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更新：机扫和相扫程序合并，通过宏定义配置切换

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Signed-off-by: waiwaylee <waiwaylee@foxmail.com>
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waiwaylee
2026-07-31 10:52:53 +08:00
parent 06d45f5917
commit 8636179bdf
8 changed files with 94 additions and 76 deletions
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data_process_class_dll/track_asso.cpp
+11 -7
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@@ -96,6 +96,7 @@ int Track_Asso:: track_asso_process(QVector<PointRecv> *point_recv
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].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;
@@ -524,14 +525,16 @@ void Track_Asso:: model_filter(QVector <Trust_Track> *trust_track,struct RadarP
// d_h = 1;
//计算俯仰门限
bool d_p = false;
bool d_p = true;
double p_track = atan2(h_track, r_track); //航迹俯仰
double p_point = asin(h_point/point_process[loop_of_point].Range); //点迹俯仰
// double p_track = atan2(h_track, r_track); //航迹俯仰
// double p_point = asin(h_point/point_process[loop_of_point].Range); //点迹俯仰
if(abs(p_track - p_point)*180/PI <= 5){
d_p = true;
}
// if( (r_track > 3000 && abs(p_track - p_point)*180/PI <= 7) || \
// (r_track > 1000 && r_track <= 3000 && abs(p_track - p_point)*180/PI <= 5) || \
// (r_track <= 1000 && abs(p_track - p_point)*180/PI <= 10)){
// d_p = true;
// }
//计算距离门限，R=航迹点与量测点的距离，VT=航向速度乘以扫描时间差
double& t_x0 = (*trust_track)[loop_of_track].X[0];
@@ -683,7 +686,7 @@ void Track_Asso:: model_filter(QVector <Trust_Track> *trust_track,struct RadarP
//更新航迹时间
(*trust_track)[track_index-1].T_track = point_process[point_index-1].CPI_Time;
(*trust_track)[track_index-1].GNSS_time = point_process[point_index-1].GNSS_time;
//更新关联上的点迹信息
@@ -793,6 +796,7 @@ void Track_Asso:: model_filter(QVector <Trust_Track> *trust_track,struct RadarP
(*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].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
}