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更新：1、增加航迹质量信息输出；

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2、航迹起始时计算初始航迹质量；
3、航迹关联时更新航迹质量；

Signed-off-by: waiwaylee <waiwaylee@foxmail.com>
This commit is contained in:
waiwaylee
2026-10-19 15:03:00 +08:00
parent 1b6cf62115
commit 1ae0cf2512
5 changed files with 86 additions and 17 deletions
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data_process_class_dll/track_init.cpp
+45 -9
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@@ -452,16 +452,48 @@ void Track_Init::tmp_track_to_trust_track(std::vector<Trust_Track> *trust_tra
double range=(*Iter)[L-1].r;
double azi=(*Iter)[L-1].azi/PI*180;
//（已停用）1km以内，SNR小于20dB的临时航迹不转为可靠航迹
// bool snr_flag = true;
// for(int p_idx = 0; p_idx < L; p_idx++){
// if((*Iter)[p_idx].r < 1000 && (*Iter)[p_idx].snr < 20){
// snr_flag = false;
// break;
// }
// }
//计算航迹初始质量
double average_snr = 0;
for(int i=0;i<L;i++)
{
average_snr += (*Iter)[i].SNR;
}
average_snr /= L;
double snr_tmp = 1/(1+exp(-(average_snr - 16) / 1.2));
double &d = (*Iter)[L-1].d;
double d_tmp = exp(-d);
double quality_tmp = d_tmp * TRACK_QUALITY_D_WEIGHT + snr_tmp * TRACK_QUALITY_SNR_WEIGHT;
quality_tmp /= (TRACK_QUALITY_D_WEIGHT + TRACK_QUALITY_SNR_WEIGHT);
for(int i=0;i<L;i++)
{
(*Iter)[i].quality = quality_tmp;
}
if( (L <=10 && L>=Work_Parameter.track_start_point_num)&& track_init_prohibit(range,azi,Work_Parameter)==0) //按长度查找TRUST_TRACK_POINT
//航迹起批条件判断
bool track_init_flag = true;
//航迹长度大于10点，不起批
if(L > 10){
track_init_flag = false;
}
//航迹长度小于起始点数，不起批
if(L < Work_Parameter.track_start_point_num){
track_init_flag = false;
}
//航迹起批禁止区域判断
if(track_init_prohibit(range,azi,Work_Parameter)!=0)
{
track_init_flag = false;
}
//TODO: 航迹质量起批条件判断
//TODO: 杂波密度判断
if(track_init_flag)
{
//加入Track_to_start中
Track_to_start.push_back(std::vector <Temp_track> ());
@@ -576,6 +608,9 @@ void Track_Init::tmp_track_to_trust_track(std::vector<Trust_Track> *trust_tra
trust_track_tmp.associate_point_number = 0;
trust_track_tmp.manual_tracking_flag = 0;
trust_track_tmp.point_type = 0;
trust_track_tmp.Quality = Track_to_start[i][L-1].quality;
trust_track_tmp.Point_sum = L;
trust_track_tmp.Valid_point_sum = L;
trust_track_tmp.u[0]=0.3333;
trust_track_tmp.u[1]=0.3333;
trust_track_tmp.u[2]=0.3333;
@@ -612,6 +647,7 @@ void Track_Init::tmp_track_to_trust_track(std::vector<Trust_Track> *trust_tra
Trust_Track_Output[*Trust_track_num_Output-1][j].Amplitude=static_cast<float>(Track_to_start[i][j].amplitude);
Trust_Track_Output[*Trust_track_num_Output-1][j].track_snr = static_cast<float>(Track_to_start[i][j].SNR);
Trust_Track_Output[*Trust_track_num_Output-1][j].track_rcs = static_cast<float>(Track_to_start[i][j].RCS);
Trust_Track_Output[*Trust_track_num_Output-1][j].Quality = static_cast<float>(Track_to_start[i][j].quality * TRACK_QUALITY_MAX);
Trust_Track_Output[*Trust_track_num_Output-1][j].pitch_num = Track_to_start[i][j].pitch_num;