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；

Signed-off-by: waiwaylee <waiwaylee@foxmail.com>

data_process_class_dll/parameters.h

@@ -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

@@ -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

@@ -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;
@@ -737,10 +738,6 @@ 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
 		{
-			//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)
@@ -763,6 +760,11 @@ void Track_Asso:: model_filter(std::vector <Trust_Track> *trust_track,struct  Ra
 				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 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

@@ -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

@@ -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;