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更新：1、修改航迹质量下降策略，改为按点迹未更新时间计算；

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Signed-off-by: waiwaylee <waiwaylee@foxmail.com>
This commit is contained in:
waiwaylee
2026-10-20 09:55:17 +08:00
parent d9a7bd0ee1
commit 4b70b24515
5 changed files with 47 additions and 27 deletions
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data_process_class_dll/parameters.h
+14 -1
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@@ -57,7 +57,7 @@
#define TRACK_QUALITY_SNR_WEIGHT 0.3
#define TRACK_QUALITY_LEN_WEIGHT 0.2
#define TRACK_QUALITY_ITER_COEFF 0.8
#define TRACK_QUALITY_DECREASE_COEFF 0.01
#define TRACK_QUALITY_DECREASE_COEFF 0.005
//航迹起批质量条件
#define TRACK_START_QUALITY_L3 0.7
@@ -66,6 +66,19 @@
#define TRACK_START_QUALITY_L6 0.4
#define TRACK_START_QUALITY_L7 0.3
//航迹消批质量条件
#define TRACK_DIE_QUALITY_E4 0.3
#define TRACK_DIE_QUALITY_E5 0.4
#define TRACK_DIE_QUALITY_E6 0.5
#define TRACK_DIE_QUALITY_E7 0.6
#define TRACK_DIE_QUALITY_E8 0.7
#define TRACK_DIE_QUALITY_PRAMARY_E6 0.3
#define TRACK_DIE_QUALITY_PRAMARY_E7 0.4
#define TRACK_DIE_QUALITY_PRAMARY_E8 0.5
#define TRACK_DIE_QUALITY_PRAMARY_E9 0.6
#define TRACK_DIE_QUALITY_PRAMARY_E10 0.7
#ifdef MECHANICAL_SCANNING
/******************************机扫数据处理参数**************************************/
// #define DATA_RATE_TAS 0.0625
data_process_class_dll/struct.h
+3 -3
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@@ -54,13 +54,15 @@ struct Trust_Track
double RCS; //RCS
double Quality; //航迹质量
long long T_track; //航迹时间
long long T_track; //航迹时间（CPI时间）
long long GNSS_time; //GNSS时间
long long Unupdated_time; //航迹未更新时间
int Track_Sum; //航迹总数
int Point_Index; //该航迹上的第几个点
int Point_sum; //本条航迹更新点的数目
int Valid_point_sum; //本条航迹有效点的数目
int associate_point_number; //关联的点数
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
@@ -71,8 +73,6 @@ struct Trust_Track
int manual_delete_flag; //手动航迹删除
int manual_tracking_flag; //手动TAS
int associate_point_number; //关联的点数
int primary_target_flag; //重点目标标记
int Target_Type; //目标类型 搜索目标 低空目标 地面目标
data_process_class_dll/track_asso.cpp
+26 -23
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@@ -668,6 +668,7 @@ void Track_Asso:: model_filter(std::vector <Trust_Track> *trust_track,struct Ra
//更新航迹时间
(*trust_track)[track_index-1].T_track = point_process[point_index-1].CPI_time;
(*trust_track)[track_index-1].GNSS_time = point_process[point_index-1].GNSS_time;
(*trust_track)[track_index-1].Unupdated_time = 0;
//更新关联上的点迹信息
(*trust_track)[track_index-1].point_id = point_process[point_index-1].point_id;
@@ -737,31 +738,32 @@ void Track_Asso:: model_filter(std::vector <Trust_Track> *trust_track,struct Ra
{
if((*trust_track)[i].point_flag == 0 && (*trust_track)[i].manual_tracking_flag == 0) //未关联上点迹的航迹进行外推
{
double delta_T = 0;
// double delta_T = (latest_timestamp - (*trust_track)[i].T_track)/1000.0;
// if (delta_T <= 0)
// continue;
if(Work_Parameter.work_mode == 0)
{
delta_T = Work_Parameter.DATA_RATE_SHORT;
}
else if(Work_Parameter.work_mode == 1)
{
delta_T = Work_Parameter.DATA_RATE_MIDDLE;
}
else if(Work_Parameter.work_mode == 2)
{
delta_T = Work_Parameter.DATA_RATE_FAR;
}
else
{
delta_T = Work_Parameter.DATA_RATE_SHORT;
}
//外推点数未到上限，则继续外推，否则不外推
if((*trust_track)[i].Extrapolate_round <= MAX_EXTRAPOLATE_NUM)
{
double v_track = sqrt(pow((*trust_track)[i].X[1],2)+pow((*trust_track)[i].X[4],2));
double delta_T = 0;
// double delta_T = (latest_timestamp - (*trust_track)[i].T_track)/1000.0;
// if (delta_T <= 0)
// continue;
if(Work_Parameter.work_mode == 0)
{
delta_T = Work_Parameter.DATA_RATE_SHORT;
}
else if(Work_Parameter.work_mode == 1)
{
delta_T = Work_Parameter.DATA_RATE_MIDDLE;
}
else if(Work_Parameter.work_mode == 2)
{
delta_T = Work_Parameter.DATA_RATE_FAR;
}
else
{
delta_T = Work_Parameter.DATA_RATE_SHORT;
}
double F[6][6], Q1[6][6], Q2[6][6], Q3[6][6];
IMM_F_Q_gen( v_track, delta_T, F, Q1, Q2, Q3,Work_Parameter);
@@ -776,7 +778,6 @@ void Track_Asso:: model_filter(std::vector <Trust_Track> *trust_track,struct Ra
memcpy(P3,(*trust_track)[i].P3,6*6*sizeof(double));
//外推
double X1_pred[6],X2_pred[6],X3_pred[6],P1_pred[6][6],P2_pred[6][6],P3_pred[6][6];
kalman Kalman;
Kalman.kalman_pred(F, Q1, X1, P1, X1_pred, P1_pred);
@@ -792,17 +793,19 @@ void Track_Asso:: model_filter(std::vector <Trust_Track> *trust_track,struct Ra
(*trust_track)[i].circle_id++;
(*trust_track)[i].T_track = static_cast<long long>((*trust_track)[i].T_track+delta_T*1000.0); //更新航迹时间
(*trust_track)[i].GNSS_time = static_cast<long long>((*trust_track)[i].GNSS_time+delta_T*1000.0); //更新航迹时间
(*trust_track)[i].Unupdated_time += static_cast<long long>(delta_T*1000.0);
(*trust_track)[i].Extrapolate_round =(*trust_track)[i].Extrapolate_round+1; //连续未用实点更新时间
(*trust_track)[i].point_flag=0; //虚点
(*trust_track)[i].Track_Update_Flag = 1; //航迹更新标志
}else{
(*trust_track)[i].Extrapolate_round =(*trust_track)[i].Extrapolate_round+1; //连续未用实点更新时间
(*trust_track)[i].Unupdated_time += static_cast<long long>(delta_T*1000.0);
(*trust_track)[i].point_flag=0; //虚点
(*trust_track)[i].Track_Update_Flag = 0; //航迹更新标志
}
//航迹质量递减
(*trust_track)[i].Quality -= (*trust_track)[i].Extrapolate_round * TRACK_QUALITY_DECREASE_COEFF;
(*trust_track)[i].Quality -= (*trust_track)[i].Unupdated_time / 1000.0 * TRACK_QUALITY_DECREASE_COEFF;
(*trust_track)[i].Quality = (*trust_track)[i].Quality < 0.0 ? 0.0 : (*trust_track)[i].Quality;
(*trust_track)[i].Point_sum = (*trust_track)[i].Point_sum + 1;
}
data_process_class_dll/track_die.cpp
+3
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@@ -16,16 +16,19 @@ void Track_Die::track_die_process( std::vector <Trust_Track> *trust_track,
{
bool die_flag = false;
//手动删除
if((*Iter).manual_delete_flag == 1)
{
die_flag = true;
}
//非重点航迹自动消亡
if((*Iter).Track_Mode == 0 && (*Iter).primary_target_flag == 0 && (*Iter).Extrapolate_round > TRACK_DIE_ROUND)
{
die_flag = true;
}
//重点航迹自动消亡
if((*Iter).Track_Mode == 0 && (*Iter).primary_target_flag == 1 && (*Iter).Extrapolate_round > TRACK_DIE_ROUND_PRIMARY)
{
die_flag = true;
data_process_class_dll/track_init.cpp
+1
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@@ -663,6 +663,7 @@ void Track_Init::tmp_track_to_trust_track(std::vector<Trust_Track> *trust_tra
std::memcpy(trust_track_tmp.range_dim, Track_to_start[i][L-1].range_dim, sizeof(trust_track_tmp.range_dim));
trust_track_tmp.T_track = Track_to_start[i][L-1].CPI_time;
trust_track_tmp.GNSS_time = Track_to_start[i][L-1].GNSS_time;
trust_track_tmp.Unupdated_time = 0;
trust_track_tmp.point_flag=1; //实点
trust_track_tmp.Track_Mode=0; //跟踪模式 TWS 0
trust_track_tmp.Target_Type=UNCONF_TARGET;