step S20, according to the ADS-B information, determine the ADS-B message data packet of the aircraft.

In this embodiment, the ADS-B information is sent periodically, and the ADS-B information includes data such as the identity, latitude and longitude, altitude, speed, and aircraft status of the aircraft. The local aircraft can determine the ADS-B message data packets of other aircraft by obtaining the ADS-B information on other aircraft, wherein the ADS-B message data packets include horizontal position, horizontal position integrity, unique 24 ICAO aircraft address code, aircraft identification code, special location identification code, barometric altitude, emergency state, emergency instruction and version number; it is understandable that the on-board equipment of each aircraft can determine the ADS-B of other aircraft message data packets, which will be parsed in the follow-up.

Step S30, according to the ADS-B message data packet and the preset message data analysis strategy, determine the trajectory point data of the aircraft in multiple cycles.

Referring to FIG. 3 , the specific implementation manner of the above step S30 includes:

Step S301, dividing the ADS-B message data packet into multiple types;

Step S302, parse the field data of each data string according to the data string in the ADS-B message data packet of each type;

Step S303, according to the field data of each data string, determine the message frame header and message length in each field data;

Step S304, according to the message frame header and message length, determine multiple horizontal position data sources of the aircraft;

Step S305, according to multiple horizontal position data sources, determine the trajectory point data of the aircraft in multiple cycles.

In this embodiment, the ADS-B message data packet can be classified into different types, and the ADS-B message data packet contains the type, length, and field description of the data packet, and is represented by hexadecimal data. When parsing, the horizontal position data source contained in the message data packet can be parsed through the message frame header and message length. The horizontal position data source includes the latitude and longitude of the aircraft. After the latitude and longitude of the aircraft are determined, the multiple latitudes and multiple longitudes of the aircraft in multiple cycles are determined as trajectory point data.

Step S40, according to the trajectory point data of the aircraft in the multiple cycles, perform data correction on the multiple trajectory point data in the next cycle.

Referring to FIG. 4 , the specific implementation of the above step S40 includes:

S401, according to the trajectory point data in multiple cycles, determine the first trajectory point data in the current cycle, the second trajectory point data in the previous cycle, and the third trajectory point data in the next cycle;

S402, according to the first trajectory point data, the second trajectory point data, the third trajectory point data and the preset trajectory point data, calculate the distance deviation between the first trajectory point data, the second trajectory point data and the preset trajectory point data;

S403 , performing data correction on the third track point data according to the distance deviation.

In this embodiment, the current cycle can be set to 5 minutes, the trajectory point of the aircraft within 5 minutes can be determined as the first trajectory point data, the first 5 minutes of the current cycle can be determined as the previous cycle, The trajectory point is the second trajectory point data, the last 5 minutes of the current cycle is determined as the next cycle, and the trajectory point data of the next cycle is determined as the third trajectory point data; wherein, the preset route of the aircraft has predetermined Assuming the trajectory point data, the first trajectory point data and the second trajectory point data are calculated by using the preset trajectory point data, so as to determine the distance offset.

Further, the specific implementation of the above step S402 includes:

The distance offset is determined by the following calculation formula:

其中，1≤P≤2，L为第一轨迹点数据，L′为预设轨迹点数据，H为第二轨迹点数据，n为轨迹点的数量，S为距离偏移量，i为坐标方向。

Where, 1≤P≤2, L is the first track point data, L' is the preset track point data, H is the second track point data, n is the number of track points, S is the distance offset, and i is the coordinate direction.

In this embodiment, the first trajectory point data can be set as L ₁ , L ₂ ......L _n , and the second trajectory point data can be set as H ₁ , H ₂ ...... H _n , the third track point data is set as K ₁ , K ₂ ...... K _n , the preset track point data is set as L' ₁ , L' ₂ ...... L' _n , When the position of the aircraft deviates, the distance offset S _i can be calculated by calculating according to the above formula, when the first trajectory point data L ₁ , L ₂ .....L _n , the second trajectory point data When H ₁ , H ₂ ...... H _n are consistent with the preset trajectory point data L' ₁ , L' ₂ ...... L' _n , it means that the position of the aircraft does not deviate; when the first The trajectory point data L ₁ , L ₂ ......L _n or the second trajectory point H ₁ , H ₂ ...... H _n and the preset trajectory point data L' ₁ , L' ₂ ...... ...L' _n are consistent, the second trajectory point data H ₁ , H ₂ ...... H _n or the first trajectory point data L ₁ , L ₂ ...... L _n and the preset trajectory point When the data L' ₁ , L' ₂ ...... L' _n are different, then = 1, and the position of the aircraft deviates, so the first trajectory points L ₁ , L ₂ ....... can be calculated. ..L _n or the distance offset generated by the second trajectory point; when the first trajectory point data L ₁ , L ₂ ......L _n and the second trajectory point data H ₁ , H ₂ ....... When ..H _n is different from the preset trajectory point data L' ₁ , L' ₂ ......L' _n , then P=2, indicating the first trajectory point data L ₁ , L ₂ ...... of the aircraft ...L _n and the second trajectory point data H ₁ , H ₂ ...... H _n all deviate, then the first trajectory point data L ₁ , L ₂ ......L are jointly calculated The distance offset between _n and the second track point data H ₁ , H ₂ . . . H _n ; thus, the calculation can be made more accurate.

Further, the specific implementation of the above step S403 includes:

The data of the third track point is corrected by the following calculation formula:

Among them, (K′ _X K′ _Y , K′ _Z ) are the coordinate features of the third track point data after data correction, (K _X , K _Y , K _Z ) are the coordinate features of the third track point data, (S _X , S _Y , S _Z ) are the distance offsets in the coordinate direction.

In this embodiment, after calculating the position deviation of the aircraft in different directions, the third _trajectory point data K ₁ , K ₂ . . . Determine the trajectory point data of the aircraft flight and adjust it to avoid the aircraft deviating; it is understandable that in the current cycle, the route of the next cycle can be corrected in advance, and the route correction can be the X-axis direction of the aircraft, the Y-axis direction, the Y-axis direction axis direction or Z-axis direction, therefore, the X-axis direction of the third track point data K ₁ , K ₂ ...... K _n is set as K _X , the _Y -axis direction is set as KY , and the Z-axis direction is set is K _Z , during data correction, by performing data correction on the trajectory point data of the aircraft in different directions, thus, the positioning can be made more accurate.

Step S50: Determine the flight reference coordinate feature information of the aircraft according to the data of the plurality of trajectory points corrected by the data.

Specifically, the specific implementation of S50 in the above steps includes: when the aircraft is flying, taking K′ _X of the third trajectory point data after data correction as the X-axis reference coordinate of the aircraft, and using the third trajectory point after data correction as the X-axis reference coordinate of the aircraft The K′ _Y of the data is used as the Y-axis reference coordinate of the aircraft, and the K′ _Z of the third trajectory point data after data correction is used as the Z-axis reference coordinate of the aircraft.

Among them, the reference coordinates after data correction can be set as K′ _X , K′ _Y , K′ _Z , and after the data correction, the coordinates of the aircraft flight can be based on K′ _X , K′ _Y , K′ _Z , through the following The reference coordinates are corrected in one cycle, so that the aircraft can continuously correct the data of the flight coordinates during the flight, avoid position deviation, and the flight coordinates are more accurate.

According to the method for locating an airborne device based on an ADS-B signal provided by an embodiment of the present invention, the periodic ADS-B information of the aircraft collected from a plurality of airborne devices is received, and according to the ADS-B information, the The ADS-B message data packet of the aircraft, and then according to the ADS-B message data packet and the preset message data analysis strategy, determine the trajectory point data of the aircraft in multiple cycles, and determine the trajectory point data of the aircraft in multiple cycles. For the trajectory point data in multiple cycles, the data of multiple trajectory points in the next cycle can be corrected, thereby reducing the error generated in the calculation, avoiding the position deviation when the airborne equipment and the aircraft share the plane, positioning more precise.

Referring to FIG. 5 , the second object of the present invention is to provide an airborne device positioning device based on ADS-B signals, and the airborne device positioning device 60 includes:

A receiving module 601, configured to receive periodic ADS-B information of the aircraft collected from multiple airborne devices;

The first determining module 602 is used to determine the ADS-B message data packet of the aircraft according to the ADS-B information;

The second determination module 603 is configured to determine the trajectory point data of the aircraft in multiple cycles according to the ADS-B message data packet and the preset message data analysis strategy;

A correction module 604, configured to perform data correction on the multiple track point data in the next cycle according to the track point data of the aircraft in multiple cycles;

The third determination module 605 is configured to determine the coordinate feature information of the aircraft according to the multiple track point data corrected by the data.

6, the second determining module 602 includes:

The classification submodule 6021 is used to divide the ADS-B message data packet into multiple types;

The parsing submodule 6022 is used to parse the field data of each data string according to the data string in each type of ADS-B message data packet;

The first determination submodule 6023 is used to determine the message frame header and message length in each field data according to the field data of each data string;

The second determination submodule 6024 is used to determine a plurality of horizontal position data sources of the aircraft according to the message frame header and the message length;

The third determination sub-module 6025 is configured to determine the trajectory point data of the aircraft in each cycle according to multiple horizontal position data sources.

It should be noted that the various embodiments in this specification are described in a progressive manner, and each embodiment focuses on the differences from other embodiments. For the same and similar parts of the various embodiments, refer to each other Can. As for the apparatus or system embodiment, since it is basically similar to the method embodiment, the description is relatively simple, and for related parts, please refer to the partial description of the method embodiment.

Referring to FIG. 7 , FIG. 7 shows a schematic structural diagram of an embodiment of an airborne device provided by an embodiment of the present invention. For ease of description, only parts related to the embodiment of the present invention are shown. Specifically, the onboard device 700 includes a memory 702, a processor 701, and a computer program stored in the memory 702 and running on the processor 701. When the processor 701 executes the computer program, the The steps of the method described in the above embodiment are, for example, the steps from S10 to S50 shown in FIG. 1 . Alternatively, when the processor 701 executes the computer program, the functions of each module/unit in the apparatus described in the foregoing embodiment are implemented, for example, the functions of the modules 601 to 605 shown in FIG. 5 .

Exemplarily, the computer program can be divided into one or more modules/units, and the one or more modules/units are stored in the memory 702 and executed by the processor 701 to complete the present invention. invention. The one or more modules/units may be a series of computer program instruction segments capable of performing specific functions, and the instruction segments are used to describe the execution process of the computer program in the onboard device 700 .

The onboard device 700 may include, but is not limited to, a processor 701 and a memory 702 . Those skilled in the art can understand that the figure is only an example of the airborne device 700, and does not constitute a limitation to the airborne device 700, and may include more or less components than the one shown, or combine some components, or different Components such as the onboard device 700 may also include input and output devices, network access devices, buses, and the like.

The so-called processor 701 may be a central processing unit (Central Processing Unit, CPU), and may also be other general-purpose processors 701, a digital signal processor (Digital Signal Processor, DSP), an application specific integrated circuit (Application Specific Integrated Circuit, ASIC) ), Field Programmable Gate Array (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete preset hardware components, and the like. The general purpose processor 701 may be a microprocessor 701 or the processor 701 may be any conventional processor 701 or the like.

The memory 702 may be an internal storage unit of the onboard device 700 , such as a hard disk or a memory of the onboard device 700 . The memory 702 may also be an external storage device of the onboard device 700, such as a pluggable hard disk, a smart memory card (Smart Media Card, SMC), a secure digital (Secure Digital, SD card) equipped on the onboard device 700. ) card, flash card (Flash Card) and so on. Further, the memory 702 may also include both an internal storage unit of the onboard device 700 and an external storage device. The memory 702 is used to store the computer program and other programs and data required by the onboard device 700 . The memory 702 may also be used to temporarily store data that has been output or is to be output.

Embodiments of the present invention further provide a computer-readable storage medium, where the computer-readable storage medium stores a computer program, and when the computer program is executed by the processor 701, the steps in the methods described in the foregoing embodiments are implemented, for example, as shown in FIG. 2 . Steps S10 to S50 shown. Alternatively, when the computer program is executed by the processor 701, the functions of each module/unit in the apparatus described in the above embodiments are realized, for example, the functions of the modules 601 to 605 shown in FIG. 5 .

The computer program can be stored in a computer-readable storage medium, and when the computer program is executed by the processor 701, the steps of the above-mentioned method embodiments can be implemented. Wherein, the computer program includes computer program code, and the computer program code may be in the form of source code, object code, executable file or some intermediate form, and the like. The computer-readable medium may include: any entity or device capable of carrying the computer program code, a recording medium, a U disk, a removable hard disk, a magnetic disk, an optical disk, a computer memory, a read-only memory (ROM, Read-Only Memory) , Random Access Memory (RAM, Random Access Memory), electric carrier signal, telecommunication signal and software distribution medium, etc.

It should be noted that the content contained in the computer-readable media may be appropriately increased or decreased according to the requirements of legislation and patent practice in the jurisdiction, for example, in some jurisdictions, according to legislation and patent practice, the computer-readable media Excluded are electrical carrier signals and telecommunication signals.

In the foregoing embodiments, the description of each embodiment has its own emphasis. For parts that are not described or described in detail in a certain embodiment, reference may be made to the relevant descriptions of other embodiments.

The steps in the method of the embodiment of the present invention may be adjusted, combined and deleted in sequence according to actual needs.

The modules or units in the system of the embodiment of the present invention may be combined, divided and deleted according to actual needs.

Those of ordinary skill in the art can realize that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented by electronic preset hardware, or a combination of computer software and electronic preset hardware. Whether these functions are performed by default hardware or software depends on the specific application and design constraints of the technical solution. Skilled artisans may implement the described functionality using different methods for each particular application, but such implementations should not be considered beyond the scope of the present invention.

In the embodiments provided by the present invention, it should be understood that the disclosed apparatus/airborne device 700 and method may be implemented in other manners. For example, the above-described embodiments of the apparatus/airborne device 700 are only illustrative. For example, the division of the modules or units is only a logical function division. In actual implementation, there may be other division methods, such as multiple divisions. Individual units or components may be combined or may be integrated into another system, or some features may be omitted, or not implemented. On the other hand, the shown or discussed mutual coupling or direct coupling or communication connection may be through some interfaces, indirect coupling or communication connection of devices or units, and may be in electrical, mechanical or other forms.

The above-mentioned embodiments are only used to illustrate the technical solutions of the present invention, but not to limit 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: it can still be used for the foregoing implementations. The technical solutions described in the examples are modified, or some technical features thereof are equivalently replaced; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present invention, and should be included in the within the protection scope of the present invention.

Claims (10)

1. an airborne equipment positioning method based on ADS-B signal, is characterized in that, comprises: Receive periodic ADS-B information of the aircraft collected from multiple airborne devices; According to the ADS-B information, determine the ADS-B message data packet of the aircraft; According to the ADS-B message data packet and the preset message data analysis strategy, determine the trajectory point data of the aircraft in multiple cycles; According to the trajectory point data of the aircraft in multiple cycles, perform data correction on the multiple trajectory point data in the next cycle; According to the plurality of trajectory point data corrected by the data, the flight reference coordinate feature information of the aircraft is determined. 2. The method according to claim 1, characterized in that, according to the ADS-B message data packet and a preset message data analysis strategy, it is determined that the ADS-B message data packet described in the Aircraft trajectory point data over multiple cycles, including: dividing the ADS-B message data packet into multiple types; Parse the field data of each data string according to the data string in the ADS-B message data packet of each type; According to the field data of each data string, determine the message frame header and message length in each of the field data; Determine a plurality of horizontal position data sources of the aircraft according to the message frame header and the message length; According to the plurality of horizontal position data sources, the trajectory point data of the aircraft in a plurality of cycles is determined. 3 . The method according to claim 1 , wherein, according to the trajectory point data of the aircraft in multiple cycles, performing data correction on the plurality of trajectory point data, comprising: 3 . According to the trajectory point data in the multiple cycles, determine the first trajectory point data in the current cycle, the second trajectory point data in the previous cycle, and the third trajectory point data in the next cycle; According to the first trajectory point data, the second trajectory point data, the third trajectory point data and the preset trajectory point data, the first trajectory point data, the second trajectory point data and the The distance deviation of the preset track point data; Data correction is performed on the third trajectory point data according to the distance deviation amount. 4 . The method according to claim 3 , wherein the calculation is performed according to the first trajectory point data, the second trajectory point data, the third trajectory point data, and the preset trajectory point data. 5 . The distance deviation between the first trajectory point data, the second trajectory point data and the preset trajectory point data, including: The distance offset is determined by the following calculation formula:

Where, 1≤P≤2, L is the first track point data, L' is the preset track point data, H is the second track point data, n is the number of track points, S is the distance offset, and i is the coordinate direction. 5. The method according to claim 3, wherein, performing data correction on the third trajectory point data according to the distance deviation, comprising: The data of the third track point is corrected by the following calculation formula:

Among them, (K′ _X K′ _Y , K′ _Z ) are the coordinate features of the third track point data after data correction, (K _X , K _Y , K _Z ) are the coordinate features of the third track point data, (S _X , S _Y , S _Z ) are the distance offsets in the coordinate direction. 6 . The method according to claim 5 , wherein when the aircraft is flying, the K′ _X of the third trajectory point data after the data correction is used as the X-axis reference coordinate of the aircraft, 6 . The K′ _Y of the third track point data after the data correction is used as the Y-axis reference coordinate of the aircraft, and the K′ _Z of the third track point data after the data correction is used as the Z-axis reference coordinate of the aircraft . 7. an airborne equipment positioning device based on ADS-B signal, is characterized in that, comprises: The receiving module is used to receive the periodic ADS-B information of the aircraft collected from multiple airborne devices; a first determining module, configured to determine the ADS-B message data packet of the aircraft according to the ADS-B information; a second determination module, configured to determine the trajectory point data of the aircraft in multiple cycles according to the ADS-B message data packet and a preset message data analysis strategy; a correction module, configured to perform data correction on a plurality of trajectory point data in the next cycle according to the trajectory point data of the aircraft in a plurality of cycles; The third determining module is configured to determine the coordinate feature information of the aircraft according to the multiple track point data corrected by the data. 8. The apparatus according to claim 7, wherein the second determining module comprises: A classification submodule for dividing the ADS-B message data packet into multiple types; A parsing submodule for parsing the field data of each data string according to the data string in the ADS-B message data packet of each type; The first determination submodule is used to determine the message frame header and message length in each of the field data according to the field data of each data string; a second determination submodule, configured to determine a plurality of horizontal position data sources of the aircraft according to the message frame header and the message length; The third determination submodule is configured to determine the trajectory point data of the aircraft in each cycle according to the multiple horizontal position data sources. 9. An airborne device comprising a memory, a processor, and a computer program stored on the memory and executable on the processor, wherein the processor implements the computer program as claimed when executing the computer program The airborne equipment positioning method based on ADS-B signal according to any one of requirements 1 to 6 is required. 10. A computer storage medium on which a computer program is stored, characterized in that, when the program is executed by a processor, the method for locating an airborne device based on an ADS-B signal according to any one of claims 1 to 6 is realized .

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