Signed-off-by: Yang Jianchao <yangjianchao999@126.com>
This commit is contained in:
Yang Jianchao
@@ -0,0 +1,319 @@
|
||||
#include <tas_ctrl.h>
|
||||
#include "coor_trans.h"
|
||||
#include <qmath.h>
|
||||
#include"memory.h"
|
||||
#include <QVector>
|
||||
using namespace std;
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
TAS_Ctrl::TAS_Ctrl()
|
||||
{
|
||||
memset(tas_target_queue,0,TAS_QUEUE_LENGTH*sizeof(Tracking_Target));
|
||||
|
||||
tas_target_num=0;
|
||||
}
|
||||
|
||||
|
||||
void TAS_Ctrl::tas_ctrl_process(QVector <QVector<Trust_Track>> *trust_track,
|
||||
struct TrackingBeam *Tracking_beam,
|
||||
struct Track Trust_Track_Output[][10],
|
||||
int *Trust_track_num_Output,
|
||||
struct RadarPara 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_beam_output(trust_track,Tracking_beam);
|
||||
|
||||
//跟踪队列移位
|
||||
struct Tracking_Target tas_target_tmp;
|
||||
memcpy(&tas_target_tmp, &tas_target_queue[TAS_QUEUE_LENGTH-1], sizeof(Tracking_Target));
|
||||
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[0], &tas_target_tmp, sizeof(Tracking_Target));
|
||||
|
||||
|
||||
|
||||
};
|
||||
|
||||
|
||||
void TAS_Ctrl::tas_target_add(QVector <QVector<Trust_Track>> *trust_track,
|
||||
struct Track Trust_Track_Output[][10],
|
||||
int *Trust_track_num_Output,
|
||||
struct RadarPara Work_Parameter)
|
||||
{
|
||||
|
||||
for (int i=0;i<trust_track->size();i++)
|
||||
for (int k=0;k<(*trust_track)[i].size();k++)
|
||||
{
|
||||
float r=sqrt(pow((*trust_track)[i][k].X[0],2)+pow((*trust_track)[i][k].X[3],2));
|
||||
float v=sqrt(pow((*trust_track)[i][k].X[1],2)+pow((*trust_track)[i][k].X[4],2));
|
||||
float h=(*trust_track)[i][k].Height+Work_Parameter.Height;
|
||||
float azi = atan2((*trust_track)[i][k].X[3],(*trust_track)[i][k].X[0]);
|
||||
if(azi<0)
|
||||
azi=azi+2*PI;
|
||||
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
|
||||
if( ( (*trust_track)[i][k].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
|
||||
&& (*trust_track)[i][k].Track_Mode == 0
|
||||
&& tas_prohibite_area( r, azi, v, h, Work_Parameter) == 0)
|
||||
{
|
||||
for(int j=0;j<TAS_QUEUE_LENGTH;j++)
|
||||
{
|
||||
if(tas_target_queue[j].empty_flag==0 && j%2==0)
|
||||
{
|
||||
//插入跟踪队列
|
||||
tas_target_queue[j].Index=(*trust_track)[i][k].Track_Index;
|
||||
tas_target_queue[j].empty_flag=1;
|
||||
|
||||
//跟踪目标数目加一
|
||||
tas_target_num=tas_target_num+1;
|
||||
|
||||
//TAS跟踪标志置1
|
||||
(*trust_track)[i][k].Track_Mode=1;
|
||||
|
||||
//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;
|
||||
float r_output,azmi_output;
|
||||
coor_trans Coor_trans;
|
||||
Coor_trans.cart2polar((*trust_track)[i][k].X[0],(*trust_track)[i][k].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].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].Track_Index=(*trust_track)[i][k].Track_Index; //航迹号
|
||||
Trust_Track_Output[*Trust_track_num_Output-1][0].Range_V=
|
||||
sqrt((*trust_track)[i][k].X[1]*(*trust_track)[i][k].X[1]+(*trust_track)[i][k].X[4]*(*trust_track)[i][k].X[4]);
|
||||
Trust_Track_Output[*Trust_track_num_Output-1][0].Amplitude=(*trust_track)[i][k].Amplitude;
|
||||
Trust_Track_Output[*Trust_track_num_Output-1][0].Flag_Point=(*trust_track)[i][k].point_flag;
|
||||
Trust_Track_Output[*Trust_track_num_Output-1][0].Track_Mode=(*trust_track)[i][k].Track_Mode;
|
||||
Trust_Track_Output[*Trust_track_num_Output-1][0].Elevation=asin((*trust_track)[i][k].Height/r_output)/PI*180;
|
||||
Trust_Track_Output[*Trust_track_num_Output-1][0].z=(*trust_track)[i][k].Height+Work_Parameter.Height;
|
||||
Trust_Track_Output[*Trust_track_num_Output-1][0].Target_Type=(*trust_track)[i][k].Target_Type;
|
||||
Trust_Track_Output[*Trust_track_num_Output-1][0].track_snr = (*trust_track)[i][k].snr_point;
|
||||
break;
|
||||
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
|
||||
};
|
||||
|
||||
|
||||
|
||||
int TAS_Ctrl:: tas_auto_start(float v, float r, float 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
|
||||
&& ( (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>Work_Parameter.R_TAS_min && r<Work_Parameter.R_TAS_max && v<Work_Parameter.V_TAS_max && v>Work_Parameter.V_TAS_min
|
||||
&& ( (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) ) )
|
||||
{
|
||||
return 1;
|
||||
}
|
||||
else
|
||||
{
|
||||
return 0;
|
||||
}
|
||||
|
||||
return 0;
|
||||
|
||||
};
|
||||
|
||||
|
||||
int TAS_Ctrl::tas_prohibite_area(float r,float azi, float v, float h,struct RadarPara Work_Parameter)
|
||||
{
|
||||
|
||||
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])
|
||||
{
|
||||
return 1;
|
||||
}
|
||||
}
|
||||
|
||||
return 0;
|
||||
|
||||
|
||||
}
|
||||
|
||||
void TAS_Ctrl::tas_target_del(QVector <QVector<Trust_Track>> *trust_track,
|
||||
struct Track Trust_Track_Output[][10],
|
||||
int *Trust_track_num_Output,
|
||||
struct RadarPara Work_Parameter)
|
||||
{
|
||||
|
||||
//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++)
|
||||
{
|
||||
if(tas_target_queue[i].empty_flag == 1)
|
||||
{
|
||||
//查找TAS队列里的目标是否存在
|
||||
int flag=0;
|
||||
for (int j=0;j<trust_track->size();j++)
|
||||
for (int k=0;k<(*trust_track)[j].size();k++)
|
||||
{
|
||||
if(tas_target_queue[i].Index==(*trust_track)[j][k].Track_Index && (*trust_track)[j][k].Track_Mode == 1)
|
||||
{
|
||||
flag=1;
|
||||
}
|
||||
}
|
||||
//目标不存在 说明已消批 从队列里删除
|
||||
if(flag == 0)
|
||||
{
|
||||
memset(&tas_target_queue[i],0,sizeof(Tracking_Target));
|
||||
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
|
||||
for ( int i=0;i<trust_track->size();i++)
|
||||
for (int j=0;j<(*trust_track)[i].size();j++)
|
||||
{
|
||||
float r=sqrt(pow((*trust_track)[i][j].X[0],2)+pow((*trust_track)[i][j].X[3],2));
|
||||
float v=sqrt(pow((*trust_track)[i][j].X[1],2)+pow((*trust_track)[i][j].X[4],2));
|
||||
float h=(*trust_track)[i][j].Height+Work_Parameter.Height;
|
||||
|
||||
if((*trust_track)[i][j].manual_tracking_flag == 0 && (*trust_track)[i][j].Track_Mode == 1 && tas_auto_end(v,r,h,Work_Parameter) == 1) //满足结束跟踪条件
|
||||
{
|
||||
|
||||
int track_index=(*trust_track)[i][j].Track_Index;
|
||||
|
||||
for (int ii=0;ii<TAS_QUEUE_LENGTH;ii++)
|
||||
{
|
||||
if(tas_target_queue[ii].Index == track_index)
|
||||
{
|
||||
//从队列中删除
|
||||
memset(&tas_target_queue[ii],0,sizeof(Tracking_Target));
|
||||
tas_target_num=tas_target_num-1;
|
||||
|
||||
//TAS跟踪标志置零
|
||||
(*trust_track)[i][j].Track_Mode=0;
|
||||
|
||||
//目标类型设为地面目标
|
||||
(*trust_track)[i][j].Target_Type = 0;
|
||||
|
||||
//航迹状态发生改变 对外输出航迹更新信息
|
||||
*Trust_track_num_Output= *Trust_track_num_Output+1;
|
||||
float r_output,azmi_output;
|
||||
coor_trans Coor_trans;
|
||||
Coor_trans.cart2polar((*trust_track)[i][j].X[0],(*trust_track)[i][j].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].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].Track_Index=(*trust_track)[i][j].Track_Index; //航迹号
|
||||
Trust_Track_Output[*Trust_track_num_Output-1][0].Range_V=sqrt((*trust_track)[i][j].X[1]*(*trust_track)[i][j].X[1]+(*trust_track)[i][j].X[4]*(*trust_track)[i][j].X[4]);
|
||||
Trust_Track_Output[*Trust_track_num_Output-1][0].Amplitude=(*trust_track)[i][j].Amplitude;
|
||||
Trust_Track_Output[*Trust_track_num_Output-1][0].Flag_Point=(*trust_track)[i][j].point_flag;
|
||||
Trust_Track_Output[*Trust_track_num_Output-1][0].Track_Mode=(*trust_track)[i][j].Track_Mode;
|
||||
Trust_Track_Output[*Trust_track_num_Output-1][0].Elevation=asin((*trust_track)[i][j].Height/r_output)/PI*180;
|
||||
Trust_Track_Output[*Trust_track_num_Output-1][0].z=(*trust_track)[i][j].Height+Work_Parameter.Height;
|
||||
Trust_Track_Output[*Trust_track_num_Output-1][0].Target_Type=(*trust_track)[i][j].Target_Type;
|
||||
Trust_Track_Output[*Trust_track_num_Output-1][0].track_snr = (*trust_track)[i][j].snr_point;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
|
||||
};
|
||||
|
||||
int TAS_Ctrl::tas_auto_end(float v, float r, float 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)
|
||||
|| v<Work_Parameter.V_TAS_min || v>Work_Parameter.V_TAS_max
|
||||
)
|
||||
{
|
||||
return 1;
|
||||
|
||||
}
|
||||
else
|
||||
{
|
||||
|
||||
return 0;
|
||||
}
|
||||
|
||||
return 0;
|
||||
|
||||
};
|
||||
|
||||
|
||||
|
||||
void TAS_Ctrl::tas_beam_output(QVector <QVector<Trust_Track>> *trust_track,
|
||||
struct TrackingBeam *Tracking_beam)
|
||||
{
|
||||
if(tas_target_queue[0].empty_flag==1)
|
||||
{
|
||||
|
||||
float H_track;
|
||||
float X_now[6];
|
||||
for (int i=0;i<trust_track->size();i++ )
|
||||
for (int j=0;j<(*trust_track)[i].size();j++)
|
||||
{
|
||||
if((*trust_track)[i][j].Track_Index == tas_target_queue[0].Index)
|
||||
{
|
||||
H_track = (*trust_track)[i][j].Height;
|
||||
for(int ii=0;ii<6;ii++)
|
||||
X_now[ii]=(*trust_track)[i][j].X[ii];
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
//预测目标位置 计算跟踪波束波位号 俯仰角
|
||||
|
||||
float x_track=X_now[0]+X_now[1]*T_TAS_PRED;
|
||||
float y_track=X_now[3]+X_now[4]*T_TAS_PRED;
|
||||
float amzi,range;
|
||||
coor_trans Coor_trans;
|
||||
Coor_trans.cart2polar(x_track,y_track,&range,&amzi);
|
||||
|
||||
|
||||
//目标距离
|
||||
Tracking_beam->Range=range;
|
||||
//目标方位
|
||||
Tracking_beam->Azi=amzi/PI*180;
|
||||
//目标俯仰角
|
||||
float elev=asin(H_track/range)/PI*180;
|
||||
|
||||
|
||||
if(elev<=0)
|
||||
elev=0;
|
||||
else if(elev>=40)
|
||||
elev=40;
|
||||
else
|
||||
elev=elev;
|
||||
|
||||
|
||||
Tracking_beam->Elev=elev;
|
||||
|
||||
//跟踪波束类型
|
||||
Tracking_beam->type=1;
|
||||
|
||||
//跟踪目标批号
|
||||
Tracking_beam->TAS_track_index = tas_target_queue[0].Index;
|
||||
|
||||
//跟踪波束开关开启
|
||||
Tracking_beam->open_flag=1;
|
||||
}
|
||||
else
|
||||
{
|
||||
//跟踪波束开关关闭
|
||||
Tracking_beam->open_flag=0;
|
||||
}
|
||||
|
||||
|
||||
|
||||
}
|
||||
Reference in New Issue
Block a user