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更新：1、调整航迹质量下降逻辑；

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2、普通航迹消亡条件改为由航迹质量确定；

Signed-off-by: waiwaylee <waiwaylee@foxmail.com>
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waiwaylee
2026-10-20 10:47:05 +08:00
parent 4b70b24515
commit 782bff5e8e
3 changed files with 11 additions and 16 deletions
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data_process_class_dll/track_asso.cpp
+6 -3
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@@ -793,21 +793,24 @@ void Track_Asso:: model_filter(std::vector <Trust_Track> *trust_track,struct Ra
(*trust_track)[i].circle_id++;
(*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].Unupdated_time += static_cast<long long>(delta_T*1000.0);
(*trust_track)[i].Extrapolate_round =(*trust_track)[i].Extrapolate_round+1; //连续未用实点更新时间
(*trust_track)[i].point_flag=0; //虚点
(*trust_track)[i].Track_Update_Flag = 1; //航迹更新标志
}else{
(*trust_track)[i].Extrapolate_round =(*trust_track)[i].Extrapolate_round+1; //连续未用实点更新时间
(*trust_track)[i].Unupdated_time += static_cast<long long>(delta_T*1000.0);
(*trust_track)[i].point_flag=0; //虚点
(*trust_track)[i].Track_Update_Flag = 0; //航迹更新标志
}
//航迹质量递减
(*trust_track)[i].Quality -= (*trust_track)[i].Unupdated_time / 1000.0 * TRACK_QUALITY_DECREASE_COEFF;
double t = (*trust_track)[i].Unupdated_time / 1000.0;
(*trust_track)[i].Quality -= t * t * TRACK_QUALITY_DECREASE_COEFF_O2 + t * TRACK_QUALITY_DECREASE_COEFF_O1;
(*trust_track)[i].Unupdated_time += static_cast<long long>(delta_T*1000.0);
t = (*trust_track)[i].Unupdated_time / 1000.0;
(*trust_track)[i].Quality += t * t * TRACK_QUALITY_DECREASE_COEFF_O2 + t * TRACK_QUALITY_DECREASE_COEFF_O1;
(*trust_track)[i].Quality = (*trust_track)[i].Quality < 0.0 ? 0.0 : (*trust_track)[i].Quality;
(*trust_track)[i].Point_sum = (*trust_track)[i].Point_sum + 1;
}
}
}