更新：1、增加航迹质量信息输出；

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>

data_process_class_dll/data_process_class_dll.h

@@ -51,6 +51,7 @@ struct DATA_PROCESS_CLASS_DLLSHARED_EXPORT Track
 	float   Elevation;                              //俯仰
 	float   Range_V;                                //速度
 	float   Amplitude;                              //幅度
+	float   Quality;                                //航迹质量
 	int     Track_Index;                            //航迹号
 	int     Point_Sum;                              //本条航迹更新点的数目
 	int     Flag_Direction;                         //方向标志1靠近/0远离

data_process_class_dll/parameters.h

@@ -49,8 +49,21 @@
 //#define MECHANICAL_SCANNING
 //#define PHASE_SCANNING
 
+/******************************通用数据处理参数**************************************/
+//航迹质量管理参数
+#define TRACK_QUALITY_MAX 100
+#define TRACK_QUALITY_MIN 0
+#define TRACK_QUALITY_D_WEIGHT 0.5
+#define TRACK_QUALITY_SNR_WEIGHT 0.3
+#define TRACK_QUALITY_LEN_WEIGHT 0.2
+#define TRACK_QUALITY_ITER_COEFF 0.8
+#define TRACK_QUALITY_DECREASE_COEFF 0.01
+
+//航迹起批质量条件
+#define TRACK_START_QUALITY 0.5
+
 #ifdef MECHANICAL_SCANNING
-/******************************数据处理参数**************************************/
+/******************************机扫数据处理参数**************************************/
 // #define DATA_RATE_TAS 0.0625
 
 #define SIGMA_R    10.0         //测量误差
@@ -101,7 +114,7 @@
 
 #ifdef PHASE_SCANNING
 
-/******************************数据处理参数**************************************/
+/******************************相扫数据处理参数**************************************/
 // #define DATA_RATE_TAS 0.3
 
 #define SIGMA_R    10.0         //测量误差

data_process_class_dll/struct.h

@@ -51,12 +51,16 @@ struct  Trust_Track
 	double  Velocity;                          //航向速度
 	double  Amplitude;                          //幅度
 	double  Height;                             //高度
+	double  RCS;								//RCS
+	double  Quality;                            //航迹质量
 
 	long long	T_track;                         //航迹时间
 	long long	GNSS_time;						//GNSS时间
 
 	int     Track_Sum;                          //航迹总数
 	int     Point_Index;                        //该航迹上的第几个点
+	int		Point_sum;							//本条航迹更新点的数目
+	int		Valid_point_sum;					//本条航迹有效点的数目
 
 	int     Track_Mode;                         //跟踪模式
 	int     Track_Update_Flag;                  //航迹更新标志 1已更新/0未更新
@@ -87,8 +91,6 @@ struct  Trust_Track
 	float	amp_asv_point;							//关联上的点迹信息（归一化幅度）
 	float	prn_fftn_point;							//点迹速度维FFT点数
 
-	double   RCS;
-
 	int     pitch_num;              // 俯仰波位号
 	float   speed_dim[129];         // 目标的十字星数据,目标点速度维129个点
 	float   range_dim[8];           // 目标的十字星数据,目标点距离维8个点
@@ -122,6 +124,7 @@ struct Temp_track
 	double SNR;          //信噪比
 	double RCS;          //RCS
 	double amplitude;         	//幅度
+	double quality;      //航迹质量
 	long long   CPI_time;       //时间戳
 	long long	GNSS_time;		//GNSS时间戳
 

data_process_class_dll/track_asso.cpp

@@ -100,6 +100,7 @@ int Track_Asso:: track_asso_process(std::vector<PointRecv>               *point_
 			Trust_Track_Output[*Trust_track_num_Output-1][0].GNSS_time=(*trust_track)[i].GNSS_time;
 			Trust_Track_Output[*Trust_track_num_Output-1][0].Flag_Point = (*trust_track)[i].point_flag;
 			Trust_Track_Output[*Trust_track_num_Output-1][0].z=static_cast<float>((*trust_track)[i].Height+Work_Parameter.Height);
+			Trust_Track_Output[*Trust_track_num_Output-1][0].Quality = static_cast<float>((*trust_track)[i].Quality * TRACK_QUALITY_MAX);
 
 			double Direction_Angle;
 			Direction_Angle=atan2((*trust_track)[i].X[4], (*trust_track)[i].X[1]);
@@ -656,6 +657,14 @@ void Track_Asso:: model_filter(std::vector <Trust_Track> *trust_track,struct  Ra
 						(*trust_track)[track_index-1].P3[ii][jj]=P3_filter[ii][jj];
 					}
 
+				//计算航迹质量
+				double d_tmp = exp(-associated_info[min_index-1].d_min);
+				double snr_tmp = 1/(1+exp(-(point_process[point_index-1].SNR - 16) / 1.2));
+				double len_tmp = 1/(1+exp(-((*trust_track)[track_index-1].Valid_point_sum - 4) / 1.2)) * 0.5 + (1 - (*trust_track)[track_index-1].Valid_point_sum / (*trust_track)[track_index-1].Point_sum) * 0.5;
+				double tq_tmp = TRACK_QUALITY_D_WEIGHT * d_tmp + TRACK_QUALITY_SNR_WEIGHT * snr_tmp + TRACK_QUALITY_LEN_WEIGHT * len_tmp;
+				
+				(*trust_track)[track_index-1].Quality = (*trust_track)[track_index-1].Quality * TRACK_QUALITY_ITER_COEFF + tq_tmp * (1 - TRACK_QUALITY_ITER_COEFF);
+
 				//更新航迹时间
 				(*trust_track)[track_index-1].T_track = point_process[point_index-1].CPI_time;
 				(*trust_track)[track_index-1].GNSS_time = point_process[point_index-1].GNSS_time;
@@ -688,6 +697,8 @@ void Track_Asso:: model_filter(std::vector <Trust_Track> *trust_track,struct  Ra
 				(*trust_track)[track_index-1].point_flag=1;                 //实点
 				(*trust_track)[track_index-1].associate_point_number = (*trust_track)[track_index-1].associate_point_number+1; //关联点数+1
 				(*trust_track)[track_index-1].Track_Update_Flag = 1; 		//航迹更新标志
+				(*trust_track)[track_index-1].Point_sum = (*trust_track)[track_index-1].Point_sum + 1;
+				(*trust_track)[track_index-1].Valid_point_sum = (*trust_track)[track_index-1].Valid_point_sum + 1;
 			}
 			
 			//删除associated_info中关联上的航迹 点迹信息
@@ -778,6 +789,7 @@ void Track_Asso:: model_filter(std::vector <Trust_Track> *trust_track,struct  Ra
 				memcpy((*trust_track)[i].P2,P2_pred,6*6*sizeof(double));
 				memcpy((*trust_track)[i].P3,P3_pred,6*6*sizeof(double));
 
+				(*trust_track)[i].circle_id++;
 				(*trust_track)[i].T_track = static_cast<long long>((*trust_track)[i].T_track+delta_T*1000.0);            //更新航迹时间
 				(*trust_track)[i].GNSS_time = static_cast<long long>((*trust_track)[i].GNSS_time+delta_T*1000.0);            //更新航迹时间
 				(*trust_track)[i].Extrapolate_round =(*trust_track)[i].Extrapolate_round+1;     //连续未用实点更新时间
@@ -788,9 +800,13 @@ void Track_Asso:: model_filter(std::vector <Trust_Track> *trust_track,struct  Ra
 				(*trust_track)[i].point_flag=0;                            						//虚点
 				(*trust_track)[i].Track_Update_Flag = 0;										//航迹更新标志
 			}
-		}
-	}
 
+			//航迹质量递减
+			(*trust_track)[i].Quality -= (*trust_track)[i].Extrapolate_round * TRACK_QUALITY_DECREASE_COEFF;
+			(*trust_track)[i].Quality = (*trust_track)[i].Quality < 0.0 ? 0.0 : (*trust_track)[i].Quality;
+			(*trust_track)[i].Point_sum = (*trust_track)[i].Point_sum + 1;
+		}
+	}
 }
 
 void Track_Asso:: model_output(std::vector <Trust_Track>    *trust_track)

data_process_class_dll/track_init.cpp

@@ -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
+		//计算航迹初始质量
-		// bool snr_flag = true;
+		double average_snr = 0;
-		// for(int p_idx = 0; p_idx < L; p_idx++){
+		for(int i=0;i<L;i++)
-		// 	if((*Iter)[p_idx].r < 1000 && (*Iter)[p_idx].snr < 20){
+		{
-		// 		snr_flag = false;
+			average_snr += (*Iter)[i].SNR;
-		// 		break;
+		}
-		// 	}
+		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;