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更新：统一代码缩进格式

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Signed-off-by: waiwaylee <waiwaylee@foxmail.com>
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waiwaylee
2026-06-26 17:17:18 +08:00
parent d8892cb124
commit 28fcf06060
32 changed files with 4447 additions and 4447 deletions
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data_process_class_dll/kalman.h
+14 -14
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@@ -12,32 +12,32 @@ class kalman
{
public:
void kalman_pred(double F[6][6], double Q[6][6], double X[6], double P[6][6], double X_pred[6], double P_pred[6][6]);
void kalman_pred(double F[6][6], double Q[6][6], double X[6], double P[6][6], double X_pred[6], double P_pred[6][6]);
void kalman_filter_init_2dots(double Z0[2], double Z1[2], double T,double X[4], double P[4][4]);//两点初始化卡尔曼滤波器
void kalman_filter_init_2dots(double Z0[2], double Z1[2], double T,double X[4], double P[4][4]);//两点初始化卡尔曼滤波器
double d_cal_track_init(double Z[2],double X[4],double P[4][4],double T); //计算点 临时航迹的d
double d_cal_track_init(double Z[2],double X[4],double P[4][4],double T); //计算点 临时航迹的d
double d_cal_track_init_with_doppler(double Z[2],double X[4],double P[4][4],double T,double vr,double prt,double freq_ind);
double d_cal_track_init_with_doppler(double Z[2],double X[4],double P[4][4],double T,double vr,double prt,double freq_ind);
double d_cal_track_init_EKF(double Z[3],double X[4],double P[4][4],double T,double prt,double freq_ind);
double d_cal_track_init_EKF(double Z[3],double X[4],double P[4][4],double T,double prt,double freq_ind);
void kalman_filter_init_3dots(double Z0[2], double Z1[2],double Z2[2], double T1,double T2, double X[6], double P[6][6]);
void kalman_filter_init_3dots(double Z0[2], double Z1[2],double Z2[2], double T1,double T2, double X[6], double P[6][6]);
double d_cal(double Z[2],double X[6],double P[6][6]);
double d_cal(double Z[2],double X[6],double P[6][6]);
double d_cal_with_doppler(double F[6][6], double Q[6][6] ,double Z[2],double X[6],double P[6][6],double vr,double prt,double freq_ind);
double d_cal_with_doppler(double F[6][6], double Q[6][6] ,double Z[2],double X[6],double P[6][6],double vr,double prt,double freq_ind);
double d_cal_EKF(double F[6][6], double Q[6][6] ,double Z[3],double X[6],double P[6][6],double prt,double freq_ind);
double d_cal_EKF(double F[6][6], double Q[6][6] ,double Z[3],double X[6],double P[6][6],double prt,double freq_ind);
void kalman_filter(double F[6][6], double Q[6][6], double X[6],double P[6][6],double Z[2],double X_filter[6],double P_filter[6][6],double S_filter[2][2]);
void kalman_filter(double F[6][6], double Q[6][6], double X[6],double P[6][6],double Z[2],double X_filter[6],double P_filter[6][6],double S_filter[2][2]);
void kalman_filter_EKF(double F[6][6], double Q[6][6], double X[6],double P[6][6],double Z[3],
double X_filter[6],double P_filter[6][6],double S_filter[2][2],
double prt,double freq_ind );
void kalman_filter_EKF(double F[6][6], double Q[6][6], double X[6],double P[6][6],double Z[3],
double X_filter[6],double P_filter[6][6],double S_filter[2][2],
double prt,double freq_ind );
double Bind_speed(double prt,double freq_ind); //根据PRT 和 频率 计算不模糊速度
double Bind_speed(double prt,double freq_ind); //根据PRT 和 频率 计算不模糊速度
};
#endif // KALMAN_H