更新：1、修复全部C4819 / C4018 / C4244警告；

2、更新项目文档；
2026-09-07 14:29:24 +08:00
parent f438ac53d9
commit 5f820987a9
37 changed files with 304 additions and 272 deletions
@@ -10,13 +10,23 @@
 ### Added

 - 新增 CHANGELOG.md，采用 Keep a Changelog 格式记录项目变更历史。
- `RadarPara` 结构体新增 `DATA_RATE_TAS`（TAS 模式数据率）字段，由 DLL 调用者通过 `track_process_parameters_initial()` 输入。
+- `RadarPara` 结构体新增 `DATA_RATE_TAS`（TAS 模式数据率）字段，由 DLL 调用者通过 `track_process_parameters_initial()` 输入（b3e2f52）。
+- `Tracking_Target` 新增 `last_track_time` 字段，记录各 TAS 目标最近一次波束输出时间（f438ac5）。
+- 新增 requirements.md，说明 TAS 波束控制逻辑的修改背景与约定（b3e2f52）。
+- 更新 README.md：目录结构补充 CHANGELOG.md / requirements.md；版本历史表补充 93d3924、b3e2f52、e729c5b、f438ac5 提交记录。

 ### Changed

- TAS 波束控制增加数据率门控：`Beam_Ctrl()` 仅在队首目标航迹时间 `T_track` 与最新时间戳 `latest_timestamp` 的差值大于 `1 / DATA_RATE_TAS` 秒时输出 TAS 跟踪波束，使 TAS 目标数据率不再随波束时间（Beam_Ctrl 调用频率）变化；队列轮转逻辑保持不变。
- 波束门控使用 `Work_Parameter.DATA_RATE_TAS`（运行时参数）而非 `parameters.h` 中的 `DATA_RATE_TAS` 宏；参数 ≤ 0 时不做门控，保持原输出行为。
- 参数配置中频点修改为9.2GHz，‘#define FREQ0       9.2’。
+- TAS 波束控制改为按固定数据率调度：`Beam_Ctrl()` 仅当目标满足 `1 / DATA_RATE_TAS` 秒的数据率间隔（相对航迹时间 `T_track` 与上次波束输出 `last_track_time`）时才输出 TAS 跟踪波束，使 TAS 目标数据率不再随波束时间（Beam_Ctrl 调用频率）变化。
+- TAS 波束输出目标改为队列内调度：不再固定取队首，而是遍历 TAS 队列，选择满足数据率门控且 CPI 时间最早的目标输出；原每次 Beam_Ctrl 末尾的整队循环移位（队列轮转）已停用（代码注释保留）。
+- 数据率门控统一使用运行时参数 `Work_Parameter.DATA_RATE_TAS`（由 DLL 调用者经 `track_process_parameters_initial()` 输入，需为 >0 的有效值）；`parameters.h` 中 `DATA_RATE_TAS` 编译期宏（相扫 0.3 / 机扫 0.0625）已注释停用，引导跟踪外推同步改用运行时参数。
+- 编译时以 `#pragma message` 提示当前启用的扫描体制宏（MECHANICAL_SCANNING / PHASE_SCANNING）。
+- 频点宏由 `FREQ0~FREQ20`（16.8 GHz）精简为单个 `FREQ0`，取值改为 9.2 GHz（e729c5b）。
+- MSVC 编译选项按编译器版本条件追加 `/utf-8`（VS2015 及以上）；MSVC 2013 不支持该选项，改用源码文件带 BOM 的 UTF-8 编码解决 C4819。
+
+### Fixed
+
+- 修复 MSVC `/W3` 下全部 C4819 / C4018 / C4244 编译警告：源码文件改为带 BOM 的 UTF-8 编码；signed/unsigned 不匹配处改用 `size_t` 循环变量或显式 `static_cast<int>` 比较；double/float、__int64/double 等窄化转换改为 `static_cast` 显式转换，保持原有计算逻辑不变（涉及 `data_process.cpp`、`dot_coh.cpp`、`dot_coh_tas.cpp`、`tas_ctrl.cpp`、`track_asso.cpp`、`track_asso_tas.cpp`、`track_init.cpp`、`track_init_direct_tracking.cpp`、`track_index_mangement.cpp` 等）。

 ## [1.5.5] - 2026-08-27

@@ -54,4 +64,4 @@

 ### Removed

- 移除 `requirements.md`、`CLAUDE.md`、Makefile 系列、Qt 工程用户文件、内置 Eigen 3.3.7 冗余文件及「航迹点迹区分区说明」等不必要文件。
+- 移除 `requirements.md`（93d3924 移除，后于 b3e2f52 重新加入并改为 TAS 波束控制说明）、`CLAUDE.md`、Makefile 系列、Qt 工程用户文件、内置 Eigen 3.3.7 冗余文件及「航迹点迹区分区说明」等不必要文件。
@@ -80,6 +80,13 @@ if(MSVC)
        /FS
        $<$<CONFIG:Release>:/Zc:strictStrings>
    )
+
+    # 修复 C4819（源文件含当前代码页无法表示的字符）。
+    # /utf-8 从 VS2015 Update 2 开始支持；本工程使用 MSVC 2013 时无该选项，
+    # 通过为源码文件添加 UTF-8 BOM 解决 C4819，这里仅对支持 /utf-8 的新版 MSVC 开启。
+    if(MSVC_VERSION GREATER_EQUAL 1900)
+        target_compile_options(data_process_class_dll PRIVATE /utf-8)
+    endif()
 endif()

 # 输出目录：build/bin 下为 DLL/PDB，build/lib 下为导入库。
@@ -70,6 +70,8 @@
 ├── CMakeLists.txt                       # CMake 构建脚本（扫描模式切换、导出宏、输出目录）
 ├── BUG_REPORT.md                        # 全量逻辑 BUG 分析报告（P0~P3，37 项）
 ├── BUG_FIX_REPORT.md                    # BUG 修复报告（修复明细 + 编译验证结果）
+├── CHANGELOG.md                         # 变更日志（Keep a Changelog 格式，按 git 提交记录维护）
+├── requirements.md                      # TAS 波束控制逻辑修改说明（固定数据率调度设计）
 ├── .vscode/                             # VS Code 工程配置
 │   ├── settings.json                    # cmake.generator=NMake、MSVC2013 x86 环境变量、compile_commands
 │   ├── cmake-variants.yaml              # X256_PS / X256_MS × Release / Debug 变体
@@ -159,6 +161,12 @@ cmake --build build/X256_PS

 仓库 build/X256_PS/bin/ 内还带有 **rdp_playback.exe**（回放测试工具，依赖 Qt5Core.dll、sqlite3.dll，配置样例 RadarConfigParam.ini，可回放 .db 记录的点迹数据验证 DLL 输出），不在本仓库源码范围内。

+### 4.5 编译警告处理
+
+- 源码文件统一使用 **带 BOM 的 UTF-8** 编码保存，兼容 MSVC 2013（该版本不支持 `/utf-8`），消除 C4819。
+- `CMakeLists.txt` 对 MSVC 19.0 及以上版本自动追加 `/utf-8` 编译选项；使用 MSVC 2013 构建时请保持源码为 UTF-8 with BOM。
+- 修复了 `/W3` 下全部 C4018（signed/unsigned 不匹配）与 C4244（类型转换可能丢失数据）警告：循环变量按需改为 `size_t`，窄化转换改为 `static_cast` 显式转换，不改变原有计算逻辑。
+
 ---

 ## 5. 总体架构
@@ -238,7 +246,7 @@ classDiagram
 | Track_Asso_Tas | TAS 航迹关联（只处理指定批号 tas_track_idx，门限与 TWS 略有差异） |
 | Track_Init | 逻辑法航迹起始：航迹头维护、点-头关联（两点）、点-临时航迹关联（三点及以上）、起批（三点卡尔曼初始化）、屏蔽区判断、临时航迹消亡 |
 | Track_Die / Track_Die_Tas | 可靠航迹消亡：外推轮数超限或手动删除标志置位时输出消亡批号并删除 |
-| TAS_Ctrl | TAS 波束控制：手动目标入队（tas_target_add）、失效目标出队（tas_target_del）、跟踪波束预测输出（tas_beam_output，含数据率门控）、队列轮转 |
+| TAS_Ctrl | TAS 波束控制：手动目标入队（tas_target_add）、失效目标出队（tas_target_del）、跟踪波束预测输出（tas_beam_output：数据率门控 + 队内选择最早 CPI 目标）、调度时刻记录（last_track_time） |
 | Track_Ind_Mangement | 航迹号 1~500 的顺序分配与回绕复用 |
 | kalman | 两点/三点滤波初始化、线性卡尔曼预测/滤波、EKF（3 维量测含多普勒）、马氏统计距离 d、盲速 Bind_speed |
 | coor_trans | 极坐标 ↔ 直角坐标转换 |
@@ -355,7 +363,7 @@ flowchart TD
    D --> E["未关联 → 按 latest_timestamp 外推（ΔT≤0 跳过）"]
    E --> F["track_die_tas: TAS 超时/手动删除 → 消亡输出"]
    F --> G["输出该批号航迹（point_type=1）"]
-    G --> H["Beam_Ctrl: 队列轮转 + 预测波束输出"]
+    G --> H["Beam_Ctrl: 数据率门控 + 队内最早 CPI 目标 + 预测波束输出"]
 ```

 ### 8.3 航迹起始流程（逻辑法）
@@ -646,7 +654,7 @@ $$

 $$
 v_{bind}=\frac{150000}{f_{GHz}\cdot PRI_{µs}}\quad(\mathrm{m/s}),\qquad
-f_{GHz}=16.8+0.02\cdot f_{ind}
+f_{GHz}=9.2+0.02\cdot f_{ind}
 $$

 （PRI ≤ 0 或 f ≤ 0 时返回安全值 1.0，接口约定 PRI 不允许为 0。）
@@ -721,16 +729,16 @@ $$

 ### 9.10 TAS 波束控制（tas_ctrl.cpp）

- **入队条件**（仅手动）：manual_tracking_flag==1 且 Track_Mode==0 且队列未满（MAX_TAS_NUM，相扫 4 / 机扫 1）且不在 TAS 禁止区内。入队即置 Track_Mode=1 并输出一次航迹更新。
+- **入队条件**（仅手动）：manual_tracking_flag==1 且 Track_Mode==0 且队列未满（MAX_TAS_NUM，相扫 4 / 机扫 1）且不在 TAS 禁止区内。入队即置 Track_Mode=1、以航迹时间初始化 last_track_time，并输出一次航迹更新。
 - **出队**：队列中目标在航迹表中不存在、或不再处于手动 TAS 状态时清除。（自动转 TAS / 自动退出的 tas_auto_start/tas_auto_end 逻辑全部注释停用——只支持手动。）
- **波束输出**：取队首目标，先用**数据率门控**：航迹时间 T_track 与当前最新时间戳 latest_timestamp 的差值必须大于 `1 / DATA_RATE_TAS` 秒才输出（保证 TAS 目标数据率不随波束时间变化；DATA_RATE_TAS ≤ 0 时不做门控，按原逻辑输出）。门控通过后，用其状态外推到 latest_timestamp：
+- **波束输出**：在 TAS 队列内遍历，选择满足**数据率门控**的目标——目标距上次波束输出（`last_track_time`）的时间、以及航迹时间 T_track 与最新时间戳 latest_timestamp 的差值，均须大于 `1 / DATA_RATE_TAS` 秒（使用运行时参数 Work_Parameter.DATA_RATE_TAS，需为 >0 的有效值），保证 TAS 目标数据率不随波束时间（Beam_Ctrl 调用频率）变化；多个候选中取 CPI 时间最早者，用其状态外推到 latest_timestamp：

 $$
 x_p=x+v_x\Delta T,\quad y_p=y+v_y\Delta T,\quad
 r_p=\sqrt{x_p^2+y_p^2},\quad \theta_p=\operatorname{atan2}(y_p,x_p)
 $$

-输出 TrackingBeam{open_flag=1, type=1, Range=rp, Azi=θp(°), Elev=asin(h/rp)(°), TAS_track_index}；队空、目标不在航迹表或数据率门控未通过时 open_flag=0。每次 Beam_Ctrl 末尾做队列轮转（实现 TAS_QUEUE_LENGTH 深度的循环跟踪）。
+输出 TrackingBeam{open_flag=1, type=1, Range=rp, Azi=θp(°), Elev=asin(h/rp)(°), TAS_track_index}；队空、目标不在航迹表或数据率门控未通过时 open_flag=0。输出后更新该目标队列项的 last_track_time；原每次 Beam_Ctrl 末尾的整队循环移位（队列轮转）已停用，改为按数据率门控在队列内轮换目标。
 - tas_ctrl_process 入口强制 *Trust_track_num_Output=0 并在写入前检查容量，防止输出数组越界（BUG-09 修复）。

 ---
@@ -741,7 +749,7 @@ $$

 | 宏 | 相扫 PHASE_SCANNING | 机扫 MECHANICAL_SCANNING | 含义 |
 |---|---|---|---|
-| DATA_RATE_TAS | 0.3 | 0.0625 | TAS 数据率（1/s）。**TAS 波束输出门控已改用运行时参数 RadarPara.DATA_RATE_TAS（见 10.2），不再使用该宏**；宏目前仅被未加入 CMake 的 track_asso_direct_tracking.cpp 引用 |
+| DATA_RATE_TAS | 已停用（原 0.3） | 已停用（原 0.0625） | 编译期宏已注释停用；TAS 数据率统一由运行时参数 RadarPara.DATA_RATE_TAS 提供（见 10.2） |
 | SIGMA_R / SIGMA_A / SIGMA_E / SIGMA_V | 10.0 / 0.02 / 0.2 / 2.0（两体制相同） | 同左 | 量测误差：距离 m / 方位 rad / 俯仰 rad / 速度 m/s |
 | DOT_COH_RANGE / DOT_COH_V / DOT_COH_AZI | 80 / 2 / 6 | 同左 | 凝聚门限：距离 m / 速度 m/s / 方位 ° |
 | MAX_BEAM_NUM | 100 | 同左 | 最大波位数 |
@@ -754,7 +762,7 @@ $$
 | ASSO_THORD | 3 | 同左 | 关联波门 |
 | H_F_WIN_LEN | 3 | 同左 | 高度平滑窗长基数（实际 +2/+3/+4/+6） |
 | TAS_QUEUE_LENGTH / MAX_TAS_NUM | 4 / 4 | 1 / 1 | TAS 队列长度 / 最大 TAS 目标数 |
-| FREQ0~FREQ20 | 16.8 GHz | 同左 | 各频点频率 |
+| FREQ0 | 9.2 GHz | 同左 | 载波频点（原 FREQ0~FREQ20 一组宏已精简为单个 FREQ0，e729c5b 起由 16.8 GHz 改为 9.2 GHz） |

 ### 10.2 运行时参数（RadarPara）

@@ -771,7 +779,7 @@ $$
 | north_angle | 北偏角 | 保留 |
 | V_MAX / V_MIN | 目标速度上下限（m/s） | 航迹头关联速度区间门限 |
 | DATA_RATE_SHORT / MIDDLE / FAR | 三模式数据率（s） | TWS 外推步长 |
-| DATA_RATE_TAS | TAS 模式数据率（1/s） | 由调用者经 track_process_parameters_initial 输入；TAS 波束输出门控阈值 1/DATA_RATE_TAS 秒，≤0 时不做门控 |
+| DATA_RATE_TAS | TAS 模式数据率（1/s） | 由调用者经 track_process_parameters_initial 输入（须为 >0 的有效值）；TAS 波束输出门控阈值 1/DATA_RATE_TAS 秒，引导跟踪外推同样使用该运行时参数 |
 | track_start_point_num | 起批点数 | 校验范围 3~9 |
 | track_start_threshold / track_asso_threshold / track_asso_threshold_tas | 起批/关联波门 | **⚠ 声明但当前实现未使用**，实际门限为宏 TRACK_START_THRESHOLD / ASSO_THORD |
 | Model1/2/3_Q_fast/slow | 三个 Singer 模型过程噪声强度 | Model1_Q_fast 未使用；分档规则见 9.5.1 |
@@ -819,6 +827,10 @@ $$

 | 提交 | 内容 |
 |---|---|
+| f438ac5 | 优化 TAS 调度：波束输出改为在队列内选择满足数据率门控且 CPI 时间最早的目标，停用整队循环移位；DATA_RATE_TAS 编译期宏停用、统一使用运行时参数；#pragma message 提示扫描体制 |
+| e729c5b | 频点宏精简为 FREQ0 = 9.2 GHz（原 FREQ0~FREQ20 均为 16.8 GHz） |
+| b3e2f52 | TAS 波束控制改为按固定数据率调度，RadarPara 新增 DATA_RATE_TAS 运行时参数；新增 CHANGELOG.md、requirements.md，README 补充相应说明 |
+| 93d3924 | 新增 README.md（本文档）；移除 requirements.md；调整 .gitignore |
 | 3500652 | 去掉 1 km 以内航迹起批的 20 dB 信噪比门限 |
 | 01d28e0 | 改用 VS Code + CMake 重新编译（编译器不变）；修复若干逻辑 BUG（见 BUG_FIX_REPORT.md） |
 | 0cb31b4 | 删除不必要文件；输入点迹/输出航迹的 CPI 与 GNSS 时间改为 64 位整型；修复 TAS 外推时间差可能无效的问题 |
@@ -841,8 +853,10 @@ $$

 | 文档 | 内容 |
 |---|---|
+| CHANGELOG.md | 变更日志（Keep a Changelog 格式，按 git 提交记录维护） |
 | BUG_REPORT.md | 全量逻辑 BUG 分析（P0~P3 共 37 项，含位置、说明、建议、处置结论） |
 | BUG_FIX_REPORT.md | 本次修复明细、修复状态汇总表与 MSVC 2013 x86 编译验证记录 |
+| requirements.md | TAS 波束控制逻辑修改说明（固定数据率调度与运行时参数 DATA_RATE_TAS） |
 | backup/data_process_class_dll/data_process_class_dll.pro | 迁移前的 Qt/qmake 工程文件（源文件清单参考） |
 | .vscode/tasks.json、.vscode/cmake-variants.yaml | VS Code 构建任务与变体定义 |
 | build/X256_PS/bin/RadarConfigParam.ini | 回放测试工具（rdp_playback.exe）配置样例 |
@@ -1,4 +1,4 @@
-#include "coor_trans.h"
+#include "coor_trans.h"
 #include <cmath>
 #include <cstring>
 #include <vector>
@@ -1,4 +1,4 @@
-#ifndef COOR_TRANS_H
+#ifndef COOR_TRANS_H
 #define COOR_TRANS_H

 #include "parameters.h"
@@ -1,4 +1,4 @@
-#include "data_process.h"
+#include "data_process.h"
 #include <cstring>
 #include <vector>
 #include <cmath>
@@ -246,7 +246,7 @@ int Data_Process:: track_delete(int delete_track_num,                   //手动
 {
 	for (int i=0;i<delete_track_num ;i++)
 	{
-		for (int j=0;j<trust_track.size();j++)
+		for (size_t j=0;j<trust_track.size();j++)
 		{
 			if(trust_track[j].Track_Index == delete_track_index[i])
 			{
@@ -265,7 +265,7 @@ int Data_Process:: track_delete(int delete_track_num,                   //手动
 int Data_Process:: tracking_start(int track_index)              //需要手动转入TAS跟踪的航迹号
 {

-	for ( int i=0; i<trust_track.size();i++)
+	for ( size_t i=0; i<trust_track.size();i++)
 		if(trust_track[i].Track_Index==track_index)
 		{
 			trust_track[i].manual_tracking_flag = 1;
@@ -278,7 +278,7 @@ int Data_Process:: tracking_start(int track_index)              //需要手动
 int Data_Process:: tracking_stop(int track_index)              //需要手动转入TAS跟踪的航迹号
 {

-	for ( int i=0; i<trust_track.size();i++){
+	for ( size_t i=0; i<trust_track.size();i++){
 		if(trust_track[i].Track_Index==track_index)
 		{
 			trust_track[i].manual_tracking_flag = 0;
@@ -1,4 +1,4 @@
-#ifndef DATA_PROCESS_H
+#ifndef DATA_PROCESS_H
 #define DATA_PROCESS_H
 #pragma once
 #include "data_process_class_dll.h"
@@ -1,4 +1,4 @@
-#ifndef DATA_PROCESS_CLASS_DLL_LIBRARY
+#ifndef DATA_PROCESS_CLASS_DLL_LIBRARY
 #define DATA_PROCESS_CLASS_DLL_LIBRARY
 #endif
 #include "data_process_class_dll.h"
@@ -1,4 +1,4 @@
-#pragma once
+#pragma once
 #ifndef DATA_PROCESS_CLASS_DLL_H
 #define DATA_PROCESS_CLASS_DLL_H

@@ -1,4 +1,4 @@
-#ifndef DATA_PROCESS_CLASS_DLL_GLOBAL_H
+#ifndef DATA_PROCESS_CLASS_DLL_GLOBAL_H
 #define DATA_PROCESS_CLASS_DLL_GLOBAL_H

 #if defined(DATA_PROCESS_CLASS_DLL_LIBRARY)
@@ -1,4 +1,4 @@
-#include "dot_coh.h"
+#include "dot_coh.h"
 #include <cmath>
 #include <cstring>
 #include <vector>
@@ -16,18 +16,18 @@ int Dot_Coh::dot_coh_process(std::vector <PointRecv>                *data_input,
 		{
 			if( (*data_input)[loop_of_point].Use_Flag!=1)
 			{
-				float point_0_R=(*data_input)[loop_of_point].Range;
-				float point_0_V=(*data_input)[loop_of_point].Velocity;
-				float point_0_F=(*data_input)[loop_of_point].Azimuth;
-				float point_0_A=(*data_input)[loop_of_point].Amplitude;
+				float point_0_R=static_cast<float>((*data_input)[loop_of_point].Range);
+				float point_0_V=static_cast<float>((*data_input)[loop_of_point].Velocity);
+				float point_0_F=static_cast<float>((*data_input)[loop_of_point].Azimuth);
+				float point_0_A=static_cast<float>((*data_input)[loop_of_point].Amplitude);
 				for (unsigned int i=loop_of_point+1;i<data_input->size();i++)
 				{
 					if((*data_input)[loop_of_point].Use_Flag!=1 && (*data_input)[i].Use_Flag!=1)
 					{
-						float point_1_R=(*data_input)[i].Range;
-						float point_1_V=(*data_input)[i].Velocity;
-						float point_1_F=(*data_input)[i].Azimuth;
-						float point_1_A=(*data_input)[i].Amplitude;
+						float point_1_R=static_cast<float>((*data_input)[i].Range);
+						float point_1_V=static_cast<float>((*data_input)[i].Velocity);
+						float point_1_F=static_cast<float>((*data_input)[i].Azimuth);
+						float point_1_A=static_cast<float>((*data_input)[i].Amplitude);

 						//凝聚条件： 距离、方位接近
 						if(Work_Parameter.work_mode == 0)
@@ -36,10 +36,10 @@ int Dot_Coh::dot_coh_process(std::vector <PointRecv>                *data_input,
 							if( (fabs(point_0_R-point_1_R)<=DOT_COH_RANGE && delta_F <=DOT_COH_AZI/180.0*PI && fabs(point_0_V-point_1_V)<=DOT_COH_V)//
 								&&  point_0_A <point_1_A  )//
 							{
-								point_0_R=(*data_input)[i].Range;
-								point_0_V=(*data_input)[i].Velocity;
-								point_0_A=(*data_input)[i].Amplitude;
-								point_0_F=(*data_input)[i].Azimuth;
+								point_0_R=static_cast<float>((*data_input)[i].Range);
+								point_0_V=static_cast<float>((*data_input)[i].Velocity);
+								point_0_A=static_cast<float>((*data_input)[i].Amplitude);
+								point_0_F=static_cast<float>((*data_input)[i].Azimuth);
 								(*data_input)[loop_of_point].Use_Flag=1;
 							}
 							else if( (fabs(point_0_R-point_1_R)<=DOT_COH_RANGE && delta_F <=DOT_COH_AZI/180.0*PI && fabs(point_0_V-point_1_V)<=DOT_COH_V)//
@@ -54,10 +54,10 @@ int Dot_Coh::dot_coh_process(std::vector <PointRecv>                *data_input,
 							if( (fabs(point_0_R-point_1_R)<=DOT_COH_RANGE && delta_F <=DOT_COH_AZI/180.0*PI )//
 								&&  point_0_A <point_1_A  )//
 							{
-								point_0_R=(*data_input)[i].Range;
-								point_0_V=(*data_input)[i].Velocity;
-								point_0_A=(*data_input)[i].Amplitude;
-								point_0_F=(*data_input)[i].Azimuth;
+								point_0_R=static_cast<float>((*data_input)[i].Range);
+								point_0_V=static_cast<float>((*data_input)[i].Velocity);
+								point_0_A=static_cast<float>((*data_input)[i].Amplitude);
+								point_0_F=static_cast<float>((*data_input)[i].Azimuth);
 								(*data_input)[loop_of_point].Use_Flag=1;
 							}
 							else if( (fabs(point_0_R-point_1_R)<=DOT_COH_RANGE && delta_F <=DOT_COH_AZI/180.0*PI )//
@@ -88,7 +88,7 @@ int Dot_Coh::dot_coh_process(std::vector <PointRecv>                *data_input,
 		}
 	}

-	for (int i=0;i<data_input->size();i++)      //data_buffer_2 ---> point_recv
+	for (size_t i=0;i<data_input->size();i++)      //data_buffer_2 ---> point_recv
 	{
 			(*point_recv).push_back((*data_input)[i]);
 	}
@@ -106,20 +106,20 @@ int Dot_Coh::dot_coh_process_buff( std::vector <PointRecv>       *data_input,

 	//1.1 data_input、data_input_buff中的数据放在一起
 	std::vector <PointRecv> data_tmp;
-	for (int i=0;i<data_input_buff.size();i++)
+	for (size_t i=0;i<data_input_buff.size();i++)
 	{
 			data_tmp.push_back(data_input_buff[i]);
 			data_tmp[data_tmp.size()-1].point_section_asso = 1;

 	}

-	for (int i=0;i<data_input->size();i++)
+	for (size_t i=0;i<data_input->size();i++)
 	{
 		    data_tmp.push_back((*data_input)[i]);
 			data_tmp[data_tmp.size()-1].point_section_asso = 2;
 	}
 //	//去除点迹中，1km以内，SNR小于20dB的点
-//	for (int i=0;i<data_input->size();i++)
+//	for (size_t i=0;i<data_input->size();i++)
 //	{
 //		if((*data_input)[i].Range > 1000 || (*data_input)[i].snr >= 20){
 //			data_tmp.push_back((*data_input)[i]);
@@ -140,18 +140,18 @@ int Dot_Coh::dot_coh_process_buff( std::vector <PointRecv>       *data_input,
 		{
 			if( data_tmp[loop_of_point].Use_Flag!=1)
 			{
-				float point_0_R=data_tmp[loop_of_point].Range;
-				float point_0_V=data_tmp[loop_of_point].Velocity;
-				float point_0_F=data_tmp[loop_of_point].Azimuth;
-				float point_0_A=data_tmp[loop_of_point].Amplitude;
+				float point_0_R=static_cast<float>(data_tmp[loop_of_point].Range);
+				float point_0_V=static_cast<float>(data_tmp[loop_of_point].Velocity);
+				float point_0_F=static_cast<float>(data_tmp[loop_of_point].Azimuth);
+				float point_0_A=static_cast<float>(data_tmp[loop_of_point].Amplitude);
 				for (unsigned int i=loop_of_point+1;i<data_tmp.size();i++)
 				{
 					if(data_tmp[loop_of_point].Use_Flag!=1 && data_tmp[i].Use_Flag!=1)
 					{
-						float point_1_R=data_tmp[i].Range;
-						float point_1_V=data_tmp[i].Velocity;
-						float point_1_F=data_tmp[i].Azimuth;
-						float point_1_A=data_tmp[i].Amplitude;
+						float point_1_R=static_cast<float>(data_tmp[i].Range);
+						float point_1_V=static_cast<float>(data_tmp[i].Velocity);
+						float point_1_F=static_cast<float>(data_tmp[i].Azimuth);
+						float point_1_A=static_cast<float>(data_tmp[i].Amplitude);

 						//凝聚条件： 距离、方位接近
 						if(Work_Parameter.work_mode == 0)
@@ -160,10 +160,10 @@ int Dot_Coh::dot_coh_process_buff( std::vector <PointRecv>       *data_input,
 							if( (fabs(point_0_R-point_1_R)<=DOT_COH_RANGE && delta_F <=DOT_COH_AZI/180.0*PI && fabs(point_0_V-point_1_V)<=DOT_COH_V)//
 								&&  point_0_A <point_1_A  )//
 							{
-								point_0_R=data_tmp[i].Range;
-								point_0_V=data_tmp[i].Velocity;
-								point_0_A=data_tmp[i].Amplitude;
-								point_0_F=data_tmp[i].Azimuth;
+								point_0_R=static_cast<float>(data_tmp[i].Range);
+								point_0_V=static_cast<float>(data_tmp[i].Velocity);
+								point_0_A=static_cast<float>(data_tmp[i].Amplitude);
+								point_0_F=static_cast<float>(data_tmp[i].Azimuth);
 								data_tmp[loop_of_point].Use_Flag=1;
 							}
 							else if( (fabs(point_0_R-point_1_R)<=DOT_COH_RANGE && delta_F <=DOT_COH_AZI/180.0*PI && fabs(point_0_V-point_1_V)<=DOT_COH_V)//
@@ -178,10 +178,10 @@ int Dot_Coh::dot_coh_process_buff( std::vector <PointRecv>       *data_input,
 							if( (fabs(point_0_R-point_1_R)<=DOT_COH_RANGE && delta_F <=DOT_COH_AZI/180.0*PI )//
 								&&  point_0_A <point_1_A  )//
 							{
-								point_0_R=data_tmp[i].Range;
-								point_0_V=data_tmp[i].Velocity;
-								point_0_A=data_tmp[i].Amplitude;
-								point_0_F=data_tmp[i].Azimuth;
+								point_0_R=static_cast<float>(data_tmp[i].Range);
+								point_0_V=static_cast<float>(data_tmp[i].Velocity);
+								point_0_A=static_cast<float>(data_tmp[i].Amplitude);
+								point_0_F=static_cast<float>(data_tmp[i].Azimuth);
 								data_tmp[loop_of_point].Use_Flag=1;
 							}
 							else if( (fabs(point_0_R-point_1_R)<=DOT_COH_RANGE && delta_F <=DOT_COH_AZI/180.0*PI )//
@@ -213,7 +213,7 @@ int Dot_Coh::dot_coh_process_buff( std::vector <PointRecv>       *data_input,
 	}

 	//1.5 将data_tmp中凝聚后的点再分到 data_input_buff和data_input中
-	for (int i=0;i<data_tmp.size();i++)
+	for (size_t i=0;i<data_tmp.size();i++)
 	{
 		if(data_tmp[i].point_section_asso==1)
 		{
@@ -229,7 +229,7 @@ int Dot_Coh::dot_coh_process_buff( std::vector <PointRecv>       *data_input,

 	//2.data_input_buff数据输出给point_recv

-	for (int i=0;i<data_input_buff.size();i++)
+	for (size_t i=0;i<data_input_buff.size();i++)
 	{
 			(*point_recv).push_back(data_input_buff[i]);
 	}
@@ -237,7 +237,7 @@ int Dot_Coh::dot_coh_process_buff( std::vector <PointRecv>       *data_input,
 	std::vector<PointRecv>().swap(data_input_buff);

 	//3.data_input数据输出给data_input_buff
-	for (int i=0;i<data_input->size();i++)
+	for (size_t i=0;i<data_input->size();i++)
 	{
 			data_input_buff.push_back((*data_input)[i]);
 	}
@@ -1,4 +1,4 @@
-#ifndef DOT_COH_H
+#ifndef DOT_COH_H
 #define DOT_COH_H
 #include "data_process_class_dll.h"
 #include "parameters.h"
@@ -1,4 +1,4 @@
-#include "dot_coh_tas.h"
+#include "dot_coh_tas.h"
 #include <cmath>
 #include <cstring>
 #include <vector>
@@ -12,32 +12,32 @@ int Dot_Coh_TAS::dot_coh_tas_process(std::vector <PointRecv>                *dat
 		return 1;
 	}

-	for (int loop_of_point=0; loop_of_point<data_input->size()-1;loop_of_point++ )
+	for (size_t loop_of_point=0; loop_of_point<data_input->size()-1;loop_of_point++ )
 	{
 		if( (*data_input)[loop_of_point].Use_Flag!=1)
 		{
-			float point_0_R=(*data_input)[loop_of_point].Range;
-			float point_0_V=(*data_input)[loop_of_point].Velocity;
-			float point_0_F=(*data_input)[loop_of_point].Azimuth;
-			float point_0_A=(*data_input)[loop_of_point].Amplitude;
-			for ( int i=loop_of_point+1;i<(*data_input).size();i++)
+			float point_0_R=static_cast<float>((*data_input)[loop_of_point].Range);
+			float point_0_V=static_cast<float>((*data_input)[loop_of_point].Velocity);
+			float point_0_F=static_cast<float>((*data_input)[loop_of_point].Azimuth);
+			float point_0_A=static_cast<float>((*data_input)[loop_of_point].Amplitude);
+			for ( size_t i=loop_of_point+1;i<(*data_input).size();i++)
 			{
 				if((*data_input)[loop_of_point].Use_Flag!=1 && (*data_input)[i].Use_Flag!=1)
 				{
-					float point_1_R=(*data_input)[i].Range;
-					float point_1_V=(*data_input)[i].Velocity;
-					float point_1_F=(*data_input)[i].Azimuth;
-					float point_1_A=(*data_input)[i].Amplitude;
+					float point_1_R=static_cast<float>((*data_input)[i].Range);
+					float point_1_V=static_cast<float>((*data_input)[i].Velocity);
+					float point_1_F=static_cast<float>((*data_input)[i].Azimuth);
+					float point_1_A=static_cast<float>((*data_input)[i].Amplitude);

 					//凝聚条件： 距离、方位接近
 					float delta_F = fabs(point_0_F-point_1_F)<2*PI-fabs(point_0_F-point_1_F) ? fabs(point_0_F-point_1_F) :2*PI-fabs(point_0_F-point_1_F);
 					if( (fabs(point_0_R-point_1_R)<=DOT_COH_RANGE && delta_F <=DOT_COH_AZI/180.0*PI  && fabs(point_0_V-point_1_V)<=DOT_COH_V)
 						&&  point_0_A <point_1_A )
 					{
-						point_0_R=(*data_input)[i].Range;
-						point_0_V=(*data_input)[i].Velocity;
-						point_0_A=(*data_input)[i].Amplitude;
-						point_0_F=(*data_input)[i].Azimuth;
+						point_0_R=static_cast<float>((*data_input)[i].Range);
+						point_0_V=static_cast<float>((*data_input)[i].Velocity);
+						point_0_A=static_cast<float>((*data_input)[i].Amplitude);
+						point_0_F=static_cast<float>((*data_input)[i].Azimuth);
 						(*data_input)[loop_of_point].Use_Flag=1;
 					}
 					else if( (fabs(point_0_R-point_1_R)<=DOT_COH_RANGE && delta_F <=DOT_COH_AZI/180.0*PI && fabs(point_0_V-point_1_V)<=DOT_COH_V)
@@ -65,7 +65,7 @@ int Dot_Coh_TAS::dot_coh_tas_process(std::vector <PointRecv>                *dat
 		}
 	}

-	for (int i=0;i<data_input->size();i++)
+	for (size_t i=0;i<data_input->size();i++)
 	{
 		(*point_recv_tas).push_back((*data_input)[i]);
 	}
@@ -1,4 +1,4 @@
-#ifndef DOT_COH_TAS_H
+#ifndef DOT_COH_TAS_H
 #define DOT_COH_TAS_H
 #include "parameters.h"
 #include "struct.h"
@@ -1,4 +1,4 @@
-#include "kalman.h"
+#include "kalman.h"
 #include "coor_trans.h"
 #include "parameters.h"
 #include <cmath>
@@ -1,4 +1,4 @@
-#ifndef KALMAN_H
+#ifndef KALMAN_H
 #define KALMAN_H
 #include "parameters.h"
 #include "struct.h"
@@ -1,4 +1,4 @@
-#ifndef PARAMETERS_H
+#ifndef PARAMETERS_H
 #define PARAMETERS_H
 #pragma once
 /**********************************雷达参数*************************************************/
@@ -1,4 +1,4 @@
-#ifndef STRUCT_H
+#ifndef STRUCT_H
 #define STRUCT_H

 #pragma once
@@ -1,4 +1,4 @@
-#include "tas_ctrl.h"
+#include "tas_ctrl.h"
 #include "coor_trans.h"
 #include <cmath>
 #include <cstring>
@@ -55,7 +55,7 @@ void TAS_Ctrl::tas_target_add(std::vector<Trust_Track>          *trust_track,
 							  struct  RadarPara             Work_Parameter)
 {

-	for (int i=0;i<trust_track->size();i++)
+	for (size_t i=0;i<trust_track->size();i++)
 		{
 			double r=sqrt(pow((*trust_track)[i].X[0],2)+pow((*trust_track)[i].X[3],2));
 			double v=sqrt(pow((*trust_track)[i].X[1],2)+pow((*trust_track)[i].X[4],2));
@@ -95,18 +95,18 @@ void TAS_Ctrl::tas_target_add(std::vector<Trust_Track>          *trust_track,
 						coor_trans Coor_trans;
 						Coor_trans.cart2polar((*trust_track)[i].X[0],(*trust_track)[i].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].Range=static_cast<float>(r_output);
+						Trust_Track_Output[*Trust_track_num_Output-1][0].Azimuth=static_cast<float>(azmi_output/PI*180);
 						Trust_Track_Output[*Trust_track_num_Output-1][0].Track_Index=(*trust_track)[i].Track_Index; //航迹号
 						Trust_Track_Output[*Trust_track_num_Output-1][0].Range_V=
-								sqrt((*trust_track)[i].X[1]*(*trust_track)[i].X[1]+(*trust_track)[i].X[4]*(*trust_track)[i].X[4]);
-						Trust_Track_Output[*Trust_track_num_Output-1][0].Amplitude=(*trust_track)[i].Amplitude;
+								static_cast<float>(sqrt((*trust_track)[i].X[1]*(*trust_track)[i].X[1]+(*trust_track)[i].X[4]*(*trust_track)[i].X[4]));
+						Trust_Track_Output[*Trust_track_num_Output-1][0].Amplitude=static_cast<float>((*trust_track)[i].Amplitude);
 						Trust_Track_Output[*Trust_track_num_Output-1][0].Flag_Point=(*trust_track)[i].point_flag;
 						Trust_Track_Output[*Trust_track_num_Output-1][0].Track_Mode=(*trust_track)[i].Track_Mode;
-						Trust_Track_Output[*Trust_track_num_Output-1][0].Elevation=asin((*trust_track)[i].Height/r_output)/PI*180;
-						Trust_Track_Output[*Trust_track_num_Output-1][0].z=(*trust_track)[i].Height+Work_Parameter.Height;
+						Trust_Track_Output[*Trust_track_num_Output-1][0].Elevation=static_cast<float>(asin((*trust_track)[i].Height/r_output)/PI*180);
+						Trust_Track_Output[*Trust_track_num_Output-1][0].z=static_cast<float>((*trust_track)[i].Height+Work_Parameter.Height);
 						Trust_Track_Output[*Trust_track_num_Output-1][0].Target_Type=(*trust_track)[i].Target_Type;
-						Trust_Track_Output[*Trust_track_num_Output-1][0].track_snr = (*trust_track)[i].snr_point;
+						Trust_Track_Output[*Trust_track_num_Output-1][0].track_snr = static_cast<float>((*trust_track)[i].snr_point);
 						break;

 					}
@@ -164,7 +164,7 @@ void TAS_Ctrl::tas_target_del(std::vector<Trust_Track>          *trust_track,
 		{
 			//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 (size_t j=0;j<trust_track->size();j++){
 				{
 					if(tas_target_queue[i].Index==(*trust_track)[j].Track_Index && (*trust_track)[j].Track_Mode == 1 && (*trust_track)[j].manual_tracking_flag == 1)
 					{
@@ -213,17 +213,17 @@ void TAS_Ctrl::tas_target_del(std::vector<Trust_Track>          *trust_track,
 //                        coor_trans Coor_trans;
 //                        Coor_trans.cart2polar((*trust_track)[i].X[0],(*trust_track)[i].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].Range=static_cast<float>(r_output);
+//                        Trust_Track_Output[*Trust_track_num_Output-1][0].Azimuth=static_cast<float>(azmi_output/PI*180);
 //                        Trust_Track_Output[*Trust_track_num_Output-1][0].Track_Index=(*trust_track)[i].Track_Index;   //航迹号
-//                        Trust_Track_Output[*Trust_track_num_Output-1][0].Range_V=sqrt((*trust_track)[i].X[1]*(*trust_track)[i].X[1]+(*trust_track)[i].X[4]*(*trust_track)[i].X[4]);
-//                        Trust_Track_Output[*Trust_track_num_Output-1][0].Amplitude=(*trust_track)[i].Amplitude;
+//                        Trust_Track_Output[*Trust_track_num_Output-1][0].Range_V=static_cast<float>(sqrt((*trust_track)[i].X[1]*(*trust_track)[i].X[1]+(*trust_track)[i].X[4]*(*trust_track)[i].X[4]));
+//                        Trust_Track_Output[*Trust_track_num_Output-1][0].Amplitude=static_cast<float>((*trust_track)[i].Amplitude);
 //                        Trust_Track_Output[*Trust_track_num_Output-1][0].Flag_Point=(*trust_track)[i].point_flag;
 //                        Trust_Track_Output[*Trust_track_num_Output-1][0].Track_Mode=(*trust_track)[i].Track_Mode;
-//                        Trust_Track_Output[*Trust_track_num_Output-1][0].Elevation=asin((*trust_track)[i].Height/r_output)/PI*180;
-//                        Trust_Track_Output[*Trust_track_num_Output-1][0].z=(*trust_track)[i].Height+Work_Parameter.Height;
+//                        Trust_Track_Output[*Trust_track_num_Output-1][0].Elevation=static_cast<float>(asin((*trust_track)[i].Height/r_output)/PI*180);
+//                        Trust_Track_Output[*Trust_track_num_Output-1][0].z=static_cast<float>((*trust_track)[i].Height+Work_Parameter.Height);
 //                        Trust_Track_Output[*Trust_track_num_Output-1][0].Target_Type=(*trust_track)[i].Target_Type;
-//                        Trust_Track_Output[*Trust_track_num_Output-1][0].track_snr = (*trust_track)[i].snr_point;
+//                        Trust_Track_Output[*Trust_track_num_Output-1][0].track_snr = static_cast<float>((*trust_track)[i].snr_point);
 //                    }
 //                }
 //            }
@@ -1,4 +1,4 @@
-#ifndef TAS_CTRL_H
+#ifndef TAS_CTRL_H
 #define TAS_CTRL_H
 #include "data_process_class_dll.h"
 #include "parameters.h"
@@ -1,4 +1,4 @@
-#include "track_asso.h"
+#include "track_asso.h"
 #include "kalman.h"
 #include "coor_trans.h"
 #include <cmath>
@@ -20,7 +20,7 @@ int Track_Asso:: track_asso_process(std::vector<PointRecv>               *point_
 {

 	//取出对应点迹区的点
-	for (int i=0;i< point_recv->size();i++)
+	for (size_t i=0;i< point_recv->size();i++)
 	{
 		point_process.push_back((*point_recv)[i]);
 		int n=point_process.size();
@@ -51,7 +51,7 @@ int Track_Asso:: track_asso_process(std::vector<PointRecv>               *point_

 	//剩余点重新存入点迹
 	std::vector<PointRecv>().swap((*point_recv));
-	for (int i=0;i<point_process.size();i++)
+	for (size_t i=0;i<point_process.size();i++)
 	{

 	   (*point_recv).push_back(point_process[i]);
@@ -62,7 +62,7 @@ int Track_Asso:: track_asso_process(std::vector<PointRecv>               *point_
 	std::vector<PointRecv>().swap(point_process);

 	//输出航迹
-	for (int i=0;i<trust_track->size();i++)
+	for (size_t i=0;i<trust_track->size();i++)
 	{                                                                                                                                                   // 输出更新航迹条件：
 //        if((*trust_track)[i].manual_tracking_flag==0)
 //        {
@@ -76,53 +76,53 @@ int Track_Asso:: track_asso_process(std::vector<PointRecv>               *point_
 			coor_trans Coor_trans;
 			double r, azi;
 			Coor_trans.cart2polar(x, y, &r, &azi);
-			Trust_Track_Output[*Trust_track_num_Output-1][0].Range=r;
-			Trust_Track_Output[*Trust_track_num_Output-1][0].Azimuth=azi/PI*180;
+			Trust_Track_Output[*Trust_track_num_Output-1][0].Range=static_cast<float>(r);
+			Trust_Track_Output[*Trust_track_num_Output-1][0].Azimuth=static_cast<float>(azi/PI*180);

 			if((*trust_track)[i].Height<r)
-				Trust_Track_Output[*Trust_track_num_Output-1][0].Elevation = asin((*trust_track)[i].Height/r)/PI*180;
+				Trust_Track_Output[*Trust_track_num_Output-1][0].Elevation = static_cast<float>(asin((*trust_track)[i].Height/r)/PI*180);
 			else
-				Trust_Track_Output[*Trust_track_num_Output-1][0].Elevation = (*trust_track)[i].elev_point;
+				Trust_Track_Output[*Trust_track_num_Output-1][0].Elevation = static_cast<float>((*trust_track)[i].elev_point);

 			Trust_Track_Output[*Trust_track_num_Output-1][0].Track_Index=(*trust_track)[i].Track_Index;

 			Trust_Track_Output[*Trust_track_num_Output-1][0].Range_V =
-			sqrt((*trust_track)[i].X[1]*(*trust_track)[i].X[1]+(*trust_track)[i].X[4]*(*trust_track)[i].X[4]);
-			Trust_Track_Output[*Trust_track_num_Output-1][0].Amplitude = (*trust_track)[i].Amplitude;
+			static_cast<float>(sqrt((*trust_track)[i].X[1]*(*trust_track)[i].X[1]+(*trust_track)[i].X[4]*(*trust_track)[i].X[4]));
+			Trust_Track_Output[*Trust_track_num_Output-1][0].Amplitude = static_cast<float>((*trust_track)[i].Amplitude);

 			Trust_Track_Output[*Trust_track_num_Output-1][0].Track_Mode=(*trust_track)[i].Track_Mode;
-			Trust_Track_Output[*Trust_track_num_Output-1][0].track_time=(*trust_track)[i].T_track/1000.0;
+			Trust_Track_Output[*Trust_track_num_Output-1][0].track_time=static_cast<float>((*trust_track)[i].T_track/1000.0);
 			Trust_Track_Output[*Trust_track_num_Output-1][0].GNSS_time=(*trust_track)[i].GNSS_time;
 			Trust_Track_Output[*Trust_track_num_Output-1][0].Flag_Point = (*trust_track)[i].point_flag;
-			Trust_Track_Output[*Trust_track_num_Output-1][0].z=(*trust_track)[i].Height+Work_Parameter.Height;
+			Trust_Track_Output[*Trust_track_num_Output-1][0].z=static_cast<float>((*trust_track)[i].Height+Work_Parameter.Height);

 			double Direction_Angle;
 			Direction_Angle=atan2((*trust_track)[i].X[4], (*trust_track)[i].X[1]);
 			if(Direction_Angle<0){Direction_Angle=Direction_Angle+2*PI;}
-			Trust_Track_Output[*Trust_track_num_Output-1][0].Direction_Angle=Direction_Angle/PI*180;
+			Trust_Track_Output[*Trust_track_num_Output-1][0].Direction_Angle=static_cast<float>(Direction_Angle/PI*180);

 			//关联点信息
-			Trust_Track_Output[*Trust_track_num_Output-1][0].range_point=(*trust_track)[i].range_point;
-			Trust_Track_Output[*Trust_track_num_Output-1][0].azi_point=(*trust_track)[i].azi_point;
-			Trust_Track_Output[*Trust_track_num_Output-1][0].elev_point=(*trust_track)[i].elev_point;
-			Trust_Track_Output[*Trust_track_num_Output-1][0].vr_point=(*trust_track)[i].vr_point;
+			Trust_Track_Output[*Trust_track_num_Output-1][0].range_point=static_cast<float>((*trust_track)[i].range_point);
+			Trust_Track_Output[*Trust_track_num_Output-1][0].azi_point=static_cast<float>((*trust_track)[i].azi_point);
+			Trust_Track_Output[*Trust_track_num_Output-1][0].elev_point=static_cast<float>((*trust_track)[i].elev_point);
+			Trust_Track_Output[*Trust_track_num_Output-1][0].vr_point=static_cast<float>((*trust_track)[i].vr_point);
 			Trust_Track_Output[*Trust_track_num_Output-1][0].point_type=0;
-			Trust_Track_Output[*Trust_track_num_Output-1][0].prf_point = (*trust_track)[i].prf_point;
-			Trust_Track_Output[*Trust_track_num_Output-1][0].track_snr = (*trust_track)[i].snr_point;
+			Trust_Track_Output[*Trust_track_num_Output-1][0].prf_point = static_cast<float>((*trust_track)[i].prf_point);
+			Trust_Track_Output[*Trust_track_num_Output-1][0].track_snr = static_cast<float>((*trust_track)[i].snr_point);

 			//直接输出点迹高度-20260605
 			//Trust_Track_Output[*Trust_track_num_Output-1][0].z = (*trust_track)[i].range_point * sin((*trust_track)[i].elev_point/180.0*PI);
 			//输出平滑后的高度
-			Trust_Track_Output[*Trust_track_num_Output-1][0].z = (*trust_track)[i].Height+Work_Parameter.Height;
+			Trust_Track_Output[*Trust_track_num_Output-1][0].z = static_cast<float>((*trust_track)[i].Height+Work_Parameter.Height);

-			Trust_Track_Output[*Trust_track_num_Output-1][0].Elevation = (*trust_track)[i].elev_point;
+			Trust_Track_Output[*Trust_track_num_Output-1][0].Elevation = static_cast<float>((*trust_track)[i].elev_point);

-			Trust_Track_Output[*Trust_track_num_Output-1][0].x=(*trust_track)[i].X[0];
-			Trust_Track_Output[*Trust_track_num_Output-1][0].y=(*trust_track)[i].X[3];
-			Trust_Track_Output[*Trust_track_num_Output-1][0].v_x=(*trust_track)[i].X[1];
-			Trust_Track_Output[*Trust_track_num_Output-1][0].v_y=(*trust_track)[i].X[4];
+			Trust_Track_Output[*Trust_track_num_Output-1][0].x=static_cast<float>((*trust_track)[i].X[0]);
+			Trust_Track_Output[*Trust_track_num_Output-1][0].y=static_cast<float>((*trust_track)[i].X[3]);
+			Trust_Track_Output[*Trust_track_num_Output-1][0].v_x=static_cast<float>((*trust_track)[i].X[1]);
+			Trust_Track_Output[*Trust_track_num_Output-1][0].v_y=static_cast<float>((*trust_track)[i].X[4]);

-			Trust_Track_Output[*Trust_track_num_Output-1][0].track_rcs = (*trust_track)[i].RCS;
+			Trust_Track_Output[*Trust_track_num_Output-1][0].track_rcs = static_cast<float>((*trust_track)[i].RCS);
 			Trust_Track_Output[*Trust_track_num_Output-1][0].pitch_num = (*trust_track)[i].pitch_num;

 			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));
@@ -137,7 +137,7 @@ int Track_Asso:: track_asso_process(std::vector<PointRecv>               *point_
 void Track_Asso:: model_interaction(std::vector <Trust_Track>   *trust_track)
 {

-	for (int loop_of_track=0;loop_of_track<trust_track->size();loop_of_track++)
+	for (size_t loop_of_track=0;loop_of_track<trust_track->size();loop_of_track++)
 	{

 //        if((*trust_track)[loop_of_track].manual_tracking_flag == 0)
@@ -413,13 +413,13 @@ void Track_Asso:: model_filter(std::vector <Trust_Track> *trust_track,struct  Ra
 	std::vector <asso_info> associated_info;

 	//遍历所有点迹航迹  计算点迹和航迹的统计距离
-	for (int loop_of_track = 0; loop_of_track<trust_track->size();loop_of_track++)
+	for (size_t loop_of_track = 0; loop_of_track<trust_track->size();loop_of_track++)
 	{
 //        if((*trust_track)[loop_of_track].manual_tracking_flag==0)
 //        {
 			(*trust_track)[loop_of_track].point_flag = 0;  //航迹的point_flag置为0 关联上点后再置为1

-			for (int loop_of_point = 0; loop_of_point<point_process.size();loop_of_point++)
+			for (size_t loop_of_point = 0; loop_of_point<point_process.size();loop_of_point++)
 			{

 				//时间差
@@ -554,8 +554,8 @@ void Track_Asso:: model_filter(std::vector <Trust_Track> *trust_track,struct  Ra
 					associated_info_tmp.d1=d1;
 					associated_info_tmp.d2=d2;
 					associated_info_tmp.d3=d3;
-					associated_info_tmp.point_index=loop_of_point+1;
-					associated_info_tmp.track_index=loop_of_track+1;
+					associated_info_tmp.point_index=static_cast<int>(loop_of_point)+1;
+					associated_info_tmp.track_index=static_cast<int>(loop_of_track)+1;
 					if(d1<=d2&&d1<=d3)
 						associated_info_tmp.d_min=d1;
 					else if(d2<=d1&& d2<=d3)
@@ -571,7 +571,7 @@ void Track_Asso:: model_filter(std::vector <Trust_Track> *trust_track,struct  Ra

 	//最近邻法关联
 	int associated_num=associated_info.size();
-	for (int i=0;i<trust_track->size();i++)
+	for (size_t i=0;i<trust_track->size();i++)
 	{
 		//寻找最小d
 		if(associated_num>0)
@@ -650,9 +650,9 @@ void Track_Asso:: model_filter(std::vector <Trust_Track> *trust_track,struct  Ra
 				for (int ii=0;ii<3;ii++)
 					for (int jj=0;jj<3;jj++)
 					{
-						S1_out(ii,jj)=S1[ii][jj];
-						S2_out(ii,jj)=S2[ii][jj];
-						S3_out(ii,jj)=S3[ii][jj];
+						S1_out(ii,jj)=static_cast<float>(S1[ii][jj]);
+						S2_out(ii,jj)=static_cast<float>(S2[ii][jj]);
+						S3_out(ii,jj)=static_cast<float>(S3[ii][jj]);
 					}
 				double det_S1=S1_out.determinant();
 				double Possibility1=(det_S1>1e-12)?(1.0/sqrt(pow(2*PI,3)*det_S1)*exp(-0.5*d1)):0.0;
@@ -755,7 +755,7 @@ 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 (int i =0; i<(*trust_track).size();i++ )
+	for (size_t i =0; i<(*trust_track).size();i++ )
 	{
 		if((*trust_track)[i].point_flag == 0 && (*trust_track)[i].manual_tracking_flag == 0)
 		{
@@ -804,8 +804,8 @@ void Track_Asso:: model_filter(std::vector <Trust_Track> *trust_track,struct  Ra
 			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 = (*trust_track)[i].T_track+delta_T*1000.0;            //更新航迹时间
-			(*trust_track)[i].GNSS_time = (*trust_track)[i].GNSS_time+delta_T*1000.0;            //更新航迹时间
+			(*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
 		}
@@ -815,7 +815,7 @@ void Track_Asso:: model_filter(std::vector <Trust_Track> *trust_track,struct  Ra

 void Track_Asso:: model_output(std::vector <Trust_Track>    *trust_track)
 {
-	for(int loop_of_track=0; loop_of_track<trust_track->size(); loop_of_track++)
+	for(size_t loop_of_track=0; loop_of_track<trust_track->size(); loop_of_track++)
 	{

 //        if((*trust_track)[loop_of_track].manual_tracking_flag==0)
@@ -919,7 +919,7 @@ void Track_Asso:: track_hight_update(int                                 updata_
 									 )
 {

-	if(updata_track_index<=trust_track->size() &&  asso_point_index<=point_process.size())
+	if(updata_track_index<=static_cast<int>(trust_track->size()) &&  asso_point_index<=static_cast<int>(point_process.size()))
 	{

 		(*trust_track)[updata_track_index-1].Hight_smooth.push_back(point_process[asso_point_index-1].Height);
@@ -944,10 +944,10 @@ void Track_Asso:: track_hight_update(int                                 updata_
 		}

 		double sum=0;
-		if((*trust_track)[updata_track_index-1].Hight_smooth.size()<height_win_length)
+		if((*trust_track)[updata_track_index-1].Hight_smooth.size()<static_cast<size_t>(height_win_length))
 		{

-			for (int i=0;i<(*trust_track)[updata_track_index-1].Hight_smooth.size();i++)
+			for (size_t i=0;i<(*trust_track)[updata_track_index-1].Hight_smooth.size();i++)
 			{
 				sum=sum+(*trust_track)[updata_track_index-1].Hight_smooth[i];

@@ -956,7 +956,7 @@ void Track_Asso:: track_hight_update(int                                 updata_
 			(*trust_track)[updata_track_index-1].Height=sum/(*trust_track)[updata_track_index-1].Hight_smooth.size();

 		}
-		else if((*trust_track)[updata_track_index-1].Hight_smooth.size()>=height_win_length)
+		else if((*trust_track)[updata_track_index-1].Hight_smooth.size()>=static_cast<size_t>(height_win_length))
 		{

 			int N=(*trust_track)[updata_track_index-1].Hight_smooth.size();
@@ -1,4 +1,4 @@
-#ifndef TRACK_ASSO_H
+#ifndef TRACK_ASSO_H
 #define TRACK_ASSO_H

 #include "data_process_class_dll.h"
@@ -1,4 +1,4 @@
-#include "track_asso_direct_tracking.h"
+#include "track_asso_direct_tracking.h"
 #include "kalman.h"
 #include "coor_trans.h"
 #include <cmath>
@@ -1,4 +1,4 @@
-#ifndef TRACK_ASSO_DIRECT_TRACKING_H
+#ifndef TRACK_ASSO_DIRECT_TRACKING_H
 #define TRACK_ASSO_DIRECT_TRACKING_H
 #include "data_process_class_dll.h"
 #include "parameters.h"
@@ -1,4 +1,4 @@
-#include "track_asso_tas.h"
+#include "track_asso_tas.h"
 #include "kalman.h"
 #include "coor_trans.h"
 #include <cmath>
@@ -20,7 +20,7 @@ long long								latest_timestamp		//最新时间戳
 {

 	//取出点迹
-	for (int i=0;i< point_recv_tas->size();i++)
+	for (size_t i=0;i< point_recv_tas->size();i++)
 	{
 		point_process.push_back((*point_recv_tas)[i]);
 	}
@@ -36,7 +36,7 @@ long long								latest_timestamp		//最新时间戳
 	std::vector<PointRecv>().swap(point_process);

 	//输出航迹
-	for (int i=0;i<trust_track->size();i++)
+	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)
 		{
@@ -49,42 +49,42 @@ long long								latest_timestamp		//最新时间戳
 			coor_trans Coor_trans;
 			double r, azi;
 			Coor_trans.cart2polar(x, y, &r, &azi);
-			Trust_Track_Output[*Trust_track_num_Output-1][0].Range=r;
-			Trust_Track_Output[*Trust_track_num_Output-1][0].Azimuth=azi/PI*180;
+			Trust_Track_Output[*Trust_track_num_Output-1][0].Range=static_cast<float>(r);
+			Trust_Track_Output[*Trust_track_num_Output-1][0].Azimuth=static_cast<float>(azi/PI*180);
 			{
 				double elev_ratio = (r > 0.0) ? (*trust_track)[i].Height / r : 0.0;
 				if (elev_ratio > 1.0) elev_ratio = 1.0;
 				if (elev_ratio < -1.0) elev_ratio = -1.0;
-				Trust_Track_Output[*Trust_track_num_Output-1][0].Elevation = asin(elev_ratio)/PI*180;
+				Trust_Track_Output[*Trust_track_num_Output-1][0].Elevation = static_cast<float>(asin(elev_ratio)/PI*180);
 			}
 			Trust_Track_Output[*Trust_track_num_Output-1][0].Track_Index=(*trust_track)[i].Track_Index;
 			Trust_Track_Output[*Trust_track_num_Output-1][0].Range_V =
-			        sqrt((*trust_track)[i].X[1]*(*trust_track)[i].X[1]+(*trust_track)[i].X[4]*(*trust_track)[i].X[4]);
-			Trust_Track_Output[*Trust_track_num_Output-1][0].Amplitude = (*trust_track)[i].Amplitude;
+			        static_cast<float>(sqrt((*trust_track)[i].X[1]*(*trust_track)[i].X[1]+(*trust_track)[i].X[4]*(*trust_track)[i].X[4]));
+			Trust_Track_Output[*Trust_track_num_Output-1][0].Amplitude = static_cast<float>((*trust_track)[i].Amplitude);
 			Trust_Track_Output[*Trust_track_num_Output-1][0].Track_Mode=(*trust_track)[i].Track_Mode;
-			Trust_Track_Output[*Trust_track_num_Output-1][0].track_time=(*trust_track)[i].T_track/1000.0;
+			Trust_Track_Output[*Trust_track_num_Output-1][0].track_time=static_cast<float>((*trust_track)[i].T_track/1000.0);
 			Trust_Track_Output[*Trust_track_num_Output-1][0].GNSS_time=(*trust_track)[i].GNSS_time;
 			Trust_Track_Output[*Trust_track_num_Output-1][0].Flag_Point = (*trust_track)[i].point_flag;
-			Trust_Track_Output[*Trust_track_num_Output-1][0].z=(*trust_track)[i].Height+Work_Parameter.Height;
+			Trust_Track_Output[*Trust_track_num_Output-1][0].z=static_cast<float>((*trust_track)[i].Height+Work_Parameter.Height);

 			double Direction_Angle;
 			Direction_Angle=atan2((*trust_track)[i].X[4], (*trust_track)[i].X[1]);
 			if(Direction_Angle<0){Direction_Angle=Direction_Angle+2*PI;}
-			Trust_Track_Output[*Trust_track_num_Output-1][0].Direction_Angle=Direction_Angle/PI*180;
+			Trust_Track_Output[*Trust_track_num_Output-1][0].Direction_Angle=static_cast<float>(Direction_Angle/PI*180);

 			//关联点信息
-			Trust_Track_Output[*Trust_track_num_Output-1][0].range_point=(*trust_track)[i].range_point;
-			Trust_Track_Output[*Trust_track_num_Output-1][0].azi_point=(*trust_track)[i].azi_point;
-			Trust_Track_Output[*Trust_track_num_Output-1][0].elev_point=(*trust_track)[i].elev_point;
-			Trust_Track_Output[*Trust_track_num_Output-1][0].vr_point=(*trust_track)[i].vr_point;
+			Trust_Track_Output[*Trust_track_num_Output-1][0].range_point=static_cast<float>((*trust_track)[i].range_point);
+			Trust_Track_Output[*Trust_track_num_Output-1][0].azi_point=static_cast<float>((*trust_track)[i].azi_point);
+			Trust_Track_Output[*Trust_track_num_Output-1][0].elev_point=static_cast<float>((*trust_track)[i].elev_point);
+			Trust_Track_Output[*Trust_track_num_Output-1][0].vr_point=static_cast<float>((*trust_track)[i].vr_point);
 			Trust_Track_Output[*Trust_track_num_Output-1][0].point_type=1;
-			Trust_Track_Output[*Trust_track_num_Output-1][0].prf_point = (*trust_track)[i].prf_point;
-			Trust_Track_Output[*Trust_track_num_Output-1][0].track_snr = (*trust_track)[i].snr_point;
-			Trust_Track_Output[*Trust_track_num_Output-1][0].x=(*trust_track)[i].X[0];
-			Trust_Track_Output[*Trust_track_num_Output-1][0].y=(*trust_track)[i].X[3];
-			Trust_Track_Output[*Trust_track_num_Output-1][0].v_x=(*trust_track)[i].X[1];
-			Trust_Track_Output[*Trust_track_num_Output-1][0].v_y=(*trust_track)[i].X[4];
-			Trust_Track_Output[*Trust_track_num_Output-1][0].track_rcs = (*trust_track)[i].RCS;
+			Trust_Track_Output[*Trust_track_num_Output-1][0].prf_point = static_cast<float>((*trust_track)[i].prf_point);
+			Trust_Track_Output[*Trust_track_num_Output-1][0].track_snr = static_cast<float>((*trust_track)[i].snr_point);
+			Trust_Track_Output[*Trust_track_num_Output-1][0].x=static_cast<float>((*trust_track)[i].X[0]);
+			Trust_Track_Output[*Trust_track_num_Output-1][0].y=static_cast<float>((*trust_track)[i].X[3]);
+			Trust_Track_Output[*Trust_track_num_Output-1][0].v_x=static_cast<float>((*trust_track)[i].X[1]);
+			Trust_Track_Output[*Trust_track_num_Output-1][0].v_y=static_cast<float>((*trust_track)[i].X[4]);
+			Trust_Track_Output[*Trust_track_num_Output-1][0].track_rcs = static_cast<float>((*trust_track)[i].RCS);
 			Trust_Track_Output[*Trust_track_num_Output-1][0].pitch_num = (*trust_track)[i].pitch_num;

 			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));
@@ -101,7 +101,7 @@ long long								latest_timestamp		//最新时间戳
 void Track_Asso_Tas:: model_interaction( std::vector<Trust_Track>   *trust_track, int tas_track_idx)
 {

-	for (int loop_of_track=0;loop_of_track<trust_track->size();loop_of_track++)
+	for (size_t loop_of_track=0;loop_of_track<trust_track->size();loop_of_track++)
 	{

 		if((*trust_track)[loop_of_track].Track_Index == tas_track_idx)
@@ -238,7 +238,7 @@ void Track_Asso_Tas::model_filter(  std::vector<Trust_Track>                  *t
 	double r_track = 0;
 	double h_track = 0;
 	bool found_tas_track = false;
-	for (int loop_of_track=0;loop_of_track<trust_track->size();loop_of_track++)
+	for (size_t loop_of_track=0;loop_of_track<trust_track->size();loop_of_track++)
 	{
 		if((*trust_track)[loop_of_track].Track_Index == tas_track_idx)
 		{
@@ -257,7 +257,7 @@ void Track_Asso_Tas::model_filter(  std::vector<Trust_Track>                  *t
 			memcpy(P2,(*trust_track)[loop_of_track].P2,6*6*sizeof(double));
 			memcpy(P3,(*trust_track)[loop_of_track].P3,6*6*sizeof(double));

-			T_track = (*trust_track)[loop_of_track].T_track;
+			T_track = static_cast<double>((*trust_track)[loop_of_track].T_track);
 			v_track = sqrt(pow((*trust_track)[loop_of_track].X[1],2)+pow((*trust_track)[loop_of_track].X[4],2));
 			r_track =  sqrt(pow((*trust_track)[loop_of_track].X[0],2)+pow((*trust_track)[loop_of_track].X[3],2));
 			h_track = (*trust_track)[loop_of_track].Height;
@@ -269,7 +269,7 @@ void Track_Asso_Tas::model_filter(  std::vector<Trust_Track>                  *t
 		return;

 	// 计算量测和航迹统计距离
-	for (int loop_of_point = 0; loop_of_point<point_process.size();loop_of_point++)
+	for (size_t loop_of_point = 0; loop_of_point<point_process.size();loop_of_point++)
 	{
 		//量测信息
 		//        double Z[2]={point_process[loop_of_point].Range*cos(point_process[loop_of_point].Azimuth),
@@ -355,7 +355,7 @@ void Track_Asso_Tas::model_filter(  std::vector<Trust_Track>                  *t
 			associated_info_tmp.d1=d1;
 			associated_info_tmp.d2=d2;
 			associated_info_tmp.d3=d3;
-			associated_info_tmp.point_index=loop_of_point+1;
+			associated_info_tmp.point_index=static_cast<int>(loop_of_point)+1;
 			if(d1<=d2&&d1<=d3)
 				associated_info_tmp.d_min=d1;
 			else if(d2<=d1&& d2<=d3)
@@ -376,12 +376,12 @@ void Track_Asso_Tas::model_filter(  std::vector<Trust_Track>                  *t
 		//找最近点
 		int min_index=1;
 		double min_d=associated_info[0].d_min;
-		for (int ii=0;ii<associated_info.size();ii++)
+		for (size_t ii=0;ii<associated_info.size();ii++)
 		{
 			if(associated_info[ii].d_min<min_d)
 			{
 				min_d=associated_info[ii].d_min;
-				min_index=ii+1;
+				min_index=static_cast<int>(ii)+1;
 			}
 		}
 		int point_index=associated_info[min_index-1].point_index;
@@ -413,9 +413,9 @@ void Track_Asso_Tas::model_filter(  std::vector<Trust_Track>                  *t
 		for (int ii=0;ii<3;ii++)
 			for (int jj=0;jj<3;jj++)
 			{
-				S1_out(ii,jj)=S1[ii][jj];
-				S2_out(ii,jj)=S2[ii][jj];
-				S3_out(ii,jj)=S3[ii][jj];
+				S1_out(ii,jj)=static_cast<float>(S1[ii][jj]);
+				S2_out(ii,jj)=static_cast<float>(S2[ii][jj]);
+				S3_out(ii,jj)=static_cast<float>(S3[ii][jj]);
 			}
 		double det_S1=S1_out.determinant();
 		double Possibility1=(det_S1>1e-12)?(1.0/sqrt(pow(2*PI,3)*det_S1)*exp(-0.5*d1)):0.0;
@@ -425,7 +425,7 @@ 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(int 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)
 			{
@@ -496,7 +496,7 @@ void Track_Asso_Tas::model_filter(  std::vector<Trust_Track>                  *t
 	else
 	{

-		for(int 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;
@@ -517,8 +517,8 @@ void Track_Asso_Tas::model_filter(  std::vector<Trust_Track>                  *t
 				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 = (*trust_track)[i].T_track+delta_T*1000.0;            //更新航迹时间
-				(*trust_track)[i].GNSS_time = (*trust_track)[i].GNSS_time+delta_T*1000.0;        //更新航迹时间
+				(*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;
 			}
@@ -529,7 +529,7 @@ void Track_Asso_Tas::model_filter(  std::vector<Trust_Track>                  *t

 void Track_Asso_Tas::model_output(std::vector<Trust_Track>    *trust_track, int tas_track_idx )
 {
-	for(int 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)
 		{

@@ -737,7 +737,7 @@ void Track_Asso_Tas::track_hight_update(int                                 tas_
                                        std::vector<Trust_Track>                *trust_track                       //航迹
                                        )
 {
-	for(int 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)
 		{
 			(*trust_track)[i].Hight_smooth.push_back(point_process[asso_point_index-1].Height);
@@ -761,10 +761,10 @@ void Track_Asso_Tas::track_hight_update(int                                 tas_
 			}

 			double sum=0;
-			if((*trust_track)[i].Hight_smooth.size()<height_win_length)
+			if((*trust_track)[i].Hight_smooth.size()<static_cast<size_t>(height_win_length))
 			{

-				for (int ii=0;ii<(*trust_track)[i].Hight_smooth.size();ii++)
+				for (size_t ii=0;ii<(*trust_track)[i].Hight_smooth.size();ii++)
 				{
 					sum=sum+(*trust_track)[i].Hight_smooth[ii];

@@ -773,7 +773,7 @@ void Track_Asso_Tas::track_hight_update(int                                 tas_
 				(*trust_track)[i].Height=sum/(*trust_track)[i].Hight_smooth.size();

 			}
-			else if((*trust_track)[i].Hight_smooth.size()>=height_win_length)
+			else if((*trust_track)[i].Hight_smooth.size()>=static_cast<size_t>(height_win_length))
 			{

 				int N=(*trust_track)[i].Hight_smooth.size();
@@ -1,4 +1,4 @@
-#ifndef TRACK_ASSO_TAS_H
+#ifndef TRACK_ASSO_TAS_H
 #define TRACK_ASSO_TAS_H
 #include "data_process_class_dll.h"
 #include "parameters.h"
@@ -1,4 +1,4 @@
-#include "track_die.h"
+#include "track_die.h"
 #include "kalman.h"
 #include "coor_trans.h"
 #include <cmath>
@@ -1,4 +1,4 @@
-#ifndef TRACK_DIE_H
+#ifndef TRACK_DIE_H
 #define TRACK_DIE_H
 #include "data_process_class_dll.h"
 #include "parameters.h"
@@ -1,4 +1,4 @@
-#include "track_die_tas.h"
+#include "track_die_tas.h"
 #include "kalman.h"
 #include "coor_trans.h"
 #include <iostream>
@@ -1,4 +1,4 @@
-#ifndef TRACK_DIE_TAS_H
+#ifndef TRACK_DIE_TAS_H
 #define TRACK_DIE_TAS_H
 #include "data_process_class_dll.h"
 #include "parameters.h"
@@ -1,4 +1,4 @@
-#include "track_index_mangement.h"
+#include "track_index_mangement.h"
 #include <cmath>
 #include <cstring>
 #include <vector>
@@ -30,7 +30,7 @@ int Track_Ind_Mangement ::track_ind_get( std::vector<Trust_Track>   *trust_track
 	{
 		//建立航迹号列表
 		int List[MAX_TRACK_INDEX]={0};
-		for (int i=0;i<trust_track->size();i++)
+		for (size_t i=0;i<trust_track->size();i++)
 		{
 			int ti = (*trust_track)[i].Track_Index;
 			if (ti >= 1 && ti <= MAX_TRACK_INDEX)
@@ -1,4 +1,4 @@
-#ifndef TRACK_INDEX_MANGEMENT_H
+#ifndef TRACK_INDEX_MANGEMENT_H
 #define TRACK_INDEX_MANGEMENT_H
 #include "data_process_class_dll.h"
 #include "parameters.h"
@@ -1,4 +1,4 @@
-#include "track_init.h"
+#include "track_init.h"
 #include "kalman.h"
 #include "coor_trans.h"
 #include <cmath>
@@ -34,13 +34,13 @@ int Track_Init::track_init_process_logic(   std::vector <PointRecv>
 //    }

 	//取出待起航的点迹数据
-	for (int i=0;i<(*point_recv).size();i++)
+	for (size_t i=0;i<(*point_recv).size();i++)
 		point_process.push_back((*point_recv)[i]);

 	//临时航迹的buff_round+1
-	for (int i=0;i<temp_track->size();i++)
+	for (size_t i=0;i<temp_track->size();i++)
 	{
-		for (int j=0;j<(*temp_track)[i].size();j++)
+		for (size_t j=0;j<(*temp_track)[i].size();j++)
 		{
 			(*temp_track)[i][j].buff_round = (*temp_track)[i][j].buff_round+1;
 		}
@@ -71,7 +71,7 @@ int Track_Init::track_init_process_logic(   std::vector <PointRecv>

 		//剩余点重新存入点迹
 		std::vector<PointRecv>().swap((*point_recv));
-		for (int i=0;i<point_process.size();i++)
+		for (size_t i=0;i<point_process.size();i++)
 			(*point_recv).push_back(point_process[i]);

 		//剩余点转为航迹头
@@ -155,9 +155,9 @@ void Track_Init::point_temp_track_asso(std::vector <std::vector<Temp_track>>
 	};
 	std::vector <Asso_info> asso_info;

-	for ( int i=0;i<point_process.size();i++)
+	for ( size_t i=0;i<point_process.size();i++)
 	{
-		for ( int j=0;j<(*temp_track).size();j++)
+		for ( size_t j=0;j<(*temp_track).size();j++)
 		{
 			int L = (*temp_track)[j].size();

@@ -174,7 +174,7 @@ void Track_Init::point_temp_track_asso(std::vector <std::vector<Temp_track>>
 				double prt = point_process[i].PRF_index;
 				double freq_ind = point_process[i].Freq_index;
 				double h_point = point_process[i].Height;
-				double T_point = point_process[i].CPI_Time;
+				double T_point = static_cast<double>(point_process[i].CPI_Time);

 				//航迹信息
 				double X[4];
@@ -184,7 +184,7 @@ void Track_Init::point_temp_track_asso(std::vector <std::vector<Temp_track>>
 				double v_temp_track=(*temp_track)[j][L-1].vr;
 				double r_temp_track=(*temp_track)[j][L-1].r;
 				double h_temp_track=(*temp_track)[j][L-1].height;
-				double T_track_head = (*temp_track)[j][L-1].T;
+				double T_track_head = static_cast<double>((*temp_track)[j][L-1].T);

 				double delta_T = (T_point - T_track_head)/1000.0;

@@ -221,8 +221,8 @@ void Track_Init::point_temp_track_asso(std::vector <std::vector<Temp_track>>
 					if(d*d<=TRACK_START_THRESHOLD*TRACK_START_THRESHOLD && alpha<ALPHA_START && vr_point*v_temp_track>0)//  &&  fabs(h_point-h_temp_track )<= r_point*SIGMA_E&& abs(vr_point-v_temp_track)/abs(v_temp_track)<0.8
 					{
 						struct Asso_info asso_info_tmp;
-						asso_info_tmp.point_idx = i+1;
-						asso_info_tmp.track_idx = j+1;
+						asso_info_tmp.point_idx = static_cast<int>(i)+1;
+						asso_info_tmp.track_idx = static_cast<int>(j)+1;
 						asso_info_tmp.d = d;
 						asso_info.push_back(asso_info_tmp);
 						(*temp_track)[j][L-1].asso_flag = 1;
@@ -235,7 +235,7 @@ void Track_Init::point_temp_track_asso(std::vector <std::vector<Temp_track>>
 	}

 	// temp_track中加入新关联上的临时航迹
-	for (int i = 0 ; i<asso_info.size();i++ )
+	for (size_t i = 0 ; i<asso_info.size();i++ )
 	{
 		(*temp_track).push_back(std::vector <Temp_track> ());

@@ -316,10 +316,10 @@ void Track_Init::point_track_head_asso( std::vector <std::vector<Temp_track>>
 	std::vector <Asso_info> asso_info;

 	//关联
-	for ( int i=0;i<point_process.size();i++)
+	for ( size_t i=0;i<point_process.size();i++)
 	{

-		for ( int j=0;j<temp_track->size();j++)
+		for ( size_t j=0;j<temp_track->size();j++)
 		{

 			if((*temp_track)[j].size()==1 && (*temp_track)[j][0].buff_round >= 2)
@@ -332,7 +332,7 @@ void Track_Init::point_track_head_asso( std::vector <std::vector<Temp_track>>
 				vr_point=point_process[i].Velocity;
 				double r_point=point_process[i].Range;
 				double h_point = point_process[i].Height;
-				double T_point = point_process[i].CPI_Time;
+				double T_point = static_cast<double>(point_process[i].CPI_Time);

 				//航迹信息
 				double x_track_head, y_track_head;
@@ -340,7 +340,7 @@ void Track_Init::point_track_head_asso( std::vector <std::vector<Temp_track>>
 				y_track_head=(*temp_track)[j][0].X[2];
 				double v_track_head=(*temp_track)[j][0].vr;
 				double h_track_head = (*temp_track)[j][0].height;
-				double T_track_head = (*temp_track)[j][0].T;
+				double T_track_head = static_cast<double>((*temp_track)[j][0].T);

 				//距离差
 				double dis = sqrt(pow(x_point-x_track_head,2)+pow(y_point-y_track_head,2));
@@ -368,8 +368,8 @@ void Track_Init::point_track_head_asso( std::vector <std::vector<Temp_track>>
 				{

 					struct Asso_info asso_info_tmp;
-					asso_info_tmp.point_idx = i+1;
-					asso_info_tmp.track_idx = j+1;
+					asso_info_tmp.point_idx = static_cast<int>(i)+1;
+					asso_info_tmp.track_idx = static_cast<int>(j)+1;
 					asso_info.push_back(asso_info_tmp);
 					(*temp_track)[j][0].asso_flag = 1;
 					point_process[i].Use_Flag = 1;
@@ -381,7 +381,7 @@ void Track_Init::point_track_head_asso( std::vector <std::vector<Temp_track>>
 	}

 	// temp_track中加入新关联上的临时航迹
-	for (int i = 0 ; i<asso_info.size();i++ )
+	for (size_t i = 0 ; i<asso_info.size();i++ )
 	{
 		(*temp_track).push_back(std::vector <Temp_track> ());

@@ -612,19 +612,19 @@ void Track_Init::tmp_track_to_trust_track(std::vector<Trust_Track>    *trust_tra
 					Trust_Track_Output[*Trust_track_num_Output-1][j].Track_Index=index;
 					Trust_Track_Output[*Trust_track_num_Output-1][j].Point_Sum=L;

-					Trust_Track_Output[*Trust_track_num_Output-1][j].Range=Track_to_start[i][j].r;
-					Trust_Track_Output[*Trust_track_num_Output-1][j].Azimuth=Track_to_start[i][j].azi/PI*180;
+					Trust_Track_Output[*Trust_track_num_Output-1][j].Range=static_cast<float>(Track_to_start[i][j].r);
+					Trust_Track_Output[*Trust_track_num_Output-1][j].Azimuth=static_cast<float>(Track_to_start[i][j].azi/PI*180);
 					{
 						double elev_ratio = (Track_to_start[i][j].r > 0.0) ? Track_to_start[i][j].height / Track_to_start[i][j].r : 0.0;
 						if (elev_ratio > 1.0) elev_ratio = 1.0;
 						if (elev_ratio < -1.0) elev_ratio = -1.0;
-						Trust_Track_Output[*Trust_track_num_Output-1][j].Elevation=asin(elev_ratio)/PI*180;
+						Trust_Track_Output[*Trust_track_num_Output-1][j].Elevation=static_cast<float>(asin(elev_ratio)/PI*180);
 					}
-					Trust_Track_Output[*Trust_track_num_Output-1][j].Range_V=sqrt(pow(Track_to_start[i][j].X[1],2)+pow(Track_to_start[i][j].X[3],2));
-					Trust_Track_Output[*Trust_track_num_Output-1][j].z=Track_to_start[i][j].height;
-					Trust_Track_Output[*Trust_track_num_Output-1][j].Amplitude=Track_to_start[i][j].Amp;
-					Trust_Track_Output[*Trust_track_num_Output-1][j].track_snr = Track_to_start[i][j].snr;
-					Trust_Track_Output[*Trust_track_num_Output-1][j].track_rcs = Track_to_start[i][j].RCS;
+					Trust_Track_Output[*Trust_track_num_Output-1][j].Range_V=static_cast<float>(sqrt(pow(Track_to_start[i][j].X[1],2)+pow(Track_to_start[i][j].X[3],2)));
+					Trust_Track_Output[*Trust_track_num_Output-1][j].z=static_cast<float>(Track_to_start[i][j].height);
+					Trust_Track_Output[*Trust_track_num_Output-1][j].Amplitude=static_cast<float>(Track_to_start[i][j].Amp);
+					Trust_Track_Output[*Trust_track_num_Output-1][j].track_snr = static_cast<float>(Track_to_start[i][j].snr);
+					Trust_Track_Output[*Trust_track_num_Output-1][j].track_rcs = static_cast<float>(Track_to_start[i][j].RCS);

 					Trust_Track_Output[*Trust_track_num_Output-1][j].pitch_num = Track_to_start[i][j].pitch_num;

@@ -634,25 +634,25 @@ void Track_Init::tmp_track_to_trust_track(std::vector<Trust_Track>    *trust_tra
 					Direction_Angle=atan2(Track_to_start[i][j].X[3],Track_to_start[i][j].X[1]);
 					if(Direction_Angle<0)
 						Direction_Angle=Direction_Angle+2*PI;
-					Trust_Track_Output[*Trust_track_num_Output-1][j].Direction_Angle=Direction_Angle/PI*180;
+					Trust_Track_Output[*Trust_track_num_Output-1][j].Direction_Angle=static_cast<float>(Direction_Angle/PI*180);

-					Trust_Track_Output[*Trust_track_num_Output-1][j].track_time=(Track_to_start[i][j].T)/1000.0;
+					Trust_Track_Output[*Trust_track_num_Output-1][j].track_time=static_cast<float>((Track_to_start[i][j].T)/1000.0);
 					Trust_Track_Output[*Trust_track_num_Output-1][j].GNSS_time=Track_to_start[i][j].GNSS_time;

-					Trust_Track_Output[*Trust_track_num_Output-1][j].x=Track_to_start[i][j].X[0];
-					Trust_Track_Output[*Trust_track_num_Output-1][j].v_x=Track_to_start[i][j].X[1];
-					Trust_Track_Output[*Trust_track_num_Output-1][j].y=Track_to_start[i][j].X[2];
-					Trust_Track_Output[*Trust_track_num_Output-1][j].v_y=Track_to_start[i][j].X[3];
+					Trust_Track_Output[*Trust_track_num_Output-1][j].x=static_cast<float>(Track_to_start[i][j].X[0]);
+					Trust_Track_Output[*Trust_track_num_Output-1][j].v_x=static_cast<float>(Track_to_start[i][j].X[1]);
+					Trust_Track_Output[*Trust_track_num_Output-1][j].y=static_cast<float>(Track_to_start[i][j].X[2]);
+					Trust_Track_Output[*Trust_track_num_Output-1][j].v_y=static_cast<float>(Track_to_start[i][j].X[3]);

-					Trust_Track_Output[*Trust_track_num_Output-1][j].range_point=Track_to_start[i][j].r;
-					Trust_Track_Output[*Trust_track_num_Output-1][j].azi_point=Track_to_start[i][j].azi/PI*180;
+					Trust_Track_Output[*Trust_track_num_Output-1][j].range_point=static_cast<float>(Track_to_start[i][j].r);
+					Trust_Track_Output[*Trust_track_num_Output-1][j].azi_point=static_cast<float>(Track_to_start[i][j].azi/PI*180);
 					{
 						double elev_ratio = (Track_to_start[i][j].r > 0.0) ? Track_to_start[i][j].height / Track_to_start[i][j].r : 0.0;
 						if (elev_ratio > 1.0) elev_ratio = 1.0;
 						if (elev_ratio < -1.0) elev_ratio = -1.0;
-						Trust_Track_Output[*Trust_track_num_Output-1][j].elev_point=asin(elev_ratio)/PI*180;
+						Trust_Track_Output[*Trust_track_num_Output-1][j].elev_point=static_cast<float>(asin(elev_ratio)/PI*180);
 					}
-					Trust_Track_Output[*Trust_track_num_Output-1][j].vr_point=Track_to_start[i][j].vr;
+					Trust_Track_Output[*Trust_track_num_Output-1][j].vr_point=static_cast<float>(Track_to_start[i][j].vr);
 					Trust_Track_Output[*Trust_track_num_Output-1][j].point_type=0;
 					Trust_Track_Output[*Trust_track_num_Output-1][j].Flag_Point=1;
 					Trust_Track_Output[*Trust_track_num_Output-1][j].Track_Mode=0;//跟踪模式 TWS 0
@@ -1,4 +1,4 @@
-#ifndef TRACK_INIT_H
+#ifndef TRACK_INIT_H
 #define TRACK_INIT_H
 #include "data_process_class_dll.h"
 #include "track_index_mangement.h"
@@ -1,4 +1,4 @@
-#include "track_init_direct_tracking.h"
+#include "track_init_direct_tracking.h"
 #include "kalman.h"
 #include "coor_trans.h"
 #include <cmath>
@@ -33,9 +33,9 @@ void Track_Init_Direct_Tracking::point_temp_track_asso(std::vector <std::vector<
 	};
 	std::vector <Asso_info> asso_info;

-	for ( int i=0;i<point_process.size();i++)
+	for ( size_t i=0;i<point_process.size();i++)
 	{
-		for ( int j=0;j<(*temp_track).size();j++)
+		for ( size_t j=0;j<(*temp_track).size();j++)
 		{
 			int L = (*temp_track)[j].size();

@@ -52,7 +52,7 @@ void Track_Init_Direct_Tracking::point_temp_track_asso(std::vector <std::vector<
 				double prt = point_process[i].PRF_index;
 				double freq_ind = point_process[i].Freq_index;
 				double h_point = point_process[i].Height;
-				double T_point = point_process[i].CPI_Time;
+				double T_point = static_cast<double>(point_process[i].CPI_Time);

 				//航迹信息
 				double X[4];
@@ -62,7 +62,7 @@ void Track_Init_Direct_Tracking::point_temp_track_asso(std::vector <std::vector<
 				double v_temp_track=(*temp_track)[j][L-1].vr;
 				double r_temp_track=(*temp_track)[j][L-1].r;
 				double h_temp_track=(*temp_track)[j][L-1].height;
-				double T_track_head = (*temp_track)[j][L-1].T;
+				double T_track_head = static_cast<double>((*temp_track)[j][L-1].T);

 				double delta_T = (T_point - T_track_head)/1000.0;

@@ -85,8 +85,8 @@ void Track_Init_Direct_Tracking::point_temp_track_asso(std::vector <std::vector<
 					if(d*d<=TRACK_START_THRESHOLD*TRACK_START_THRESHOLD && alpha<ALPHA_START && vr_point*v_temp_track>0)//  &&  fabs(h_point-h_temp_track )<= r_point*SIGMA_E&& abs(vr_point-v_temp_track)/abs(v_temp_track)<0.8
 					{
 						struct Asso_info asso_info_tmp;
-						asso_info_tmp.point_idx = i+1;
-						asso_info_tmp.track_idx = j+1;
+						asso_info_tmp.point_idx = static_cast<int>(i)+1;
+						asso_info_tmp.track_idx = static_cast<int>(j)+1;
 						asso_info.push_back(asso_info_tmp);
 						(*temp_track)[j][L-1].asso_flag = 1;
 						point_process[i].Use_Flag = 1;
@@ -97,7 +97,7 @@ void Track_Init_Direct_Tracking::point_temp_track_asso(std::vector <std::vector<
 	}

 	// temp_track中加入新关联上的临时航迹
-	for (int i = 0 ; i<asso_info.size();i++ )
+	for (size_t i = 0 ; i<asso_info.size();i++ )
 	{
 		(*temp_track).push_back(std::vector <Temp_track> ());

@@ -175,10 +175,10 @@ void Track_Init_Direct_Tracking::point_track_head_asso( std::vector <std::vector
 	std::vector <Asso_info> asso_info;

 	//关联
-	for ( int i=0;i<point_process.size();i++)
+	for ( size_t i=0;i<point_process.size();i++)
 	{

-		for ( int j=0;j<temp_track->size();j++)
+		for ( size_t j=0;j<temp_track->size();j++)
 		{

 			if((*temp_track)[j].size()==1 && (*temp_track)[j][0].buff_round >= 2)
@@ -191,7 +191,7 @@ void Track_Init_Direct_Tracking::point_track_head_asso( std::vector <std::vector
 				vr_point=point_process[i].Velocity;
 				double r_point=point_process[i].Range;
 				double h_point = point_process[i].Height;
-				double T_point = point_process[i].CPI_Time;
+				double T_point = static_cast<double>(point_process[i].CPI_Time);

 				//航迹信息
 				double x_track_head, y_track_head;
@@ -199,7 +199,7 @@ void Track_Init_Direct_Tracking::point_track_head_asso( std::vector <std::vector
 				y_track_head=(*temp_track)[j][0].X[2];
 				double v_track_head=(*temp_track)[j][0].vr;
 				double h_track_head = (*temp_track)[j][0].height;
-				double T_track_head = (*temp_track)[j][0].T;
+				double T_track_head = static_cast<double>((*temp_track)[j][0].T);

 				 //距离差
 				 double dis = sqrt(pow(x_point-x_track_head,2)+pow(y_point-y_track_head,2));
@@ -225,8 +225,8 @@ void Track_Init_Direct_Tracking::point_track_head_asso( std::vector <std::vector
 						&& vr_point*v_track_head>0  )//&& fabs(vr_point-v_track_head)/fabs(v_track_head)<0.2  &&  fabs(h_point-h_track_head)<=r_point*SIGMA_E
 				 {
 					struct Asso_info asso_info_tmp;
-					asso_info_tmp.point_idx = i+1;
-					asso_info_tmp.track_idx = j+1;
+					asso_info_tmp.point_idx = static_cast<int>(i)+1;
+					asso_info_tmp.track_idx = static_cast<int>(j)+1;
 					asso_info.push_back(asso_info_tmp);
 					(*temp_track)[j][0].asso_flag = 1;
 					point_process[i].Use_Flag = 1;
@@ -237,7 +237,7 @@ void Track_Init_Direct_Tracking::point_track_head_asso( std::vector <std::vector
 	}

 	// temp_track中加入新关联上的临时航迹
-	for (int i = 0 ; i<asso_info.size();i++ )
+	for (size_t i = 0 ; i<asso_info.size();i++ )
 	{
 		(*temp_track).push_back(std::vector <Temp_track> ());

@@ -370,29 +370,29 @@ void Track_Init_Direct_Tracking::tmp_track_to_trust_track(  std::vector<Trust_Tr
 				Trust_Track_Output[*Trust_track_num_Output-1][j].Track_Index=track_ID;
 				Trust_Track_Output[*Trust_track_num_Output-1][j].Point_Sum=L;

-				Trust_Track_Output[*Trust_track_num_Output-1][j].Range=(*Iter)[j].r;
-				Trust_Track_Output[*Trust_track_num_Output-1][j].Azimuth=(*Iter)[j].azi/PI*180;
-				Trust_Track_Output[*Trust_track_num_Output-1][j].Elevation=asin((*Iter)[j].height/(*Iter)[j].r)/PI*180;
-				Trust_Track_Output[*Trust_track_num_Output-1][j].Range_V=sqrt(pow((*Iter)[j].X[1],2)+pow((*Iter)[j].X[3],2));
-				Trust_Track_Output[*Trust_track_num_Output-1][j].z=(*Iter)[j].height;
-				Trust_Track_Output[*Trust_track_num_Output-1][j].Amplitude=(*Iter)[j].Amp;
-				Trust_Track_Output[*Trust_track_num_Output-1][j].track_snr = (*Iter)[j].snr;
-				Trust_Track_Output[*Trust_track_num_Output-1][j].track_rcs = (*Iter)[j].RCS;
+				Trust_Track_Output[*Trust_track_num_Output-1][j].Range=static_cast<float>((*Iter)[j].r);
+				Trust_Track_Output[*Trust_track_num_Output-1][j].Azimuth=static_cast<float>((*Iter)[j].azi/PI*180);
+				Trust_Track_Output[*Trust_track_num_Output-1][j].Elevation=static_cast<float>(asin((*Iter)[j].height/(*Iter)[j].r)/PI*180);
+				Trust_Track_Output[*Trust_track_num_Output-1][j].Range_V=static_cast<float>(sqrt(pow((*Iter)[j].X[1],2)+pow((*Iter)[j].X[3],2)));
+				Trust_Track_Output[*Trust_track_num_Output-1][j].z=static_cast<float>((*Iter)[j].height);
+				Trust_Track_Output[*Trust_track_num_Output-1][j].Amplitude=static_cast<float>((*Iter)[j].Amp);
+				Trust_Track_Output[*Trust_track_num_Output-1][j].track_snr = static_cast<float>((*Iter)[j].snr);
+				Trust_Track_Output[*Trust_track_num_Output-1][j].track_rcs = static_cast<float>((*Iter)[j].RCS);
 				double Direction_Angle;
 				Direction_Angle=atan2((*Iter)[j].X[3],(*Iter)[j].X[1]);
 				if(Direction_Angle<0)
 					Direction_Angle=Direction_Angle+2*PI;
-				Trust_Track_Output[*Trust_track_num_Output-1][j].Direction_Angle=Direction_Angle/PI*180;
+				Trust_Track_Output[*Trust_track_num_Output-1][j].Direction_Angle=static_cast<float>(Direction_Angle/PI*180);

-				Trust_Track_Output[*Trust_track_num_Output-1][j].track_time=((*Iter)[j].T)/1000.0;
-				Trust_Track_Output[*Trust_track_num_Output-1][j].x=(*Iter)[j].X[0];
-				Trust_Track_Output[*Trust_track_num_Output-1][j].v_x=(*Iter)[j].X[1];
-				Trust_Track_Output[*Trust_track_num_Output-1][j].y=(*Iter)[j].X[2];
-				Trust_Track_Output[*Trust_track_num_Output-1][j].v_y=(*Iter)[j].X[3];
-				Trust_Track_Output[*Trust_track_num_Output-1][j].range_point=(*Iter)[j].r;
-				Trust_Track_Output[*Trust_track_num_Output-1][j].azi_point=(*Iter)[j].azi/PI*180;
-				Trust_Track_Output[*Trust_track_num_Output-1][j].elev_point=asin((*Iter)[j].height/(*Iter)[j].r)/PI*180;
-				Trust_Track_Output[*Trust_track_num_Output-1][j].vr_point=(*Iter)[j].vr;
+				Trust_Track_Output[*Trust_track_num_Output-1][j].track_time=static_cast<float>(((*Iter)[j].T)/1000.0);
+				Trust_Track_Output[*Trust_track_num_Output-1][j].x=static_cast<float>((*Iter)[j].X[0]);
+				Trust_Track_Output[*Trust_track_num_Output-1][j].v_x=static_cast<float>((*Iter)[j].X[1]);
+				Trust_Track_Output[*Trust_track_num_Output-1][j].y=static_cast<float>((*Iter)[j].X[2]);
+				Trust_Track_Output[*Trust_track_num_Output-1][j].v_y=static_cast<float>((*Iter)[j].X[3]);
+				Trust_Track_Output[*Trust_track_num_Output-1][j].range_point=static_cast<float>((*Iter)[j].r);
+				Trust_Track_Output[*Trust_track_num_Output-1][j].azi_point=static_cast<float>((*Iter)[j].azi/PI*180);
+				Trust_Track_Output[*Trust_track_num_Output-1][j].elev_point=static_cast<float>(asin((*Iter)[j].height/(*Iter)[j].r)/PI*180);
+				Trust_Track_Output[*Trust_track_num_Output-1][j].vr_point=static_cast<float>((*Iter)[j].vr);
 				Trust_Track_Output[*Trust_track_num_Output-1][j].point_type=0;
 				Trust_Track_Output[*Trust_track_num_Output-1][j].Flag_Point=1;
 				Trust_Track_Output[*Trust_track_num_Output-1][j].Track_Mode=1;//跟踪模式 TWS 0
@@ -1,4 +1,4 @@
-#ifndef TRACK_INIT_DIRECT_TRACKING_H
+#ifndef TRACK_INIT_DIRECT_TRACKING_H
 #define TRACK_INIT_DIRECT_TRACKING_H
 #include "data_process_class_dll.h"
 #include "parameters.h"
@@ -2,6 +2,7 @@

 ## 概述

+<!-- 过时信息
 本次主要修改TAS波束控制逻辑，
 原有逻辑为：
 - 维护一个tas_target_queue队列，队列中每个元素可以保存一个TAS跟踪目标
@@ -16,4 +17,4 @@
 - 每次调用Beam_Ctrl()函数时，判断队列首个元素是否为空（empty_flag），若不为空，则再判断目标的航迹时间（T_track）和当前最新时间戳（latest_timestamp）的差值，若差值大于1 / DATA_RATE_TAS，则输出TAS跟踪波束信息，否则不输出
 - 将队列进行循环移位，队列第一个目标移动至队尾，下一次Beam_Ctrl()调用将会跟踪下一个目标

-注意：在RadarPara结构体中新增一项：DATA_RATE_TAS（TAS模式数据率），由dll调用者输入该参数的值（track_process_parameters_initial()），上述逻辑中DATA_RATE_TAS使用Work_Parameter中的DATA_RATE_TAS参数值，而不是使用parameters.h中的DATA_RATE_TAS宏定义值。
+注意：在RadarPara结构体中新增一项：DATA_RATE_TAS（TAS模式数据率），由dll调用者输入该参数的值（track_process_parameters_initial()），上述逻辑中DATA_RATE_TAS使用Work_Parameter中的DATA_RATE_TAS参数值，而不是使用parameters.h中的DATA_RATE_TAS宏定义值。 -->