Signed-off-by: Yang Jianchao <yangjianchao999@126.com>

2022-05-19 09:58:30 +08:00
commit 591fa491e2
1946 changed files with 442413 additions and 0 deletions
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+#ifndef KALMAN_H
+#define KALMAN_H
+#include "parameters.h"
+#include "struct.h"
+#include <QVector>
+#include <Eigen/Dense>
+using namespace Eigen;
+using namespace std;
+
+
+class kalman
+{
+public:
+
+    void kalman_pred(float F[6][6], float Q[6][6], float X[6], float P[6][6], float X_pred[6], float P_pred[6][6]);
+
+    void kalman_filter_init_2dots(float Z0[2], float Z1[2], float T,float X[4], float P[4][4]);//两点初始化卡尔曼滤波器
+
+
+    float d_cal_track_init(float Z[2],float X[4],float P[4][4],float T);		//计算点 临时航迹的d
+
+    float d_cal_track_init_with_doppler(float Z[2],float X[4],float P[4][4],float T,float vr,float prt,float freq_ind);
+
+    float d_cal_track_init_EKF(float Z[3],float X[4],float P[4][4],float T,float prt,float freq_ind);
+
+    void kalman_filter_init_3dots(float Z0[2], float Z1[2],float Z2[2], float T1,float T2, float X[6], float P[6][6]);
+
+    float d_cal(float Z[2],float X[6],float P[6][6]);
+
+    float d_cal_with_doppler(float F[6][6], float Q[6][6] ,float Z[2],float X[6],float P[6][6],float vr,float prt,float freq_ind);
+
+    float d_cal_EKF(float F[6][6], float Q[6][6] ,float Z[3],float X[6],float P[6][6],float prt,float freq_ind);
+
+    void kalman_filter(float F[6][6], float Q[6][6], float X[6],float P[6][6],float Z[2],float X_filter[6],float P_filter[6][6],float S_filter[2][2]);
+
+    void kalman_filter_EKF(float F[6][6], float Q[6][6], float X[6],float P[6][6],float Z[3],
+                           float X_filter[6],float P_filter[6][6],float S_filter[2][2],
+                           float prt,float freq_ind );
+
+    float Bind_speed(float prt,float freq_ind);	//根据PRT 和 频率 计算不模糊速度
+
+};
+#endif // KALMAN_H