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更新：1、增加TAS航迹信息、TAS关联信息记录到数据库；

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Signed-off-by: waiwaylee <waiwaylee@foxmail.com>
This commit is contained in:
waiwaylee
2026-10-09 10:58:53 +08:00
parent 9f37fba3e7
commit 5cb67ccef8
5 changed files with 57 additions and 26 deletions
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data_process_class_dll/rdp_record.cpp
+1 -1
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@@ -260,7 +260,7 @@ RDP_RECORD_DEFINE(RdpRecTrustTrack);
//关联信息
YLT_REFL(RdpRecAssoInfo, id,point_id,track_id,circle_id,d1,d2,d3,d_min,point_index,track_index,
delta_T,delta_h,R,VT,
thd_d,thd_h,thd_r,
tas_flag,thd_d,thd_h,thd_r,
min_d_flag);
RDP_RECORD_DEFINE(RdpRecAssoInfo);
data_process_class_dll/rdp_record_entity.h
+3
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@@ -407,6 +407,8 @@ struct RdpRecAssoInfo
double R;
double VT;
bool tas_flag; //TAS关联标志 1是 0否
bool thd_d;
bool thd_h;
bool thd_r;
@@ -432,6 +434,7 @@ struct RdpRecAssoInfo
delta_h = p.delta_h;
R = p.R;
VT = p.VT;
tas_flag = p.tas_flag;
thd_d = p.thd_d;
thd_h = p.thd_h;
thd_r = p.thd_r;
data_process_class_dll/struct.h
+2
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@@ -157,6 +157,8 @@ struct Asso_Info
double R;
double VT;
bool tas_flag; //TAS关联标志 1是 0否
bool thd_d;
bool thd_h;
bool thd_r;
data_process_class_dll/track_asso.cpp
+1
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@@ -538,6 +538,7 @@ void Track_Asso:: model_filter(std::vector <Trust_Track> *trust_track,struct Ra
associated_info_tmp.delta_h=delta_h;
associated_info_tmp.R=R;
associated_info_tmp.VT=VT;
associated_info_tmp.tas_flag=point_process[loop_of_point].point_type;
associated_info_tmp.thd_d=thd_d;
associated_info_tmp.thd_h=thd_h;
associated_info_tmp.thd_r=thd_r;
data_process_class_dll/track_asso_tas.cpp
+42 -17
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@@ -6,6 +6,10 @@
#include <cstring>
#include <vector>
#include <Eigen/Dense>
#include "rdp_record.h"
#include "rdp_record_entity.h"
using namespace Eigen;
using namespace std;
@@ -109,6 +113,13 @@ long long latest_timestamp //最新时间戳
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));
(*trust_track)[i].Range = Trust_Track_Output[*Trust_track_num_Output-1][0].Range;
(*trust_track)[i].Azimuth = Trust_Track_Output[*Trust_track_num_Output-1][0].Azimuth;
(*trust_track)[i].Elevation = Trust_Track_Output[*Trust_track_num_Output-1][0].Elevation;
(*trust_track)[i].Velocity = Trust_Track_Output[*Trust_track_num_Output-1][0].Range_V;
RDP_RECORD(RdpRecTrustTrack((*trust_track)[i]));
}
}
@@ -240,16 +251,7 @@ void Track_Asso_Tas::model_filter( std::vector<Trust_Track> *t
long long latest_timestamp //最新时间戳
)
{
//存储关联信息
struct asso_info
{
double d1;
double d2;
double d3;
double d_min;
int point_index;
};
std::vector <asso_info> associated_info;
std::vector <Asso_Info> associated_info;
//航迹信息
double X1[6] = {0},X2[6] = {0},X3[6] = {0},P1[6][6] = {{0}},P2[6][6] = {{0}},P3[6][6] = {{0}};
@@ -327,24 +329,38 @@ void Track_Asso_Tas::model_filter( std::vector<Trust_Track> *t
thd_h = true;
}
//小于关联门限 保存关联信息
if(thd_d && thd_h)
{
// std::cout << "TAS asoooooo111" ;
struct asso_info associated_info_tmp;
struct Asso_Info associated_info_tmp;
associated_info_tmp.d1=d1;
associated_info_tmp.d2=d2;
associated_info_tmp.d3=d3;
associated_info_tmp.point_index=static_cast<int>(loop_of_point)+1;
associated_info_tmp.track_index=tas_track_idx;
if(d1<=d2&&d1<=d3)
associated_info_tmp.d_min=d1;
else if(d2<=d1&& d2<=d3)
associated_info_tmp.d_min=d2;
else
associated_info_tmp.d_min=d3;
associated_info_tmp.point_id=point_process[loop_of_point].point_id;
associated_info_tmp.track_id=(*trust_track)[tas_track_idx].track_id;
associated_info_tmp.circle_id=point_process[loop_of_point].circle_id;
associated_info_tmp.delta_T=delta_T;
associated_info_tmp.delta_h=delta_h;
associated_info_tmp.R=0;
associated_info_tmp.VT=0;
associated_info_tmp.tas_flag=point_process[loop_of_point].point_type;
associated_info_tmp.thd_d=thd_d;
associated_info_tmp.thd_h=thd_h;
associated_info_tmp.thd_r=true;
associated_info_tmp.min_d_flag=false;
//小于关联门限 保存关联信息
if(thd_d && thd_h)
{
associated_info.push_back(associated_info_tmp);
}else{
RDP_RECORD(RdpRecAssoInfo(associated_info_tmp));
}
}
@@ -370,6 +386,8 @@ void Track_Asso_Tas::model_filter( std::vector<Trust_Track> *t
double d2=associated_info[min_index-1].d2;
double d3=associated_info[min_index-1].d3;
associated_info[min_index-1].min_d_flag=true;
//卡尔曼滤波
double Z[3]={point_process[point_index-1].range,point_process[point_index-1].azimuth,point_process[point_index-1].velocity};
double prt = point_process[point_index-1].PRF_index;
@@ -406,7 +424,7 @@ void Track_Asso_Tas::model_filter( std::vector<Trust_Track> *t
double Possibility3=(det_S3>1e-12)?(1.0/sqrt(pow(2*PI,3)*det_S3)*exp(-0.5*d3)):0.0;
//更新航迹
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)
{
@@ -450,6 +468,8 @@ void Track_Asso_Tas::model_filter( std::vector<Trust_Track> *t
(*trust_track)[i].GNSS_time = point_process[point_index-1].GNSS_time;
//更新关联上的点迹信息
(*trust_track)[i].point_id=point_process[point_index-1].point_id;
(*trust_track)[i].circle_id=point_process[point_index-1].circle_id;
(*trust_track)[i].range_point=point_process[point_index-1].range;
(*trust_track)[i].azi_point=point_process[point_index-1].azimuth/PI*180;
(*trust_track)[i].elev_point= asin(point_process[point_index-1].height/point_process[point_index-1].range)/PI*180;
@@ -472,7 +492,12 @@ void Track_Asso_Tas::model_filter( std::vector<Trust_Track> *t
//更新高度
track_hight_update(tas_track_idx,point_index,trust_track);
}
}
for(auto& info : associated_info)
{
RDP_RECORD(RdpRecAssoInfo(info));
}
}
//未关联上，航迹外推
else