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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>
This commit is contained in:
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/coor_trans.cpp
+6 -6
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@@ -7,14 +7,14 @@ using namespace std;
//极坐标转直角坐标 //极坐标转直角坐标
void coor_trans::polar2cart(double *x, double *y, double Range, double Azimuth) void coor_trans::polar2cart(double *x, double *y, double Range, double Azimuth)
{ {
*x=Range*cos(Azimuth); *x=Range*cos(Azimuth);
*y=Range*sin(Azimuth); *y=Range*sin(Azimuth);
} }
void coor_trans::cart2polar(double x, double y, double *Range, double *Azimuth) void coor_trans::cart2polar(double x, double y, double *Range, double *Azimuth)
{ {
*Range=sqrt(x*x+y*y); *Range=sqrt(x*x+y*y);
*Azimuth=atan2(y,x); *Azimuth=atan2(y,x);
if(*Azimuth<0) if(*Azimuth<0)
*Azimuth=*Azimuth+2*PI; *Azimuth=*Azimuth+2*PI;
} }
data_process_class_dll/coor_trans.h
+2 -2
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@@ -6,9 +6,9 @@ class coor_trans
{ {
public: public:
void polar2cart( double*x, double *y, double Range, double Azimuth); void polar2cart( double*x, double *y, double Range, double Azimuth);
void cart2polar(double x, double y, double *Range, double *Azimuth); void cart2polar(double x, double y, double *Range, double *Azimuth);
}; };
data_process_class_dll/data_process.cpp
+146 -146
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@@ -13,71 +13,71 @@ using namespace std;
//数据预处理 //数据预处理
int Data_Process::data_preprocess(struct DataRev Data_Input[150]) int Data_Process::data_preprocess(struct DataRev Data_Input[150])
{ {
//数据存入缓存区域 Data_buffer //数据存入缓存区域 Data_buffer
if(Data_Input[0].point_type == 0) //tws数据 if(Data_Input[0].point_type == 0) //tws数据
{ {
data_num=Data_Input[0].Point_Sum; data_num=Data_Input[0].Point_Sum;
TAS_track_idx = Data_Input[0].TAS_track_index; TAS_track_idx = Data_Input[0].TAS_track_index;
for (int i=0; i<data_num;i++) for (int i=0; i<data_num;i++)
{ {
PointRecv Data_buffer_temp; PointRecv Data_buffer_temp;
Data_buffer_temp.Amplitude=Data_Input[i].Amplitude; Data_buffer_temp.Amplitude=Data_Input[i].Amplitude;
Data_buffer_temp.Azimuth=Data_Input[i].Azimuth/180*PI; Data_buffer_temp.Azimuth=Data_Input[i].Azimuth/180*PI;
Data_buffer_temp.snr = Data_Input[i].Snr; Data_buffer_temp.snr = Data_Input[i].Snr;
Data_buffer_temp.RCS = Data_Input[i].RCS; Data_buffer_temp.RCS = Data_Input[i].RCS;
Data_buffer_temp.CPI_Time = Data_Input[i].CPI_time; Data_buffer_temp.CPI_Time = Data_Input[i].CPI_time;
Data_buffer_temp.Freq_index = Data_Input[i].Freq_index; Data_buffer_temp.Freq_index = Data_Input[i].Freq_index;
Data_buffer_temp.PRF_index = Data_Input[i].PRI; Data_buffer_temp.PRF_index = Data_Input[i].PRI;
Data_buffer_temp.Range = Data_Input[i].Range; Data_buffer_temp.Range = Data_Input[i].Range;
Data_buffer_temp.Height= Data_Input[i].Range*sin(Data_Input[i].Elevation/180*PI); Data_buffer_temp.Height= Data_Input[i].Range*sin(Data_Input[i].Elevation/180*PI);
Data_buffer_temp.Use_Flag = 0; Data_buffer_temp.Use_Flag = 0;
Data_buffer_temp.Velocity = Data_Input[i].Velocity; Data_buffer_temp.Velocity = Data_Input[i].Velocity;
Data_buffer_temp.pitch_num = Data_Input[i].pitch_num; Data_buffer_temp.pitch_num = Data_Input[i].pitch_num;
std::memcpy(Data_buffer_temp.speed_dim, Data_Input[i].speed_dim, sizeof(Data_buffer_temp.speed_dim)); std::memcpy(Data_buffer_temp.speed_dim, Data_Input[i].speed_dim, sizeof(Data_buffer_temp.speed_dim));
std::memcpy(Data_buffer_temp.range_dim, Data_Input[i].range_dim, sizeof(Data_buffer_temp.range_dim)); std::memcpy(Data_buffer_temp.range_dim, Data_Input[i].range_dim, sizeof(Data_buffer_temp.range_dim));
Data_buffer.push_back(Data_buffer_temp); Data_buffer.push_back(Data_buffer_temp);
} }
if(Data_Input[0].Beam_index_aiz == 16) //TWS if(Data_Input[0].Beam_index_aiz == 16) //TWS
{ {
return 1; return 1;
} }
else else
{ {
return 2; return 2;
} }
} }
else if(Data_Input[0].point_type == 1) //tas数据 else if(Data_Input[0].point_type == 1) //tas数据
{ {
// qDebug() << "TAS TARGET :" <<Data_Input[0].TAS_track_index; // qDebug() << "TAS TARGET :" <<Data_Input[0].TAS_track_index;
// qDebug() << "TAS POINT :" <<Data_Input[0].Point_Sum; // qDebug() << "TAS POINT :" <<Data_Input[0].Point_Sum;
data_num=Data_Input[0].Point_Sum; data_num=Data_Input[0].Point_Sum;
TAS_track_idx = Data_Input[0].TAS_track_index; TAS_track_idx = Data_Input[0].TAS_track_index;
for (int i=0; i<data_num;i++) for (int i=0; i<data_num;i++)
{ {
PointRecv Data_buffer_temp; PointRecv Data_buffer_temp;
Data_buffer_temp.Amplitude=Data_Input[i].Amplitude; Data_buffer_temp.Amplitude=Data_Input[i].Amplitude;
Data_buffer_temp.Azimuth=Data_Input[i].Azimuth/180*PI; Data_buffer_temp.Azimuth=Data_Input[i].Azimuth/180*PI;
Data_buffer_temp.snr = Data_Input[i].Snr; Data_buffer_temp.snr = Data_Input[i].Snr;
Data_buffer_temp.RCS = Data_Input[i].RCS; Data_buffer_temp.RCS = Data_Input[i].RCS;
Data_buffer_temp.CPI_Time = Data_Input[i].CPI_time; Data_buffer_temp.CPI_Time = Data_Input[i].CPI_time;
Data_buffer_temp.Freq_index = Data_Input[i].Freq_index; Data_buffer_temp.Freq_index = Data_Input[i].Freq_index;
Data_buffer_temp.PRF_index = Data_Input[i].PRI; Data_buffer_temp.PRF_index = Data_Input[i].PRI;
Data_buffer_temp.Range = Data_Input[i].Range; Data_buffer_temp.Range = Data_Input[i].Range;
Data_buffer_temp.Height= Data_Input[i].Range*sin(Data_Input[i].Elevation/180*PI); Data_buffer_temp.Height= Data_Input[i].Range*sin(Data_Input[i].Elevation/180*PI);
Data_buffer_temp.Use_Flag = 0; Data_buffer_temp.Use_Flag = 0;
Data_buffer_temp.Velocity = Data_Input[i].Velocity; Data_buffer_temp.Velocity = Data_Input[i].Velocity;
Data_buffer_temp.pitch_num = Data_Input[i].pitch_num; Data_buffer_temp.pitch_num = Data_Input[i].pitch_num;
std::memcpy(Data_buffer_temp.speed_dim, Data_Input[i].speed_dim, sizeof(Data_buffer_temp.speed_dim)); std::memcpy(Data_buffer_temp.speed_dim, Data_Input[i].speed_dim, sizeof(Data_buffer_temp.speed_dim));
std::memcpy(Data_buffer_temp.range_dim, Data_Input[i].range_dim, sizeof(Data_buffer_temp.range_dim)); std::memcpy(Data_buffer_temp.range_dim, Data_Input[i].range_dim, sizeof(Data_buffer_temp.range_dim));
Data_buffer_tas.push_back(Data_buffer_temp); Data_buffer_tas.push_back(Data_buffer_temp);
// qDebug() << "Azimuth:" << Data_Input[i].Azimuth // qDebug() << "Azimuth:" << Data_Input[i].Azimuth
// << "Range:" << Data_Input[i].Range // << "Range:" << Data_Input[i].Range
@@ -85,15 +85,15 @@ int Data_Process::data_preprocess(struct DataRev Data_Input[150])
// << "CPI_Time"<< Data_Input[i].CPI_time // << "CPI_Time"<< Data_Input[i].CPI_time
// << "data_num:" << data_num; // << "data_num:" << data_num;
} }
return 3; return 3;
} }
else else
{ {
return 0; return 0;
} }
} }
@@ -101,55 +101,55 @@ int Data_Process::data_preprocess(struct DataRev Data_Input[150])
//数据处理 //数据处理
int Data_Process::track_process(struct Track Trust_Track_Output[MAX_TRACK_NUM][10], int Data_Process::track_process(struct Track Trust_Track_Output[MAX_TRACK_NUM][10],
int *Trust_track_num_Output, int *Trust_track_num_Output,
int Track_die_Index_Output[], int Track_die_Index_Output[],
int *Track_die_num_Output, int *Track_die_num_Output,
int model) int model)
{ {
//TWS处理 //TWS处理
if(model==2) if(model==2)
{ {
dot_coh.dot_coh_process_buff(&Data_buffer,&point_recv,Work_Parameter); dot_coh.dot_coh_process_buff(&Data_buffer,&point_recv,Work_Parameter);
QVector<PointRecv>().swap(Data_buffer); QVector<PointRecv>().swap(Data_buffer);
} }
if(model==1) if(model==1)
{ {
*Trust_track_num_Output=0; //航迹更新数 *Trust_track_num_Output=0; //航迹更新数
*Track_die_num_Output=0; //航迹消亡数目 *Track_die_num_Output=0; //航迹消亡数目
track_asso.track_asso_process(&point_recv, track_asso.track_asso_process(&point_recv,
&trust_track, &trust_track,
Trust_Track_Output, Trust_Track_Output,
Trust_track_num_Output, Trust_track_num_Output,
Work_Parameter Work_Parameter
); );
track_die.track_die_process( &trust_track, track_die.track_die_process( &trust_track,
Track_die_Index_Output, Track_die_Index_Output,
Track_die_num_Output); Track_die_num_Output);
track_init.track_init_process_logic( &point_recv, track_init.track_init_process_logic( &point_recv,
&trust_track, &trust_track,
&temp_track, &temp_track,
Trust_Track_Output, Trust_Track_Output,
Trust_track_num_Output, Trust_track_num_Output,
Work_Parameter); Work_Parameter);
} }
// TAS处理 // TAS处理
if(model==3) if(model==3)
{ {
*Trust_track_num_Output=0; //航迹更新数 *Trust_track_num_Output=0; //航迹更新数
*Track_die_num_Output=0; //航迹消亡数目 *Track_die_num_Output=0; //航迹消亡数目
dot_coh_tas.dot_coh_tas_process(&Data_buffer_tas,&point_recv_tas); //点迹凝聚 dot_coh_tas.dot_coh_tas_process(&Data_buffer_tas,&point_recv_tas); //点迹凝聚
// if(point_recv_tas.size()>0) // if(point_recv_tas.size()>0)
// { // {
@@ -157,42 +157,42 @@ int Data_Process::track_process(struct Track Trust_Track_Output[MAX_TRACK_NUM][1
// } // }
QVector<PointRecv>().swap(Data_buffer_tas);//凝聚完毕 清除Data_buffer QVector<PointRecv>().swap(Data_buffer_tas);//凝聚完毕 清除Data_buffer
track_asso_tas.track_asso_process_tas(&point_recv_tas, //点迹文件 track_asso_tas.track_asso_process_tas(&point_recv_tas, //点迹文件
&trust_track, //航迹文件 &trust_track, //航迹文件
Trust_Track_Output, //更新航迹信息 Trust_Track_Output, //更新航迹信息
Trust_track_num_Output, //更新航迹数 Trust_track_num_Output, //更新航迹数
Work_Parameter, //工作参数 Work_Parameter, //工作参数
TAS_track_idx); TAS_track_idx);
QVector<PointRecv>().swap(point_recv_tas); //清除 point_recv_tas QVector<PointRecv>().swap(point_recv_tas); //清除 point_recv_tas
track_die_tas.track_die_process_tas( &trust_track, track_die_tas.track_die_process_tas( &trust_track,
Track_die_Index_Output, Track_die_Index_Output,
Track_die_num_Output); Track_die_num_Output);
} }
return 1; return 1;
} }
//波束控制 //波束控制
void Data_Process::Beam_Ctrl(struct TrackingBeam *Tracking_beam, void Data_Process::Beam_Ctrl(struct TrackingBeam *Tracking_beam,
struct Track Trust_Track_Output[][10], struct Track Trust_Track_Output[][10],
int *Trust_track_num_Output) int *Trust_track_num_Output)
{ {
tas_ctrl.tas_ctrl_process(&trust_track,Tracking_beam, Trust_Track_Output, Trust_track_num_Output,Work_Parameter); tas_ctrl.tas_ctrl_process(&trust_track,Tracking_beam, Trust_Track_Output, Trust_track_num_Output,Work_Parameter);
} }
@@ -202,10 +202,10 @@ void Data_Process::Beam_Ctrl(struct TrackingBeam *Tracking_beam,
int Data_Process::track_process_parameters_initial(struct RadarPara Radar_Parameter) int Data_Process::track_process_parameters_initial(struct RadarPara Radar_Parameter)
{ {
//工作参数设置 //工作参数设置
memcpy(&Work_Parameter, &Radar_Parameter, sizeof(RadarPara)); memcpy(&Work_Parameter, &Radar_Parameter, sizeof(RadarPara));
return 0; return 0;
} }
@@ -216,59 +216,59 @@ int Data_Process::track_process_parameters_initial(struct RadarPara Radar_Parame
//数据处理参数修改 //数据处理参数修改
int Data_Process::track_process_parameters_modify(struct RadarPara Radar_Parameter) int Data_Process::track_process_parameters_modify(struct RadarPara Radar_Parameter)
{ {
memcpy(&Work_Parameter, &Radar_Parameter, sizeof(RadarPara)); memcpy(&Work_Parameter, &Radar_Parameter, sizeof(RadarPara));
return 0; return 0;
} }
//航迹清空函数 //航迹清空函数
int Data_Process::track_clear_all(void) int Data_Process::track_clear_all(void)
{ {
//清空可靠航迹 //清空可靠航迹
return 0; return 0;
} }
//手动航迹删除函数 //手动航迹删除函数
int Data_Process:: track_delete(int delete_track_num, //手动删除的航迹数目 int Data_Process:: track_delete(int delete_track_num, //手动删除的航迹数目
int delete_track_index[]) //手动删除的航迹号 int delete_track_index[]) //手动删除的航迹号
{ {
for (int i=0;i<delete_track_num ;i++) for (int i=0;i<delete_track_num ;i++)
{ {
for (int j=0;j<trust_track.size();j++) for (int j=0;j<trust_track.size();j++)
{ {
if(trust_track[j].Track_Index == delete_track_index[i]) if(trust_track[j].Track_Index == delete_track_index[i])
{ {
trust_track[j].manual_delete_flag=1; trust_track[j].manual_delete_flag=1;
} }
} }
} }
return 0; return 0;
} }
//手动转TAS跟踪函数 //手动转TAS跟踪函数
int Data_Process:: tracking_start(int track_index) //需要手动转入TAS跟踪的航迹号 int Data_Process:: tracking_start(int track_index) //需要手动转入TAS跟踪的航迹号
{ {
for ( int i=0; i<trust_track.size();i++) for ( int i=0; i<trust_track.size();i++)
if(trust_track[i].Track_Index==track_index) if(trust_track[i].Track_Index==track_index)
{ {
trust_track[i].manual_tracking_flag = 1; trust_track[i].manual_tracking_flag = 1;
} }
return 0; return 0;
} }
//手动打跟踪波束 //手动打跟踪波束
int Data_Process::tracking_point(float Azimuth)//方位角 int Data_Process::tracking_point(float Azimuth)//方位角
{ {
return 0; return 0;
} }
data_process_class_dll/data_process.h
+50 -50
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@@ -24,88 +24,88 @@ class Data_Process : public Data_process_class_dll
{ {
public: public:
Data_Process(void) Data_Process(void)
{ {
} }
//数据预处理函数 //数据预处理函数
int data_preprocess(struct DataRev Data_Input[150]); int data_preprocess(struct DataRev Data_Input[150]);
//航迹处理函数 //航迹处理函数
int track_process( struct Track Trust_Track_Output[MAX_TRACK_NUM][10], //数据处理输出的航迹更新信息 主程序创建全局变量 数据处理函数更新其中数据 int track_process( struct Track Trust_Track_Output[MAX_TRACK_NUM][10], //数据处理输出的航迹更新信息 主程序创建全局变量 数据处理函数更新其中数据
int *Trust_track_num_Output, //数据处理后输出的航迹数目 主程序创建全局变量 数据处理函数更新其中数据 int *Trust_track_num_Output, //数据处理后输出的航迹数目 主程序创建全局变量 数据处理函数更新其中数据
int Track_die_Index_Output[], //数据处理后要消亡的航迹 主程序创建全局变量 数据处理函数更新其中数据 int Track_die_Index_Output[], //数据处理后要消亡的航迹 主程序创建全局变量 数据处理函数更新其中数据
int *Track_die_num_Output, //数据处理后要消亡的航迹数目 主程序创建全局变量 数据处理函数更新其中数据 int *Track_die_num_Output, //数据处理后要消亡的航迹数目 主程序创建全局变量 数据处理函数更新其中数据
int model int model
); );
//波束控制 //波束控制
void Beam_Ctrl(struct TrackingBeam *Tracking_beam, void Beam_Ctrl(struct TrackingBeam *Tracking_beam,
struct Track Trust_Track_Output[][10], struct Track Trust_Track_Output[][10],
int *Trust_track_num_Output); int *Trust_track_num_Output);
//航迹清空函数 //航迹清空函数
int track_clear_all(void); int track_clear_all(void);
//手动航迹删除函数 //手动航迹删除函数
int track_delete(int delete_track_num, //手动删除的航迹数目 int track_delete(int delete_track_num, //手动删除的航迹数目
int delete_track_index[]); //手动删除的航迹号 int delete_track_index[]); //手动删除的航迹号
//手动转TAS跟踪函数 //手动转TAS跟踪函数
int tracking_start(int track_index); //需要手动转入TAS跟踪的航迹号 int tracking_start(int track_index); //需要手动转入TAS跟踪的航迹号
//手动打跟踪波束 //手动打跟踪波束
int tracking_point(float Azimuth); //方位角 int tracking_point(float Azimuth); //方位角
//参数设置初始化 //参数设置初始化
int track_process_parameters_initial(struct RadarPara Radar_Parameter); int track_process_parameters_initial(struct RadarPara Radar_Parameter);
//参数设置修改函数 //参数设置修改函数
int track_process_parameters_modify(struct RadarPara Radar_Parameter); int track_process_parameters_modify(struct RadarPara Radar_Parameter);
private: private:
QVector <PointRecv> Data_buffer; //接收点迹 TWS 输入凝聚 QVector <PointRecv> Data_buffer; //接收点迹 TWS 输入凝聚
QVector <PointRecv> Data_buffer_tas; //接收点迹 TAS 输入凝聚 QVector <PointRecv> Data_buffer_tas; //接收点迹 TAS 输入凝聚
QVector <PointRecv> point_recv; //凝聚后输出的点迹 按点迹区存入 输入航迹关联、起始 QVector <PointRecv> point_recv; //凝聚后输出的点迹 按点迹区存入 输入航迹关联、起始
QVector <PointRecv> point_recv_tas; //凝聚后输出的点迹 TAS QVector <PointRecv> point_recv_tas; //凝聚后输出的点迹 TAS
QVector <Trust_Track> trust_track; //可靠航迹 按航迹区存入 QVector <Trust_Track> trust_track; //可靠航迹 按航迹区存入
QVector <QVector<Temp_track>> temp_track; //临时航迹 按临时航迹区存入 QVector <QVector<Temp_track>> temp_track; //临时航迹 按临时航迹区存入
int Beam_num; //波位数 int Beam_num; //波位数
int beam_count; //波位计数 int beam_count; //波位计数
int data_num; //波位1点数 int data_num; //波位1点数
int beam_index[3]; //3个波位号(当前帧) int beam_index[3]; //3个波位号(当前帧)
int TAS_track_idx; //TAS数据的目标批号 int TAS_track_idx; //TAS数据的目标批号
int Track_Mode; //跟踪模式 1TAS 0TWS int Track_Mode; //跟踪模式 1TAS 0TWS
struct RadarPara Work_Parameter; //工作参数 参数设置函数外部输入 struct RadarPara Work_Parameter; //工作参数 参数设置函数外部输入
Dot_Coh dot_coh; //点迹凝聚 Dot_Coh dot_coh; //点迹凝聚
Dot_Coh_TAS dot_coh_tas; Dot_Coh_TAS dot_coh_tas;
Track_Asso track_asso; //航迹关联 Track_Asso track_asso; //航迹关联
Track_Asso_Tas track_asso_tas; Track_Asso_Tas track_asso_tas;
Track_Init track_init; //航迹起始 Track_Init track_init; //航迹起始
Track_Die track_die; //航迹消亡 Track_Die track_die; //航迹消亡
Track_Die_Tas track_die_tas; Track_Die_Tas track_die_tas;
TAS_Ctrl tas_ctrl; //TAS波束控制 TAS_Ctrl tas_ctrl; //TAS波束控制
}; };
data_process_class_dll/data_process_class_dll.cpp
+9 -9
View File
@@ -13,12 +13,12 @@ Data_process_class_dll *Data_Process_Factory::p = 0;
Data_process_class_dll *Data_Process_Factory::GetB() Data_process_class_dll *Data_Process_Factory::GetB()
{ {
if(!p) if(!p)
{ {
p=new Data_Process(); p=new Data_Process();
} }
return p; return p;
} }
void Data_Process_Factory::Destroy() void Data_Process_Factory::Destroy()
@@ -26,8 +26,8 @@ void Data_Process_Factory::Destroy()
// if (p) // if (p)
// delete p; // delete p;
if (p) { if (p) {
delete p; delete p;
p = nullptr; p = nullptr;
} }
} }
data_process_class_dll/data_process_class_dll.h
+178 -178
View File
@@ -8,74 +8,74 @@
// 输入点迹的数据结构 用户可见 // 输入点迹的数据结构 用户可见
struct DATA_PROCESS_CLASS_DLLSHARED_EXPORT DataRev struct DATA_PROCESS_CLASS_DLLSHARED_EXPORT DataRev
{ {
float Range; //径向距离 （米） float Range; //径向距离 （米）
float Azimuth; //方位 （度） float Azimuth; //方位 （度）
float Elevation; //俯仰 （度） float Elevation; //俯仰 （度）
float Velocity; //速度 （m/s） float Velocity; //速度 （m/s）
float Amplitude; //幅度 float Amplitude; //幅度
float Threshold; //目标门限 float Threshold; //目标门限
float Snr; //目标信噪比 float Snr; //目标信噪比
float RCS; //目标RCS float RCS; //目标RCS
int CPI_time; //CPI时间 该波位无点迹输入时也需要给出当前时间 int CPI_time; //CPI时间 该波位无点迹输入时也需要给出当前时间
int Beam_index_azi_0; //上一个cpi波位 int Beam_index_azi_0; //上一个cpi波位
int Beam_index_aiz; //方位波位号（0-24） 该波位无输入点迹时 也需要给出当前波位 int Beam_index_aiz; //方位波位号（0-24） 该波位无输入点迹时 也需要给出当前波位
int Beam_index_elev; //俯仰波位号（0-13） int Beam_index_elev; //俯仰波位号（0-13）
int PRI; //PRI(us) 给0 int PRI; //PRI(us) 给0
int Freq_index; //频点号 给0 int Freq_index; //频点号 给0
int Point_Sum; //输入点迹总数 若该波位无点迹输入 置为0 int Point_Sum; //输入点迹总数 若该波位无点迹输入 置为0
int Point_Num; //点迹号(1,2,3,4...) int Point_Num; //点迹号(1,2,3,4...)
int UseFlag; //点迹使用标记 使用1/未使用0 主程序存入数据时置为0 int UseFlag; //点迹使用标记 使用1/未使用0 主程序存入数据时置为0
int TAS_track_index; //TAS的航迹号 int TAS_track_index; //TAS的航迹号
int point_type; //点迹类型 TAS 1/TWS 0 int point_type; //点迹类型 TAS 1/TWS 0
int pitch_num; // 俯仰波位号 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 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 float range_dim[8]; // 目标的十字星数据,目标点距离维8个点
}; };
//输出航迹的数据结构 用户可见 //输出航迹的数据结构 用户可见
struct DATA_PROCESS_CLASS_DLLSHARED_EXPORT Track struct DATA_PROCESS_CLASS_DLLSHARED_EXPORT Track
{ {
float x; //x坐标 float x; //x坐标
float y; //y坐标 float y; //y坐标
float z; //z坐标 float z; //z坐标
float v_x; //x速度 float v_x; //x速度
float v_y; //y速度 float v_y; //y速度
float v_z; //z速度 float v_z; //z速度
float Range; //径向距离 float Range; //径向距离
float Azimuth; //方位 float Azimuth; //方位
float Elevation; //俯仰 float Elevation; //俯仰
float Range_V; //速度 float Range_V; //速度
float Amplitude; //幅度 float Amplitude; //幅度
int Track_Index; //航迹号 int Track_Index; //航迹号
int Point_Sum; //本条航迹更新点的数目 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 int Flag_Direction; //方向标志1靠近/0远离
int Flag_Point; //点迹类型1实点/0补点 int Flag_Point; //点迹类型1实点/0补点
float x_Predict; //x坐标的一步预测 float x_Predict; //x坐标的一步预测
float y_Predict; //y坐标的一步预测 float y_Predict; //y坐标的一步预测
float z_Predict; //z坐标的一步预测 float z_Predict; //z坐标的一步预测
float Range_Predict; //径向距离的一步预测 float Range_Predict; //径向距离的一步预测
float Azimuth_Predict; //方位的一步预测 float Azimuth_Predict; //方位的一步预测
float Elevation_Predict; //俯仰的一步预测 float Elevation_Predict; //俯仰的一步预测
int Track_Mode; //跟踪模式,TAS 1/TWS 0 int Track_Mode; //跟踪模式,TAS 1/TWS 0
float Direction_Angle; //目标航向角 float Direction_Angle; //目标航向角
int Target_Type; //目标类型 int Target_Type; //目标类型
int point_type; //点迹类型 TAS 1/TWS 0 int point_type; //点迹类型 TAS 1/TWS 0
float range_point; //关联上的点迹信息（距离、方位、俯仰、径向速度） float range_point; //关联上的点迹信息（距离、方位、俯仰、径向速度）
float azi_point; float azi_point;
float elev_point; float elev_point;
float vr_point; float vr_point;
float prf_point; float prf_point;
float track_time; //航迹时间 (单位 s) float track_time; //航迹时间 (单位 s)
float track_snr; //信噪比 float track_snr; //信噪比
float track_rcs; //rcs float track_rcs; //rcs
int pitch_num; // 俯仰波位号 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 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 float range_dim[8]; // 目标的十字星数据,目标点距离维8个点
}; };
@@ -83,24 +83,24 @@ struct DATA_PROCESS_CLASS_DLLSHARED_EXPORT Track
// 跟踪波束信息的结构体 // 跟踪波束信息的结构体
struct DATA_PROCESS_CLASS_DLLSHARED_EXPORT TrackingBeam struct DATA_PROCESS_CLASS_DLLSHARED_EXPORT TrackingBeam
{ {
int open_flag; //是否开启 1开启 0不开启 int open_flag; //是否开启 1开启 0不开启
int type; //类型 int type; //类型
float Range; //跟踪目标距离 float Range; //跟踪目标距离
float Azi; //跟踪目标方位 float Azi; //跟踪目标方位
float Elev; //跟踪目标俯仰 float Elev; //跟踪目标俯仰
int TAS_track_index; //目标批号 int TAS_track_index; //目标批号
}; };
//引导跟踪信息的结构体 //引导跟踪信息的结构体
struct DATA_PROCESS_CLASS_DLLSHARED_EXPORT Target_direct_tracking struct DATA_PROCESS_CLASS_DLLSHARED_EXPORT Target_direct_tracking
{ {
int Track_ID; //引导目标批号 int Track_ID; //引导目标批号
float Range; //引导目标距离 float Range; //引导目标距离
float Azi; //引导目标方位 float Azi; //引导目标方位
float Elev; //引导目标俯仰 float Elev; //引导目标俯仰
int open_flag; // 1 引导跟踪 0 结束引导跟踪 int open_flag; // 1 引导跟踪 0 结束引导跟踪
}; };
@@ -108,65 +108,65 @@ struct DATA_PROCESS_CLASS_DLLSHARED_EXPORT Target_direct_tracking
// 雷达参数结构体 // 雷达参数结构体
struct DATA_PROCESS_CLASS_DLLSHARED_EXPORT RadarPara struct DATA_PROCESS_CLASS_DLLSHARED_EXPORT RadarPara
{ {
int Beam_num; //波位数 int Beam_num; //波位数
float Height; //雷达平台高度 （m） float Height; //雷达平台高度 （m）
float Sys_delay; //系统延迟 (s) float Sys_delay; //系统延迟 (s)
float R_TAS_max; //TAS最大距离 （m） float R_TAS_max; //TAS最大距离 （m）
float R_TAS_min; //TAS最小距离 (m) float R_TAS_min; //TAS最小距离 (m)
float V_TAS_max; //TAS最大速度 (m/s) float V_TAS_max; //TAS最大速度 (m/s)
float V_TAS_min; //TAS最小速度 (m/s) float V_TAS_min; //TAS最小速度 (m/s)
float TAS_Height_1; //TAS跟踪高度1 (m) float TAS_Height_1; //TAS跟踪高度1 (m)
float TAS_Height_2; //TAS跟踪高度2 (m) float TAS_Height_2; //TAS跟踪高度2 (m)
float TAS_Height_3; //TAS跟踪高度3 (m) float TAS_Height_3; //TAS跟踪高度3 (m)
float TAS_Height_4; //TAS跟踪高度4 (m) float TAS_Height_4; //TAS跟踪高度4 (m)
float TAS_Height_5; //TAS跟踪高度5 (m) float TAS_Height_5; //TAS跟踪高度5 (m)
int track_prohibite_area_num; //禁止航迹起始的区域数目 int track_prohibite_area_num; //禁止航迹起始的区域数目
float R_max_track_prohibited[30]; //最大距离 (m) float R_max_track_prohibited[30]; //最大距离 (m)
float R_min_track_prohibited[30]; //最小距离 (m) float R_min_track_prohibited[30]; //最小距离 (m)
float Azimuth_max_track_prohibited[30]; //最大方位角 (度) float Azimuth_max_track_prohibited[30]; //最大方位角 (度)
float Azimuth_min_track_prohibited[30]; //最小方位角 （度） float Azimuth_min_track_prohibited[30]; //最小方位角 （度）
int TAS_prohibite_area_num; //禁止TAS的区域数目 int TAS_prohibite_area_num; //禁止TAS的区域数目
float R_max_TAS_prohibited[30]; //最大距离 （m） float R_max_TAS_prohibited[30]; //最大距离 （m）
float R_min_TAS_prohibited[30]; //最小距离 (m) float R_min_TAS_prohibited[30]; //最小距离 (m)
float Azimuth_max_TAS_prohibited[30]; //最大方位角 (度) float Azimuth_max_TAS_prohibited[30]; //最大方位角 (度)
float Azimuth_min_TAS_prohibited[30]; //最小方位角 (度) float Azimuth_min_TAS_prohibited[30]; //最小方位角 (度)
int cfar_th; //cfar门限 int cfar_th; //cfar门限
int work_mode; //工作模式 0进程 1中程 3远程 int work_mode; //工作模式 0进程 1中程 3远程
int north_angle; //北偏角 int north_angle; //北偏角
float V_MAX; //最大速度 float V_MAX; //最大速度
float V_MIN; //最小速度 float V_MIN; //最小速度
float DATA_RATE_SHORT; //三种不同模式下的 数据率 float DATA_RATE_SHORT; //三种不同模式下的 数据率
float DATA_RATE_MIDDLE; float DATA_RATE_MIDDLE;
float DATA_RATE_FAR; float DATA_RATE_FAR;
//数据关联参数 //数据关联参数
int track_start_point_num; //起批点数(典型值 3或4) int track_start_point_num; //起批点数(典型值 3或4)
float track_start_threshold; //起航波门大小(典型值 3) float track_start_threshold; //起航波门大小(典型值 3)
float track_asso_threshold; //关联波门大小(典型值 3) float track_asso_threshold; //关联波门大小(典型值 3)
float track_asso_threshold_tas; //关联波门大小tas (典型值 3) float track_asso_threshold_tas; //关联波门大小tas (典型值 3)
//singer模型机动参数 //singer模型机动参数
float Model1_Q_fast; //0.00001 float Model1_Q_fast; //0.00001
float Model1_Q_slow; //0.00001 float Model1_Q_slow; //0.00001
float Model2_Q_fast; //0.1 float Model2_Q_fast; //0.1
float Model2_Q_slow; //0.001 float Model2_Q_slow; //0.001
float Model3_Q_fast; //0.8 float Model3_Q_fast; //0.8
float Model3_Q_slow; //0.4 float Model3_Q_slow; //0.4
}; };
@@ -178,90 +178,90 @@ class DATA_PROCESS_CLASS_DLLSHARED_EXPORT Data_process_class_dll
public: public:
// Data_process_class_dll(); // Data_process_class_dll();
//数据预处理函数 //数据预处理函数
virtual int data_preprocess(struct DataRev Data_Input[150]) //雷达的输入点迹 主程序创建全局变量 输入数据 virtual int data_preprocess(struct DataRev Data_Input[150]) //雷达的输入点迹 主程序创建全局变量 输入数据
{ {
return 0; return 0;
} }
//数据处理函数 //数据处理函数
virtual int track_process(struct Track Trust_Track_Output[][10], //数据处理输出的航迹更新信息 主程序创建全局变量 数据处理函数更新其中数据 virtual int track_process(struct Track Trust_Track_Output[][10], //数据处理输出的航迹更新信息 主程序创建全局变量 数据处理函数更新其中数据
int *Trust_track_num_Output, //数据处理后输出的航迹数目 主程序创建全局变量 数据处理函数更新其中数据 int *Trust_track_num_Output, //数据处理后输出的航迹数目 主程序创建全局变量 数据处理函数更新其中数据
int Track_die_Index_Output[], //数据处理后要消亡的航迹 主程序创建全局变量 数据处理函数更新其中数据 int Track_die_Index_Output[], //数据处理后要消亡的航迹 主程序创建全局变量 数据处理函数更新其中数据
int *Track_die_num_Output, //数据处理后要消亡的航迹数目 int *Track_die_num_Output, //数据处理后要消亡的航迹数目
int model //模式 输入data_preprocess的返回值 int model //模式 输入data_preprocess的返回值
) )
{ {
return 0; return 0;
} }
//波束控制 //波束控制
virtual void Beam_Ctrl(struct TrackingBeam *Tracking_beam, virtual void Beam_Ctrl(struct TrackingBeam *Tracking_beam,
struct Track Trust_Track_Output[][10], struct Track Trust_Track_Output[][10],
int *Trust_track_num_Output) int *Trust_track_num_Output)
{ {
} }
//引导跟踪处理函数 //引导跟踪处理函数
virtual int direct_tracking_process(struct Target_direct_tracking Target_direct_info, //引导信息 virtual int direct_tracking_process(struct Target_direct_tracking Target_direct_info, //引导信息
struct DataRev Data_Input[150], //雷达的输入点迹 struct DataRev Data_Input[150], //雷达的输入点迹
struct Track Trust_Track_Output[][10], //数据处理输出的航迹更新信息 主程序创建全局变量 数据处理函数更新其中数据 struct Track Trust_Track_Output[][10], //数据处理输出的航迹更新信息 主程序创建全局变量 数据处理函数更新其中数据
int *Trust_track_num_Output, //数据处理后输出的航迹数目 主程序创建全局变量 数据处理函数更新其中数据 int *Trust_track_num_Output, //数据处理后输出的航迹数目 主程序创建全局变量 数据处理函数更新其中数据
int Track_die_Index_Output[], //数据处理后要消亡的航迹 主程序创建全局变量 数据处理函数更新其中数据 int Track_die_Index_Output[], //数据处理后要消亡的航迹 主程序创建全局变量 数据处理函数更新其中数据
int *Track_die_num_Output, //数据处理后要消亡的航迹数目 int *Track_die_num_Output, //数据处理后要消亡的航迹数目
struct TrackingBeam *Tracking_beam //波束控制信息 struct TrackingBeam *Tracking_beam //波束控制信息
) )
{ {
return 0; return 0;
} }
//航迹清空函数 //航迹清空函数
virtual int track_clear_all(void) virtual int track_clear_all(void)
{ {
return 0; return 0;
} }
//手动航迹删除函数 //手动航迹删除函数
virtual int track_delete(int delete_track_num, //手动删除的航迹数目 virtual int track_delete(int delete_track_num, //手动删除的航迹数目
int delete_track_index[]) //手动删除的航迹号 int delete_track_index[]) //手动删除的航迹号
{ {
return 0; return 0;
} }
//手动转TAS跟踪函数 //手动转TAS跟踪函数
virtual int tracking_start(int track_index) //需要手动转入TAS跟踪的航迹号 virtual int tracking_start(int track_index) //需要手动转入TAS跟踪的航迹号
{ {
return 0; return 0;
} }
//手动打跟踪波束 //手动打跟踪波束
virtual int tracking_point(float Azimuth) //方位角 virtual int tracking_point(float Azimuth) //方位角
{ {
return 0; return 0;
} }
//参数设置初始化函数 //参数设置初始化函数
virtual int track_process_parameters_initial(struct RadarPara Radar_Parameter) virtual int track_process_parameters_initial(struct RadarPara Radar_Parameter)
{ {
return 0; return 0;
} }
//参数设置修改函数 //参数设置修改函数
virtual int track_process_parameters_modify(struct RadarPara Radar_Parameter) virtual int track_process_parameters_modify(struct RadarPara Radar_Parameter)
{ {
return 0; return 0;
} }
@@ -272,11 +272,11 @@ public:
class DATA_PROCESS_CLASS_DLLSHARED_EXPORT Data_Process_Factory class DATA_PROCESS_CLASS_DLLSHARED_EXPORT Data_Process_Factory
{ {
public: public:
static Data_process_class_dll *GetB(); //创建 static Data_process_class_dll *GetB(); //创建
static void Destroy(); //销毁 static void Destroy(); //销毁
private: private:
static Data_process_class_dll *p; static Data_process_class_dll *p;
}; };
data_process_class_dll/dot_coh.cpp
+197 -197
View File
@@ -6,249 +6,249 @@ using namespace std;
int Dot_Coh::dot_coh_process(QVector <PointRecv> *data_input, int Dot_Coh::dot_coh_process(QVector <PointRecv> *data_input,
QVector <PointRecv> *point_recv, QVector <PointRecv> *point_recv,
struct RadarPara Work_Parameter) struct RadarPara Work_Parameter)
{ {
if(data_input->size()>1) if(data_input->size()>1)
{ {
for (unsigned int loop_of_point=0; loop_of_point<data_input->size()-1;loop_of_point++ ) for (unsigned int loop_of_point=0; loop_of_point<data_input->size()-1;loop_of_point++ )
{ {
if( (*data_input)[loop_of_point].Use_Flag!=1) if( (*data_input)[loop_of_point].Use_Flag!=1)
{ {
float point_0_R=(*data_input)[loop_of_point].Range; float point_0_R=(*data_input)[loop_of_point].Range;
float point_0_V=(*data_input)[loop_of_point].Velocity; float point_0_V=(*data_input)[loop_of_point].Velocity;
float point_0_F=(*data_input)[loop_of_point].Azimuth; float point_0_F=(*data_input)[loop_of_point].Azimuth;
float point_0_A=(*data_input)[loop_of_point].Amplitude; float point_0_A=(*data_input)[loop_of_point].Amplitude;
for (unsigned int i=loop_of_point+1;i<data_input->size();i++) for (unsigned int i=loop_of_point+1;i<data_input->size();i++)
{ {
if((*data_input)[loop_of_point].Use_Flag!=1) if((*data_input)[loop_of_point].Use_Flag!=1)
{ {
float point_1_R=(*data_input)[i].Range; float point_1_R=(*data_input)[i].Range;
float point_1_V=(*data_input)[i].Velocity; float point_1_V=(*data_input)[i].Velocity;
float point_1_F=(*data_input)[i].Azimuth; float point_1_F=(*data_input)[i].Azimuth;
float point_1_A=(*data_input)[i].Amplitude; float point_1_A=(*data_input)[i].Amplitude;
//凝聚条件： 距离、方位接近 //凝聚条件： 距离、方位接近
if(Work_Parameter.work_mode == 0) if(Work_Parameter.work_mode == 0)
{ {
if( (fabs(point_0_R-point_1_R)<=DOT_COH_RANGE && fabs(point_0_F-point_1_F) <=DOT_COH_AZI/180.0*PI && fabs(point_0_V-point_1_V)<=DOT_COH_V)// if( (fabs(point_0_R-point_1_R)<=DOT_COH_RANGE && fabs(point_0_F-point_1_F) <=DOT_COH_AZI/180.0*PI && fabs(point_0_V-point_1_V)<=DOT_COH_V)//
&& point_0_A <point_1_A )// && point_0_A <point_1_A )//
{ {
point_0_R=(*data_input)[i].Range; point_0_R=(*data_input)[i].Range;
point_0_V=(*data_input)[i].Velocity; point_0_V=(*data_input)[i].Velocity;
point_0_A=(*data_input)[i].Amplitude; point_0_A=(*data_input)[i].Amplitude;
point_0_F=(*data_input)[i].Azimuth; point_0_F=(*data_input)[i].Azimuth;
(*data_input)[loop_of_point].Use_Flag=1; (*data_input)[loop_of_point].Use_Flag=1;
} }
else if( (fabs(point_0_R-point_1_R)<=DOT_COH_RANGE && fabs(point_0_F-point_1_F) <=DOT_COH_AZI/180.0*PI && fabs(point_0_V-point_1_V)<=DOT_COH_V)// else if( (fabs(point_0_R-point_1_R)<=DOT_COH_RANGE && fabs(point_0_F-point_1_F) <=DOT_COH_AZI/180.0*PI && fabs(point_0_V-point_1_V)<=DOT_COH_V)//
&& point_0_A >= point_1_A)// && point_0_A >= point_1_A)//
{ {
(*data_input)[i].Use_Flag=1; (*data_input)[i].Use_Flag=1;
} }
} }
else else
{ {
float delta_F = fabs(point_0_F-point_1_F)<2*PI-fabs(point_0_F-point_1_F) ? fabs(point_0_F-point_1_F) :2*PI-fabs(point_0_F-point_1_F); float delta_F = fabs(point_0_F-point_1_F)<2*PI-fabs(point_0_F-point_1_F) ? fabs(point_0_F-point_1_F) :2*PI-fabs(point_0_F-point_1_F);
if( (fabs(point_0_R-point_1_R)<=DOT_COH_RANGE && delta_F <=DOT_COH_AZI/180.0*PI )// if( (fabs(point_0_R-point_1_R)<=DOT_COH_RANGE && delta_F <=DOT_COH_AZI/180.0*PI )//
&& point_0_A <point_1_A )// && point_0_A <point_1_A )//
{ {
point_0_R=(*data_input)[i].Range; point_0_R=(*data_input)[i].Range;
point_0_V=(*data_input)[i].Velocity; point_0_V=(*data_input)[i].Velocity;
point_0_A=(*data_input)[i].Amplitude; point_0_A=(*data_input)[i].Amplitude;
point_0_F=(*data_input)[i].Azimuth; point_0_F=(*data_input)[i].Azimuth;
(*data_input)[loop_of_point].Use_Flag=1; (*data_input)[loop_of_point].Use_Flag=1;
} }
else if( (fabs(point_0_R-point_1_R)<=DOT_COH_RANGE && delta_F <=DOT_COH_AZI/180.0*PI )// else if( (fabs(point_0_R-point_1_R)<=DOT_COH_RANGE && delta_F <=DOT_COH_AZI/180.0*PI )//
&& point_0_A >= point_1_A)// && point_0_A >= point_1_A)//
{ {
(*data_input)[i].Use_Flag=1; (*data_input)[i].Use_Flag=1;
} }
} }
} }
} }
} }
} }
} }
//删除凝聚点 和 量程范围外点 //删除凝聚点 和 量程范围外点
QVector <PointRecv>::iterator Iter; QVector <PointRecv>::iterator Iter;
for (Iter=data_input->begin(); Iter!=data_input->end();) for (Iter=data_input->begin(); Iter!=data_input->end();)
{ {
if((*Iter).Use_Flag==1 || (*Iter).Range <R_MIN || (*Iter).Range > R_MAX ) if((*Iter).Use_Flag==1 || (*Iter).Range <R_MIN || (*Iter).Range > R_MAX )
{ {
data_input->erase(Iter); data_input->erase(Iter);
Iter=data_input->begin(); Iter=data_input->begin();
} }
else else
{ {
Iter++; Iter++;
} }
} }
for (int i=0;i<data_input->size();i++) //data_buffer_2 ---> point_recv for (int i=0;i<data_input->size();i++) //data_buffer_2 ---> point_recv
{ {
(*point_recv).push_back((*data_input)[i]); (*point_recv).push_back((*data_input)[i]);
} }
return 0; return 0;
} }
int Dot_Coh::dot_coh_process_buff( QVector <PointRecv> *data_input, //输入的点迹 int Dot_Coh::dot_coh_process_buff( QVector <PointRecv> *data_input, //输入的点迹
QVector <PointRecv> *point_recv, //输出点迹 QVector <PointRecv> *point_recv, //输出点迹
struct RadarPara Work_Parameter //工作参数 struct RadarPara Work_Parameter //工作参数
) )
{ {
//1. data_input与data_input_buff进行凝聚 //1. data_input与data_input_buff进行凝聚
//1.1 data_input、data_input_buff中的数据放在一起 //1.1 data_input、data_input_buff中的数据放在一起
QVector <PointRecv> data_tmp; QVector <PointRecv> data_tmp;
for (int i=0;i<data_input_buff.size();i++) for (int i=0;i<data_input_buff.size();i++)
{ {
data_tmp.push_back(data_input_buff[i]); data_tmp.push_back(data_input_buff[i]);
data_tmp[data_tmp.size()-1].point_section_asso = 1; data_tmp[data_tmp.size()-1].point_section_asso = 1;
} }
for (int i=0;i<data_input->size();i++) for (int i=0;i<data_input->size();i++)
{ {
data_tmp.push_back((*data_input)[i]); data_tmp.push_back((*data_input)[i]);
data_tmp[data_tmp.size()-1].point_section_asso = 2; data_tmp[data_tmp.size()-1].point_section_asso = 2;
} }
//1.2 把data_input、data_input_buff清空 //1.2 把data_input、data_input_buff清空
QVector<PointRecv>().swap(data_input_buff); QVector<PointRecv>().swap(data_input_buff);
QVector<PointRecv>().swap(*data_input); QVector<PointRecv>().swap(*data_input);
//1.3 对data_tmp进行凝聚 //1.3 对data_tmp进行凝聚
if(data_tmp.size()>1) if(data_tmp.size()>1)
{ {
for (unsigned int loop_of_point=0; loop_of_point<data_tmp.size()-1;loop_of_point++ ) for (unsigned int loop_of_point=0; loop_of_point<data_tmp.size()-1;loop_of_point++ )
{ {
if( data_tmp[loop_of_point].Use_Flag!=1) if( data_tmp[loop_of_point].Use_Flag!=1)
{ {
float point_0_R=data_tmp[loop_of_point].Range; float point_0_R=data_tmp[loop_of_point].Range;
float point_0_V=data_tmp[loop_of_point].Velocity; float point_0_V=data_tmp[loop_of_point].Velocity;
float point_0_F=data_tmp[loop_of_point].Azimuth; float point_0_F=data_tmp[loop_of_point].Azimuth;
float point_0_A=data_tmp[loop_of_point].Amplitude; float point_0_A=data_tmp[loop_of_point].Amplitude;
for (unsigned int i=loop_of_point+1;i<data_tmp.size();i++) for (unsigned int i=loop_of_point+1;i<data_tmp.size();i++)
{ {
if(data_tmp[loop_of_point].Use_Flag!=1) if(data_tmp[loop_of_point].Use_Flag!=1)
{ {
float point_1_R=data_tmp[i].Range; float point_1_R=data_tmp[i].Range;
float point_1_V=data_tmp[i].Velocity; float point_1_V=data_tmp[i].Velocity;
float point_1_F=data_tmp[i].Azimuth; float point_1_F=data_tmp[i].Azimuth;
float point_1_A=data_tmp[i].Amplitude; float point_1_A=data_tmp[i].Amplitude;
//凝聚条件： 距离、方位接近 //凝聚条件： 距离、方位接近
if(Work_Parameter.work_mode == 0) if(Work_Parameter.work_mode == 0)
{ {
if( (fabs(point_0_R-point_1_R)<=DOT_COH_RANGE && fabs(point_0_F-point_1_F) <=DOT_COH_AZI/180.0*PI && fabs(point_0_V-point_1_V)<=DOT_COH_V)// if( (fabs(point_0_R-point_1_R)<=DOT_COH_RANGE && fabs(point_0_F-point_1_F) <=DOT_COH_AZI/180.0*PI && fabs(point_0_V-point_1_V)<=DOT_COH_V)//
&& point_0_A <point_1_A )// && point_0_A <point_1_A )//
{ {
point_0_R=data_tmp[i].Range; point_0_R=data_tmp[i].Range;
point_0_V=data_tmp[i].Velocity; point_0_V=data_tmp[i].Velocity;
point_0_A=data_tmp[i].Amplitude; point_0_A=data_tmp[i].Amplitude;
point_0_F=data_tmp[i].Azimuth; point_0_F=data_tmp[i].Azimuth;
data_tmp[loop_of_point].Use_Flag=1; data_tmp[loop_of_point].Use_Flag=1;
} }
else if( (fabs(point_0_R-point_1_R)<=DOT_COH_RANGE && fabs(point_0_F-point_1_F) <=DOT_COH_AZI/180.0*PI && fabs(point_0_V-point_1_V)<=DOT_COH_V)// else if( (fabs(point_0_R-point_1_R)<=DOT_COH_RANGE && fabs(point_0_F-point_1_F) <=DOT_COH_AZI/180.0*PI && fabs(point_0_V-point_1_V)<=DOT_COH_V)//
&& point_0_A >= point_1_A)// && point_0_A >= point_1_A)//
{ {
data_tmp[i].Use_Flag=1; data_tmp[i].Use_Flag=1;
} }
} }
else else
{ {
float delta_F = fabs(point_0_F-point_1_F)<2*PI-fabs(point_0_F-point_1_F) ? fabs(point_0_F-point_1_F) :2*PI-fabs(point_0_F-point_1_F); float delta_F = fabs(point_0_F-point_1_F)<2*PI-fabs(point_0_F-point_1_F) ? fabs(point_0_F-point_1_F) :2*PI-fabs(point_0_F-point_1_F);
if( (fabs(point_0_R-point_1_R)<=DOT_COH_RANGE && delta_F <=DOT_COH_AZI/180.0*PI )// if( (fabs(point_0_R-point_1_R)<=DOT_COH_RANGE && delta_F <=DOT_COH_AZI/180.0*PI )//
&& point_0_A <point_1_A )// && point_0_A <point_1_A )//
{ {
point_0_R=data_tmp[i].Range; point_0_R=data_tmp[i].Range;
point_0_V=data_tmp[i].Velocity; point_0_V=data_tmp[i].Velocity;
point_0_A=data_tmp[i].Amplitude; point_0_A=data_tmp[i].Amplitude;
point_0_F=data_tmp[i].Azimuth; point_0_F=data_tmp[i].Azimuth;
data_tmp[loop_of_point].Use_Flag=1; data_tmp[loop_of_point].Use_Flag=1;
} }
else if( (fabs(point_0_R-point_1_R)<=DOT_COH_RANGE && delta_F <=DOT_COH_AZI/180.0*PI )// else if( (fabs(point_0_R-point_1_R)<=DOT_COH_RANGE && delta_F <=DOT_COH_AZI/180.0*PI )//
&& point_0_A >= point_1_A)// && point_0_A >= point_1_A)//
{ {
data_tmp[i].Use_Flag=1; data_tmp[i].Use_Flag=1;
} }
} }
} }
} }
} }
} }
} }
//1.4 删除凝聚点 和 量程范围外点 //1.4 删除凝聚点 和 量程范围外点
QVector <PointRecv>::iterator Iter; QVector <PointRecv>::iterator Iter;
for (Iter=data_tmp.begin(); Iter!=data_tmp.end();) for (Iter=data_tmp.begin(); Iter!=data_tmp.end();)
{ {
if((*Iter).Use_Flag==1 || (*Iter).Range <R_MIN || (*Iter).Range > R_MAX ) if((*Iter).Use_Flag==1 || (*Iter).Range <R_MIN || (*Iter).Range > R_MAX )
{ {
data_tmp.erase(Iter); data_tmp.erase(Iter);
Iter=data_tmp.begin(); Iter=data_tmp.begin();
} }
else else
{ {
Iter++; Iter++;
} }
} }
//1.5 将data_tmp中凝聚后的点再分到 data_input_buff和data_input中 //1.5 将data_tmp中凝聚后的点再分到 data_input_buff和data_input中
for (int i=0;i<data_tmp.size();i++) for (int i=0;i<data_tmp.size();i++)
{ {
if(data_tmp[i].point_section_asso==1) if(data_tmp[i].point_section_asso==1)
{ {
data_input_buff.push_back(data_tmp[i]); data_input_buff.push_back(data_tmp[i]);
} }
if(data_tmp[i].point_section_asso==2) if(data_tmp[i].point_section_asso==2)
{ {
(*data_input).push_back(data_tmp[i]); (*data_input).push_back(data_tmp[i]);
} }
} }
QVector<PointRecv>().swap(data_tmp); QVector<PointRecv>().swap(data_tmp);
//2.data_input_buff数据输出给point_recv //2.data_input_buff数据输出给point_recv
for (int i=0;i<data_input_buff.size();i++) for (int i=0;i<data_input_buff.size();i++)
{ {
(*point_recv).push_back(data_input_buff[i]); (*point_recv).push_back(data_input_buff[i]);
} }
QVector<PointRecv>().swap(data_input_buff); QVector<PointRecv>().swap(data_input_buff);
//3.data_input数据输出给data_input_buff //3.data_input数据输出给data_input_buff
for (int i=0;i<data_input->size();i++) for (int i=0;i<data_input->size();i++)
{ {
data_input_buff.push_back((*data_input)[i]); data_input_buff.push_back((*data_input)[i]);
} }
return 0; return 0;
} }
data_process_class_dll/dot_coh.h
+13 -13
View File
@@ -13,29 +13,29 @@ class Dot_Coh
{ {
public: public:
// 点迹凝聚函数 // 点迹凝聚函数
int dot_coh_process( QVector <PointRecv> *data_input, //输入的点迹 int dot_coh_process( QVector <PointRecv> *data_input, //输入的点迹
QVector <PointRecv> *point_recv, //输出点迹 QVector <PointRecv> *point_recv, //输出点迹
struct RadarPara Work_Parameter //工作参数 struct RadarPara Work_Parameter //工作参数
); );
//点迹凝聚函数，缓存一帧，一边输出，一边进行滑窗凝聚 //点迹凝聚函数，缓存一帧，一边输出，一边进行滑窗凝聚
int dot_coh_process_buff( QVector <PointRecv> *data_input, //输入的点迹 int dot_coh_process_buff( QVector <PointRecv> *data_input, //输入的点迹
QVector <PointRecv> *point_recv, //输出点迹 QVector <PointRecv> *point_recv, //输出点迹
struct RadarPara Work_Parameter //工作参数 struct RadarPara Work_Parameter //工作参数
); );
//构造函数 //构造函数
Dot_Coh(); Dot_Coh();
private: private:
QVector <PointRecv> data_input_buff; QVector <PointRecv> data_input_buff;
}; };
data_process_class_dll/dot_coh_tas.cpp
+56 -56
View File
@@ -7,73 +7,73 @@ using namespace std;
int Dot_Coh_TAS::dot_coh_tas_process(QVector <PointRecv> *data_input, //输入点迹 int Dot_Coh_TAS::dot_coh_tas_process(QVector <PointRecv> *data_input, //输入点迹
QVector <PointRecv> *point_recv_tas //输出点迹 QVector <PointRecv> *point_recv_tas //输出点迹
) )
{ {
for (int loop_of_point=0; loop_of_point<data_input->size()-1;loop_of_point++ ) for (int loop_of_point=0; loop_of_point<data_input->size()-1;loop_of_point++ )
{ {
if( (*data_input)[loop_of_point].Use_Flag!=1) if( (*data_input)[loop_of_point].Use_Flag!=1)
{ {
float point_0_R=(*data_input)[loop_of_point].Range; float point_0_R=(*data_input)[loop_of_point].Range;
float point_0_V=(*data_input)[loop_of_point].Velocity; float point_0_V=(*data_input)[loop_of_point].Velocity;
float point_0_F=(*data_input)[loop_of_point].Azimuth; float point_0_F=(*data_input)[loop_of_point].Azimuth;
float point_0_A=(*data_input)[loop_of_point].Amplitude; float point_0_A=(*data_input)[loop_of_point].Amplitude;
for ( int i=loop_of_point+1;i<(*data_input).size();i++) for ( int i=loop_of_point+1;i<(*data_input).size();i++)
{ {
if((*data_input)[loop_of_point].Use_Flag!=1) if((*data_input)[loop_of_point].Use_Flag!=1)
{ {
float point_1_R=(*data_input)[i].Range; float point_1_R=(*data_input)[i].Range;
float point_1_V=(*data_input)[i].Velocity; float point_1_V=(*data_input)[i].Velocity;
float point_1_F=(*data_input)[i].Azimuth; float point_1_F=(*data_input)[i].Azimuth;
float point_1_A=(*data_input)[i].Amplitude; float point_1_A=(*data_input)[i].Amplitude;
//凝聚条件： 距离、方位接近 //凝聚条件： 距离、方位接近
if( (fabs(point_0_R-point_1_R)<=DOT_COH_RANGE && fabs(point_0_F-point_1_F) <=DOT_COH_AZI/180.0*PI && fabs(point_0_V-point_1_V)<=DOT_COH_V) if( (fabs(point_0_R-point_1_R)<=DOT_COH_RANGE && fabs(point_0_F-point_1_F) <=DOT_COH_AZI/180.0*PI && fabs(point_0_V-point_1_V)<=DOT_COH_V)
&& point_0_A <point_1_A ) && point_0_A <point_1_A )
{ {
point_0_R=(*data_input)[i].Range; point_0_R=(*data_input)[i].Range;
point_0_V=(*data_input)[i].Velocity; point_0_V=(*data_input)[i].Velocity;
point_0_A=(*data_input)[i].Amplitude; point_0_A=(*data_input)[i].Amplitude;
point_0_F=(*data_input)[i].Azimuth; point_0_F=(*data_input)[i].Azimuth;
(*data_input)[loop_of_point].Use_Flag=1; (*data_input)[loop_of_point].Use_Flag=1;
} }
else if( (fabs(point_0_R-point_1_R)<=DOT_COH_RANGE && fabs(point_0_F-point_1_F) <=DOT_COH_AZI/180.0*PI && fabs(point_0_V-point_1_V)<=DOT_COH_V) else if( (fabs(point_0_R-point_1_R)<=DOT_COH_RANGE && fabs(point_0_F-point_1_F) <=DOT_COH_AZI/180.0*PI && fabs(point_0_V-point_1_V)<=DOT_COH_V)
&& point_0_A >= point_1_A) && point_0_A >= point_1_A)
{ {
(*data_input)[i].Use_Flag=1; (*data_input)[i].Use_Flag=1;
} }
} }
} }
} }
} }
//删除凝聚点 和 量程范围外点 //删除凝聚点 和 量程范围外点
QVector <PointRecv>::iterator Iter; QVector <PointRecv>::iterator Iter;
for (Iter=data_input->begin(); Iter!=data_input->end();) for (Iter=data_input->begin(); Iter!=data_input->end();)
{ {
if((*Iter).Use_Flag==1 || (*Iter).Range <R_MIN || (*Iter).Range > R_MAX ) if((*Iter).Use_Flag==1 || (*Iter).Range <R_MIN || (*Iter).Range > R_MAX )
{ {
data_input->erase(Iter); data_input->erase(Iter);
Iter=data_input->begin(); Iter=data_input->begin();
} }
else else
{ {
Iter++; Iter++;
} }
} }
for (int i=0;i<data_input->size();i++) for (int i=0;i<data_input->size();i++)
{ {
(*point_recv_tas).push_back((*data_input)[i]); (*point_recv_tas).push_back((*data_input)[i]);
} }
return 1; return 1;
} }
data_process_class_dll/dot_coh_tas.h
+4 -4
View File
@@ -8,10 +8,10 @@ class Dot_Coh_TAS
{ {
public: public:
// 点迹凝聚函数 // 点迹凝聚函数
int dot_coh_tas_process(QVector <PointRecv> *data_input, //输入点迹 int dot_coh_tas_process(QVector <PointRecv> *data_input, //输入点迹
QVector <PointRecv> *point_recv_tas //输出点迹 QVector <PointRecv> *point_recv_tas //输出点迹
); );
}; };
data_process_class_dll/kalman.cpp
+575 -575
View File
File diff suppressed because it is too large Load Diff
data_process_class_dll/kalman.h
+14 -14
View File
@@ -12,32 +12,32 @@ class kalman
{ {
public: 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], 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 X_filter[6],double P_filter[6][6],double S_filter[2][2],
double prt,double freq_ind ); 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 #endif // KALMAN_H
data_process_class_dll/parameters.h
+33 -33
View File
@@ -5,27 +5,27 @@
#define PI 3.1415926f #define PI 3.1415926f
//频点(GHz) //频点(GHz)
#define FREQ0 16.8 #define FREQ0 16.8
#define FREQ1 16.8 #define FREQ1 16.8
#define FREQ2 16.8 #define FREQ2 16.8
#define FREQ3 16.8 #define FREQ3 16.8
#define FREQ4 16.8 #define FREQ4 16.8
#define FREQ5 16.8 #define FREQ5 16.8
#define FREQ6 16.8 #define FREQ6 16.8
#define FREQ7 16.8 #define FREQ7 16.8
#define FREQ8 16.8 #define FREQ8 16.8
#define FREQ9 16.8 #define FREQ9 16.8
#define FREQ10 16.8 #define FREQ10 16.8
#define FREQ11 16.8 #define FREQ11 16.8
#define FREQ12 16.8 #define FREQ12 16.8
#define FREQ13 16.8 #define FREQ13 16.8
#define FREQ14 16.8 #define FREQ14 16.8
#define FREQ15 16.8 #define FREQ15 16.8
#define FREQ16 16.8 #define FREQ16 16.8
#define FREQ17 16.8 #define FREQ17 16.8
#define FREQ18 16.8 #define FREQ18 16.8
#define FREQ19 16.8 #define FREQ19 16.8
#define FREQ20 16.8 #define FREQ20 16.8
//波位 //波位
@@ -72,35 +72,35 @@
#define DATA_RATE_TAS 0.3 #define DATA_RATE_TAS 0.3
#define SIGMA_R 10.0 //测量误差 #define SIGMA_R 10.0 //测量误差
#define SIGMA_A 0.02 #define SIGMA_A 0.02
#define SIGMA_E 0.2 #define SIGMA_E 0.2
#define SIGMA_V 2.0 #define SIGMA_V 2.0
#define DOT_COH_RANGE 80 //点迹凝聚 #define DOT_COH_RANGE 80 //点迹凝聚
#define DOT_COH_V 2 #define DOT_COH_V 2
#define DOT_COH_AZI 6 #define DOT_COH_AZI 6
#define MAX_BEAM_NUM 100 //最大TWS波位数 #define MAX_BEAM_NUM 100 //最大TWS波位数
#define MAX_TRACK_NUM 500 #define MAX_TRACK_NUM 500
#define MAX_TRACK_INDEX 500 //最大航迹批号 #define MAX_TRACK_INDEX 500 //最大航迹批号
#define ASSOCIATE_THRESHOLD_MIN 1 #define ASSOCIATE_THRESHOLD_MIN 1
#define ASSOCIATE_THRESHOLD_MID 3 //关联波门 #define ASSOCIATE_THRESHOLD_MID 3 //关联波门
#define ASSOCIATE_THRESHOLD_MAX 10 #define ASSOCIATE_THRESHOLD_MAX 10
#define R_MIN 100 #define R_MIN 100
#define R_MAX 100000 #define R_MAX 100000
//#define V_MAX 500 //最大速度 //#define V_MAX 500 //最大速度
//#define V_MIN 1 //速度最小 //#define V_MIN 1 //速度最小
#define TRACK_START_THRESHOLD 8 //起航波门 3 越大越容易起批 #define TRACK_START_THRESHOLD 8 //起航波门 3 越大越容易起批
#define ALPHA_START 60 //起航夹角 120 越大越容易起批 #define ALPHA_START 60 //起航夹角 120 越大越容易起批
#define TRACK_DIE_ROUND 4 // 航迹消亡时间 #define TRACK_DIE_ROUND 4 // 航迹消亡时间
#define TRACK_DIE_ROUND_TAS 5 #define TRACK_DIE_ROUND_TAS 5
#define ASSO_THORD 3 #define ASSO_THORD 3
data_process_class_dll/struct.h
+80 -80
View File
@@ -9,84 +9,84 @@ using namespace std;
// 点迹数据结构 // 点迹数据结构
struct PointRecv struct PointRecv
{ {
double Range; //径向距离 double Range; //径向距离
double Azimuth; //方位 (弧度) double Azimuth; //方位 (弧度)
double Velocity ; //速度 double Velocity ; //速度
double Amplitude ; //幅度 double Amplitude ; //幅度
double Height; //高度 double Height; //高度
double snr; //信噪比 double snr; //信噪比
double RCS; //目标RCS double RCS; //目标RCS
int CPI_Time; //CPI时间 int CPI_Time; //CPI时间
int Point_index; //点迹号 1~50 int Point_index; //点迹号 1~50
int Point_Sum; //点迹总数 int Point_Sum; //点迹总数
int Use_Flag; //点迹使用标志 1使用 0未使用 int Use_Flag; //点迹使用标志 1使用 0未使用
int beam_index; //波位号 int beam_index; //波位号
int PRF_index; //PRF号 int PRF_index; //PRF号
int Freq_index; //频点 int Freq_index; //频点
int track_mode; //TAS 1 TWS0 int track_mode; //TAS 1 TWS0
int point_section_asso; //点迹区 int point_section_asso; //点迹区
int pitch_num; // 俯仰波位号 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 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 float range_dim[8]; // 目标的十字星数据,目标点距离维8个点
}; };
// 可靠航迹数据结构 // 可靠航迹数据结构
struct Trust_Track struct Trust_Track
{ {
int Track_Index; //航迹号 int Track_Index; //航迹号
double Amplitude; //幅度 double Amplitude; //幅度
double Height; //高度 double Height; //高度
int T_track; //航迹时间 int T_track; //航迹时间
int Track_Sum; //航迹总数 int Track_Sum; //航迹总数
int Point_Index; //该航迹上的第几个点 int Point_Index; //该航迹上的第几个点
int Track_Mode; //跟踪模式 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 int Track_Update_Flag; //航迹更新标志 1已更新/0未更新
int Extrapolate_round; //航迹持续外推时间 int Extrapolate_round; //航迹持续外推时间
int point_flag; //是否实点 1实点 0外推 int point_flag; //是否实点 1实点 0外推
int approach_flag; //接近标志 1接近 0远离 int approach_flag; //接近标志 1接近 0远离
int manual_delete_flag; //手动航迹删除 int manual_delete_flag; //手动航迹删除
int manual_tracking_flag; //手动TAS int manual_tracking_flag; //手动TAS
int associate_point_number; //关联的点数 int associate_point_number; //关联的点数
int Target_Type; //目标类型 搜索目标 低空目标 地面目标 int Target_Type; //目标类型 搜索目标 低空目标 地面目标
int Track_section_idx; //航迹区号 int Track_section_idx; //航迹区号
QVector <double> Hight_smooth; //高度平滑 QVector <double> Hight_smooth; //高度平滑
double range_point; //关联上的点信息（距离、方位、俯仰） double range_point; //关联上的点信息（距离、方位、俯仰）
double azi_point; double azi_point;
double elev_point; double elev_point;
double vr_point; double vr_point;
double prf_point; double prf_point;
int point_type; //TWS TAS int point_type; //TWS TAS
double snr_point; //信噪比 double snr_point; //信噪比
double RCS; double RCS;
int pitch_num; // 俯仰波位号 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 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 float range_dim[8]; // 目标的十字星数据,目标点距离维8个点
double X[6]; //IMM double X[6]; //IMM
double P[6][6]; double P[6][6];
double X1[6]; double X1[6];
double X2[6]; double X2[6];
double X3[6]; double X3[6];
double P1[6][6]; double P1[6][6];
double P2[6][6]; double P2[6][6];
double P3[6][6]; double P3[6][6];
double u[3]; double u[3];
}; };
@@ -96,29 +96,29 @@ struct Trust_Track
struct Temp_track struct Temp_track
{ {
double X[4]; //状态 double X[4]; //状态
double P[4][4]; //协方差 double P[4][4]; //协方差
double r; //距离 double r; //距离
double azi; //方位 double azi; //方位
double vr; //径向速度 double vr; //径向速度
double height; //高度 double height; //高度
double snr; //信噪比 double snr; //信噪比
double RCS; //RCS double RCS; //RCS
double Amp; //幅度 double Amp; //幅度
int T; //时间戳 int T; //时间戳
double d; //关联上的点的d double d; //关联上的点的d
int buff_round; //已缓存圈数 int buff_round; //已缓存圈数
int Temp_track_section_idx; //临时航迹区号 与点迹区的划分相同 int Temp_track_section_idx; //临时航迹区号 与点迹区的划分相同
int asso_flag; //关联标志 已关联：1 未关联：0 int asso_flag; //关联标志 已关联：1 未关联：0
int pitch_num; // 俯仰波位号 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 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 float range_dim[8]; // 目标的十字星数据,目标点距离维8个点
}; };
@@ -129,8 +129,8 @@ struct Temp_track
// TAS跟踪目标结构体 // TAS跟踪目标结构体
struct Tracking_Target struct Tracking_Target
{ {
int Index; //目标批号 int Index; //目标批号
int empty_flag; //是否为空标志位 1非空 0空 int empty_flag; //是否为空标志位 1非空 0空
}; };
@@ -138,11 +138,11 @@ struct Tracking_Target
//引导跟踪目标结构体 //引导跟踪目标结构体
struct Direct_Tracking_Target struct Direct_Tracking_Target
{ {
int ID; int ID;
double Azi; double Azi;
double Elev; double Elev;
double Range; double Range;
int empty_flag; //是否为空标志位 1非空 0空 int empty_flag; //是否为空标志位 1非空 0空
// int track_init_flag; //是否已经建航 1是 0否 // int track_init_flag; //是否已经建航 1是 0否
}; };
data_process_class_dll/tas_ctrl.cpp
+152 -152
View File
@@ -13,29 +13,29 @@ using namespace std;
TAS_Ctrl::TAS_Ctrl() TAS_Ctrl::TAS_Ctrl()
{ {
memset(tas_target_queue,0,TAS_QUEUE_LENGTH*sizeof(Tracking_Target)); memset(tas_target_queue,0,TAS_QUEUE_LENGTH*sizeof(Tracking_Target));
tas_target_num=0; tas_target_num=0;
} }
void TAS_Ctrl::tas_ctrl_process(QVector<Trust_Track> *trust_track, void TAS_Ctrl::tas_ctrl_process(QVector<Trust_Track> *trust_track,
struct TrackingBeam *Tracking_beam, struct TrackingBeam *Tracking_beam,
struct Track Trust_Track_Output[][10], struct Track Trust_Track_Output[][10],
int *Trust_track_num_Output, int *Trust_track_num_Output,
struct RadarPara Work_Parameter) struct RadarPara Work_Parameter)
{ {
tas_target_add(trust_track, Trust_Track_Output, Trust_track_num_Output,Work_Parameter); tas_target_add(trust_track, Trust_Track_Output, Trust_track_num_Output,Work_Parameter);
tas_target_del(trust_track, Trust_Track_Output, Trust_track_num_Output,Work_Parameter); tas_target_del(trust_track, Trust_Track_Output, Trust_track_num_Output,Work_Parameter);
tas_beam_output(trust_track,Tracking_beam); tas_beam_output(trust_track,Tracking_beam);
//跟踪队列移位 //跟踪队列移位
struct Tracking_Target tas_target_tmp; struct Tracking_Target tas_target_tmp;
memcpy(&tas_target_tmp, &tas_target_queue[TAS_QUEUE_LENGTH-1], sizeof(Tracking_Target)); memcpy(&tas_target_tmp, &tas_target_queue[TAS_QUEUE_LENGTH-1], sizeof(Tracking_Target));
for (int i=TAS_QUEUE_LENGTH-1;i>0;i--) for (int i=TAS_QUEUE_LENGTH-1;i>0;i--)
{ {
memcpy(&tas_target_queue[i],&tas_target_queue[i-1],sizeof(Tracking_Target)); memcpy(&tas_target_queue[i],&tas_target_queue[i-1],sizeof(Tracking_Target));
} }
memcpy(&tas_target_queue[0], &tas_target_tmp, sizeof(Tracking_Target)); memcpy(&tas_target_queue[0], &tas_target_tmp, sizeof(Tracking_Target));
@@ -43,65 +43,65 @@ void TAS_Ctrl::tas_ctrl_process(QVector<Trust_Track> *trust_track,
void TAS_Ctrl::tas_target_add(QVector<Trust_Track> *trust_track, void TAS_Ctrl::tas_target_add(QVector<Trust_Track> *trust_track,
struct Track Trust_Track_Output[][10], struct Track Trust_Track_Output[][10],
int *Trust_track_num_Output, int *Trust_track_num_Output,
struct RadarPara Work_Parameter) struct RadarPara Work_Parameter)
{ {
for (int i=0;i<trust_track->size();i++) for (int i=0;i<trust_track->size();i++)
{ {
double r=sqrt(pow((*trust_track)[i].X[0],2)+pow((*trust_track)[i].X[3],2)); double r=sqrt(pow((*trust_track)[i].X[0],2)+pow((*trust_track)[i].X[3],2));
double v=sqrt(pow((*trust_track)[i].X[1],2)+pow((*trust_track)[i].X[4],2)); double v=sqrt(pow((*trust_track)[i].X[1],2)+pow((*trust_track)[i].X[4],2));
double h=(*trust_track)[i].Height+Work_Parameter.Height; double h=(*trust_track)[i].Height+Work_Parameter.Height;
double azi = atan2((*trust_track)[i].X[3],(*trust_track)[i].X[0]); double azi = atan2((*trust_track)[i].X[3],(*trust_track)[i].X[0]);
if(azi<0) if(azi<0)
azi=azi+2*PI; azi=azi+2*PI;
azi=azi/PI*180; azi=azi/PI*180;
//进入跟踪的条件： 1.手动跟踪的目标 或 满足速度、距离、高度条件满足 关联点数大于2 2.不在禁止跟踪区域 //进入跟踪的条件： 1.手动跟踪的目标 或 满足速度、距离、高度条件满足 关联点数大于2 2.不在禁止跟踪区域
if( ( (*trust_track)[i].manual_tracking_flag == 1)//|| (tas_auto_start( v, r, h, Work_Parameter)==1 && (*trust_track)[i][k].associate_point_number>=2) if( ( (*trust_track)[i].manual_tracking_flag == 1)//|| (tas_auto_start( v, r, h, Work_Parameter)==1 && (*trust_track)[i][k].associate_point_number>=2)
&& tas_target_num < MAX_TAS_NUM && tas_target_num < MAX_TAS_NUM
&& (*trust_track)[i].Track_Mode == 0 && (*trust_track)[i].Track_Mode == 0
&& tas_prohibite_area( r, azi, v, h, Work_Parameter) == 0) && tas_prohibite_area( r, azi, v, h, Work_Parameter) == 0)
{ {
for(int j=0;j<TAS_QUEUE_LENGTH;j++) for(int j=0;j<TAS_QUEUE_LENGTH;j++)
{ {
if(tas_target_queue[j].empty_flag==0 && j%2==0) if(tas_target_queue[j].empty_flag==0 && j%2==0)
{ {
//插入跟踪队列 //插入跟踪队列
tas_target_queue[j].Index=(*trust_track)[i].Track_Index; tas_target_queue[j].Index=(*trust_track)[i].Track_Index;
tas_target_queue[j].empty_flag=1; tas_target_queue[j].empty_flag=1;
//跟踪目标数目加一 //跟踪目标数目加一
tas_target_num=tas_target_num+1; tas_target_num=tas_target_num+1;
//TAS跟踪标志置1 //TAS跟踪标志置1
(*trust_track)[i].Track_Mode=1; (*trust_track)[i].Track_Mode=1;
//目标跟踪状态发生改变 对外输出航迹更新信息 //目标跟踪状态发生改变 对外输出航迹更新信息
*Trust_track_num_Output= *Trust_track_num_Output+1; *Trust_track_num_Output= *Trust_track_num_Output+1;
double r_output,azmi_output; double r_output,azmi_output;
coor_trans Coor_trans; coor_trans Coor_trans;
Coor_trans.cart2polar((*trust_track)[i].X[0],(*trust_track)[i].X[3],&r_output,&azmi_output); Coor_trans.cart2polar((*trust_track)[i].X[0],(*trust_track)[i].X[3],&r_output,&azmi_output);
Trust_Track_Output[*Trust_track_num_Output-1][0].Point_Sum=1; Trust_Track_Output[*Trust_track_num_Output-1][0].Point_Sum=1;
Trust_Track_Output[*Trust_track_num_Output-1][0].Range=r_output; Trust_Track_Output[*Trust_track_num_Output-1][0].Range=r_output;
Trust_Track_Output[*Trust_track_num_Output-1][0].Azimuth=azmi_output/PI*180; Trust_Track_Output[*Trust_track_num_Output-1][0].Azimuth=azmi_output/PI*180;
Trust_Track_Output[*Trust_track_num_Output-1][0].Track_Index=(*trust_track)[i].Track_Index; //航迹号 Trust_Track_Output[*Trust_track_num_Output-1][0].Track_Index=(*trust_track)[i].Track_Index; //航迹号
Trust_Track_Output[*Trust_track_num_Output-1][0].Range_V= Trust_Track_Output[*Trust_track_num_Output-1][0].Range_V=
sqrt((*trust_track)[i].X[1]*(*trust_track)[i].X[1]+(*trust_track)[i].X[4]*(*trust_track)[i].X[4]); sqrt((*trust_track)[i].X[1]*(*trust_track)[i].X[1]+(*trust_track)[i].X[4]*(*trust_track)[i].X[4]);
Trust_Track_Output[*Trust_track_num_Output-1][0].Amplitude=(*trust_track)[i].Amplitude; Trust_Track_Output[*Trust_track_num_Output-1][0].Amplitude=(*trust_track)[i].Amplitude;
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].Flag_Point=(*trust_track)[i].point_flag;
Trust_Track_Output[*Trust_track_num_Output-1][0].Track_Mode=(*trust_track)[i].Track_Mode; Trust_Track_Output[*Trust_track_num_Output-1][0].Track_Mode=(*trust_track)[i].Track_Mode;
Trust_Track_Output[*Trust_track_num_Output-1][0].Elevation=asin((*trust_track)[i].Height/r_output)/PI*180; Trust_Track_Output[*Trust_track_num_Output-1][0].Elevation=asin((*trust_track)[i].Height/r_output)/PI*180;
Trust_Track_Output[*Trust_track_num_Output-1][0].z=(*trust_track)[i].Height+Work_Parameter.Height; Trust_Track_Output[*Trust_track_num_Output-1][0].z=(*trust_track)[i].Height+Work_Parameter.Height;
Trust_Track_Output[*Trust_track_num_Output-1][0].Target_Type=(*trust_track)[i].Target_Type; Trust_Track_Output[*Trust_track_num_Output-1][0].Target_Type=(*trust_track)[i].Target_Type;
Trust_Track_Output[*Trust_track_num_Output-1][0].track_snr = (*trust_track)[i].snr_point; Trust_Track_Output[*Trust_track_num_Output-1][0].track_snr = (*trust_track)[i].snr_point;
break; break;
} }
} }
} }
} }
@@ -109,7 +109,7 @@ void TAS_Ctrl::tas_target_add(QVector<Trust_Track> *trust_track,
//int TAS_Ctrl:: tas_auto_start(double v, double r, double h, struct RadarPara Work_Parameter) //int TAS_Ctrl:: tas_auto_start(double v, double r, double h, struct RadarPara Work_Parameter)
//{ //{
//// if(r>Work_Parameter.R_TAS_min && r<Work_Parameter.R_TAS_max && v<Work_Parameter.V_TAS_max && v>Work_Parameter.V_TAS_min //// if(r>Work_Parameter.R_TAS_min && r<Work_Parameter.R_TAS_max && v<Work_Parameter.V_TAS_max && v>Work_Parameter.V_TAS_min
@@ -130,52 +130,52 @@ void TAS_Ctrl::tas_target_add(QVector<Trust_Track> *trust_track,
//}; //};
int TAS_Ctrl::tas_prohibite_area(double r,double azi, double v, double h,struct RadarPara Work_Parameter) int TAS_Ctrl::tas_prohibite_area(double r,double azi, double v, double h,struct RadarPara Work_Parameter)
{ {
for (int i=0;i<Work_Parameter.TAS_prohibite_area_num;i++) for (int i=0;i<Work_Parameter.TAS_prohibite_area_num;i++)
{ {
if(r<Work_Parameter.R_max_TAS_prohibited[i] && r>Work_Parameter.R_min_TAS_prohibited[i] && azi<Work_Parameter.Azimuth_max_TAS_prohibited[i] && azi>Work_Parameter.Azimuth_min_TAS_prohibited[i]) if(r<Work_Parameter.R_max_TAS_prohibited[i] && r>Work_Parameter.R_min_TAS_prohibited[i] && azi<Work_Parameter.Azimuth_max_TAS_prohibited[i] && azi>Work_Parameter.Azimuth_min_TAS_prohibited[i])
{ {
return 1; return 1;
} }
} }
return 0; return 0;
} }
void TAS_Ctrl::tas_target_del(QVector<Trust_Track> *trust_track, void TAS_Ctrl::tas_target_del(QVector<Trust_Track> *trust_track,
struct Track Trust_Track_Output[][10], struct Track Trust_Track_Output[][10],
int *Trust_track_num_Output, int *Trust_track_num_Output,
struct RadarPara Work_Parameter) struct RadarPara Work_Parameter)
{ {
//查找TAS目标是否已经消批 若消批则移出TAS队列 //查找TAS目标是否已经消批 若消批则移出TAS队列
for (int i=0;i<TAS_QUEUE_LENGTH;i++) for (int i=0;i<TAS_QUEUE_LENGTH;i++)
{ {
if(tas_target_queue[i].empty_flag == 1) if(tas_target_queue[i].empty_flag == 1)
{ {
//查找TAS队列里的目标是否存在 //查找TAS队列里的目标是否存在
int flag=0; int flag=0;
for (int j=0;j<trust_track->size();j++) for (int j=0;j<trust_track->size();j++)
{ {
if(tas_target_queue[i].Index==(*trust_track)[j].Track_Index && (*trust_track)[j].Track_Mode == 1) if(tas_target_queue[i].Index==(*trust_track)[j].Track_Index && (*trust_track)[j].Track_Mode == 1)
{ {
flag=1; flag=1;
} }
} }
//目标不存在 说明已消批 从队列里删除 //目标不存在 说明已消批 从队列里删除
if(flag == 0) if(flag == 0)
{ {
memset(&tas_target_queue[i],0,sizeof(Tracking_Target)); memset(&tas_target_queue[i],0,sizeof(Tracking_Target));
tas_target_num=tas_target_num-1; tas_target_num=tas_target_num-1;
} }
} }
} }
//判断TAS目标是否满足自动跟踪条件 若不满足移除TAS队列 通知界面改变目标状态 //判断TAS目标是否满足自动跟踪条件 若不满足移除TAS队列 通知界面改变目标状态
// for ( int i=0;i<trust_track->size();i++) // for ( int i=0;i<trust_track->size();i++)
// { // {
// double r=sqrt(pow((*trust_track)[i].X[0],2)+pow((*trust_track)[i].X[3],2)); // double r=sqrt(pow((*trust_track)[i].X[0],2)+pow((*trust_track)[i].X[3],2));
@@ -209,7 +209,7 @@ void TAS_Ctrl::tas_target_del(QVector<Trust_Track> *trust_track,
// Trust_Track_Output[*Trust_track_num_Output-1][0].Point_Sum=1; // Trust_Track_Output[*Trust_track_num_Output-1][0].Point_Sum=1;
// Trust_Track_Output[*Trust_track_num_Output-1][0].Range=r_output; // Trust_Track_Output[*Trust_track_num_Output-1][0].Range=r_output;
// Trust_Track_Output[*Trust_track_num_Output-1][0].Azimuth=azmi_output/PI*180; // Trust_Track_Output[*Trust_track_num_Output-1][0].Azimuth=azmi_output/PI*180;
// Trust_Track_Output[*Trust_track_num_Output-1][0].Track_Index=(*trust_track)[i].Track_Index; //航迹号 // Trust_Track_Output[*Trust_track_num_Output-1][0].Track_Index=(*trust_track)[i].Track_Index; //航迹号
// Trust_Track_Output[*Trust_track_num_Output-1][0].Range_V=sqrt((*trust_track)[i].X[1]*(*trust_track)[i].X[1]+(*trust_track)[i].X[4]*(*trust_track)[i].X[4]); // Trust_Track_Output[*Trust_track_num_Output-1][0].Range_V=sqrt((*trust_track)[i].X[1]*(*trust_track)[i].X[1]+(*trust_track)[i].X[4]*(*trust_track)[i].X[4]);
// Trust_Track_Output[*Trust_track_num_Output-1][0].Amplitude=(*trust_track)[i].Amplitude; // Trust_Track_Output[*Trust_track_num_Output-1][0].Amplitude=(*trust_track)[i].Amplitude;
// 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].Flag_Point=(*trust_track)[i].point_flag;
@@ -227,7 +227,7 @@ void TAS_Ctrl::tas_target_del(QVector<Trust_Track> *trust_track,
}; };
//int TAS_Ctrl::tas_auto_end(double v, double r, double h, struct RadarPara Work_Parameter) //int TAS_Ctrl::tas_auto_end(double v, double r, double h, struct RadarPara Work_Parameter)
//{ //{
// if((r<=1000 && h<Work_Parameter.TAS_Height_1) || (r<=2000 && r>1000 && h<Work_Parameter.TAS_Height_2) || (r<=3000 && r>2000 && h<Work_Parameter.TAS_Height_3) || (r<=4000 && r>3000 && h<Work_Parameter.TAS_Height_4) || (r>4000 && h<Work_Parameter.TAS_Height_5) // if((r<=1000 && h<Work_Parameter.TAS_Height_1) || (r<=2000 && r>1000 && h<Work_Parameter.TAS_Height_2) || (r<=3000 && r>2000 && h<Work_Parameter.TAS_Height_3) || (r<=4000 && r>3000 && h<Work_Parameter.TAS_Height_4) || (r>4000 && h<Work_Parameter.TAS_Height_5)
// || v<Work_Parameter.V_TAS_min || v>Work_Parameter.V_TAS_max // || v<Work_Parameter.V_TAS_min || v>Work_Parameter.V_TAS_max
@@ -249,65 +249,65 @@ void TAS_Ctrl::tas_target_del(QVector<Trust_Track> *trust_track,
void TAS_Ctrl::tas_beam_output(QVector<Trust_Track> *trust_track, void TAS_Ctrl::tas_beam_output(QVector<Trust_Track> *trust_track,
struct TrackingBeam *Tracking_beam) struct TrackingBeam *Tracking_beam)
{ {
if(tas_target_queue[0].empty_flag==1) if(tas_target_queue[0].empty_flag==1)
{ {
double H_track; double H_track;
double X_now[6]; double X_now[6];
for (int i=0;i<trust_track->size();i++ ) for (int i=0;i<trust_track->size();i++ )
{ {
if((*trust_track)[i].Track_Index == tas_target_queue[0].Index) if((*trust_track)[i].Track_Index == tas_target_queue[0].Index)
{ {
H_track = (*trust_track)[i].Height; H_track = (*trust_track)[i].Height;
for(int ii=0;ii<6;ii++) for(int ii=0;ii<6;ii++)
X_now[ii]=(*trust_track)[i].X[ii]; X_now[ii]=(*trust_track)[i].X[ii];
} }
} }
//预测目标位置 计算跟踪波束波位号 俯仰角 //预测目标位置 计算跟踪波束波位号 俯仰角
double x_track=X_now[0]+X_now[1]*T_TAS_PRED; double x_track=X_now[0]+X_now[1]*T_TAS_PRED;
double y_track=X_now[3]+X_now[4]*T_TAS_PRED; double y_track=X_now[3]+X_now[4]*T_TAS_PRED;
double amzi,range; double amzi,range;
coor_trans Coor_trans; coor_trans Coor_trans;
Coor_trans.cart2polar(x_track,y_track,&range,&amzi); Coor_trans.cart2polar(x_track,y_track,&range,&amzi);
//目标距离 //目标距离
Tracking_beam->Range=range; Tracking_beam->Range=range;
//目标方位 //目标方位
Tracking_beam->Azi=amzi/PI*180; Tracking_beam->Azi=amzi/PI*180;
//目标俯仰角 //目标俯仰角
double elev=asin(H_track/range)/PI*180; double elev=asin(H_track/range)/PI*180;
if(elev<=0) if(elev<=0)
elev=0; elev=0;
else if(elev>=40) else if(elev>=40)
elev=40; elev=40;
else else
elev=elev; elev=elev;
Tracking_beam->Elev=elev; Tracking_beam->Elev=elev;
//跟踪波束类型 //跟踪波束类型
Tracking_beam->type=1; Tracking_beam->type=1;
//跟踪目标批号 //跟踪目标批号
Tracking_beam->TAS_track_index = tas_target_queue[0].Index; Tracking_beam->TAS_track_index = tas_target_queue[0].Index;
//跟踪波束开关开启 //跟踪波束开关开启
Tracking_beam->open_flag=1; Tracking_beam->open_flag=1;
} }
else else
{ {
//跟踪波束开关关闭 //跟踪波束开关关闭
Tracking_beam->open_flag=0; Tracking_beam->open_flag=0;
} }
data_process_class_dll/tas_ctrl.h
+27 -27
View File
@@ -12,45 +12,45 @@ class TAS_Ctrl
{ {
public: public:
TAS_Ctrl(); TAS_Ctrl();
void tas_ctrl_process( QVector<Trust_Track> *trust_track, void tas_ctrl_process( QVector<Trust_Track> *trust_track,
struct TrackingBeam *Tracking_beam, struct TrackingBeam *Tracking_beam,
struct Track Trust_Track_Output[][10], struct Track Trust_Track_Output[][10],
int *Trust_track_num_Output, int *Trust_track_num_Output,
struct RadarPara Work_Parameter); struct RadarPara Work_Parameter);
private: private:
//添加TAS目标 //添加TAS目标
void tas_target_add(QVector<Trust_Track> *trust_track, void tas_target_add(QVector<Trust_Track> *trust_track,
struct Track Trust_Track_Output[][10], struct Track Trust_Track_Output[][10],
int *Trust_track_num_Output, int *Trust_track_num_Output,
struct RadarPara Work_Parameter); struct RadarPara Work_Parameter);
//删除TAS目标 //删除TAS目标
void tas_target_del(QVector<Trust_Track> *trust_track, void tas_target_del(QVector<Trust_Track> *trust_track,
struct Track Trust_Track_Output[][10], struct Track Trust_Track_Output[][10],
int *Trust_track_num_Output, int *Trust_track_num_Output,
struct RadarPara Work_Parameter); struct RadarPara Work_Parameter);
//TAS队列信息输出 //TAS队列信息输出
void tas_beam_output(QVector<Trust_Track> *trust_track, void tas_beam_output(QVector<Trust_Track> *trust_track,
struct TrackingBeam *Tracking_beam); struct TrackingBeam *Tracking_beam);
//TAS 自动开启条件 //TAS 自动开启条件
int tas_auto_start(double v, double r, double h, struct RadarPara Work_Parameter); int tas_auto_start(double v, double r, double h, struct RadarPara Work_Parameter);
//TAS 自动退出条件 //TAS 自动退出条件
int tas_auto_end(double v, double r, double h, struct RadarPara Work_Parameter); int tas_auto_end(double v, double r, double h, struct RadarPara Work_Parameter);
// 禁止跟踪区域判断 // 禁止跟踪区域判断
int tas_prohibite_area(double r,double azi, double v, double h,struct RadarPara Work_Parameter); int tas_prohibite_area(double r,double azi, double v, double h,struct RadarPara Work_Parameter);
struct Tracking_Target tas_target_queue[TAS_QUEUE_LENGTH]; //跟踪目标信息队列 struct Tracking_Target tas_target_queue[TAS_QUEUE_LENGTH]; //跟踪目标信息队列
int tas_target_num; //跟踪目标数量 int tas_target_num; //跟踪目标数量
}; };
#endif // TAS_CTRL_H #endif // TAS_CTRL_H
data_process_class_dll/track_asso.cpp
+695 -695
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File diff suppressed because it is too large Load Diff
data_process_class_dll/track_asso.h
+30 -30
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@@ -15,50 +15,50 @@ using namespace std;
class Track_Asso class Track_Asso
{ {
public: public:
int track_asso_process(QVector <PointRecv> *point_recv, //点迹文件 int track_asso_process(QVector <PointRecv> *point_recv, //点迹文件
QVector <Trust_Track> *trust_track, //航迹文件 QVector <Trust_Track> *trust_track, //航迹文件
struct Track Trust_Track_Output[MAX_TRACK_NUM][10], //更新航迹信息 struct Track Trust_Track_Output[MAX_TRACK_NUM][10], //更新航迹信息
int *Trust_track_num_Output, //更新航迹数 int *Trust_track_num_Output, //更新航迹数
struct RadarPara Work_Parameter //工作参数 struct RadarPara Work_Parameter //工作参数
); );
Track_Asso(); Track_Asso();
private: private:
//要处理的点迹 //要处理的点迹
QVector<PointRecv> point_process; QVector<PointRecv> point_process;
//IMM //IMM
void model_interaction(QVector <Trust_Track> *trust_track); //模型交互 void model_interaction(QVector <Trust_Track> *trust_track); //模型交互
void model_filter(QVector <Trust_Track> *trust_track, //滤波 void model_filter(QVector <Trust_Track> *trust_track, //滤波
struct RadarPara Work_Parameter struct RadarPara Work_Parameter
); );
void model_output(QVector <Trust_Track> *trust_track ); //模型输出 void model_output(QVector <Trust_Track> *trust_track ); //模型输出
void IMM_d_cal(double v_track, void IMM_d_cal(double v_track,
double X1[6], double P1[6][6], double X1[6], double P1[6][6],
double X2[6], double P2[6][6], double X2[6], double P2[6][6],
double X3[6], double P3[6][6], double X3[6], double P3[6][6],
double Z[3], double prt,double freq_ind, double Z[3], double prt,double freq_ind,
double delta_T, double delta_T,
double *d1,double *d2,double *d3, double *d1,double *d2,double *d3,
struct RadarPara Work_Parameter); struct RadarPara Work_Parameter);
void IMM_F_Q_gen(double v_track, double delta_T,double F[6][6], double Q1[6][6], double Q2[6][6], double Q3[6][6],struct RadarPara Work_Parameter); void IMM_F_Q_gen(double v_track, double delta_T,double F[6][6], double Q1[6][6], double Q2[6][6], double Q3[6][6],struct RadarPara Work_Parameter);
double Pt[3][3]; //模型转移概率 double Pt[3][3]; //模型转移概率
//高度维更新 //高度维更新
void track_hight_update(int updata_track_index, //更新的航迹号 void track_hight_update(int updata_track_index, //更新的航迹号
int asso_point_index, //点迹号 int asso_point_index, //点迹号
QVector <Trust_Track> *trust_track //航迹 QVector <Trust_Track> *trust_track //航迹
); );
}; };
#endif // TRACK_ASSO_H #endif // TRACK_ASSO_H
data_process_class_dll/track_asso_direct_tracking.cpp
+513 -513
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File diff suppressed because it is too large Load Diff
data_process_class_dll/track_asso_direct_tracking.h
+31 -31
View File
@@ -9,50 +9,50 @@ using namespace std;
class Track_Asso_Direct_Tracking class Track_Asso_Direct_Tracking
{ {
public: public:
int track_asso_process_direct_tracking(QVector<PointRecv> *point_recv, //点迹 int track_asso_process_direct_tracking(QVector<PointRecv> *point_recv, //点迹
Trust_Track *trust_track, //航迹 Trust_Track *trust_track, //航迹
struct Track Trust_Track_Output[MAX_TRACK_NUM][10], //更新航迹信息 struct Track Trust_Track_Output[MAX_TRACK_NUM][10], //更新航迹信息
int *Trust_track_num_Output, //更新航迹数 int *Trust_track_num_Output, //更新航迹数
struct RadarPara Work_Parameter //工作参数 struct RadarPara Work_Parameter //工作参数
); );
Track_Asso_Direct_Tracking(); Track_Asso_Direct_Tracking();
private: private:
//要处理的点迹 //要处理的点迹
QVector<PointRecv> point_process; QVector<PointRecv> point_process;
//IMM //IMM
void model_interaction(Trust_Track *trust_track); //模型交互 void model_interaction(Trust_Track *trust_track); //模型交互
void model_filter(Trust_Track *trust_track, //滤波 void model_filter(Trust_Track *trust_track, //滤波
struct RadarPara Work_Parameter struct RadarPara Work_Parameter
); );
void model_output(Trust_Track *trust_track); //模型输出 void model_output(Trust_Track *trust_track); //模型输出
void IMM_d_cal(double v_track, void IMM_d_cal(double v_track,
double X1[6], double P1[6][6], double X1[6], double P1[6][6],
double X2[6], double P2[6][6], double X2[6], double P2[6][6],
double X3[6], double P3[6][6], double X3[6], double P3[6][6],
double Z[3], double prt,double freq_ind, double Z[3], double prt,double freq_ind,
double delta_T, double delta_T,
double *d1,double *d2,double *d3, double *d1,double *d2,double *d3,
struct RadarPara Work_Parameter); struct RadarPara Work_Parameter);
void IMM_F_Q_gen(double v_track, double delta_T,double F[6][6], double Q1[6][6], double Q2[6][6], double Q3[6][6],struct RadarPara Work_Parameter); void IMM_F_Q_gen(double v_track, double delta_T,double F[6][6], double Q1[6][6], double Q2[6][6], double Q3[6][6],struct RadarPara Work_Parameter);
double Pt[3][3]; //模型转移概率 double Pt[3][3]; //模型转移概率
//高度维更新 //高度维更新
void track_hight_update(int asso_point_index, //点迹号 void track_hight_update(int asso_point_index, //点迹号
Trust_Track *trust_track //航迹 Trust_Track *trust_track //航迹
); );
}; };
data_process_class_dll/track_asso_tas.cpp
+603 -603
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File diff suppressed because it is too large Load Diff
data_process_class_dll/track_asso_tas.h
+32 -32
View File
@@ -12,51 +12,51 @@ using namespace std;
class Track_Asso_Tas class Track_Asso_Tas
{ {
public: public:
int track_asso_process_tas(QVector<PointRecv> *point_recv_tas, //点迹文件 int track_asso_process_tas(QVector<PointRecv> *point_recv_tas, //点迹文件
QVector<Trust_Track> *trust_track, //航迹文件 QVector<Trust_Track> *trust_track, //航迹文件
struct Track Trust_Track_Output[MAX_TRACK_NUM][10], //更新航迹信息 struct Track Trust_Track_Output[MAX_TRACK_NUM][10], //更新航迹信息
int *Trust_track_num_Output, //更新航迹数 int *Trust_track_num_Output, //更新航迹数
struct RadarPara Work_Parameter, //工作参数 struct RadarPara Work_Parameter, //工作参数
int tas_track_idx int tas_track_idx
); );
Track_Asso_Tas(); Track_Asso_Tas();
private: private:
//要处理的点迹 //要处理的点迹
QVector<PointRecv> point_process; QVector<PointRecv> point_process;
//IMM //IMM
void model_interaction(QVector<Trust_Track> *trust_track, int tas_track_idx); //模型交互 void model_interaction(QVector<Trust_Track> *trust_track, int tas_track_idx); //模型交互
void model_filter(QVector<Trust_Track> *trust_track, //滤波 void model_filter(QVector<Trust_Track> *trust_track, //滤波
struct RadarPara Work_Parameter, struct RadarPara Work_Parameter,
int tas_track_idx int tas_track_idx
); );
void model_output(QVector<Trust_Track> *trust_track, int tas_track_idx ); //模型输出 void model_output(QVector<Trust_Track> *trust_track, int tas_track_idx ); //模型输出
void IMM_d_cal(double v_track, void IMM_d_cal(double v_track,
double X1[6], double P1[6][6], double X1[6], double P1[6][6],
double X2[6], double P2[6][6], double X2[6], double P2[6][6],
double X3[6], double P3[6][6], double X3[6], double P3[6][6],
double Z[3], double prt,double freq_ind, double Z[3], double prt,double freq_ind,
double delta_T, double delta_T,
double *d1,double *d2,double *d3, double *d1,double *d2,double *d3,
struct RadarPara Work_Parameter); struct RadarPara Work_Parameter);
void IMM_F_Q_gen(double v_track, double delta_T,double F[6][6], double Q1[6][6], double Q2[6][6], double Q3[6][6],struct RadarPara Work_Parameter); void IMM_F_Q_gen(double v_track, double delta_T,double F[6][6], double Q1[6][6], double Q2[6][6], double Q3[6][6],struct RadarPara Work_Parameter);
double Pt[3][3]; //模型转移概率 double Pt[3][3]; //模型转移概率
//高度维更新 //高度维更新
void track_hight_update(int tas_track_index, //更新的航迹号 void track_hight_update(int tas_track_index, //更新的航迹号
int asso_point_index, //点迹号 int asso_point_index, //点迹号
QVector<Trust_Track> *trust_track //航迹 QVector<Trust_Track> *trust_track //航迹
); );
data_process_class_dll/track_die.cpp
+20 -20
View File
@@ -8,30 +8,30 @@ using namespace std;
void Track_Die::track_die_process( QVector <Trust_Track> *trust_track, void Track_Die::track_die_process( QVector <Trust_Track> *trust_track,
int Track_die_Index_Output[], int Track_die_Index_Output[],
int *Track_die_num_Output) int *Track_die_num_Output)
{ {
QVector <Trust_Track>::iterator Iter; QVector <Trust_Track>::iterator Iter;
for (Iter=trust_track->begin(); Iter!=trust_track->end();) for (Iter=trust_track->begin(); Iter!=trust_track->end();)
{ {
if( ((*Iter).Track_Mode == 0 && (*Iter).Extrapolate_round >= TRACK_DIE_ROUND) if( ((*Iter).Track_Mode == 0 && (*Iter).Extrapolate_round >= TRACK_DIE_ROUND)
// ||((*Iter).Track_Mode == 1 && (*Iter).Extrapolate_round >= TRACK_DIE_ROUND_TAS) // ||((*Iter).Track_Mode == 1 && (*Iter).Extrapolate_round >= TRACK_DIE_ROUND_TAS)
||(*Iter).manual_delete_flag == 1) ||(*Iter).manual_delete_flag == 1)
{ {
//输出消亡信息 //输出消亡信息
*Track_die_num_Output=*Track_die_num_Output+1; *Track_die_num_Output=*Track_die_num_Output+1;
Track_die_Index_Output[*Track_die_num_Output-1]=(*Iter).Track_Index; Track_die_Index_Output[*Track_die_num_Output-1]=(*Iter).Track_Index;
trust_track->erase(Iter); trust_track->erase(Iter);
Iter=trust_track->begin(); Iter=trust_track->begin();
} }
else else
{ {
Iter++; Iter++;
} }
} }
}; };
data_process_class_dll/track_die.h
+3 -3
View File
@@ -11,9 +11,9 @@ using namespace std;
class Track_Die class Track_Die
{ {
public: public:
void track_die_process( QVector <Trust_Track> *trust_track, void track_die_process( QVector <Trust_Track> *trust_track,
int Track_die_Index_Output[], int Track_die_Index_Output[],
int *Track_die_num_Output); int *Track_die_num_Output);
data_process_class_dll/track_die_tas.cpp
+20 -20
View File
@@ -8,29 +8,29 @@ using namespace std;
void Track_Die_Tas::track_die_process_tas( QVector <Trust_Track> *trust_track, void Track_Die_Tas::track_die_process_tas( QVector <Trust_Track> *trust_track,
int Track_die_Index_Output[], int Track_die_Index_Output[],
int *Track_die_num_Output) int *Track_die_num_Output)
{ {
QVector <Trust_Track>::iterator Iter; QVector <Trust_Track>::iterator Iter;
for (Iter=trust_track->begin(); Iter!=trust_track->end();) for (Iter=trust_track->begin(); Iter!=trust_track->end();)
{ {
if( ((*Iter).Track_Mode == 1 && (*Iter).Extrapolate_round >= TRACK_DIE_ROUND_TAS) if( ((*Iter).Track_Mode == 1 && (*Iter).Extrapolate_round >= TRACK_DIE_ROUND_TAS)
||(*Iter).manual_delete_flag == 1) ||(*Iter).manual_delete_flag == 1)
{ {
//输出消亡信息 //输出消亡信息
*Track_die_num_Output=*Track_die_num_Output+1; *Track_die_num_Output=*Track_die_num_Output+1;
Track_die_Index_Output[*Track_die_num_Output-1]=(*Iter).Track_Index; Track_die_Index_Output[*Track_die_num_Output-1]=(*Iter).Track_Index;
trust_track->erase(Iter); trust_track->erase(Iter);
Iter=trust_track->begin(); Iter=trust_track->begin();
} }
else else
{ {
Iter++; Iter++;
} }
} }
}; };
data_process_class_dll/track_die_tas.h
+3 -3
View File
@@ -11,9 +11,9 @@ using namespace std;
class Track_Die_Tas class Track_Die_Tas
{ {
public: public:
void track_die_process_tas( QVector <Trust_Track> *trust_track, void track_die_process_tas( QVector <Trust_Track> *trust_track,
int Track_die_Index_Output[], int Track_die_Index_Output[],
int *Track_die_num_Output); int *Track_die_num_Output);
data_process_class_dll/track_index_mangement.cpp
+52 -52
View File
@@ -7,69 +7,69 @@ using namespace std;
int Track_Ind_Mangement ::track_ind_get( QVector<Trust_Track> *trust_track) int Track_Ind_Mangement ::track_ind_get( QVector<Trust_Track> *trust_track)
{ {
int isempty = 1; int isempty = 1;
if((*trust_track).size()>0) if((*trust_track).size()>0)
{ {
isempty = 0; isempty = 0;
} }
if (isempty == 1) if (isempty == 1)
{ {
lastest_index = 1; lastest_index = 1;
return lastest_index; return lastest_index;
} }
else else
{ {
//建立航迹号列表 //建立航迹号列表
int List[MAX_TRACK_INDEX]={0}; int List[MAX_TRACK_INDEX]={0};
for (int i=0;i<trust_track->size();i++) for (int i=0;i<trust_track->size();i++)
{ {
List[(*trust_track)[i].Track_Index-1]=1; List[(*trust_track)[i].Track_Index-1]=1;
} }
//分配航迹号 //分配航迹号
if(lastest_index<MAX_TRACK_INDEX) if(lastest_index<MAX_TRACK_INDEX)
{ {
for (int i=lastest_index+1;i<=MAX_TRACK_INDEX;i++) for (int i=lastest_index+1;i<=MAX_TRACK_INDEX;i++)
{ {
if(List[i-1]==0) if(List[i-1]==0)
{ {
lastest_index = i; lastest_index = i;
return lastest_index; return lastest_index;
} }
} }
for (int i=1;i<MAX_TRACK_INDEX;i++) for (int i=1;i<MAX_TRACK_INDEX;i++)
{ {
if(List[i-1]==0) if(List[i-1]==0)
{ {
lastest_index = i; lastest_index = i;
return lastest_index; return lastest_index;
} }
} }
} }
else if(lastest_index == MAX_TRACK_INDEX) else if(lastest_index == MAX_TRACK_INDEX)
{ {
for (int i=1;i<MAX_TRACK_INDEX;i++) for (int i=1;i<MAX_TRACK_INDEX;i++)
{ {
if(List[i-1]==0) if(List[i-1]==0)
{ {
lastest_index = i; lastest_index = i;
return lastest_index; return lastest_index;
} }
} }
} }
} }
return 0; return 0;
} }
data_process_class_dll/track_index_mangement.h
+2 -2
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@@ -12,12 +12,12 @@ class Track_Ind_Mangement
{ {
public: public:
int track_ind_get( QVector<Trust_Track> *trust_track); int track_ind_get( QVector<Trust_Track> *trust_track);
private: private:
int lastest_index; int lastest_index;
}; };
#endif // TRACK_INDEX_MANGEMENT_H #endif // TRACK_INDEX_MANGEMENT_H
data_process_class_dll/track_init.cpp
+498 -498
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File diff suppressed because it is too large Load Diff
data_process_class_dll/track_init.h
+23 -23
View File
@@ -16,43 +16,43 @@ class Track_Init
{ {
public: public:
//航迹起始逻辑法 //航迹起始逻辑法
int track_init_process_logic( QVector<PointRecv> *point_recv, //输入点迹 int track_init_process_logic( QVector<PointRecv> *point_recv, //输入点迹
QVector<Trust_Track> *trust_track, //可靠航迹 QVector<Trust_Track> *trust_track, //可靠航迹
QVector <QVector<Temp_track>> *temp_track, QVector <QVector<Temp_track>> *temp_track,
struct Track Trust_Track_Output[MAX_TRACK_NUM][10], struct Track Trust_Track_Output[MAX_TRACK_NUM][10],
int *Trust_track_num_Output, int *Trust_track_num_Output,
struct RadarPara Work_Parameter struct RadarPara Work_Parameter
); );
Track_Init(); Track_Init();
private: private:
QVector<PointRecv> point_process; //要处理的点迹 QVector<PointRecv> point_process; //要处理的点迹
void point_temp_track_asso(QVector <QVector<Temp_track>> *temp_track, void point_temp_track_asso(QVector <QVector<Temp_track>> *temp_track,
struct RadarPara Work_Parameter); //临时航迹与点迹关联 struct RadarPara Work_Parameter); //临时航迹与点迹关联
void point_track_head_asso( QVector <QVector<Temp_track>> *temp_track, void point_track_head_asso( QVector <QVector<Temp_track>> *temp_track,
struct RadarPara Work_Parameter); //航迹头与点迹关联 struct RadarPara Work_Parameter); //航迹头与点迹关联
void tmp_track_to_trust_track( QVector <Trust_Track> *trust_track, //临时航迹转可靠航迹 void tmp_track_to_trust_track( QVector <Trust_Track> *trust_track, //临时航迹转可靠航迹
QVector <QVector<Temp_track>> *temp_track, QVector <QVector<Temp_track>> *temp_track,
struct Track Trust_Track_Output[MAX_TRACK_NUM][10], struct Track Trust_Track_Output[MAX_TRACK_NUM][10],
int *Trust_track_num_Output, int *Trust_track_num_Output,
struct RadarPara Work_Parameter); struct RadarPara Work_Parameter);
void tmp_track_die(QVector <QVector<Temp_track>> *temp_track);//临时航迹消亡 void tmp_track_die(QVector <QVector<Temp_track>> *temp_track);//临时航迹消亡
double alpha_cal_track_init(double x0,double y0,double x1,double y1,double x2,double y2); //计算夹角 double alpha_cal_track_init(double x0,double y0,double x1,double y1,double x2,double y2); //计算夹角
int track_init_prohibit(double r, double azi, struct RadarPara Work_Parameter); //判断目标是否位于航迹起始屏蔽区 是返回1 否返回0 int track_init_prohibit(double r, double azi, struct RadarPara Work_Parameter); //判断目标是否位于航迹起始屏蔽区 是返回1 否返回0
Track_Ind_Mangement track_index_mangement; Track_Ind_Mangement track_index_mangement;
}; };
#endif // TRACK_INIT_H #endif // TRACK_INIT_H
data_process_class_dll/track_init_direct_tracking.cpp
+356 -356
View File
@@ -8,422 +8,422 @@
#include<iomanip> #include<iomanip>
using namespace std; using namespace std;
int Track_Init_Direct_Tracking::track_init_process_logic( QVector<PointRecv> *point_recv, //输入点迹 int Track_Init_Direct_Tracking::track_init_process_logic( QVector<PointRecv> *point_recv, //输入点迹
QVector<Trust_Track> *trust_track, //可靠航迹 QVector<Trust_Track> *trust_track, //可靠航迹
QVector <QVector<Temp_track>> *temp_track, QVector <QVector<Temp_track>> *temp_track,
struct Track Trust_Track_Output[MAX_TRACK_NUM][10], struct Track Trust_Track_Output[MAX_TRACK_NUM][10],
int *Trust_track_num_Output, int *Trust_track_num_Output,
struct RadarPara Work_Parameter, struct RadarPara Work_Parameter,
int track_ID int track_ID
) )
{ {
return 0; return 0;
} }
void Track_Init_Direct_Tracking::point_temp_track_asso(QVector <QVector<Temp_track>> *temp_track, void Track_Init_Direct_Tracking::point_temp_track_asso(QVector <QVector<Temp_track>> *temp_track,
struct RadarPara Work_Parameter) //临时航迹与点迹关联 struct RadarPara Work_Parameter) //临时航迹与点迹关联
{ {
//关联信息 //关联信息
struct Asso_info struct Asso_info
{ {
int track_idx; int track_idx;
int point_idx; int point_idx;
}; };
QVector <Asso_info> asso_info; QVector <Asso_info> asso_info;
for ( int i=0;i<point_process.size();i++) for ( int i=0;i<point_process.size();i++)
{ {
for ( int j=0;j<(*temp_track).size();j++) for ( int j=0;j<(*temp_track).size();j++)
{ {
int L = (*temp_track)[j].size(); int L = (*temp_track)[j].size();
if( (*temp_track)[j].size() > 1 && (*temp_track)[j][L-1].buff_round >= 2) if( (*temp_track)[j].size() > 1 && (*temp_track)[j][L-1].buff_round >= 2)
{ {
//点迹信息 //点迹信息
// double Z[2]={ point_process[i].Range*cos(point_process[i].Azimuth),point_process[i].Range*sin(point_process[i].Azimuth)} ; // double Z[2]={ point_process[i].Range*cos(point_process[i].Azimuth),point_process[i].Range*sin(point_process[i].Azimuth)} ;
double Z[3]={point_process[i].Range, double Z[3]={point_process[i].Range,
point_process[i].Azimuth, point_process[i].Azimuth,
point_process[i].Velocity}; point_process[i].Velocity};
double vr_point=point_process[i].Velocity; double vr_point=point_process[i].Velocity;
double r_point=point_process[i].Range; double r_point=point_process[i].Range;
double prt = point_process[i].PRF_index; double prt = point_process[i].PRF_index;
double freq_ind = point_process[i].Freq_index; double freq_ind = point_process[i].Freq_index;
double h_point = point_process[i].Height; double h_point = point_process[i].Height;
double T_point = point_process[i].CPI_Time; double T_point = point_process[i].CPI_Time;
//航迹信息 //航迹信息
double X[4]; double X[4];
double P[4][4]; double P[4][4];
memcpy(X,(*temp_track)[j][L-1].X,4*sizeof(double)); memcpy(X,(*temp_track)[j][L-1].X,4*sizeof(double));
memcpy(P,(*temp_track)[j][L-1].P,4*4*sizeof(double)); memcpy(P,(*temp_track)[j][L-1].P,4*4*sizeof(double));
double v_temp_track=(*temp_track)[j][L-1].vr; double v_temp_track=(*temp_track)[j][L-1].vr;
double r_temp_track=(*temp_track)[j][L-1].r; double r_temp_track=(*temp_track)[j][L-1].r;
double h_temp_track=(*temp_track)[j][L-1].height; double h_temp_track=(*temp_track)[j][L-1].height;
double T_track_head = (*temp_track)[j][L-1].T; double T_track_head = (*temp_track)[j][L-1].T;
double delta_T = (T_point - T_track_head)/1000.0; double delta_T = (T_point - T_track_head)/1000.0;
if( fabs(r_point-r_temp_track)>=5 ) if( fabs(r_point-r_temp_track)>=5 )
{ {
//计算d //计算d
kalman Kalman; kalman Kalman;
double d = Kalman.d_cal_track_init_EKF(Z,X,P,delta_T,prt,freq_ind); double d = Kalman.d_cal_track_init_EKF(Z,X,P,delta_T,prt,freq_ind);
//double d = Kalman.d_cal_track_init_with_doppler(Z,X,P,delta_T,vr_point,prt,freq_ind); //double d = Kalman.d_cal_track_init_with_doppler(Z,X,P,delta_T,vr_point,prt,freq_ind);
//double d = Kalman.d_cal_track_init(Z,X,P,delta_T); //double d = Kalman.d_cal_track_init(Z,X,P,delta_T);
//计算夹角 //计算夹角
double x0=(*temp_track)[j][L-2].X[0]; double x0=(*temp_track)[j][L-2].X[0];
double y0=(*temp_track)[j][L-2].X[2]; double y0=(*temp_track)[j][L-2].X[2];
double x1=(*temp_track)[j][L-1].X[0]; double x1=(*temp_track)[j][L-1].X[0];
double y1=(*temp_track)[j][L-1].X[2]; double y1=(*temp_track)[j][L-1].X[2];
double x2=Z[0]*cos(Z[1]); double x2=Z[0]*cos(Z[1]);
double y2=Z[0]*sin(Z[1]); double y2=Z[0]*sin(Z[1]);
double alpha = alpha_cal_track_init(x0,y0,x1,y1,x2,y2); double alpha = alpha_cal_track_init(x0,y0,x1,y1,x2,y2);
if(d*d<=TRACK_START_THRESHOLD*TRACK_START_THRESHOLD && alpha<ALPHA_START && vr_point*v_temp_track>0)// && fabs(h_point-h_temp_track )<= r_point*SIGMA_E&& abs(vr_point-v_temp_track)/abs(v_temp_track)<0.8 if(d*d<=TRACK_START_THRESHOLD*TRACK_START_THRESHOLD && alpha<ALPHA_START && vr_point*v_temp_track>0)// && fabs(h_point-h_temp_track )<= r_point*SIGMA_E&& abs(vr_point-v_temp_track)/abs(v_temp_track)<0.8
{ {
struct Asso_info asso_info_tmp; struct Asso_info asso_info_tmp;
asso_info_tmp.point_idx = i+1; asso_info_tmp.point_idx = i+1;
asso_info_tmp.track_idx = j+1; asso_info_tmp.track_idx = j+1;
asso_info.push_back(asso_info_tmp); asso_info.push_back(asso_info_tmp);
(*temp_track)[j][L-1].asso_flag = 1; (*temp_track)[j][L-1].asso_flag = 1;
point_process[i].Use_Flag = 1; point_process[i].Use_Flag = 1;
} }
} }
} }
} }
} }
// temp_track中加入新关联上的临时航迹 // temp_track中加入新关联上的临时航迹
for (int i = 0 ; i<asso_info.size();i++ ) for (int i = 0 ; i<asso_info.size();i++ )
{ {
(*temp_track).push_back(QVector <Temp_track> ()); (*temp_track).push_back(QVector <Temp_track> ());
//前L个点 //前L个点
int L = (*temp_track)[asso_info[i].track_idx-1].size(); int L = (*temp_track)[asso_info[i].track_idx-1].size();
for (int j=0;j < L;j++ ) for (int j=0;j < L;j++ )
{ {
(*temp_track)[(*temp_track).size()-1].push_back((*temp_track)[asso_info[i].track_idx-1][j]); (*temp_track)[(*temp_track).size()-1].push_back((*temp_track)[asso_info[i].track_idx-1][j]);
(*temp_track)[(*temp_track).size()-1][j].asso_flag = 0; (*temp_track)[(*temp_track).size()-1][j].asso_flag = 0;
} }
//关联上的点 //关联上的点
Temp_track asso_track_info_tmp; Temp_track asso_track_info_tmp;
asso_track_info_tmp.r = point_process[asso_info[i].point_idx-1].Range; asso_track_info_tmp.r = point_process[asso_info[i].point_idx-1].Range;
asso_track_info_tmp.azi = point_process[asso_info[i].point_idx-1].Azimuth; asso_track_info_tmp.azi = point_process[asso_info[i].point_idx-1].Azimuth;
asso_track_info_tmp.height = point_process[asso_info[i].point_idx-1].Height; asso_track_info_tmp.height = point_process[asso_info[i].point_idx-1].Height;
asso_track_info_tmp.Amp = point_process[asso_info[i].point_idx-1].Amplitude; asso_track_info_tmp.Amp = point_process[asso_info[i].point_idx-1].Amplitude;
asso_track_info_tmp.T = point_process[asso_info[i].point_idx-1].CPI_Time; asso_track_info_tmp.T = point_process[asso_info[i].point_idx-1].CPI_Time;
asso_track_info_tmp.vr = point_process[asso_info[i].point_idx-1].Velocity; asso_track_info_tmp.vr = point_process[asso_info[i].point_idx-1].Velocity;
asso_track_info_tmp.snr = point_process[asso_info[i].point_idx-1].snr; asso_track_info_tmp.snr = point_process[asso_info[i].point_idx-1].snr;
asso_track_info_tmp.RCS = point_process[asso_info[i].point_idx-1].RCS; asso_track_info_tmp.RCS = point_process[asso_info[i].point_idx-1].RCS;
asso_track_info_tmp.pitch_num = point_process[asso_info[i].point_idx-1].pitch_num; asso_track_info_tmp.pitch_num = point_process[asso_info[i].point_idx-1].pitch_num;
std::memcpy(asso_track_info_tmp.speed_dim, point_process[asso_info[i].point_idx-1].speed_dim, sizeof(asso_track_info_tmp.speed_dim)); std::memcpy(asso_track_info_tmp.speed_dim, point_process[asso_info[i].point_idx-1].speed_dim, sizeof(asso_track_info_tmp.speed_dim));
std::memcpy(asso_track_info_tmp.range_dim, point_process[asso_info[i].point_idx-1].range_dim, sizeof(asso_track_info_tmp.range_dim)); std::memcpy(asso_track_info_tmp.range_dim, point_process[asso_info[i].point_idx-1].range_dim, sizeof(asso_track_info_tmp.range_dim));
asso_track_info_tmp.asso_flag=0; asso_track_info_tmp.asso_flag=0;
asso_track_info_tmp.buff_round = 1; asso_track_info_tmp.buff_round = 1;
// asso_track_info_tmp.Temp_track_section_idx = floor(point_process[asso_info[i].point_idx-1].beam_index/BEAM_NUM_DOT_SECTION)+1; // asso_track_info_tmp.Temp_track_section_idx = floor(point_process[asso_info[i].point_idx-1].beam_index/BEAM_NUM_DOT_SECTION)+1;
double Z0[2]={(*temp_track)[asso_info[i].track_idx-1][L-1].r*cos((*temp_track)[asso_info[i].track_idx-1][L-1].azi), double Z0[2]={(*temp_track)[asso_info[i].track_idx-1][L-1].r*cos((*temp_track)[asso_info[i].track_idx-1][L-1].azi),
(*temp_track)[asso_info[i].track_idx-1][L-1].r*sin((*temp_track)[asso_info[i].track_idx-1][L-1].azi)}; (*temp_track)[asso_info[i].track_idx-1][L-1].r*sin((*temp_track)[asso_info[i].track_idx-1][L-1].azi)};
double Z1[2]={point_process[asso_info[i].point_idx-1].Range*cos(point_process[asso_info[i].point_idx-1].Azimuth), double Z1[2]={point_process[asso_info[i].point_idx-1].Range*cos(point_process[asso_info[i].point_idx-1].Azimuth),
point_process[asso_info[i].point_idx-1].Range*sin(point_process[asso_info[i].point_idx-1].Azimuth)}; point_process[asso_info[i].point_idx-1].Range*sin(point_process[asso_info[i].point_idx-1].Azimuth)};
double X[4]; double X[4];
double P[4][4]; double P[4][4];
kalman Kalman; kalman Kalman;
double T = ( point_process[asso_info[i].point_idx-1].CPI_Time - (*temp_track)[asso_info[i].track_idx-1][L-1].T)/1000.0; double T = ( point_process[asso_info[i].point_idx-1].CPI_Time - (*temp_track)[asso_info[i].track_idx-1][L-1].T)/1000.0;
Kalman.kalman_filter_init_2dots(Z0,Z1,T,X,P); Kalman.kalman_filter_init_2dots(Z0,Z1,T,X,P);
memcpy(asso_track_info_tmp.X, X, 4*sizeof(double)); memcpy(asso_track_info_tmp.X, X, 4*sizeof(double));
memcpy(asso_track_info_tmp.P, P, 4*4*sizeof(double)); memcpy(asso_track_info_tmp.P, P, 4*4*sizeof(double));
(*temp_track)[(*temp_track).size()-1].push_back(asso_track_info_tmp); (*temp_track)[(*temp_track).size()-1].push_back(asso_track_info_tmp);
} }
//temp_track中删除关联上的临时航迹 //temp_track中删除关联上的临时航迹
QVector <QVector<Temp_track>>::iterator Iter; QVector <QVector<Temp_track>>::iterator Iter;
for (Iter=temp_track->begin(); Iter!=temp_track->end();) for (Iter=temp_track->begin(); Iter!=temp_track->end();)
{ {
if((*Iter).size()>=2) if((*Iter).size()>=2)
{ {
if((*Iter)[(*Iter).size()-1].asso_flag==1) if((*Iter)[(*Iter).size()-1].asso_flag==1)
{ {
temp_track->erase(Iter); temp_track->erase(Iter);
Iter=temp_track->begin(); Iter=temp_track->begin();
} }
else else
{ {
Iter++; Iter++;
} }
} }
else else
{ {
Iter++; Iter++;
} }
} }
} }
void Track_Init_Direct_Tracking::point_track_head_asso( QVector <QVector<Temp_track>> *temp_track, void Track_Init_Direct_Tracking::point_track_head_asso( QVector <QVector<Temp_track>> *temp_track,
struct RadarPara Work_Parameter) //航迹头与点迹关联 struct RadarPara Work_Parameter) //航迹头与点迹关联
{ {
//关联上的信息 //关联上的信息
struct Asso_info struct Asso_info
{ {
int track_idx; int track_idx;
int point_idx; int point_idx;
}; };
QVector <Asso_info> asso_info; QVector <Asso_info> asso_info;
//关联 //关联
for ( int i=0;i<point_process.size();i++) for ( int i=0;i<point_process.size();i++)
{ {
for ( int j=0;j<temp_track->size();j++) for ( int j=0;j<temp_track->size();j++)
{ {
if((*temp_track)[j].size()==1 && (*temp_track)[j][0].buff_round >= 2) if((*temp_track)[j].size()==1 && (*temp_track)[j][0].buff_round >= 2)
{ {
//点迹信息 //点迹信息
double x_point, y_point, vr_point; double x_point, y_point, vr_point;
coor_trans Coor_trans; coor_trans Coor_trans;
Coor_trans.polar2cart(&x_point,&y_point,point_process[i].Range,point_process[i].Azimuth); Coor_trans.polar2cart(&x_point,&y_point,point_process[i].Range,point_process[i].Azimuth);
vr_point=point_process[i].Velocity; vr_point=point_process[i].Velocity;
double r_point=point_process[i].Range; double r_point=point_process[i].Range;
double h_point = point_process[i].Height; double h_point = point_process[i].Height;
double T_point = point_process[i].CPI_Time; double T_point = point_process[i].CPI_Time;
//航迹信息 //航迹信息
double x_track_head, y_track_head; double x_track_head, y_track_head;
x_track_head=(*temp_track)[j][0].X[0]; x_track_head=(*temp_track)[j][0].X[0];
y_track_head=(*temp_track)[j][0].X[2]; y_track_head=(*temp_track)[j][0].X[2];
double v_track_head=(*temp_track)[j][0].vr; double v_track_head=(*temp_track)[j][0].vr;
double h_track_head = (*temp_track)[j][0].height; double h_track_head = (*temp_track)[j][0].height;
double T_track_head = (*temp_track)[j][0].T; double T_track_head = (*temp_track)[j][0].T;
//距离差 //距离差
double dis = sqrt(pow(x_point-x_track_head,2)+pow(y_point-y_track_head,2)); double dis = sqrt(pow(x_point-x_track_head,2)+pow(y_point-y_track_head,2));
double vmax; double vmax;
if(Work_Parameter.work_mode == 0) //近程模式 最大速度减小一点 if(Work_Parameter.work_mode == 0) //近程模式 最大速度减小一点
{ {
//vmax = V_MAX/5; //vmax = V_MAX/5;
vmax = Work_Parameter.V_MAX; vmax = Work_Parameter.V_MAX;
} }
else //中远程模式 最大速度正常用 else //中远程模式 最大速度正常用
{ {
// vmax = V_MAX; // vmax = V_MAX;
vmax = Work_Parameter.V_MAX; vmax = Work_Parameter.V_MAX;
} }
double delta_T = (T_point - T_track_head)/1000.0; double delta_T = (T_point - T_track_head)/1000.0;
//满足关联条件的点航 //满足关联条件的点航
if( ( (r_point>=1000 && dis<=vmax*delta_T && dis>=Work_Parameter.V_MIN*delta_T) || (r_point<1000 && dis<=vmax*delta_T/2.0 && dis>=Work_Parameter.V_MIN*delta_T/2.0) ) if( ( (r_point>=1000 && dis<=vmax*delta_T && dis>=Work_Parameter.V_MIN*delta_T) || (r_point<1000 && dis<=vmax*delta_T/2.0 && dis>=Work_Parameter.V_MIN*delta_T/2.0) )
&& vr_point*v_track_head>0 )//&& fabs(vr_point-v_track_head)/fabs(v_track_head)<0.2 && fabs(h_point-h_track_head)<=r_point*SIGMA_E && vr_point*v_track_head>0 )//&& fabs(vr_point-v_track_head)/fabs(v_track_head)<0.2 && fabs(h_point-h_track_head)<=r_point*SIGMA_E
{ {
struct Asso_info asso_info_tmp; struct Asso_info asso_info_tmp;
asso_info_tmp.point_idx = i+1; asso_info_tmp.point_idx = i+1;
asso_info_tmp.track_idx = j+1; asso_info_tmp.track_idx = j+1;
asso_info.push_back(asso_info_tmp); asso_info.push_back(asso_info_tmp);
(*temp_track)[j][0].asso_flag = 1; (*temp_track)[j][0].asso_flag = 1;
point_process[i].Use_Flag = 1; point_process[i].Use_Flag = 1;
} }
} }
} }
} }
// temp_track中加入新关联上的临时航迹 // temp_track中加入新关联上的临时航迹
for (int i = 0 ; i<asso_info.size();i++ ) for (int i = 0 ; i<asso_info.size();i++ )
{ {
(*temp_track).push_back(QVector <Temp_track> ()); (*temp_track).push_back(QVector <Temp_track> ());
//第一个点 //第一个点
(*temp_track)[(*temp_track).size()-1].push_back((*temp_track)[asso_info[i].track_idx-1][0]); (*temp_track)[(*temp_track).size()-1].push_back((*temp_track)[asso_info[i].track_idx-1][0]);
(*temp_track)[(*temp_track).size()-1][0].asso_flag = 0; (*temp_track)[(*temp_track).size()-1][0].asso_flag = 0;
//第二个点 //第二个点
struct Temp_track asso_track_info_tmp; struct Temp_track asso_track_info_tmp;
asso_track_info_tmp.r = point_process[asso_info[i].point_idx-1].Range; asso_track_info_tmp.r = point_process[asso_info[i].point_idx-1].Range;
asso_track_info_tmp.azi = point_process[asso_info[i].point_idx-1].Azimuth; asso_track_info_tmp.azi = point_process[asso_info[i].point_idx-1].Azimuth;
asso_track_info_tmp.height = point_process[asso_info[i].point_idx-1].Height; asso_track_info_tmp.height = point_process[asso_info[i].point_idx-1].Height;
asso_track_info_tmp.Amp = point_process[asso_info[i].point_idx-1].Amplitude; asso_track_info_tmp.Amp = point_process[asso_info[i].point_idx-1].Amplitude;
asso_track_info_tmp.vr = point_process[asso_info[i].point_idx-1].Velocity; asso_track_info_tmp.vr = point_process[asso_info[i].point_idx-1].Velocity;
asso_track_info_tmp.snr = point_process[asso_info[i].point_idx-1].snr; asso_track_info_tmp.snr = point_process[asso_info[i].point_idx-1].snr;
asso_track_info_tmp.RCS = point_process[asso_info[i].point_idx-1].RCS; asso_track_info_tmp.RCS = point_process[asso_info[i].point_idx-1].RCS;
asso_track_info_tmp.T = point_process[asso_info[i].point_idx-1].CPI_Time; asso_track_info_tmp.T = point_process[asso_info[i].point_idx-1].CPI_Time;
asso_track_info_tmp.pitch_num = point_process[asso_info[i].point_idx-1].pitch_num; asso_track_info_tmp.pitch_num = point_process[asso_info[i].point_idx-1].pitch_num;
std::memcpy(asso_track_info_tmp.speed_dim, point_process[asso_info[i].point_idx-1].speed_dim, sizeof(asso_track_info_tmp.speed_dim)); std::memcpy(asso_track_info_tmp.speed_dim, point_process[asso_info[i].point_idx-1].speed_dim, sizeof(asso_track_info_tmp.speed_dim));
std::memcpy(asso_track_info_tmp.range_dim, point_process[asso_info[i].point_idx-1].range_dim, sizeof(asso_track_info_tmp.range_dim)); std::memcpy(asso_track_info_tmp.range_dim, point_process[asso_info[i].point_idx-1].range_dim, sizeof(asso_track_info_tmp.range_dim));
asso_track_info_tmp.asso_flag = 0; asso_track_info_tmp.asso_flag = 0;
asso_track_info_tmp.buff_round = 1; asso_track_info_tmp.buff_round = 1;
// asso_track_info_tmp.Temp_track_section_idx = floor(point_process[asso_info[i].point_idx-1].beam_index/BEAM_NUM_DOT_SECTION)+1;; // asso_track_info_tmp.Temp_track_section_idx = floor(point_process[asso_info[i].point_idx-1].beam_index/BEAM_NUM_DOT_SECTION)+1;;
double Z0[2]={(*temp_track)[asso_info[i].track_idx-1][0].r*cos((*temp_track)[asso_info[i].track_idx-1][0].azi), double Z0[2]={(*temp_track)[asso_info[i].track_idx-1][0].r*cos((*temp_track)[asso_info[i].track_idx-1][0].azi),
(*temp_track)[asso_info[i].track_idx-1][0].r*sin((*temp_track)[asso_info[i].track_idx-1][0].azi)}; (*temp_track)[asso_info[i].track_idx-1][0].r*sin((*temp_track)[asso_info[i].track_idx-1][0].azi)};
double Z1[2]={point_process[asso_info[i].point_idx-1].Range*cos(point_process[asso_info[i].point_idx-1].Azimuth), double Z1[2]={point_process[asso_info[i].point_idx-1].Range*cos(point_process[asso_info[i].point_idx-1].Azimuth),
point_process[asso_info[i].point_idx-1].Range*sin(point_process[asso_info[i].point_idx-1].Azimuth)}; point_process[asso_info[i].point_idx-1].Range*sin(point_process[asso_info[i].point_idx-1].Azimuth)};
double X[4]; double X[4];
double P[4][4]; double P[4][4];
kalman Kalman; kalman Kalman;
double T = (point_process[asso_info[i].point_idx-1].CPI_Time - (*temp_track)[asso_info[i].track_idx-1][0].T)/1000.0; double T = (point_process[asso_info[i].point_idx-1].CPI_Time - (*temp_track)[asso_info[i].track_idx-1][0].T)/1000.0;
Kalman.kalman_filter_init_2dots(Z0,Z1,T,X,P); Kalman.kalman_filter_init_2dots(Z0,Z1,T,X,P);
memcpy(asso_track_info_tmp.X, X, 4*sizeof(double)); memcpy(asso_track_info_tmp.X, X, 4*sizeof(double));
memcpy(asso_track_info_tmp.P, P, 4*4*sizeof(double)); memcpy(asso_track_info_tmp.P, P, 4*4*sizeof(double));
(*temp_track)[(*temp_track).size()-1].push_back(asso_track_info_tmp); (*temp_track)[(*temp_track).size()-1].push_back(asso_track_info_tmp);
} }
//temp_track中删除关联上的航迹头 //temp_track中删除关联上的航迹头
QVector <QVector<Temp_track>>::iterator Iter; QVector <QVector<Temp_track>>::iterator Iter;
for (Iter=temp_track->begin(); Iter!=temp_track->end();) for (Iter=temp_track->begin(); Iter!=temp_track->end();)
{ {
if((*Iter)[0].asso_flag==1) if((*Iter)[0].asso_flag==1)
{ {
temp_track->erase(Iter); temp_track->erase(Iter);
Iter=temp_track->begin(); Iter=temp_track->begin();
} }
else else
{ {
Iter++; Iter++;
} }
} }
} }
void Track_Init_Direct_Tracking::tmp_track_to_trust_track( QVector<Trust_Track> *trust_track, //临时航迹转可靠航迹 void Track_Init_Direct_Tracking::tmp_track_to_trust_track( QVector<Trust_Track> *trust_track, //临时航迹转可靠航迹
QVector <QVector<Temp_track>> *temp_track, QVector <QVector<Temp_track>> *temp_track,
struct Track Trust_Track_Output[MAX_TRACK_NUM][10], struct Track Trust_Track_Output[MAX_TRACK_NUM][10],
int *Trust_track_num_Output, int *Trust_track_num_Output,
struct RadarPara Work_Parameter, struct RadarPara Work_Parameter,
int track_ID) int track_ID)
{ {
//temp_track中的临时航迹转为可靠航迹 //temp_track中的临时航迹转为可靠航迹
QVector <QVector<Temp_track>>::iterator Iter; QVector <QVector<Temp_track>>::iterator Iter;
for (Iter=temp_track->begin(); Iter!=temp_track->end();) for (Iter=temp_track->begin(); Iter!=temp_track->end();)
{ {
int L=(*Iter).size(); int L=(*Iter).size();
double range=(*Iter)[L-1].r; double range=(*Iter)[L-1].r;
double azi=(*Iter)[L-1].azi/PI*180; double azi=(*Iter)[L-1].azi/PI*180;
if( L==Work_Parameter.track_start_point_num) //按长度查找TRUST_TRACK_POINT if( L==Work_Parameter.track_start_point_num) //按长度查找TRUST_TRACK_POINT
{ {
//加入本地航迹文件 //加入本地航迹文件
double Z0[2]={((*Iter)[L-3].r)*cos((*Iter)[L-3].azi),((*Iter)[L-3].r)*sin((*Iter)[L-3].azi) }; double Z0[2]={((*Iter)[L-3].r)*cos((*Iter)[L-3].azi),((*Iter)[L-3].r)*sin((*Iter)[L-3].azi) };
double Z1[2]={((*Iter)[L-2].r)*cos((*Iter)[L-2].azi),((*Iter)[L-2].r)*sin((*Iter)[L-2].azi) }; double Z1[2]={((*Iter)[L-2].r)*cos((*Iter)[L-2].azi),((*Iter)[L-2].r)*sin((*Iter)[L-2].azi) };
double Z2[2]={((*Iter)[L-1].r)*cos((*Iter)[L-1].azi),((*Iter)[L-1].r)*sin((*Iter)[L-1].azi) }; double Z2[2]={((*Iter)[L-1].r)*cos((*Iter)[L-1].azi),((*Iter)[L-1].r)*sin((*Iter)[L-1].azi) };
double X[6]; double X[6];
double P[6][6]; double P[6][6];
double T1=((*Iter)[L-2].T-(*Iter)[L-3].T)/1000.0; double T1=((*Iter)[L-2].T-(*Iter)[L-3].T)/1000.0;
double T2=((*Iter)[L-1].T-(*Iter)[L-2].T)/1000.0; double T2=((*Iter)[L-1].T-(*Iter)[L-2].T)/1000.0;
kalman Kalman; kalman Kalman;
Kalman.kalman_filter_init_3dots(Z0, Z1, Z2, T1,T2, X ,P); Kalman.kalman_filter_init_3dots(Z0, Z1, Z2, T1,T2, X ,P);
Trust_Track trust_track_tmp; Trust_Track trust_track_tmp;
memcpy(trust_track_tmp.X, X, 6*sizeof(double)); memcpy(trust_track_tmp.X, X, 6*sizeof(double));
memcpy(trust_track_tmp.P, P, 6*6*sizeof(double)); memcpy(trust_track_tmp.P, P, 6*6*sizeof(double));
trust_track_tmp.Track_Index = track_ID; trust_track_tmp.Track_Index = track_ID;
trust_track_tmp.Amplitude=(*Iter)[L-1].Amp; trust_track_tmp.Amplitude=(*Iter)[L-1].Amp;
trust_track_tmp.snr_point = (*Iter)[L-1].snr; trust_track_tmp.snr_point = (*Iter)[L-1].snr;
trust_track_tmp.RCS = (*Iter)[L-1].RCS; trust_track_tmp.RCS = (*Iter)[L-1].RCS;
trust_track_tmp.T_track = (*Iter)[L-1].T; trust_track_tmp.T_track = (*Iter)[L-1].T;
trust_track_tmp.point_flag=1; //实点 trust_track_tmp.point_flag=1; //实点
trust_track_tmp.Track_Mode=1; //跟踪模式 TWS 0 trust_track_tmp.Track_Mode=1; //跟踪模式 TWS 0
trust_track_tmp.Target_Type=UNCONF_TARGET; trust_track_tmp.Target_Type=UNCONF_TARGET;
trust_track_tmp.Height=(*Iter)[L-1].height; trust_track_tmp.Height=(*Iter)[L-1].height;
trust_track_tmp.Extrapolate_round=0; trust_track_tmp.Extrapolate_round=0;
trust_track_tmp.approach_flag = -1; trust_track_tmp.approach_flag = -1;
trust_track_tmp.manual_delete_flag = 0; trust_track_tmp.manual_delete_flag = 0;
trust_track_tmp.associate_point_number = 0; trust_track_tmp.associate_point_number = 0;
trust_track_tmp.manual_tracking_flag = 0; trust_track_tmp.manual_tracking_flag = 0;
trust_track_tmp.point_type = 0; trust_track_tmp.point_type = 0;
trust_track_tmp.u[0]=0.3333; trust_track_tmp.u[0]=0.3333;
trust_track_tmp.u[1]=0.3333; trust_track_tmp.u[1]=0.3333;
trust_track_tmp.u[2]=0.3333; trust_track_tmp.u[2]=0.3333;
memcpy(trust_track_tmp.X1, X, 6*sizeof(double)); memcpy(trust_track_tmp.X1, X, 6*sizeof(double));
memcpy(trust_track_tmp.P1, P, 6*6*sizeof(double)); memcpy(trust_track_tmp.P1, P, 6*6*sizeof(double));
memcpy(trust_track_tmp.X2, X, 6*sizeof(double)); memcpy(trust_track_tmp.X2, X, 6*sizeof(double));
memcpy(trust_track_tmp.P2, P, 6*6*sizeof(double)); memcpy(trust_track_tmp.P2, P, 6*6*sizeof(double));
memcpy(trust_track_tmp.X3, X, 6*sizeof(double)); memcpy(trust_track_tmp.X3, X, 6*sizeof(double));
memcpy(trust_track_tmp.P3, P, 6*6*sizeof(double)); memcpy(trust_track_tmp.P3, P, 6*6*sizeof(double));
(*trust_track).push_back(trust_track_tmp); (*trust_track).push_back(trust_track_tmp);
trust_track_tmp.pitch_num = (*Iter)[L-1].pitch_num; trust_track_tmp.pitch_num = (*Iter)[L-1].pitch_num;
std::memcpy(trust_track_tmp.speed_dim, (*Iter)[L-1].speed_dim, sizeof(trust_track_tmp.speed_dim)); std::memcpy(trust_track_tmp.speed_dim, (*Iter)[L-1].speed_dim, sizeof(trust_track_tmp.speed_dim));
std::memcpy(trust_track_tmp.range_dim, (*Iter)[L-1].range_dim, sizeof(trust_track_tmp.range_dim)); std::memcpy(trust_track_tmp.range_dim, (*Iter)[L-1].range_dim, sizeof(trust_track_tmp.range_dim));
//输出航迹更新信息 //输出航迹更新信息
*Trust_track_num_Output=*Trust_track_num_Output+1; *Trust_track_num_Output=*Trust_track_num_Output+1;
for (int j=0;j<L;j++) for (int j=0;j<L;j++)
{ {
Trust_Track_Output[*Trust_track_num_Output-1][j].Track_Index=track_ID; Trust_Track_Output[*Trust_track_num_Output-1][j].Track_Index=track_ID;
Trust_Track_Output[*Trust_track_num_Output-1][j].Point_Sum=L; Trust_Track_Output[*Trust_track_num_Output-1][j].Point_Sum=L;
Trust_Track_Output[*Trust_track_num_Output-1][j].Range=(*Iter)[j].r; Trust_Track_Output[*Trust_track_num_Output-1][j].Range=(*Iter)[j].r;
Trust_Track_Output[*Trust_track_num_Output-1][j].Azimuth=(*Iter)[j].azi/PI*180; Trust_Track_Output[*Trust_track_num_Output-1][j].Azimuth=(*Iter)[j].azi/PI*180;
Trust_Track_Output[*Trust_track_num_Output-1][j].Elevation=asin((*Iter)[j].height/(*Iter)[j].r)/PI*180; Trust_Track_Output[*Trust_track_num_Output-1][j].Elevation=asin((*Iter)[j].height/(*Iter)[j].r)/PI*180;
Trust_Track_Output[*Trust_track_num_Output-1][j].Range_V=sqrt(pow((*Iter)[j].X[1],2)+pow((*Iter)[j].X[3],2)); Trust_Track_Output[*Trust_track_num_Output-1][j].Range_V=sqrt(pow((*Iter)[j].X[1],2)+pow((*Iter)[j].X[3],2));
Trust_Track_Output[*Trust_track_num_Output-1][j].z=(*Iter)[j].height; Trust_Track_Output[*Trust_track_num_Output-1][j].z=(*Iter)[j].height;
Trust_Track_Output[*Trust_track_num_Output-1][j].Amplitude=(*Iter)[j].Amp; Trust_Track_Output[*Trust_track_num_Output-1][j].Amplitude=(*Iter)[j].Amp;
Trust_Track_Output[*Trust_track_num_Output-1][j].track_snr = (*Iter)[j].snr; Trust_Track_Output[*Trust_track_num_Output-1][j].track_snr = (*Iter)[j].snr;
Trust_Track_Output[*Trust_track_num_Output-1][j].track_rcs = (*Iter)[j].RCS; Trust_Track_Output[*Trust_track_num_Output-1][j].track_rcs = (*Iter)[j].RCS;
double Direction_Angle; double Direction_Angle;
Direction_Angle=atan2((*Iter)[j].X[3],(*Iter)[j].X[1]); Direction_Angle=atan2((*Iter)[j].X[3],(*Iter)[j].X[1]);
if(Direction_Angle<0) if(Direction_Angle<0)
Direction_Angle=Direction_Angle+2*PI; Direction_Angle=Direction_Angle+2*PI;
Trust_Track_Output[*Trust_track_num_Output-1][j].Direction_Angle=Direction_Angle/PI*180; Trust_Track_Output[*Trust_track_num_Output-1][j].Direction_Angle=Direction_Angle/PI*180;
Trust_Track_Output[*Trust_track_num_Output-1][j].track_time=((*Iter)[j].T)/1000.0; Trust_Track_Output[*Trust_track_num_Output-1][j].track_time=((*Iter)[j].T)/1000.0;
Trust_Track_Output[*Trust_track_num_Output-1][j].x=(*Iter)[j].X[0]; Trust_Track_Output[*Trust_track_num_Output-1][j].x=(*Iter)[j].X[0];
Trust_Track_Output[*Trust_track_num_Output-1][j].v_x=(*Iter)[j].X[1]; Trust_Track_Output[*Trust_track_num_Output-1][j].v_x=(*Iter)[j].X[1];
Trust_Track_Output[*Trust_track_num_Output-1][j].y=(*Iter)[j].X[2]; Trust_Track_Output[*Trust_track_num_Output-1][j].y=(*Iter)[j].X[2];
Trust_Track_Output[*Trust_track_num_Output-1][j].v_y=(*Iter)[j].X[3]; Trust_Track_Output[*Trust_track_num_Output-1][j].v_y=(*Iter)[j].X[3];
Trust_Track_Output[*Trust_track_num_Output-1][j].range_point=(*Iter)[j].r; Trust_Track_Output[*Trust_track_num_Output-1][j].range_point=(*Iter)[j].r;
Trust_Track_Output[*Trust_track_num_Output-1][j].azi_point=(*Iter)[j].azi/PI*180; Trust_Track_Output[*Trust_track_num_Output-1][j].azi_point=(*Iter)[j].azi/PI*180;
Trust_Track_Output[*Trust_track_num_Output-1][j].elev_point=asin((*Iter)[j].height/(*Iter)[j].r)/PI*180; Trust_Track_Output[*Trust_track_num_Output-1][j].elev_point=asin((*Iter)[j].height/(*Iter)[j].r)/PI*180;
Trust_Track_Output[*Trust_track_num_Output-1][j].vr_point=(*Iter)[j].vr; Trust_Track_Output[*Trust_track_num_Output-1][j].vr_point=(*Iter)[j].vr;
Trust_Track_Output[*Trust_track_num_Output-1][j].point_type=0; Trust_Track_Output[*Trust_track_num_Output-1][j].point_type=0;
Trust_Track_Output[*Trust_track_num_Output-1][j].Flag_Point=1; Trust_Track_Output[*Trust_track_num_Output-1][j].Flag_Point=1;
Trust_Track_Output[*Trust_track_num_Output-1][j].Track_Mode=1;//跟踪模式 TWS 0 Trust_Track_Output[*Trust_track_num_Output-1][j].Track_Mode=1;//跟踪模式 TWS 0
Trust_Track_Output[*Trust_track_num_Output-1][j].pitch_num = (*Iter)[j].pitch_num; Trust_Track_Output[*Trust_track_num_Output-1][j].pitch_num = (*Iter)[j].pitch_num;
std::memcpy(Trust_Track_Output[*Trust_track_num_Output-1][j].speed_dim, (*Iter)[j].speed_dim, sizeof(Trust_Track_Output[*Trust_track_num_Output-1][j].speed_dim)); std::memcpy(Trust_Track_Output[*Trust_track_num_Output-1][j].speed_dim, (*Iter)[j].speed_dim, sizeof(Trust_Track_Output[*Trust_track_num_Output-1][j].speed_dim));
std::memcpy(Trust_Track_Output[*Trust_track_num_Output-1][j].range_dim, (*Iter)[j].range_dim, sizeof(Trust_Track_Output[*Trust_track_num_Output-1][j].range_dim)); std::memcpy(Trust_Track_Output[*Trust_track_num_Output-1][j].range_dim, (*Iter)[j].range_dim, sizeof(Trust_Track_Output[*Trust_track_num_Output-1][j].range_dim));
} }
temp_track->erase(Iter); temp_track->erase(Iter);
Iter=temp_track->begin(); Iter=temp_track->begin();
} }
else else
{ {
Iter++; Iter++;
} }
} }
} }
@@ -432,20 +432,20 @@ void Track_Init_Direct_Tracking::tmp_track_to_trust_track( QVector<Trust_Track>
void Track_Init_Direct_Tracking::tmp_track_die(QVector <QVector<Temp_track>> *temp_track) void Track_Init_Direct_Tracking::tmp_track_die(QVector <QVector<Temp_track>> *temp_track)
{ {
QVector <QVector<Temp_track>>::iterator Iter; QVector <QVector<Temp_track>>::iterator Iter;
for (Iter=temp_track->begin(); Iter!=temp_track->end();) for (Iter=temp_track->begin(); Iter!=temp_track->end();)
{ {
int n=(*Iter).size(); int n=(*Iter).size();
if( (*Iter)[n-1].buff_round >1 || n>=10) if( (*Iter)[n-1].buff_round >1 || n>=10)
{ {
temp_track->erase(Iter); temp_track->erase(Iter);
Iter=temp_track->begin(); Iter=temp_track->begin();
} }
else else
{ {
Iter++; Iter++;
} }
} }
} }
@@ -453,11 +453,11 @@ void Track_Init_Direct_Tracking::tmp_track_die(QVector <QVector<Temp_track>>
double Track_Init_Direct_Tracking::alpha_cal_track_init(double x0,double y0,double x1,double y1,double x2,double y2) double Track_Init_Direct_Tracking::alpha_cal_track_init(double x0,double y0,double x1,double y1,double x2,double y2)
{ {
double D12[2]={x1-x0,y1-y0}; double D12[2]={x1-x0,y1-y0};
double D23[2]={x2-x1,y2-y1}; double D23[2]={x2-x1,y2-y1};
double alpha=acos((D12[0]*D23[0]+D12[1]*D23[1])/(sqrt(D12[0]*D12[0]+D12[1]*D12[1])*sqrt(D23[0]*D23[0]+D23[1]*D23[1])))/PI*180; double alpha=acos((D12[0]*D23[0]+D12[1]*D23[1])/(sqrt(D12[0]*D12[0]+D12[1]*D12[1])*sqrt(D23[0]*D23[0]+D23[1]*D23[1])))/PI*180;
return alpha; return alpha;
} }
data_process_class_dll/track_init_direct_tracking.h
+24 -24
View File
@@ -9,43 +9,43 @@ class Track_Init_Direct_Tracking
{ {
public: public:
//航迹起始逻辑法 //航迹起始逻辑法
int track_init_process_logic( QVector<PointRecv> *point_recv, //输入点迹 int track_init_process_logic( QVector<PointRecv> *point_recv, //输入点迹
QVector<Trust_Track> *trust_track, //可靠航迹 QVector<Trust_Track> *trust_track, //可靠航迹
QVector <QVector<Temp_track>> *temp_track, QVector <QVector<Temp_track>> *temp_track,
struct Track Trust_Track_Output[MAX_TRACK_NUM][10], struct Track Trust_Track_Output[MAX_TRACK_NUM][10],
int *Trust_track_num_Output, int *Trust_track_num_Output,
struct RadarPara Work_Parameter, struct RadarPara Work_Parameter,
int track_ID int track_ID
); );
Track_Init_Direct_Tracking(); Track_Init_Direct_Tracking();
private: private:
QVector<PointRecv> point_process; //要处理的点迹 QVector<PointRecv> point_process; //要处理的点迹
void point_temp_track_asso(QVector <QVector<Temp_track>> *temp_track, void point_temp_track_asso(QVector <QVector<Temp_track>> *temp_track,
struct RadarPara Work_Parameter); //临时航迹与点迹关联 struct RadarPara Work_Parameter); //临时航迹与点迹关联
void point_track_head_asso( QVector <QVector<Temp_track>> *temp_track, void point_track_head_asso( QVector <QVector<Temp_track>> *temp_track,
struct RadarPara Work_Parameter); //航迹头与点迹关联 struct RadarPara Work_Parameter); //航迹头与点迹关联
void tmp_track_to_trust_track( QVector<Trust_Track> *trust_track, //临时航迹转可靠航迹 void tmp_track_to_trust_track( QVector<Trust_Track> *trust_track, //临时航迹转可靠航迹
QVector <QVector<Temp_track>> *temp_track, QVector <QVector<Temp_track>> *temp_track,
struct Track Trust_Track_Output[MAX_TRACK_NUM][10], struct Track Trust_Track_Output[MAX_TRACK_NUM][10],
int *Trust_track_num_Output, int *Trust_track_num_Output,
struct RadarPara Work_Parameter, struct RadarPara Work_Parameter,
int track_ID int track_ID
); );
void tmp_track_die(QVector <QVector<Temp_track>> *temp_track);//临时航迹消亡 void tmp_track_die(QVector <QVector<Temp_track>> *temp_track);//临时航迹消亡
double alpha_cal_track_init(double x0,double y0,double x1,double y1,double x2,double y2); //计算夹角 double alpha_cal_track_init(double x0,double y0,double x1,double y1,double x2,double y2); //计算夹角
}; };