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更新：1、增加手动设置重点目标的功能；

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2、调整航迹关联时外推圈数限制，不过多外推；
3、调整航迹消批条件，重点航迹消批圈数提高；
4、更新文档；

Signed-off-by: waiwaylee <waiwaylee@foxmail.com>
This commit is contained in:
waiwaylee
2026-09-23 09:35:13 +08:00
parent e0bf227be3
commit 50e0b5cb74
12 changed files with 247 additions and 118 deletions
Download Patch File Download Diff File Expand all files Collapse all files
data_process_class_dll/data_process.cpp
+27
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@@ -264,6 +264,33 @@ int Data_Process:: track_delete(int delete_track_num, //手动
return 0;
}
//手动添加重点目标
int Data_Process::primary_target_add(int track_index)
{
for ( size_t i=0; i<trust_track.size();i++)
if(trust_track[i].Track_Index==track_index)
{
trust_track[i].primary_target_flag = 1;
}
return 0;
}
//手动取消重点目标
int Data_Process::primary_target_cancel(int track_index)
{
for ( size_t i=0; i<trust_track.size();i++){
if(trust_track[i].Track_Index==track_index)
{
trust_track[i].primary_target_flag = 0;
}
}
return 0;
}
//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
{
data_process_class_dll/data_process.h
+6
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@@ -59,6 +59,12 @@ public:
//手动取消TAS跟踪函数
int tracking_stop(int track_index); //需要取消TAS跟踪的航迹号
//手动添加重点目标
int primary_target_add(int track_index); //将指定目标转为重点目标
//手动取消重点目标
int primary_target_cancel(int track_index); //将指定重点目标取消
//手动打跟踪波束
int tracking_point(float Azimuth); //方位角
data_process_class_dll/data_process_class_dll.h
+12
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@@ -236,6 +236,18 @@ public:
return 0;
}
//手动添加重点目标
virtual int primary_target_add(int track_index) //将指定目标转为重点目标
{
return 0;
}
//手动取消重点目标
virtual int primary_target_cancel(int track_index) //将指定重点目标取消
{
return 0;
}
//手动打跟踪波束
virtual int tracking_point(float Azimuth) //方位角（当前接口未启用，保留空实现）
{
data_process_class_dll/parameters.h
+12 -4
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@@ -49,8 +49,12 @@
#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 TRACK_DIE_ROUND 4 // 航迹消亡时间
#define TRACK_DIE_ROUND_TAS 96 //
#define MAX_EXTRAPOLATE_NUM 3 //最大外推点数
#define MAX_EXTRAPOLATE_NUM_TAS 48 //TAS最大外推点数
#define TRACK_DIE_ROUND 6 // 航迹消亡圈数
#define TRACK_DIE_ROUND_PRIMARY 10 // 重点航迹消亡圈数
#define TRACK_DIE_ROUND_TAS 96 //TAS航迹消亡圈数
#define ASSO_THORD 4
@@ -98,8 +102,12 @@
#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 TRACK_DIE_ROUND 4 // 航迹消亡时间
#define TRACK_DIE_ROUND_TAS 5
#define MAX_EXTRAPOLATE_NUM 3 //最大外推点数
#define MAX_EXTRAPOLATE_NUM_TAS 5 //TAS最大外推点数
#define TRACK_DIE_ROUND 6 // 航迹消亡圈数
#define TRACK_DIE_ROUND_PRIMARY 10 // 重点航迹消亡圈数
#define TRACK_DIE_ROUND_TAS 10 //TAS航迹消亡圈数
#define ASSO_THORD 4
data_process_class_dll/struct.h
+2
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@@ -57,6 +57,8 @@ struct Trust_Track
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
int Track_section_idx; //航迹区号
data_process_class_dll/track_asso.cpp
+60 -49
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@@ -67,7 +67,8 @@ int Track_Asso:: track_asso_process(std::vector<PointRecv> *point_
{ // 输出更新航迹条件：
// if((*trust_track)[i].manual_tracking_flag==0)
// {
if((*trust_track)[i].Track_Update_Flag==1){
(*trust_track)[i].Track_Update_Flag=0;
*Trust_track_num_Output= *Trust_track_num_Output+1;
Trust_Track_Output[*Trust_track_num_Output-1][0].Point_Sum=1;
@@ -129,7 +130,7 @@ int Track_Asso:: track_asso_process(std::vector<PointRecv> *point_
std::memcpy(Trust_Track_Output[*Trust_track_num_Output-1][0].speed_dim, (*trust_track)[i].speed_dim, sizeof(Trust_Track_Output[*Trust_track_num_Output-1][0].speed_dim));
std::memcpy(Trust_Track_Output[*Trust_track_num_Output-1][0].range_dim, (*trust_track)[i].range_dim, sizeof(Trust_Track_Output[*Trust_track_num_Output-1][0].range_dim));
// }
}
}
return 0;
@@ -651,6 +652,7 @@ void Track_Asso:: model_filter(std::vector <Trust_Track> *trust_track,struct Ra
(*trust_track)[track_index-1].Extrapolate_round = 0; //连续未用实点更新时间
(*trust_track)[track_index-1].point_flag=1; //实点
(*trust_track)[track_index-1].associate_point_number = (*trust_track)[track_index-1].associate_point_number+1; //关联点数+1
(*trust_track)[track_index-1].Track_Update_Flag = 1; //航迹更新标志
}
//删除associated_info中关联上的航迹 点迹信息
@@ -685,57 +687,66 @@ void Track_Asso:: model_filter(std::vector <Trust_Track> *trust_track,struct Ra
//未关联上的航迹 进行外推 tws
for (size_t i =0; i<(*trust_track).size();i++ )
{
if((*trust_track)[i].point_flag == 0 && (*trust_track)[i].manual_tracking_flag == 0)
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 v_track = sqrt(pow((*trust_track)[i].X[1],2)+pow((*trust_track)[i].X[4],2));
double delta_T;
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
//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;
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);
//航迹X P
double X1[6],X2[6],X3[6],P1[6][6],P2[6][6],P3[6][6];
memcpy(X1,(*trust_track)[i].X1,6*sizeof(double));
memcpy(X2,(*trust_track)[i].X2,6*sizeof(double));
memcpy(X3,(*trust_track)[i].X3,6*sizeof(double));
memcpy(P1,(*trust_track)[i].P1,6*6*sizeof(double));
memcpy(P2,(*trust_track)[i].P2,6*6*sizeof(double));
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);
Kalman.kalman_pred(F, Q2, X2, P2, X2_pred, P2_pred);
Kalman.kalman_pred(F, Q3, X3, P3, X3_pred, P3_pred);
memcpy((*trust_track)[i].X1,X1_pred,6*sizeof(double));
memcpy((*trust_track)[i].X2,X2_pred,6*sizeof(double));
memcpy((*trust_track)[i].X3,X3_pred,6*sizeof(double));
memcpy((*trust_track)[i].P1,P1_pred,6*6*sizeof(double));
memcpy((*trust_track)[i].P2,P2_pred,6*6*sizeof(double));
memcpy((*trust_track)[i].P3,P3_pred,6*6*sizeof(double));
(*trust_track)[i].T_track = static_cast<long long>((*trust_track)[i].T_track+delta_T*1000.0); //更新航迹时间
(*trust_track)[i].GNSS_time = static_cast<long long>((*trust_track)[i].GNSS_time+delta_T*1000.0); //更新航迹时间
(*trust_track)[i].Extrapolate_round =(*trust_track)[i].Extrapolate_round+1; //连续未用实点更新时间
(*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].point_flag=0; //虚点
(*trust_track)[i].Track_Update_Flag = 0; //航迹更新标志
}
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);
//航迹X P
double X1[6],X2[6],X3[6],P1[6][6],P2[6][6],P3[6][6];
memcpy(X1,(*trust_track)[i].X1,6*sizeof(double));
memcpy(X2,(*trust_track)[i].X2,6*sizeof(double));
memcpy(X3,(*trust_track)[i].X3,6*sizeof(double));
memcpy(P1,(*trust_track)[i].P1,6*6*sizeof(double));
memcpy(P2,(*trust_track)[i].P2,6*6*sizeof(double));
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);
Kalman.kalman_pred(F, Q2, X2, P2, X2_pred, P2_pred);
Kalman.kalman_pred(F, Q3, X3, P3, X3_pred, P3_pred);
memcpy((*trust_track)[i].X1,X1_pred,6*sizeof(double));
memcpy((*trust_track)[i].X2,X2_pred,6*sizeof(double));
memcpy((*trust_track)[i].X3,X3_pred,6*sizeof(double));
memcpy((*trust_track)[i].P1,P1_pred,6*6*sizeof(double));
memcpy((*trust_track)[i].P2,P2_pred,6*6*sizeof(double));
memcpy((*trust_track)[i].P3,P3_pred,6*6*sizeof(double));
(*trust_track)[i].T_track = static_cast<long long>((*trust_track)[i].T_track+delta_T*1000.0); //更新航迹时间
(*trust_track)[i].GNSS_time = static_cast<long long>((*trust_track)[i].GNSS_time+delta_T*1000.0); //更新航迹时间
(*trust_track)[i].Extrapolate_round =(*trust_track)[i].Extrapolate_round+1; //连续未用实点更新时间
(*trust_track)[i].point_flag=0; //虚点
}
}
data_process_class_dll/track_asso_tas.cpp
+33 -23
View File
@@ -39,8 +39,9 @@ long long latest_timestamp //最新时间戳
//输出航迹
for (size_t i=0;i<trust_track->size();i++)
{ // 输出更新航迹条件：
if((*trust_track)[i].Track_Index == tas_track_idx)
if((*trust_track)[i].Track_Index == tas_track_idx && (*trust_track)[i].Track_Update_Flag == 1)
{
(*trust_track)[i].Track_Update_Flag = 0; //航迹更新标志
*Trust_track_num_Output= *Trust_track_num_Output+1;
Trust_Track_Output[*Trust_track_num_Output-1][0].Point_Sum=1;
@@ -444,6 +445,7 @@ void Track_Asso_Tas::model_filter( std::vector<Trust_Track> *t
(*trust_track)[i].Amplitude= point_process[point_index-1].Amplitude; //幅度
(*trust_track)[i].associate_point_number = (*trust_track)[i].associate_point_number+1; //关联点数+1
(*trust_track)[i].RCS = point_process[point_index-1].RCS;
(*trust_track)[i].Track_Update_Flag = 1; //航迹更新标志
(*trust_track)[i].pitch_num = point_process[point_index-1].pitch_num;
@@ -459,33 +461,41 @@ void Track_Asso_Tas::model_filter( std::vector<Trust_Track> *t
else
{
//RDP_LOG << "unassociated point for track index " << tas_track_idx << std::endl;
for(size_t i=0;i<trust_track->size();i++)
for(size_t i=0;i<trust_track->size();i++){
if((*trust_track)[i].Track_Index == tas_track_idx)
{
double delta_T = (latest_timestamp - T_track)/1000.0;
if (delta_T <= 0)
continue;
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);
if((*trust_track)[i].Extrapolate_round >= MAX_EXTRAPOLATE_NUM_TAS)
{
double delta_T = (latest_timestamp - T_track)/1000.0;
if (delta_T <= 0)
continue;
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);
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);
Kalman.kalman_pred(F, Q2, X2, P2, X2_pred, P2_pred);
Kalman.kalman_pred(F, Q3, X3, P3, X3_pred, P3_pred);
memcpy((*trust_track)[i].X1,X1_pred,6*sizeof(double));
memcpy((*trust_track)[i].X2,X2_pred,6*sizeof(double));
memcpy((*trust_track)[i].X3,X3_pred,6*sizeof(double));
memcpy((*trust_track)[i].P1,P1_pred,6*6*sizeof(double));
memcpy((*trust_track)[i].P2,P2_pred,6*6*sizeof(double));
memcpy((*trust_track)[i].P3,P3_pred,6*6*sizeof(double));
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);
Kalman.kalman_pred(F, Q2, X2, P2, X2_pred, P2_pred);
Kalman.kalman_pred(F, Q3, X3, P3, X3_pred, P3_pred);
memcpy((*trust_track)[i].X1,X1_pred,6*sizeof(double));
memcpy((*trust_track)[i].X2,X2_pred,6*sizeof(double));
memcpy((*trust_track)[i].X3,X3_pred,6*sizeof(double));
memcpy((*trust_track)[i].P1,P1_pred,6*6*sizeof(double));
memcpy((*trust_track)[i].P2,P2_pred,6*6*sizeof(double));
memcpy((*trust_track)[i].P3,P3_pred,6*6*sizeof(double));
(*trust_track)[i].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].point_flag=0; //虚点
(*trust_track)[i].Extrapolate_round =(*trust_track)[i].Extrapolate_round+1;
(*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].point_flag=0; //虚点
(*trust_track)[i].Extrapolate_round =(*trust_track)[i].Extrapolate_round+1;
(*trust_track)[i].Track_Update_Flag = 1; //航迹更新标志
}else{
(*trust_track)[i].point_flag=0; //虚点
(*trust_track)[i].Extrapolate_round =(*trust_track)[i].Extrapolate_round+1;
(*trust_track)[i].Track_Update_Flag = 0; //航迹更新标志
}
}
}
}
}
data_process_class_dll/track_die.cpp
+17 -3
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@@ -14,10 +14,24 @@ void Track_Die::track_die_process( std::vector <Trust_Track> *trust_track,
std::vector <Trust_Track>::iterator Iter;
for (Iter=trust_track->begin(); Iter!=trust_track->end();)
{
if( ((*Iter).Track_Mode == 0 && (*Iter).Extrapolate_round >= TRACK_DIE_ROUND)
// ||((*Iter).Track_Mode == 1 && (*Iter).Extrapolate_round >= TRACK_DIE_ROUND_TAS)
||(*Iter).manual_delete_flag == 1)
bool die_flag = false;
if((*Iter).manual_delete_flag == 1)
{
die_flag = true;
}
if((*Iter).Track_Mode == 0 && (*Iter).primary_target_flag == 0 && (*Iter).Extrapolate_round > TRACK_DIE_ROUND)
{
die_flag = true;
}
if((*Iter).Track_Mode == 0 && (*Iter).primary_target_flag == 1 && (*Iter).Extrapolate_round > TRACK_DIE_ROUND_PRIMARY)
{
die_flag = true;
}
if(die_flag)
{
//输出消亡信息
*Track_die_num_Output=*Track_die_num_Output+1;
data_process_class_dll/track_die_tas.cpp
+12 -2
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@@ -17,9 +17,19 @@ void Track_Die_Tas::track_die_process_tas( std::vector <Trust_Track> *trust_trac
std::vector <Trust_Track>::iterator Iter;
for (Iter=trust_track->begin(); Iter!=trust_track->end();)
{
if( ((*Iter).Track_Mode == 1 && (*Iter).Extrapolate_round >= TRACK_DIE_ROUND_TAS)
||(*Iter).manual_delete_flag == 1)
bool die_flag = false;
if((*Iter).manual_delete_flag == 1)
{
die_flag = true;
}
if((*Iter).Track_Mode == 1 && (*Iter).Extrapolate_round > TRACK_DIE_ROUND_TAS)
{
die_flag = true;
}
if(die_flag)
{
// RDP_LOG << "remove tas target :" << (*Iter).Track_Index << std::endl;
//输出消亡信息