@@ -2,3 +2,4 @@
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build-data_process_class_dll-Desktop_Qt_5_7_0_MSVC2013_32bit-Release/
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debug/
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release/
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||||
build/
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||||
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||||
-410
@@ -1,410 +0,0 @@
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#############################################################################
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||||
# Makefile for building: data_process_class_dll
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||||
# Generated by qmake (3.0) (Qt 5.7.0)
|
||||
# Project: ..\data_process_class_dll\data_process_class_dll.pro
|
||||
# Template: lib
|
||||
# Command: D:\APP\QT5_7\5.7\msvc2013\bin\qmake.exe -spec win32-msvc2013 -o Makefile ..\data_process_class_dll\data_process_class_dll.pro
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||||
#############################################################################
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||||
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||||
MAKEFILE = Makefile
|
||||
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||||
first: release
|
||||
install: release-install
|
||||
uninstall: release-uninstall
|
||||
QMAKE = D:\APP\QT5_7\5.7\msvc2013\bin\qmake.exe
|
||||
DEL_FILE = del
|
||||
CHK_DIR_EXISTS= if not exist
|
||||
MKDIR = mkdir
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||||
COPY = copy /y
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COPY_FILE = copy /y
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||||
COPY_DIR = xcopy /s /q /y /i
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INSTALL_FILE = copy /y
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INSTALL_PROGRAM = copy /y
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||||
INSTALL_DIR = xcopy /s /q /y /i
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DEL_FILE = del
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SYMLINK = $(QMAKE) -install ln -f -s
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DEL_DIR = rmdir
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MOVE = move
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SUBTARGETS = \
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||||
release \
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debug
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||||
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||||
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||||
release: FORCE
|
||||
@set MAKEFLAGS=$(MAKEFLAGS)
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||||
$(MAKE) -f $(MAKEFILE).Release
|
||||
release-make_first: FORCE
|
||||
@set MAKEFLAGS=$(MAKEFLAGS)
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$(MAKE) -f $(MAKEFILE).Release
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||||
release-all: FORCE
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||||
@set MAKEFLAGS=$(MAKEFLAGS)
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$(MAKE) -f $(MAKEFILE).Release all
|
||||
release-clean: FORCE
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||||
@set MAKEFLAGS=$(MAKEFLAGS)
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||||
$(MAKE) -f $(MAKEFILE).Release clean
|
||||
release-distclean: FORCE
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||||
@set MAKEFLAGS=$(MAKEFLAGS)
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||||
$(MAKE) -f $(MAKEFILE).Release distclean
|
||||
release-install: FORCE
|
||||
@set MAKEFLAGS=$(MAKEFLAGS)
|
||||
$(MAKE) -f $(MAKEFILE).Release install
|
||||
release-uninstall: FORCE
|
||||
@set MAKEFLAGS=$(MAKEFLAGS)
|
||||
$(MAKE) -f $(MAKEFILE).Release uninstall
|
||||
debug: FORCE
|
||||
@set MAKEFLAGS=$(MAKEFLAGS)
|
||||
$(MAKE) -f $(MAKEFILE).Debug
|
||||
debug-make_first: FORCE
|
||||
@set MAKEFLAGS=$(MAKEFLAGS)
|
||||
$(MAKE) -f $(MAKEFILE).Debug
|
||||
debug-all: FORCE
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||||
@set MAKEFLAGS=$(MAKEFLAGS)
|
||||
$(MAKE) -f $(MAKEFILE).Debug all
|
||||
debug-clean: FORCE
|
||||
@set MAKEFLAGS=$(MAKEFLAGS)
|
||||
$(MAKE) -f $(MAKEFILE).Debug clean
|
||||
debug-distclean: FORCE
|
||||
@set MAKEFLAGS=$(MAKEFLAGS)
|
||||
$(MAKE) -f $(MAKEFILE).Debug distclean
|
||||
debug-install: FORCE
|
||||
@set MAKEFLAGS=$(MAKEFLAGS)
|
||||
$(MAKE) -f $(MAKEFILE).Debug install
|
||||
debug-uninstall: FORCE
|
||||
@set MAKEFLAGS=$(MAKEFLAGS)
|
||||
$(MAKE) -f $(MAKEFILE).Debug uninstall
|
||||
|
||||
Makefile: ..\data_process_class_dll\data_process_class_dll.pro D:\APP\QT5_7\5.7\msvc2013\mkspecs\win32-msvc2013\qmake.conf D:\APP\QT5_7\5.7\msvc2013\mkspecs\features\spec_pre.prf \
|
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D:\APP\QT5_7\5.7\msvc2013\mkspecs\common\msvc-desktop.conf \
|
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D:\APP\QT5_7\5.7\msvc2013\mkspecs\qconfig.pri \
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|
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|
||||
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|
||||
D:\APP\QT5_7\5.7\msvc2013\lib\Qt5Core.prl
|
||||
$(QMAKE) -spec win32-msvc2013 -o Makefile ..\data_process_class_dll\data_process_class_dll.pro
|
||||
D:\APP\QT5_7\5.7\msvc2013\mkspecs\features\spec_pre.prf:
|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
D:\APP\QT5_7\5.7\msvc2013\mkspecs\modules\qt_lib_3dextras.pri:
|
||||
D:\APP\QT5_7\5.7\msvc2013\mkspecs\modules\qt_lib_3dextras_private.pri:
|
||||
D:\APP\QT5_7\5.7\msvc2013\mkspecs\modules\qt_lib_3dinput.pri:
|
||||
D:\APP\QT5_7\5.7\msvc2013\mkspecs\modules\qt_lib_3dinput_private.pri:
|
||||
D:\APP\QT5_7\5.7\msvc2013\mkspecs\modules\qt_lib_3dlogic.pri:
|
||||
D:\APP\QT5_7\5.7\msvc2013\mkspecs\modules\qt_lib_3dlogic_private.pri:
|
||||
D:\APP\QT5_7\5.7\msvc2013\mkspecs\modules\qt_lib_3dquick.pri:
|
||||
D:\APP\QT5_7\5.7\msvc2013\mkspecs\modules\qt_lib_3dquick_private.pri:
|
||||
D:\APP\QT5_7\5.7\msvc2013\mkspecs\modules\qt_lib_3dquickextras.pri:
|
||||
D:\APP\QT5_7\5.7\msvc2013\mkspecs\modules\qt_lib_3dquickextras_private.pri:
|
||||
D:\APP\QT5_7\5.7\msvc2013\mkspecs\modules\qt_lib_3dquickinput.pri:
|
||||
D:\APP\QT5_7\5.7\msvc2013\mkspecs\modules\qt_lib_3dquickinput_private.pri:
|
||||
D:\APP\QT5_7\5.7\msvc2013\mkspecs\modules\qt_lib_3dquickrender.pri:
|
||||
D:\APP\QT5_7\5.7\msvc2013\mkspecs\modules\qt_lib_3dquickrender_private.pri:
|
||||
D:\APP\QT5_7\5.7\msvc2013\mkspecs\modules\qt_lib_3drender.pri:
|
||||
D:\APP\QT5_7\5.7\msvc2013\mkspecs\modules\qt_lib_3drender_private.pri:
|
||||
D:\APP\QT5_7\5.7\msvc2013\mkspecs\modules\qt_lib_axbase.pri:
|
||||
D:\APP\QT5_7\5.7\msvc2013\mkspecs\modules\qt_lib_axbase_private.pri:
|
||||
D:\APP\QT5_7\5.7\msvc2013\mkspecs\modules\qt_lib_axcontainer.pri:
|
||||
D:\APP\QT5_7\5.7\msvc2013\mkspecs\modules\qt_lib_axcontainer_private.pri:
|
||||
D:\APP\QT5_7\5.7\msvc2013\mkspecs\modules\qt_lib_axserver.pri:
|
||||
D:\APP\QT5_7\5.7\msvc2013\mkspecs\modules\qt_lib_axserver_private.pri:
|
||||
D:\APP\QT5_7\5.7\msvc2013\mkspecs\modules\qt_lib_bluetooth.pri:
|
||||
D:\APP\QT5_7\5.7\msvc2013\mkspecs\modules\qt_lib_bluetooth_private.pri:
|
||||
D:\APP\QT5_7\5.7\msvc2013\mkspecs\modules\qt_lib_bootstrap_private.pri:
|
||||
D:\APP\QT5_7\5.7\msvc2013\mkspecs\modules\qt_lib_clucene_private.pri:
|
||||
D:\APP\QT5_7\5.7\msvc2013\mkspecs\modules\qt_lib_concurrent.pri:
|
||||
D:\APP\QT5_7\5.7\msvc2013\mkspecs\modules\qt_lib_concurrent_private.pri:
|
||||
D:\APP\QT5_7\5.7\msvc2013\mkspecs\modules\qt_lib_core.pri:
|
||||
D:\APP\QT5_7\5.7\msvc2013\mkspecs\modules\qt_lib_core_private.pri:
|
||||
D:\APP\QT5_7\5.7\msvc2013\mkspecs\modules\qt_lib_dbus.pri:
|
||||
D:\APP\QT5_7\5.7\msvc2013\mkspecs\modules\qt_lib_dbus_private.pri:
|
||||
D:\APP\QT5_7\5.7\msvc2013\mkspecs\modules\qt_lib_designer.pri:
|
||||
D:\APP\QT5_7\5.7\msvc2013\mkspecs\modules\qt_lib_designer_private.pri:
|
||||
D:\APP\QT5_7\5.7\msvc2013\mkspecs\modules\qt_lib_designercomponents_private.pri:
|
||||
D:\APP\QT5_7\5.7\msvc2013\mkspecs\modules\qt_lib_gui.pri:
|
||||
D:\APP\QT5_7\5.7\msvc2013\mkspecs\modules\qt_lib_gui_private.pri:
|
||||
D:\APP\QT5_7\5.7\msvc2013\mkspecs\modules\qt_lib_help.pri:
|
||||
D:\APP\QT5_7\5.7\msvc2013\mkspecs\modules\qt_lib_help_private.pri:
|
||||
D:\APP\QT5_7\5.7\msvc2013\mkspecs\modules\qt_lib_location.pri:
|
||||
D:\APP\QT5_7\5.7\msvc2013\mkspecs\modules\qt_lib_location_private.pri:
|
||||
D:\APP\QT5_7\5.7\msvc2013\mkspecs\modules\qt_lib_multimedia.pri:
|
||||
D:\APP\QT5_7\5.7\msvc2013\mkspecs\modules\qt_lib_multimedia_private.pri:
|
||||
D:\APP\QT5_7\5.7\msvc2013\mkspecs\modules\qt_lib_multimediawidgets.pri:
|
||||
D:\APP\QT5_7\5.7\msvc2013\mkspecs\modules\qt_lib_multimediawidgets_private.pri:
|
||||
D:\APP\QT5_7\5.7\msvc2013\mkspecs\modules\qt_lib_network.pri:
|
||||
D:\APP\QT5_7\5.7\msvc2013\mkspecs\modules\qt_lib_network_private.pri:
|
||||
D:\APP\QT5_7\5.7\msvc2013\mkspecs\modules\qt_lib_nfc.pri:
|
||||
D:\APP\QT5_7\5.7\msvc2013\mkspecs\modules\qt_lib_nfc_private.pri:
|
||||
D:\APP\QT5_7\5.7\msvc2013\mkspecs\modules\qt_lib_opengl.pri:
|
||||
D:\APP\QT5_7\5.7\msvc2013\mkspecs\modules\qt_lib_opengl_private.pri:
|
||||
D:\APP\QT5_7\5.7\msvc2013\mkspecs\modules\qt_lib_openglextensions.pri:
|
||||
D:\APP\QT5_7\5.7\msvc2013\mkspecs\modules\qt_lib_openglextensions_private.pri:
|
||||
D:\APP\QT5_7\5.7\msvc2013\mkspecs\modules\qt_lib_packetprotocol_private.pri:
|
||||
D:\APP\QT5_7\5.7\msvc2013\mkspecs\modules\qt_lib_platformsupport_private.pri:
|
||||
D:\APP\QT5_7\5.7\msvc2013\mkspecs\modules\qt_lib_positioning.pri:
|
||||
D:\APP\QT5_7\5.7\msvc2013\mkspecs\modules\qt_lib_positioning_private.pri:
|
||||
D:\APP\QT5_7\5.7\msvc2013\mkspecs\modules\qt_lib_printsupport.pri:
|
||||
D:\APP\QT5_7\5.7\msvc2013\mkspecs\modules\qt_lib_printsupport_private.pri:
|
||||
D:\APP\QT5_7\5.7\msvc2013\mkspecs\modules\qt_lib_qml.pri:
|
||||
D:\APP\QT5_7\5.7\msvc2013\mkspecs\modules\qt_lib_qml_private.pri:
|
||||
D:\APP\QT5_7\5.7\msvc2013\mkspecs\modules\qt_lib_qmldebug_private.pri:
|
||||
D:\APP\QT5_7\5.7\msvc2013\mkspecs\modules\qt_lib_qmldevtools_private.pri:
|
||||
D:\APP\QT5_7\5.7\msvc2013\mkspecs\modules\qt_lib_qmltest.pri:
|
||||
D:\APP\QT5_7\5.7\msvc2013\mkspecs\modules\qt_lib_qmltest_private.pri:
|
||||
D:\APP\QT5_7\5.7\msvc2013\mkspecs\modules\qt_lib_qtmultimediaquicktools_private.pri:
|
||||
D:\APP\QT5_7\5.7\msvc2013\mkspecs\modules\qt_lib_quick.pri:
|
||||
D:\APP\QT5_7\5.7\msvc2013\mkspecs\modules\qt_lib_quick_private.pri:
|
||||
D:\APP\QT5_7\5.7\msvc2013\mkspecs\modules\qt_lib_quickcontrols2.pri:
|
||||
D:\APP\QT5_7\5.7\msvc2013\mkspecs\modules\qt_lib_quickcontrols2_private.pri:
|
||||
D:\APP\QT5_7\5.7\msvc2013\mkspecs\modules\qt_lib_quickparticles_private.pri:
|
||||
D:\APP\QT5_7\5.7\msvc2013\mkspecs\modules\qt_lib_quicktemplates2_private.pri:
|
||||
D:\APP\QT5_7\5.7\msvc2013\mkspecs\modules\qt_lib_quickwidgets.pri:
|
||||
D:\APP\QT5_7\5.7\msvc2013\mkspecs\modules\qt_lib_quickwidgets_private.pri:
|
||||
D:\APP\QT5_7\5.7\msvc2013\mkspecs\modules\qt_lib_script.pri:
|
||||
D:\APP\QT5_7\5.7\msvc2013\mkspecs\modules\qt_lib_script_private.pri:
|
||||
D:\APP\QT5_7\5.7\msvc2013\mkspecs\modules\qt_lib_scripttools.pri:
|
||||
D:\APP\QT5_7\5.7\msvc2013\mkspecs\modules\qt_lib_scripttools_private.pri:
|
||||
D:\APP\QT5_7\5.7\msvc2013\mkspecs\modules\qt_lib_scxml.pri:
|
||||
D:\APP\QT5_7\5.7\msvc2013\mkspecs\modules\qt_lib_scxml_private.pri:
|
||||
D:\APP\QT5_7\5.7\msvc2013\mkspecs\modules\qt_lib_sensors.pri:
|
||||
D:\APP\QT5_7\5.7\msvc2013\mkspecs\modules\qt_lib_sensors_private.pri:
|
||||
D:\APP\QT5_7\5.7\msvc2013\mkspecs\modules\qt_lib_serialbus.pri:
|
||||
D:\APP\QT5_7\5.7\msvc2013\mkspecs\modules\qt_lib_serialbus_private.pri:
|
||||
D:\APP\QT5_7\5.7\msvc2013\mkspecs\modules\qt_lib_serialport.pri:
|
||||
D:\APP\QT5_7\5.7\msvc2013\mkspecs\modules\qt_lib_serialport_private.pri:
|
||||
D:\APP\QT5_7\5.7\msvc2013\mkspecs\modules\qt_lib_sql.pri:
|
||||
D:\APP\QT5_7\5.7\msvc2013\mkspecs\modules\qt_lib_sql_private.pri:
|
||||
D:\APP\QT5_7\5.7\msvc2013\mkspecs\modules\qt_lib_svg.pri:
|
||||
D:\APP\QT5_7\5.7\msvc2013\mkspecs\modules\qt_lib_svg_private.pri:
|
||||
D:\APP\QT5_7\5.7\msvc2013\mkspecs\modules\qt_lib_testlib.pri:
|
||||
D:\APP\QT5_7\5.7\msvc2013\mkspecs\modules\qt_lib_testlib_private.pri:
|
||||
D:\APP\QT5_7\5.7\msvc2013\mkspecs\modules\qt_lib_uiplugin.pri:
|
||||
D:\APP\QT5_7\5.7\msvc2013\mkspecs\modules\qt_lib_uitools.pri:
|
||||
D:\APP\QT5_7\5.7\msvc2013\mkspecs\modules\qt_lib_uitools_private.pri:
|
||||
D:\APP\QT5_7\5.7\msvc2013\mkspecs\modules\qt_lib_webchannel.pri:
|
||||
D:\APP\QT5_7\5.7\msvc2013\mkspecs\modules\qt_lib_webchannel_private.pri:
|
||||
D:\APP\QT5_7\5.7\msvc2013\mkspecs\modules\qt_lib_webengine.pri:
|
||||
D:\APP\QT5_7\5.7\msvc2013\mkspecs\modules\qt_lib_webengine_private.pri:
|
||||
D:\APP\QT5_7\5.7\msvc2013\mkspecs\modules\qt_lib_webenginecore.pri:
|
||||
D:\APP\QT5_7\5.7\msvc2013\mkspecs\modules\qt_lib_webenginecore_private.pri:
|
||||
D:\APP\QT5_7\5.7\msvc2013\mkspecs\modules\qt_lib_webenginecoreheaders_private.pri:
|
||||
D:\APP\QT5_7\5.7\msvc2013\mkspecs\modules\qt_lib_webenginewidgets.pri:
|
||||
D:\APP\QT5_7\5.7\msvc2013\mkspecs\modules\qt_lib_webenginewidgets_private.pri:
|
||||
D:\APP\QT5_7\5.7\msvc2013\mkspecs\modules\qt_lib_websockets.pri:
|
||||
D:\APP\QT5_7\5.7\msvc2013\mkspecs\modules\qt_lib_websockets_private.pri:
|
||||
D:\APP\QT5_7\5.7\msvc2013\mkspecs\modules\qt_lib_webview.pri:
|
||||
D:\APP\QT5_7\5.7\msvc2013\mkspecs\modules\qt_lib_webview_private.pri:
|
||||
D:\APP\QT5_7\5.7\msvc2013\mkspecs\modules\qt_lib_widgets.pri:
|
||||
D:\APP\QT5_7\5.7\msvc2013\mkspecs\modules\qt_lib_widgets_private.pri:
|
||||
D:\APP\QT5_7\5.7\msvc2013\mkspecs\modules\qt_lib_winextras.pri:
|
||||
D:\APP\QT5_7\5.7\msvc2013\mkspecs\modules\qt_lib_winextras_private.pri:
|
||||
D:\APP\QT5_7\5.7\msvc2013\mkspecs\modules\qt_lib_xml.pri:
|
||||
D:\APP\QT5_7\5.7\msvc2013\mkspecs\modules\qt_lib_xml_private.pri:
|
||||
D:\APP\QT5_7\5.7\msvc2013\mkspecs\modules\qt_lib_xmlpatterns.pri:
|
||||
D:\APP\QT5_7\5.7\msvc2013\mkspecs\modules\qt_lib_xmlpatterns_private.pri:
|
||||
D:\APP\QT5_7\5.7\msvc2013\mkspecs\modules\qt_lib_zlib_private.pri:
|
||||
D:\APP\QT5_7\5.7\msvc2013\mkspecs\features\qt_functions.prf:
|
||||
D:\APP\QT5_7\5.7\msvc2013\mkspecs\features\qt_config.prf:
|
||||
D:\APP\QT5_7\5.7\msvc2013\mkspecs\features\win32\qt_config.prf:
|
||||
D:\APP\QT5_7\5.7\msvc2013\mkspecs\win32-msvc2013\qmake.conf:
|
||||
D:\APP\QT5_7\5.7\msvc2013\mkspecs\features\spec_post.prf:
|
||||
D:\APP\QT5_7\5.7\msvc2013\mkspecs\features\exclusive_builds.prf:
|
||||
D:\APP\QT5_7\5.7\msvc2013\mkspecs\features\default_pre.prf:
|
||||
D:\APP\QT5_7\5.7\msvc2013\mkspecs\features\win32\default_pre.prf:
|
||||
D:\APP\QT5_7\5.7\msvc2013\mkspecs\features\resolve_config.prf:
|
||||
D:\APP\QT5_7\5.7\msvc2013\mkspecs\features\exclusive_builds_post.prf:
|
||||
D:\APP\QT5_7\5.7\msvc2013\mkspecs\features\default_post.prf:
|
||||
D:\APP\QT5_7\5.7\msvc2013\mkspecs\features\win32\rtti.prf:
|
||||
D:\APP\QT5_7\5.7\msvc2013\mkspecs\features\precompile_header.prf:
|
||||
D:\APP\QT5_7\5.7\msvc2013\mkspecs\features\warn_on.prf:
|
||||
D:\APP\QT5_7\5.7\msvc2013\mkspecs\features\qt.prf:
|
||||
D:\APP\QT5_7\5.7\msvc2013\mkspecs\features\resources.prf:
|
||||
D:\APP\QT5_7\5.7\msvc2013\mkspecs\features\moc.prf:
|
||||
D:\APP\QT5_7\5.7\msvc2013\mkspecs\features\file_copies.prf:
|
||||
D:\APP\QT5_7\5.7\msvc2013\mkspecs\features\win32\windows.prf:
|
||||
D:\APP\QT5_7\5.7\msvc2013\mkspecs\features\testcase_targets.prf:
|
||||
D:\APP\QT5_7\5.7\msvc2013\mkspecs\features\exceptions.prf:
|
||||
D:\APP\QT5_7\5.7\msvc2013\mkspecs\features\yacc.prf:
|
||||
D:\APP\QT5_7\5.7\msvc2013\mkspecs\features\lex.prf:
|
||||
..\data_process_class_dll\data_process_class_dll.pro:
|
||||
D:\APP\QT5_7\5.7\msvc2013\lib\Qt5Core.prl:
|
||||
qmake: FORCE
|
||||
@$(QMAKE) -spec win32-msvc2013 -o Makefile ..\data_process_class_dll\data_process_class_dll.pro
|
||||
|
||||
qmake_all: FORCE
|
||||
|
||||
make_first: release-make_first debug-make_first FORCE
|
||||
all: release-all debug-all FORCE
|
||||
clean: release-clean debug-clean FORCE
|
||||
-$(DEL_FILE) data_process_class_dll.exp
|
||||
distclean: release-distclean debug-distclean FORCE
|
||||
-$(DEL_FILE) Makefile
|
||||
-$(DEL_FILE) data_process_class_dll.lib
|
||||
|
||||
release-mocclean:
|
||||
@set MAKEFLAGS=$(MAKEFLAGS)
|
||||
$(MAKE) -f $(MAKEFILE).Release mocclean
|
||||
debug-mocclean:
|
||||
@set MAKEFLAGS=$(MAKEFLAGS)
|
||||
$(MAKE) -f $(MAKEFILE).Debug mocclean
|
||||
mocclean: release-mocclean debug-mocclean
|
||||
|
||||
release-mocables:
|
||||
@set MAKEFLAGS=$(MAKEFLAGS)
|
||||
$(MAKE) -f $(MAKEFILE).Release mocables
|
||||
debug-mocables:
|
||||
@set MAKEFLAGS=$(MAKEFLAGS)
|
||||
$(MAKE) -f $(MAKEFILE).Debug mocables
|
||||
mocables: release-mocables debug-mocables
|
||||
|
||||
check: first
|
||||
|
||||
benchmark: first
|
||||
FORCE:
|
||||
|
||||
$(MAKEFILE).Release: Makefile
|
||||
$(MAKEFILE).Debug: Makefile
|
||||
File diff suppressed because one or more lines are too long
File diff suppressed because one or more lines are too long
Binary file not shown.
@@ -1,285 +0,0 @@
|
||||
#pragma once
|
||||
#ifndef DATA_PROCESS_CLASS_DLL_H
|
||||
#define DATA_PROCESS_CLASS_DLL_H
|
||||
|
||||
#include "data_process_class_dll_global.h"
|
||||
|
||||
/***************************************************** 结构体 ********************************************************/
|
||||
// 输入点迹的数据结构 用户可见
|
||||
struct DATA_PROCESS_CLASS_DLLSHARED_EXPORT DataRev
|
||||
{
|
||||
float Range; //径向距离 （米）
|
||||
float Azimuth; //方位 （度）
|
||||
float Elevation; //俯仰 （度）
|
||||
float Velocity; //速度 （m/s）
|
||||
float Amplitude; //幅度
|
||||
float Threshold; //目标门限
|
||||
float Snr; //目标信噪比
|
||||
float RCS; //目标RCS
|
||||
float Encoder_value; //码盘值
|
||||
int CPI_time; //CPI时间 该波位无点迹输入时也需要给出当前时间
|
||||
int Beam_index_azi_0; //上一个cpi波位
|
||||
int Beam_index_aiz; //方位波位号（0-24） 该波位无输入点迹时 也需要给出当前波位
|
||||
int Beam_index_elev; //俯仰波位号（0-13）
|
||||
int PRI; //PRI(us) 给0
|
||||
int Freq_index; //频点号 给0
|
||||
int Point_Sum; //输入点迹总数 若该波位无点迹输入 置为0
|
||||
int Point_Num; //点迹号(1,2,3,4...)
|
||||
int UseFlag; //点迹使用标记 使用1/未使用0 主程序存入数据时置为0
|
||||
int TAS_track_index; //TAS的航迹号
|
||||
int point_type; //点迹类型 TAS 1/TWS 0
|
||||
int pitch_num; // 俯仰波位号
|
||||
float speed_dim[129]; // 目标的十字星数据,目标点速度维129个点
|
||||
float range_dim[8]; // 目标的十字星数据,目标点距离维8个点
|
||||
};
|
||||
|
||||
|
||||
//输出航迹的数据结构 用户可见
|
||||
struct DATA_PROCESS_CLASS_DLLSHARED_EXPORT Track
|
||||
{
|
||||
float x; //x坐标
|
||||
float y; //y坐标
|
||||
float z; //z坐标
|
||||
float v_x; //x速度
|
||||
float v_y; //y速度
|
||||
float v_z; //z速度
|
||||
float Range; //径向距离
|
||||
float Azimuth; //方位
|
||||
float Elevation; //俯仰
|
||||
float Range_V; //速度
|
||||
float Amplitude; //幅度
|
||||
int Track_Index; //航迹号
|
||||
int Point_Sum; //本条航迹更新点的数目
|
||||
int Flag_Direction; //方向标志1靠近/0远离
|
||||
int Flag_Point; //点迹类型1实点/0补点
|
||||
float x_Predict; //x坐标的一步预测
|
||||
float y_Predict; //y坐标的一步预测
|
||||
float z_Predict; //z坐标的一步预测
|
||||
float Range_Predict; //径向距离的一步预测
|
||||
float Azimuth_Predict; //方位的一步预测
|
||||
float Elevation_Predict; //俯仰的一步预测
|
||||
int Track_Mode; //跟踪模式,TAS 1/TWS 0
|
||||
float Direction_Angle; //目标航向角
|
||||
int Target_Type; //目标类型
|
||||
|
||||
int point_type; //点迹类型 TAS 1/TWS 0
|
||||
|
||||
float range_point; //关联上的点迹信息（距离、方位、俯仰、径向速度）
|
||||
float azi_point;
|
||||
float elev_point;
|
||||
float vr_point;
|
||||
float prf_point;
|
||||
|
||||
float track_time; //航迹时间 (单位 s)
|
||||
float track_snr; //信噪比
|
||||
float track_rcs; //rcs
|
||||
|
||||
int pitch_num; // 俯仰波位号
|
||||
float speed_dim[129]; // 目标的十字星数据,目标点速度维129个点
|
||||
float range_dim[8]; // 目标的十字星数据,目标点距离维8个点
|
||||
};
|
||||
|
||||
|
||||
|
||||
// 跟踪波束信息的结构体
|
||||
struct DATA_PROCESS_CLASS_DLLSHARED_EXPORT TrackingBeam
|
||||
{
|
||||
int open_flag; //是否开启 1开启 0不开启
|
||||
|
||||
int type; //类型
|
||||
float Range; //跟踪目标距离
|
||||
float Azi; //跟踪目标方位
|
||||
float Elev; //跟踪目标俯仰
|
||||
|
||||
int TAS_track_index; //目标批号
|
||||
};
|
||||
|
||||
//引导跟踪信息的结构体
|
||||
struct DATA_PROCESS_CLASS_DLLSHARED_EXPORT Target_direct_tracking
|
||||
{
|
||||
int Track_ID; //引导目标批号
|
||||
float Range; //引导目标距离
|
||||
float Azi; //引导目标方位
|
||||
float Elev; //引导目标俯仰
|
||||
int open_flag; // 1 引导跟踪 0 结束引导跟踪
|
||||
};
|
||||
|
||||
|
||||
|
||||
// 雷达参数结构体
|
||||
struct DATA_PROCESS_CLASS_DLLSHARED_EXPORT RadarPara
|
||||
{
|
||||
int Beam_num; //波位数
|
||||
|
||||
float Height; //雷达平台高度 （m）
|
||||
|
||||
float Sys_delay; //系统延迟 (s)
|
||||
float R_TAS_max; //TAS最大距离 （m）
|
||||
float R_TAS_min; //TAS最小距离 (m)
|
||||
|
||||
float V_TAS_max; //TAS最大速度 (m/s)
|
||||
float V_TAS_min; //TAS最小速度 (m/s)
|
||||
|
||||
float TAS_Height_1; //TAS跟踪高度1 (m)
|
||||
float TAS_Height_2; //TAS跟踪高度2 (m)
|
||||
float TAS_Height_3; //TAS跟踪高度3 (m)
|
||||
float TAS_Height_4; //TAS跟踪高度4 (m)
|
||||
float TAS_Height_5; //TAS跟踪高度5 (m)
|
||||
|
||||
|
||||
int track_prohibite_area_num; //禁止航迹起始的区域数目
|
||||
float R_max_track_prohibited[30]; //最大距离 (m)
|
||||
float R_min_track_prohibited[30]; //最小距离 (m)
|
||||
float Azimuth_max_track_prohibited[30]; //最大方位角 (度)
|
||||
float Azimuth_min_track_prohibited[30]; //最小方位角 （度）
|
||||
|
||||
|
||||
int TAS_prohibite_area_num; //禁止TAS的区域数目
|
||||
float R_max_TAS_prohibited[30]; //最大距离 （m）
|
||||
float R_min_TAS_prohibited[30]; //最小距离 (m)
|
||||
float Azimuth_max_TAS_prohibited[30]; //最大方位角 (度)
|
||||
float Azimuth_min_TAS_prohibited[30]; //最小方位角 (度)
|
||||
|
||||
int cfar_th; //cfar门限
|
||||
|
||||
int work_mode; //工作模式 0进程 1中程 3远程
|
||||
int north_angle; //北偏角
|
||||
|
||||
float V_MAX; //最大速度
|
||||
float V_MIN; //最小速度
|
||||
|
||||
float DATA_RATE_SHORT; //三种不同模式下的 数据率
|
||||
float DATA_RATE_MIDDLE;
|
||||
float DATA_RATE_FAR;
|
||||
|
||||
|
||||
//数据关联参数
|
||||
int track_start_point_num; //起批点数(典型值 3或4)
|
||||
float track_start_threshold; //起航波门大小(典型值 3)
|
||||
float track_asso_threshold; //关联波门大小(典型值 3)
|
||||
float track_asso_threshold_tas; //关联波门大小tas (典型值 3)
|
||||
|
||||
//singer模型机动参数
|
||||
float Model1_Q_fast; //0.00001
|
||||
float Model1_Q_slow; //0.00001
|
||||
|
||||
float Model2_Q_fast; //0.1
|
||||
float Model2_Q_slow; //0.001
|
||||
|
||||
float Model3_Q_fast; //0.8
|
||||
float Model3_Q_slow; //0.4
|
||||
|
||||
};
|
||||
|
||||
|
||||
|
||||
class DATA_PROCESS_CLASS_DLLSHARED_EXPORT Data_process_class_dll
|
||||
{
|
||||
|
||||
public:
|
||||
// Data_process_class_dll();
|
||||
|
||||
//数据预处理函数
|
||||
virtual int data_preprocess(struct DataRev Data_Input[150]) //雷达的输入点迹 主程序创建全局变量 输入数据
|
||||
{
|
||||
return 0;
|
||||
}
|
||||
|
||||
|
||||
//数据处理函数
|
||||
virtual int track_process(struct Track Trust_Track_Output[][10], //数据处理输出的航迹更新信息 主程序创建全局变量 数据处理函数更新其中数据
|
||||
int *Trust_track_num_Output, //数据处理后输出的航迹数目 主程序创建全局变量 数据处理函数更新其中数据
|
||||
int Track_die_Index_Output[], //数据处理后要消亡的航迹 主程序创建全局变量 数据处理函数更新其中数据
|
||||
int *Track_die_num_Output, //数据处理后要消亡的航迹数目
|
||||
int model //模式 输入data_preprocess的返回值
|
||||
)
|
||||
{
|
||||
return 0;
|
||||
}
|
||||
|
||||
//波束控制
|
||||
virtual void Beam_Ctrl(struct TrackingBeam *Tracking_beam,
|
||||
struct Track Trust_Track_Output[][10],
|
||||
int *Trust_track_num_Output)
|
||||
{
|
||||
|
||||
}
|
||||
|
||||
//引导跟踪处理函数
|
||||
virtual int direct_tracking_process(struct Target_direct_tracking Target_direct_info, //引导信息
|
||||
struct DataRev Data_Input[150], //雷达的输入点迹
|
||||
struct Track Trust_Track_Output[][10], //数据处理输出的航迹更新信息 主程序创建全局变量 数据处理函数更新其中数据
|
||||
int *Trust_track_num_Output, //数据处理后输出的航迹数目 主程序创建全局变量 数据处理函数更新其中数据
|
||||
int Track_die_Index_Output[], //数据处理后要消亡的航迹 主程序创建全局变量 数据处理函数更新其中数据
|
||||
int *Track_die_num_Output, //数据处理后要消亡的航迹数目
|
||||
struct TrackingBeam *Tracking_beam //波束控制信息
|
||||
)
|
||||
{
|
||||
return 0;
|
||||
}
|
||||
|
||||
|
||||
//航迹清空函数
|
||||
virtual int track_clear_all(void)
|
||||
{
|
||||
return 0;
|
||||
}
|
||||
|
||||
|
||||
|
||||
|
||||
//手动航迹删除函数
|
||||
virtual int track_delete(int delete_track_num, //手动删除的航迹数目
|
||||
int delete_track_index[]) //手动删除的航迹号
|
||||
{
|
||||
return 0;
|
||||
}
|
||||
|
||||
|
||||
//手动转TAS跟踪函数
|
||||
virtual int tracking_start(int track_index) //需要手动转入TAS跟踪的航迹号
|
||||
{
|
||||
return 0;
|
||||
}
|
||||
|
||||
|
||||
//手动打跟踪波束
|
||||
virtual int tracking_point(float Azimuth) //方位角
|
||||
{
|
||||
return 0;
|
||||
}
|
||||
|
||||
|
||||
|
||||
//参数设置初始化函数
|
||||
virtual int track_process_parameters_initial(struct RadarPara Radar_Parameter)
|
||||
{
|
||||
return 0;
|
||||
}
|
||||
|
||||
|
||||
//参数设置修改函数
|
||||
virtual int track_process_parameters_modify(struct RadarPara Radar_Parameter)
|
||||
{
|
||||
return 0;
|
||||
}
|
||||
|
||||
|
||||
|
||||
};
|
||||
|
||||
|
||||
//工厂类 用户可见
|
||||
class DATA_PROCESS_CLASS_DLLSHARED_EXPORT Data_Process_Factory
|
||||
{
|
||||
public:
|
||||
static Data_process_class_dll *GetB(); //创建
|
||||
static void Destroy(); //销毁
|
||||
|
||||
private:
|
||||
static Data_process_class_dll *p;
|
||||
};
|
||||
|
||||
|
||||
|
||||
#endif // DATA_PROCESS_CLASS_DLL_H
|
||||
Binary file not shown.
@@ -1,26 +0,0 @@
|
||||
#ifndef DATA_PROCESS_CLASS_DLL_GLOBAL_H
|
||||
#define DATA_PROCESS_CLASS_DLL_GLOBAL_H
|
||||
|
||||
|
||||
#include <QtCore/qglobal.h>
|
||||
|
||||
#if defined(DATA_PROCESS_CLASS_DLL_LIBRARY)
|
||||
# define DATA_PROCESS_CLASS_DLLSHARED_EXPORT Q_DECL_EXPORT
|
||||
#else
|
||||
# define DATA_PROCESS_CLASS_DLLSHARED_EXPORT Q_DECL_IMPORT
|
||||
#endif
|
||||
|
||||
//#if defined(DATA_PROCESS_CLASS_DLL_LIBRARY)
|
||||
//# define DATA_PROCESS_CLASS_DLLSHARED_EXPORT __declspec(dllexport)
|
||||
//#else
|
||||
//# define DATA_PROCESS_CLASS_DLLSHARED_EXPORT __declspec(dllexport)
|
||||
//#endif
|
||||
//#if defined(DATA_PROCESS_CLASS_DLL_LIBRARY)
|
||||
//#define DATA_PROCESS_CLASS_DLLSHARED_EXPORT __declspec(dllexport)
|
||||
//#else
|
||||
//#define DATA_PROCESS_CLASS_DLLSHARED_EXPORT __declspec(dllimport)
|
||||
//#endif
|
||||
|
||||
#endif // DATA_PROCESS_CLASS_DLL_GLOBAL_H
|
||||
|
||||
|
||||
Binary file not shown.
@@ -15,6 +15,9 @@ using namespace std;
|
||||
//数据预处理
|
||||
int Data_Process::data_preprocess(struct DataRev Data_Input[150])
|
||||
{
|
||||
latest_timestamp = Data_Input[0].CPI_time;
|
||||
//qDebug() << "latest_timestamp: " <<Data_Input[0].CPI_time;
|
||||
|
||||
//数据存入缓存区域 Data_buffer
|
||||
if(Data_Input[0].point_type == 0) //tws数据
|
||||
{
|
||||
@@ -41,10 +44,13 @@ int Data_Process::data_preprocess(struct DataRev Data_Input[150])
|
||||
std::memcpy(Data_buffer_temp.range_dim, Data_Input[i].range_dim, sizeof(Data_buffer_temp.range_dim));
|
||||
|
||||
Data_buffer.push_back(Data_buffer_temp);
|
||||
|
||||
qDebug() << "AZI: " <<Data_Input[i].Azimuth << "Encoder_value: " <<Data_Input[i].Encoder_value;
|
||||
}
|
||||
if(Data_Input[0].Beam_index_aiz < last_beam_num) //TWS
|
||||
{
|
||||
last_beam_num = Data_Input[0].Beam_index_aiz;
|
||||
|
||||
return 1;
|
||||
}
|
||||
else
|
||||
@@ -56,8 +62,8 @@ int Data_Process::data_preprocess(struct DataRev Data_Input[150])
|
||||
|
||||
else if(Data_Input[0].point_type == 1) //tas数据
|
||||
{
|
||||
// qDebug() << "TAS TARGET :" <<Data_Input[0].TAS_track_index;
|
||||
// qDebug() << "TAS POINT :" <<Data_Input[0].Point_Sum;
|
||||
// qDebug() << "TAS TARGET :" <<Data_Input[0].TAS_track_index;
|
||||
qDebug() << "TAS POINT :" <<Data_Input[0].Point_Sum;
|
||||
|
||||
data_num=Data_Input[0].Point_Sum;
|
||||
TAS_track_idx = Data_Input[0].TAS_track_index;
|
||||
@@ -81,11 +87,11 @@ int Data_Process::data_preprocess(struct DataRev Data_Input[150])
|
||||
|
||||
Data_buffer_tas.push_back(Data_buffer_temp);
|
||||
|
||||
// qDebug() << "Azimuth:" << Data_Input[i].Azimuth
|
||||
// << "Range:" << Data_Input[i].Range
|
||||
// << "EL:" << Data_Input[i].Elevation
|
||||
// << "CPI_Time"<< Data_Input[i].CPI_time
|
||||
// << "data_num:" << data_num;
|
||||
// qDebug() << "Azimuth:" << Data_Input[i].Azimuth
|
||||
// << "Range:" << Data_Input[i].Range
|
||||
// << "EL:" << Data_Input[i].Elevation
|
||||
// << "CPI_Time"<< Data_Input[i].CPI_time
|
||||
// << "data_num:" << data_num;
|
||||
|
||||
}
|
||||
|
||||
@@ -94,7 +100,7 @@ int Data_Process::data_preprocess(struct DataRev Data_Input[150])
|
||||
|
||||
else
|
||||
{
|
||||
return 0;
|
||||
return 0;
|
||||
}
|
||||
|
||||
}
|
||||
@@ -103,19 +109,19 @@ int Data_Process::data_preprocess(struct DataRev Data_Input[150])
|
||||
|
||||
//数据处理
|
||||
int Data_Process::track_process(struct Track Trust_Track_Output[MAX_TRACK_NUM][10],
|
||||
int *Trust_track_num_Output,
|
||||
int Track_die_Index_Output[],
|
||||
int *Track_die_num_Output,
|
||||
int model)
|
||||
int *Trust_track_num_Output,
|
||||
int Track_die_Index_Output[],
|
||||
int *Track_die_num_Output,
|
||||
int model)
|
||||
{
|
||||
|
||||
//TWS处理
|
||||
if(model==2)
|
||||
{
|
||||
|
||||
dot_coh.dot_coh_process_buff(&Data_buffer,&point_recv,Work_Parameter);
|
||||
//qDebug() << "point_recv :" <<point_recv.size();
|
||||
QVector<PointRecv>().swap(Data_buffer);
|
||||
dot_coh.dot_coh_process_buff(&Data_buffer,&point_recv,Work_Parameter);
|
||||
//qDebug() << "point_recv :" <<point_recv.size();
|
||||
QVector<PointRecv>().swap(Data_buffer);
|
||||
}
|
||||
|
||||
|
||||
@@ -126,27 +132,27 @@ int Data_Process::track_process(struct Track Trust_Track_Output[MAX_TRACK_NUM][1
|
||||
*Track_die_num_Output=0; //航迹消亡数目
|
||||
|
||||
track_asso.track_asso_process(&point_recv,
|
||||
&trust_track,
|
||||
Trust_Track_Output,
|
||||
Trust_track_num_Output,
|
||||
Work_Parameter
|
||||
);
|
||||
&trust_track,
|
||||
Trust_Track_Output,
|
||||
Trust_track_num_Output,
|
||||
Work_Parameter
|
||||
);
|
||||
|
||||
track_die.track_die_process( &trust_track,
|
||||
Track_die_Index_Output,
|
||||
Track_die_num_Output);
|
||||
Track_die_Index_Output,
|
||||
Track_die_num_Output);
|
||||
|
||||
track_init.track_init_process_logic( &point_recv,
|
||||
&trust_track,
|
||||
&temp_track,
|
||||
Trust_Track_Output,
|
||||
Trust_track_num_Output,
|
||||
Work_Parameter);
|
||||
// qDebug() << "point_recv: " <<point_recv.size();
|
||||
// qDebug() << "trust_track: " <<trust_track.size();
|
||||
// qDebug() << "temp_track: " <<temp_track.size();
|
||||
// qDebug() << "Trust_track_num_Output: " <<*Trust_track_num_Output;
|
||||
// qDebug() << "Track_die_num_Output: " <<*Track_die_num_Output;
|
||||
&trust_track,
|
||||
&temp_track,
|
||||
Trust_Track_Output,
|
||||
Trust_track_num_Output,
|
||||
Work_Parameter);
|
||||
// qDebug() << "point_recv: " <<point_recv.size();
|
||||
// qDebug() << "trust_track: " <<trust_track.size();
|
||||
// qDebug() << "temp_track: " <<temp_track.size();
|
||||
// qDebug() << "Trust_track_num_Output: " <<*Trust_track_num_Output;
|
||||
// qDebug() << "Track_die_num_Output: " <<*Track_die_num_Output;
|
||||
|
||||
}
|
||||
|
||||
@@ -158,36 +164,32 @@ int Data_Process::track_process(struct Track Trust_Track_Output[MAX_TRACK_NUM][1
|
||||
|
||||
dot_coh_tas.dot_coh_tas_process(&Data_buffer_tas,&point_recv_tas); //点迹凝聚
|
||||
|
||||
// if(point_recv_tas.size()>0)
|
||||
// {
|
||||
// qDebug() << "point_recv_tas :" <<point_recv_tas[0].Azimuth/PI*180<<" "<<point_recv_tas[0].Range;
|
||||
// }
|
||||
|
||||
// if(point_recv_tas.size()>0)
|
||||
// {
|
||||
// qDebug() << "point_recv_tas :" <<point_recv_tas[0].Azimuth/PI*180<<" "<<point_recv_tas[0].Range;
|
||||
// }
|
||||
qDebug() << "TAS process :" << TAS_track_idx << "p a r:"<<point_recv_tas[0].Point_Sum<<" " <<point_recv_tas[0].Azimuth/PI*180<<" "<<point_recv_tas[0].Range;
|
||||
|
||||
QVector<PointRecv>().swap(Data_buffer_tas);//凝聚完毕 清除Data_buffer
|
||||
|
||||
|
||||
track_asso_tas.track_asso_process_tas(&point_recv_tas, //点迹文件
|
||||
&trust_track, //航迹文件
|
||||
Trust_Track_Output, //更新航迹信息
|
||||
Trust_track_num_Output, //更新航迹数
|
||||
Work_Parameter, //工作参数
|
||||
TAS_track_idx);
|
||||
&trust_track, //航迹文件
|
||||
Trust_Track_Output, //更新航迹信息
|
||||
Trust_track_num_Output, //更新航迹数
|
||||
Work_Parameter, //工作参数
|
||||
TAS_track_idx);
|
||||
|
||||
|
||||
QVector<PointRecv>().swap(point_recv_tas); //清除 point_recv_tas
|
||||
|
||||
track_die_tas.track_die_process_tas( &trust_track,
|
||||
Track_die_Index_Output,
|
||||
Track_die_num_Output);
|
||||
|
||||
|
||||
Track_die_Index_Output,
|
||||
Track_die_num_Output);
|
||||
|
||||
|
||||
//qDebug() << "Extrapolate_round :" << trust_track[TAS_track_idx].Extrapolate_round;
|
||||
}
|
||||
|
||||
|
||||
|
||||
return 1;
|
||||
}
|
||||
|
||||
@@ -195,16 +197,13 @@ int Data_Process::track_process(struct Track Trust_Track_Output[MAX_TRACK_NUM][1
|
||||
|
||||
//波束控制
|
||||
void Data_Process::Beam_Ctrl(struct TrackingBeam *Tracking_beam,
|
||||
struct Track Trust_Track_Output[][10],
|
||||
int *Trust_track_num_Output)
|
||||
struct Track Trust_Track_Output[][10],
|
||||
int *Trust_track_num_Output)
|
||||
{
|
||||
|
||||
tas_ctrl.tas_ctrl_process(&trust_track,Tracking_beam, Trust_Track_Output, Trust_track_num_Output,Work_Parameter);
|
||||
tas_ctrl.tas_ctrl_process(&trust_track,Tracking_beam, Trust_Track_Output, Trust_track_num_Output,Work_Parameter, latest_timestamp);
|
||||
}
|
||||
|
||||
|
||||
|
||||
|
||||
//数据处理参数初始化
|
||||
int Data_Process::track_process_parameters_initial(struct RadarPara Radar_Parameter)
|
||||
{
|
||||
@@ -215,11 +214,6 @@ int Data_Process::track_process_parameters_initial(struct RadarPara Radar_Parame
|
||||
return 0;
|
||||
}
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
//数据处理参数修改
|
||||
int Data_Process::track_process_parameters_modify(struct RadarPara Radar_Parameter)
|
||||
{
|
||||
@@ -239,7 +233,7 @@ int Data_Process::track_clear_all(void)
|
||||
|
||||
//手动航迹删除函数
|
||||
int Data_Process:: track_delete(int delete_track_num, //手动删除的航迹数目
|
||||
int delete_track_index[]) //手动删除的航迹号
|
||||
int delete_track_index[]) //手动删除的航迹号
|
||||
{
|
||||
for (int i=0;i<delete_track_num ;i++)
|
||||
{
|
||||
@@ -249,6 +243,7 @@ int Data_Process:: track_delete(int delete_track_num, //手动
|
||||
{
|
||||
|
||||
trust_track[j].manual_delete_flag=1;
|
||||
qDebug() << "Delete :" << trust_track[j].Track_Index;
|
||||
}
|
||||
}
|
||||
|
||||
@@ -258,7 +253,7 @@ int Data_Process:: track_delete(int delete_track_num, //手动
|
||||
return 0;
|
||||
}
|
||||
|
||||
//手动转TAS跟踪函数
|
||||
//手动转TAS跟踪函数
|
||||
int Data_Process:: tracking_start(int track_index) //需要手动转入TAS跟踪的航迹号
|
||||
{
|
||||
|
||||
@@ -272,7 +267,22 @@ int Data_Process:: tracking_start(int track_index) //需要手动
|
||||
return 0;
|
||||
}
|
||||
|
||||
//手动打跟踪波束
|
||||
//手动取消TAS跟踪函数
|
||||
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++){
|
||||
if(trust_track[i].Track_Index==track_index)
|
||||
{
|
||||
trust_track[i].manual_tracking_flag = 0;
|
||||
trust_track[i].Track_Mode = 0;
|
||||
}
|
||||
}
|
||||
|
||||
return 0;
|
||||
}
|
||||
|
||||
//手动打跟踪波束
|
||||
int Data_Process::tracking_point(float Azimuth)//方位角
|
||||
{
|
||||
return 0;
|
||||
|
||||
@@ -57,6 +57,9 @@ public:
|
||||
//手动转TAS跟踪函数
|
||||
int tracking_start(int track_index); //需要手动转入TAS跟踪的航迹号
|
||||
|
||||
//手动取消TAS跟踪函数
|
||||
int tracking_stop(int track_index); //需要取消TAS跟踪的航迹号
|
||||
|
||||
//手动打跟踪波束
|
||||
int tracking_point(float Azimuth); //方位角
|
||||
|
||||
@@ -88,7 +91,9 @@ private:
|
||||
|
||||
int Track_Mode; //跟踪模式 1TAS 0TWS
|
||||
|
||||
int last_beam_num = INT_MIN; //上一个波位号，用于判断是否搜索完一圈
|
||||
int last_beam_num = INT_MAX; //上一个波位号，用于判断是否搜索完一圈
|
||||
|
||||
int latest_timestamp = 0; //最新时间戳
|
||||
|
||||
|
||||
struct RadarPara Work_Parameter; //工作参数 参数设置函数外部输入
|
||||
|
||||
@@ -225,9 +225,6 @@ public:
|
||||
return 0;
|
||||
}
|
||||
|
||||
|
||||
|
||||
|
||||
//手动航迹删除函数
|
||||
virtual int track_delete(int delete_track_num, //手动删除的航迹数目
|
||||
int delete_track_index[]) //手动删除的航迹号
|
||||
@@ -235,13 +232,17 @@ public:
|
||||
return 0;
|
||||
}
|
||||
|
||||
|
||||
//手动转TAS跟踪函数
|
||||
virtual int tracking_start(int track_index) //需要手动转入TAS跟踪的航迹号
|
||||
{
|
||||
return 0;
|
||||
}
|
||||
|
||||
//手动取消TAS跟踪函数
|
||||
virtual int tracking_stop(int track_index) //需要手动转入TAS跟踪的航迹号
|
||||
{
|
||||
return 0;
|
||||
}
|
||||
|
||||
//手动打跟踪波束
|
||||
virtual int tracking_point(float Azimuth) //方位角
|
||||
|
||||
@@ -1 +0,0 @@
|
||||
# Intentionally empty
|
||||
@@ -1,214 +0,0 @@
|
||||
# -*- coding: utf-8 -*-
|
||||
# This file is part of Eigen, a lightweight C++ template library
|
||||
# for linear algebra.
|
||||
#
|
||||
# Copyright (C) 2009 Benjamin Schindler <bschindler@inf.ethz.ch>
|
||||
#
|
||||
# This Source Code Form is subject to the terms of the Mozilla Public
|
||||
# License, v. 2.0. If a copy of the MPL was not distributed with this
|
||||
# file, You can obtain one at http://mozilla.org/MPL/2.0/.
|
||||
|
||||
# Pretty printers for Eigen::Matrix
|
||||
# This is still pretty basic as the python extension to gdb is still pretty basic.
|
||||
# It cannot handle complex eigen types and it doesn't support any of the other eigen types
|
||||
# Such as quaternion or some other type.
|
||||
# This code supports fixed size as well as dynamic size matrices
|
||||
|
||||
# To use it:
|
||||
#
|
||||
# * Create a directory and put the file as well as an empty __init__.py in
|
||||
# that directory.
|
||||
# * Create a ~/.gdbinit file, that contains the following:
|
||||
# python
|
||||
# import sys
|
||||
# sys.path.insert(0, '/path/to/eigen/printer/directory')
|
||||
# from printers import register_eigen_printers
|
||||
# register_eigen_printers (None)
|
||||
# end
|
||||
|
||||
import gdb
|
||||
import re
|
||||
import itertools
|
||||
|
||||
|
||||
class EigenMatrixPrinter:
|
||||
"Print Eigen Matrix or Array of some kind"
|
||||
|
||||
def __init__(self, variety, val):
|
||||
"Extract all the necessary information"
|
||||
|
||||
# Save the variety (presumably "Matrix" or "Array") for later usage
|
||||
self.variety = variety
|
||||
|
||||
# The gdb extension does not support value template arguments - need to extract them by hand
|
||||
type = val.type
|
||||
if type.code == gdb.TYPE_CODE_REF:
|
||||
type = type.target()
|
||||
self.type = type.unqualified().strip_typedefs()
|
||||
tag = self.type.tag
|
||||
regex = re.compile('\<.*\>')
|
||||
m = regex.findall(tag)[0][1:-1]
|
||||
template_params = m.split(',')
|
||||
template_params = [x.replace(" ", "") for x in template_params]
|
||||
|
||||
if template_params[1] == '-0x00000000000000001' or template_params[1] == '-0x000000001' or template_params[1] == '-1':
|
||||
self.rows = val['m_storage']['m_rows']
|
||||
else:
|
||||
self.rows = int(template_params[1])
|
||||
|
||||
if template_params[2] == '-0x00000000000000001' or template_params[2] == '-0x000000001' or template_params[2] == '-1':
|
||||
self.cols = val['m_storage']['m_cols']
|
||||
else:
|
||||
self.cols = int(template_params[2])
|
||||
|
||||
self.options = 0 # default value
|
||||
if len(template_params) > 3:
|
||||
self.options = template_params[3];
|
||||
|
||||
self.rowMajor = (int(self.options) & 0x1)
|
||||
|
||||
self.innerType = self.type.template_argument(0)
|
||||
|
||||
self.val = val
|
||||
|
||||
# Fixed size matrices have a struct as their storage, so we need to walk through this
|
||||
self.data = self.val['m_storage']['m_data']
|
||||
if self.data.type.code == gdb.TYPE_CODE_STRUCT:
|
||||
self.data = self.data['array']
|
||||
self.data = self.data.cast(self.innerType.pointer())
|
||||
|
||||
class _iterator:
|
||||
def __init__ (self, rows, cols, dataPtr, rowMajor):
|
||||
self.rows = rows
|
||||
self.cols = cols
|
||||
self.dataPtr = dataPtr
|
||||
self.currentRow = 0
|
||||
self.currentCol = 0
|
||||
self.rowMajor = rowMajor
|
||||
|
||||
def __iter__ (self):
|
||||
return self
|
||||
|
||||
def next(self):
|
||||
return self.__next__() # Python 2.x compatibility
|
||||
|
||||
def __next__(self):
|
||||
|
||||
row = self.currentRow
|
||||
col = self.currentCol
|
||||
if self.rowMajor == 0:
|
||||
if self.currentCol >= self.cols:
|
||||
raise StopIteration
|
||||
|
||||
self.currentRow = self.currentRow + 1
|
||||
if self.currentRow >= self.rows:
|
||||
self.currentRow = 0
|
||||
self.currentCol = self.currentCol + 1
|
||||
else:
|
||||
if self.currentRow >= self.rows:
|
||||
raise StopIteration
|
||||
|
||||
self.currentCol = self.currentCol + 1
|
||||
if self.currentCol >= self.cols:
|
||||
self.currentCol = 0
|
||||
self.currentRow = self.currentRow + 1
|
||||
|
||||
|
||||
item = self.dataPtr.dereference()
|
||||
self.dataPtr = self.dataPtr + 1
|
||||
if (self.cols == 1): #if it's a column vector
|
||||
return ('[%d]' % (row,), item)
|
||||
elif (self.rows == 1): #if it's a row vector
|
||||
return ('[%d]' % (col,), item)
|
||||
return ('[%d,%d]' % (row, col), item)
|
||||
|
||||
def children(self):
|
||||
|
||||
return self._iterator(self.rows, self.cols, self.data, self.rowMajor)
|
||||
|
||||
def to_string(self):
|
||||
return "Eigen::%s<%s,%d,%d,%s> (data ptr: %s)" % (self.variety, self.innerType, self.rows, self.cols, "RowMajor" if self.rowMajor else "ColMajor", self.data)
|
||||
|
||||
class EigenQuaternionPrinter:
|
||||
"Print an Eigen Quaternion"
|
||||
|
||||
def __init__(self, val):
|
||||
"Extract all the necessary information"
|
||||
# The gdb extension does not support value template arguments - need to extract them by hand
|
||||
type = val.type
|
||||
if type.code == gdb.TYPE_CODE_REF:
|
||||
type = type.target()
|
||||
self.type = type.unqualified().strip_typedefs()
|
||||
self.innerType = self.type.template_argument(0)
|
||||
self.val = val
|
||||
|
||||
# Quaternions have a struct as their storage, so we need to walk through this
|
||||
self.data = self.val['m_coeffs']['m_storage']['m_data']['array']
|
||||
self.data = self.data.cast(self.innerType.pointer())
|
||||
|
||||
class _iterator:
|
||||
def __init__ (self, dataPtr):
|
||||
self.dataPtr = dataPtr
|
||||
self.currentElement = 0
|
||||
self.elementNames = ['x', 'y', 'z', 'w']
|
||||
|
||||
def __iter__ (self):
|
||||
return self
|
||||
|
||||
def next(self):
|
||||
return self.__next__() # Python 2.x compatibility
|
||||
|
||||
def __next__(self):
|
||||
element = self.currentElement
|
||||
|
||||
if self.currentElement >= 4: #there are 4 elements in a quanternion
|
||||
raise StopIteration
|
||||
|
||||
self.currentElement = self.currentElement + 1
|
||||
|
||||
item = self.dataPtr.dereference()
|
||||
self.dataPtr = self.dataPtr + 1
|
||||
return ('[%s]' % (self.elementNames[element],), item)
|
||||
|
||||
def children(self):
|
||||
|
||||
return self._iterator(self.data)
|
||||
|
||||
def to_string(self):
|
||||
return "Eigen::Quaternion<%s> (data ptr: %s)" % (self.innerType, self.data)
|
||||
|
||||
def build_eigen_dictionary ():
|
||||
pretty_printers_dict[re.compile('^Eigen::Quaternion<.*>$')] = lambda val: EigenQuaternionPrinter(val)
|
||||
pretty_printers_dict[re.compile('^Eigen::Matrix<.*>$')] = lambda val: EigenMatrixPrinter("Matrix", val)
|
||||
pretty_printers_dict[re.compile('^Eigen::Array<.*>$')] = lambda val: EigenMatrixPrinter("Array", val)
|
||||
|
||||
def register_eigen_printers(obj):
|
||||
"Register eigen pretty-printers with objfile Obj"
|
||||
|
||||
if obj == None:
|
||||
obj = gdb
|
||||
obj.pretty_printers.append(lookup_function)
|
||||
|
||||
def lookup_function(val):
|
||||
"Look-up and return a pretty-printer that can print va."
|
||||
|
||||
type = val.type
|
||||
|
||||
if type.code == gdb.TYPE_CODE_REF:
|
||||
type = type.target()
|
||||
|
||||
type = type.unqualified().strip_typedefs()
|
||||
|
||||
typename = type.tag
|
||||
if typename == None:
|
||||
return None
|
||||
|
||||
for function in pretty_printers_dict:
|
||||
if function.search(typename):
|
||||
return pretty_printers_dict[function](val)
|
||||
|
||||
return None
|
||||
|
||||
pretty_printers_dict = {}
|
||||
|
||||
build_eigen_dictionary ()
|
||||
@@ -1,235 +0,0 @@
|
||||
<?xml version="1.0" encoding="utf-8"?>
|
||||
|
||||
<AutoVisualizer xmlns="http://schemas.microsoft.com/vstudio/debugger/natvis/2010">
|
||||
|
||||
<!-- Fixed x Fixed Matrix -->
|
||||
<Type Name="Eigen::Matrix<*,*,*,*,*,*>">
|
||||
<AlternativeType Name="Eigen::Array<*,-1,-1,*,*,*>"/>
|
||||
<DisplayString>[{$T2}, {$T3}] (fixed matrix)</DisplayString>
|
||||
<Expand>
|
||||
<ArrayItems Condition="Flags%2"> <!-- row major layout -->
|
||||
<Rank>2</Rank>
|
||||
<Size>$i==0 ? $T2 : $T3</Size>
|
||||
<ValuePointer>m_storage.m_data.array</ValuePointer>
|
||||
</ArrayItems>
|
||||
<ArrayItems Condition="!(Flags%2)"> <!-- column major layout -->
|
||||
<Direction>Backward</Direction>
|
||||
<Rank>2</Rank>
|
||||
<Size>$i==0 ? $T2 : $T3</Size>
|
||||
<ValuePointer>m_storage.m_data.array</ValuePointer>
|
||||
</ArrayItems>
|
||||
</Expand>
|
||||
</Type>
|
||||
|
||||
<!-- 2 x 2 Matrix -->
|
||||
<Type Name="Eigen::Matrix<*,2,2,*,*,*>">
|
||||
<AlternativeType Name="Eigen::Array<*,2,2,*,*,*>"/>
|
||||
<DisplayString>[2, 2] (fixed matrix)</DisplayString>
|
||||
<Expand>
|
||||
<Synthetic Name="[row 0]" Condition="Flags%2">
|
||||
<DisplayString>({m_storage.m_data.array[0]}, {m_storage.m_data.array[1]})</DisplayString>
|
||||
</Synthetic>
|
||||
<Synthetic Name="[row 0]" Condition="!(Flags%2)">
|
||||
<DisplayString>({m_storage.m_data.array[0]}, {m_storage.m_data.array[2]})</DisplayString>
|
||||
</Synthetic>
|
||||
<Synthetic Name="[row 1]" Condition="Flags%2">
|
||||
<DisplayString>({m_storage.m_data.array[2]}, {m_storage.m_data.array[3]})</DisplayString>
|
||||
</Synthetic>
|
||||
<Synthetic Name="[row 1]" Condition="!(Flags%2)">
|
||||
<DisplayString>({m_storage.m_data.array[1]}, {m_storage.m_data.array[3]})</DisplayString>
|
||||
</Synthetic>
|
||||
</Expand>
|
||||
</Type>
|
||||
|
||||
<!-- 3 x 3 Matrix -->
|
||||
<Type Name="Eigen::Matrix<*,3,3,*,*,*>">
|
||||
<AlternativeType Name="Eigen::Array<*,3,3,*,*,*>"/>
|
||||
<DisplayString>[3, 3] (fixed matrix)</DisplayString>
|
||||
<Expand>
|
||||
<Synthetic Name="[row 0]" Condition="Flags%2">
|
||||
<DisplayString>({m_storage.m_data.array[0]}, {m_storage.m_data.array[1]}, {m_storage.m_data.array[2]})</DisplayString>
|
||||
</Synthetic>
|
||||
<Synthetic Name="[row 0]" Condition="!(Flags%2)">
|
||||
<DisplayString>({m_storage.m_data.array[0]}, {m_storage.m_data.array[3]}, {m_storage.m_data.array[6]})</DisplayString>
|
||||
</Synthetic>
|
||||
<Synthetic Name="[row 1]" Condition="Flags%2">
|
||||
<DisplayString>({m_storage.m_data.array[3]}, {m_storage.m_data.array[4]}, {m_storage.m_data.array[5]})</DisplayString>
|
||||
</Synthetic>
|
||||
<Synthetic Name="[row 1]" Condition="!(Flags%2)">
|
||||
<DisplayString>({m_storage.m_data.array[1]}, {m_storage.m_data.array[4]}, {m_storage.m_data.array[7]})</DisplayString>
|
||||
</Synthetic>
|
||||
<Synthetic Name="[row 2]" Condition="Flags%2">
|
||||
<DisplayString>({m_storage.m_data.array[6]}, {m_storage.m_data.array[7]}, {m_storage.m_data.array[8]})</DisplayString>
|
||||
</Synthetic>
|
||||
<Synthetic Name="[row 2]" Condition="!(Flags%2)">
|
||||
<DisplayString>({m_storage.m_data.array[2]}, {m_storage.m_data.array[5]}, {m_storage.m_data.array[8]})</DisplayString>
|
||||
</Synthetic>
|
||||
</Expand>
|
||||
</Type>
|
||||
|
||||
<!-- 4 x 4 Matrix -->
|
||||
<Type Name="Eigen::Matrix<*,4,4,*,*,*>">
|
||||
<AlternativeType Name="Eigen::Array<*,4,4,*,*,*>"/>
|
||||
<DisplayString>[4, 4] (fixed matrix)</DisplayString>
|
||||
<Expand>
|
||||
<Synthetic Name="[row 0]" Condition="Flags%2">
|
||||
<DisplayString>({m_storage.m_data.array[0]}, {m_storage.m_data.array[1]}, {m_storage.m_data.array[2]}, {m_storage.m_data.array[3]})</DisplayString>
|
||||
</Synthetic>
|
||||
<Synthetic Name="[row 0]" Condition="!(Flags%2)">
|
||||
<DisplayString>({m_storage.m_data.array[0]}, {m_storage.m_data.array[4]}, {m_storage.m_data.array[8]}, {m_storage.m_data.array[12]})</DisplayString>
|
||||
</Synthetic>
|
||||
<Synthetic Name="[row 1]" Condition="Flags%2">
|
||||
<DisplayString>({m_storage.m_data.array[4]}, {m_storage.m_data.array[5]}, {m_storage.m_data.array[6]}, {m_storage.m_data.array[7]})</DisplayString>
|
||||
</Synthetic>
|
||||
<Synthetic Name="[row 1]" Condition="!(Flags%2)">
|
||||
<DisplayString>({m_storage.m_data.array[1]}, {m_storage.m_data.array[5]}, {m_storage.m_data.array[9]}, {m_storage.m_data.array[13]})</DisplayString>
|
||||
</Synthetic>
|
||||
<Synthetic Name="[row 2]" Condition="Flags%2">
|
||||
<DisplayString>({m_storage.m_data.array[8]}, {m_storage.m_data.array[9]}, {m_storage.m_data.array[10]}, {m_storage.m_data.array[11]})</DisplayString>
|
||||
</Synthetic>
|
||||
<Synthetic Name="[row 2]" Condition="!(Flags%2)">
|
||||
<DisplayString>({m_storage.m_data.array[2]}, {m_storage.m_data.array[6]}, {m_storage.m_data.array[10]}, {m_storage.m_data.array[14]})</DisplayString>
|
||||
</Synthetic>
|
||||
<Synthetic Name="[row 3]" Condition="Flags%2">
|
||||
<DisplayString>({m_storage.m_data.array[12]}, {m_storage.m_data.array[13]}, {m_storage.m_data.array[14]}, {m_storage.m_data.array[15]})</DisplayString>
|
||||
</Synthetic>
|
||||
<Synthetic Name="[row 3]" Condition="!(Flags%2)">
|
||||
<DisplayString>({m_storage.m_data.array[3]}, {m_storage.m_data.array[7]}, {m_storage.m_data.array[11]}, {m_storage.m_data.array[15]})</DisplayString>
|
||||
</Synthetic>
|
||||
</Expand>
|
||||
</Type>
|
||||
|
||||
<!-- Dynamic x Dynamic Matrix -->
|
||||
<Type Name="Eigen::Matrix<*,-1,-1,*,*,*>">
|
||||
<AlternativeType Name="Eigen::Array<*,-1,-1,*,*,*>"/>
|
||||
<DisplayString Condition="m_storage.m_data == 0">empty</DisplayString>
|
||||
<DisplayString Condition="m_storage.m_data != 0">[{m_storage.m_rows}, {m_storage.m_cols}] (dynamic matrix)</DisplayString>
|
||||
<Expand>
|
||||
<ArrayItems Condition="Flags%2"> <!-- row major layout -->
|
||||
<Rank>2</Rank>
|
||||
<Size>$i==0 ? m_storage.m_rows : m_storage.m_cols</Size>
|
||||
<ValuePointer>m_storage.m_data</ValuePointer>
|
||||
</ArrayItems>
|
||||
<ArrayItems Condition="!(Flags%2)"> <!-- column major layout -->
|
||||
<Direction>Backward</Direction>
|
||||
<Rank>2</Rank>
|
||||
<Size>$i==0 ? m_storage.m_rows : m_storage.m_cols</Size>
|
||||
<ValuePointer>m_storage.m_data</ValuePointer>
|
||||
</ArrayItems>
|
||||
</Expand>
|
||||
</Type>
|
||||
|
||||
<!-- Fixed x Dynamic Matrix -->
|
||||
<Type Name="Eigen::Matrix<*,*,-1,*,*,*>">
|
||||
<AlternativeType Name="Eigen::Array<*,*,-1,*,*,*>"/>
|
||||
<DisplayString Condition="m_storage.m_data == 0">empty</DisplayString>
|
||||
<DisplayString Condition="m_storage.m_data != 0">[{$T2}, {m_storage.m_cols}] (dynamic column matrix)</DisplayString>
|
||||
<Expand>
|
||||
<ArrayItems Condition="Flags%2"> <!-- row major layout -->
|
||||
<Rank>2</Rank>
|
||||
<Size>$i==0 ? $T2 : m_storage.m_cols</Size>
|
||||
<ValuePointer>m_storage.m_data</ValuePointer>
|
||||
</ArrayItems>
|
||||
<ArrayItems Condition="!(Flags%2)"> <!-- column major layout -->
|
||||
<Direction>Backward</Direction>
|
||||
<Rank>2</Rank>
|
||||
<Size>$i==0 ? $T2 : m_storage.m_cols</Size>
|
||||
<ValuePointer>m_storage.m_data</ValuePointer>
|
||||
</ArrayItems>
|
||||
</Expand>
|
||||
</Type>
|
||||
|
||||
<!-- Dynamic x Fixed Matrix -->
|
||||
<Type Name="Eigen::Matrix<*,-1,*,*,*,*>">
|
||||
<AlternativeType Name="Eigen::Array<*,-1,*,*,*,*>"/>
|
||||
<DisplayString Condition="m_storage.m_data == 0">empty</DisplayString>
|
||||
<DisplayString Condition="m_storage.m_data != 0">[{m_storage.m_rows}, {$T2}] (dynamic row matrix)</DisplayString>
|
||||
<Expand>
|
||||
<ArrayItems Condition="Flags%2"> <!-- row major layout -->
|
||||
<Rank>2</Rank>
|
||||
<Size>$i==0 ? m_storage.m_rows : $T2</Size>
|
||||
<ValuePointer>m_storage.m_data</ValuePointer>
|
||||
</ArrayItems>
|
||||
<ArrayItems Condition="!(Flags%2)"> <!-- column major layout -->
|
||||
<Direction>Backward</Direction>
|
||||
<Rank>2</Rank>
|
||||
<Size>$i==0 ? m_storage.m_rows : $T2</Size>
|
||||
<ValuePointer>m_storage.m_data</ValuePointer>
|
||||
</ArrayItems>
|
||||
</Expand>
|
||||
</Type>
|
||||
|
||||
<!-- Dynamic Column Vector -->
|
||||
<Type Name="Eigen::Matrix<*,1,-1,*,*,*>">
|
||||
<AlternativeType Name="Eigen::Array<*,1,-1,*,*,*>"/>
|
||||
<DisplayString Condition="m_storage.m_data == 0">empty</DisplayString>
|
||||
<DisplayString Condition="m_storage.m_data != 0">[{m_storage.m_cols}] (dynamic column vector)</DisplayString>
|
||||
<Expand>
|
||||
<Item Name="[size]">m_storage.m_cols</Item>
|
||||
<ArrayItems>
|
||||
<Size>m_storage.m_cols</Size>
|
||||
<ValuePointer>m_storage.m_data</ValuePointer>
|
||||
</ArrayItems>
|
||||
</Expand>
|
||||
</Type>
|
||||
|
||||
<!-- Dynamic Row Vector -->
|
||||
<Type Name="Eigen::Matrix<*,-1,1,*,*,*>">
|
||||
<AlternativeType Name="Eigen::Array<*,-1,1,*,*,*>"/>
|
||||
<DisplayString Condition="m_storage.m_data == 0">empty</DisplayString>
|
||||
<DisplayString Condition="m_storage.m_data != 0">[{m_storage.m_rows}] (dynamic row vector)</DisplayString>
|
||||
<Expand>
|
||||
<Item Name="[size]">m_storage.m_rows</Item>
|
||||
<ArrayItems>
|
||||
<Size>m_storage.m_rows</Size>
|
||||
<ValuePointer>m_storage.m_data</ValuePointer>
|
||||
</ArrayItems>
|
||||
</Expand>
|
||||
</Type>
|
||||
|
||||
<!-- Fixed Vector -->
|
||||
<Type Name="Eigen::Matrix<*,1,1,*,*,*>">
|
||||
<AlternativeType Name="Eigen::Array<*,1,1,*,*,*>"/>
|
||||
<DisplayString>[1] ({m_storage.m_data.array[0]})</DisplayString>
|
||||
<Expand>
|
||||
<Item Name="[x]">m_storage.m_data.array[0]</Item>
|
||||
</Expand>
|
||||
</Type>
|
||||
|
||||
<Type Name="Eigen::Matrix<*,2,1,*,*,*>">
|
||||
<AlternativeType Name="Eigen::Matrix<*,1,2,*,*,*>"/>
|
||||
<AlternativeType Name="Eigen::Array<*,2,1,*,*,*>"/>
|
||||
<AlternativeType Name="Eigen::Array<*,1,2,*,*,*>"/>
|
||||
<DisplayString>[2] ({m_storage.m_data.array[0]}, {m_storage.m_data.array[1]})</DisplayString>
|
||||
<Expand>
|
||||
<Item Name="[x]">m_storage.m_data.array[0]</Item>
|
||||
<Item Name="[y]">m_storage.m_data.array[1]</Item>
|
||||
</Expand>
|
||||
</Type>
|
||||
|
||||
<Type Name="Eigen::Matrix<*,3,1,*,*,*>">
|
||||
<AlternativeType Name="Eigen::Matrix<*,1,3,*,*,*>"/>
|
||||
<AlternativeType Name="Eigen::Array<*,3,1,*,*,*>"/>
|
||||
<AlternativeType Name="Eigen::Array<*,1,3,*,*,*>"/>
|
||||
<DisplayString>[3] ({m_storage.m_data.array[0]}, {m_storage.m_data.array[1]}, {m_storage.m_data.array[2]})</DisplayString>
|
||||
<Expand>
|
||||
<Item Name="[x]">m_storage.m_data.array[0]</Item>
|
||||
<Item Name="[y]">m_storage.m_data.array[1]</Item>
|
||||
<Item Name="[z]">m_storage.m_data.array[2]</Item>
|
||||
</Expand>
|
||||
</Type>
|
||||
|
||||
<Type Name="Eigen::Matrix<*,4,1,*,*,*>">
|
||||
<AlternativeType Name="Eigen::Matrix<*,1,4,*,*,*>"/>
|
||||
<AlternativeType Name="Eigen::Array<*,4,1,*,*,*>"/>
|
||||
<AlternativeType Name="Eigen::Array<*,1,4,*,*,*>"/>
|
||||
<DisplayString>[4] ({m_storage.m_data.array[0]}, {m_storage.m_data.array[1]}, {m_storage.m_data.array[2]}, {m_storage.m_data.array[3]})</DisplayString>
|
||||
<Expand>
|
||||
<Item Name="[x]">m_storage.m_data.array[0]</Item>
|
||||
<Item Name="[y]">m_storage.m_data.array[1]</Item>
|
||||
<Item Name="[z]">m_storage.m_data.array[2]</Item>
|
||||
<Item Name="[w]">m_storage.m_data.array[3]</Item>
|
||||
</Expand>
|
||||
</Type>
|
||||
|
||||
</AutoVisualizer>
|
||||
@@ -1,295 +0,0 @@
|
||||
; ***************************************************************
|
||||
; * Eigen Visualizer
|
||||
; *
|
||||
; * Author: Hauke Heibel <hauke.heibel@gmail.com>
|
||||
; *
|
||||
; * Support the enhanced debugging of the following Eigen
|
||||
; * types (*: any, +:fixed dimension) :
|
||||
; *
|
||||
; * - Eigen::Matrix<*,4,1,*,*,*> and Eigen::Matrix<*,1,4,*,*,*>
|
||||
; * - Eigen::Matrix<*,3,1,*,*,*> and Eigen::Matrix<*,1,3,*,*,*>
|
||||
; * - Eigen::Matrix<*,2,1,*,*,*> and Eigen::Matrix<*,1,2,*,*,*>
|
||||
; * - Eigen::Matrix<*,-1,-1,*,*,*>
|
||||
; * - Eigen::Matrix<*,+,-1,*,*,*>
|
||||
; * - Eigen::Matrix<*,-1,+,*,*,*>
|
||||
; * - Eigen::Matrix<*,+,+,*,*,*>
|
||||
; *
|
||||
; * Matrices are displayed properly independantly of the memory
|
||||
; * alignment (RowMajor vs. ColMajor).
|
||||
; *
|
||||
; * This file is distributed WITHOUT ANY WARRANTY. Please ensure
|
||||
; * that your original autoexp.dat file is copied to a safe
|
||||
; * place before proceeding with its modification.
|
||||
; ***************************************************************
|
||||
|
||||
[Visualizer]
|
||||
|
||||
; Fixed size 4-vectors
|
||||
Eigen::Matrix<*,4,1,*,*,*>|Eigen::Matrix<*,1,4,*,*,*>{
|
||||
children
|
||||
(
|
||||
#(
|
||||
[internals]: [$c,!],
|
||||
x : ($c.m_storage.m_data.array)[0],
|
||||
y : ($c.m_storage.m_data.array)[1],
|
||||
z : ($c.m_storage.m_data.array)[2],
|
||||
w : ($c.m_storage.m_data.array)[3]
|
||||
)
|
||||
)
|
||||
|
||||
preview
|
||||
(
|
||||
#(
|
||||
"[",
|
||||
4,
|
||||
"](",
|
||||
#array(expr: $e.m_storage.m_data.array[$i], size: 4),
|
||||
")"
|
||||
)
|
||||
)
|
||||
}
|
||||
|
||||
; Fixed size 3-vectors
|
||||
Eigen::Matrix<*,3,1,*,*,*>|Eigen::Matrix<*,1,3,*,*,*>{
|
||||
children
|
||||
(
|
||||
#(
|
||||
[internals]: [$c,!],
|
||||
x : ($c.m_storage.m_data.array)[0],
|
||||
y : ($c.m_storage.m_data.array)[1],
|
||||
z : ($c.m_storage.m_data.array)[2]
|
||||
)
|
||||
)
|
||||
|
||||
preview
|
||||
(
|
||||
#(
|
||||
"[",
|
||||
3,
|
||||
"](",
|
||||
#array(expr: $e.m_storage.m_data.array[$i], size: 3),
|
||||
")"
|
||||
)
|
||||
)
|
||||
}
|
||||
|
||||
; Fixed size 2-vectors
|
||||
Eigen::Matrix<*,2,1,*,*,*>|Eigen::Matrix<*,1,2,*,*,*>{
|
||||
children
|
||||
(
|
||||
#(
|
||||
[internals]: [$c,!],
|
||||
x : ($c.m_storage.m_data.array)[0],
|
||||
y : ($c.m_storage.m_data.array)[1]
|
||||
)
|
||||
)
|
||||
|
||||
preview
|
||||
(
|
||||
#(
|
||||
"[",
|
||||
2,
|
||||
"](",
|
||||
#array(expr: $e.m_storage.m_data.array[$i], size: 2),
|
||||
")"
|
||||
)
|
||||
)
|
||||
}
|
||||
|
||||
; Fixed size 1-vectors
|
||||
Eigen::Matrix<*,1,1,*,*,*>|Eigen::Matrix<*,1,1,*,*,*>{
|
||||
children
|
||||
(
|
||||
#(
|
||||
[internals]: [$c,!],
|
||||
x : ($c.m_storage.m_data.array)[0]
|
||||
)
|
||||
)
|
||||
|
||||
preview
|
||||
(
|
||||
#(
|
||||
"[",
|
||||
1,
|
||||
"](",
|
||||
#array(expr: $e.m_storage.m_data.array[$i], size: 1),
|
||||
")"
|
||||
)
|
||||
)
|
||||
}
|
||||
|
||||
; Dynamic matrices (ColMajor and RowMajor support)
|
||||
Eigen::Matrix<*,-1,-1,*,*,*>{
|
||||
children
|
||||
(
|
||||
#(
|
||||
[internals]: [$c,!],
|
||||
rows: $c.m_storage.m_rows,
|
||||
cols: $c.m_storage.m_cols,
|
||||
; Check for RowMajorBit
|
||||
#if ($c.Flags & 0x1) (
|
||||
#array(
|
||||
rank: 2,
|
||||
base: 0,
|
||||
expr: ($c.m_storage.m_data)[($i % $c.m_storage.m_rows)*$c.m_storage.m_cols + (($i- $i % $c.m_storage.m_rows)/$c.m_storage.m_rows)],
|
||||
size: ($r==1)*$c.m_storage.m_rows+($r==0)*$c.m_storage.m_cols
|
||||
)
|
||||
) #else (
|
||||
#array(
|
||||
rank: 2,
|
||||
base: 0,
|
||||
expr: ($c.m_storage.m_data)[$i],
|
||||
size: ($r==1)*$c.m_storage.m_rows+($r==0)*$c.m_storage.m_cols
|
||||
)
|
||||
)
|
||||
)
|
||||
)
|
||||
|
||||
preview
|
||||
(
|
||||
#(
|
||||
"[",
|
||||
$c.m_storage.m_rows,
|
||||
",",
|
||||
$c.m_storage.m_cols,
|
||||
"](",
|
||||
#array(
|
||||
expr : [($c.m_storage.m_data)[$i],g],
|
||||
size : $c.m_storage.m_rows*$c.m_storage.m_cols
|
||||
),
|
||||
")"
|
||||
)
|
||||
)
|
||||
}
|
||||
|
||||
; Fixed rows, dynamic columns matrix (ColMajor and RowMajor support)
|
||||
Eigen::Matrix<*,*,-1,*,*,*>{
|
||||
children
|
||||
(
|
||||
#(
|
||||
[internals]: [$c,!],
|
||||
rows: $c.RowsAtCompileTime,
|
||||
cols: $c.m_storage.m_cols,
|
||||
; Check for RowMajorBit
|
||||
#if ($c.Flags & 0x1) (
|
||||
#array(
|
||||
rank: 2,
|
||||
base: 0,
|
||||
expr: ($c.m_storage.m_data)[($i % $c.RowsAtCompileTime)*$c.m_storage.m_cols + (($i- $i % $c.RowsAtCompileTime)/$c.RowsAtCompileTime)],
|
||||
size: ($r==1)*$c.RowsAtCompileTime+($r==0)*$c.m_storage.m_cols
|
||||
)
|
||||
) #else (
|
||||
#array(
|
||||
rank: 2,
|
||||
base: 0,
|
||||
expr: ($c.m_storage.m_data)[$i],
|
||||
size: ($r==1)*$c.RowsAtCompileTime+($r==0)*$c.m_storage.m_cols
|
||||
)
|
||||
)
|
||||
)
|
||||
)
|
||||
|
||||
preview
|
||||
(
|
||||
#(
|
||||
"[",
|
||||
$c.RowsAtCompileTime,
|
||||
",",
|
||||
$c.m_storage.m_cols,
|
||||
"](",
|
||||
#array(
|
||||
expr : [($c.m_storage.m_data)[$i],g],
|
||||
size : $c.RowsAtCompileTime*$c.m_storage.m_cols
|
||||
),
|
||||
")"
|
||||
)
|
||||
)
|
||||
}
|
||||
|
||||
; Dynamic rows, fixed columns matrix (ColMajor and RowMajor support)
|
||||
Eigen::Matrix<*,-1,*,*,*,*>{
|
||||
children
|
||||
(
|
||||
#(
|
||||
[internals]: [$c,!],
|
||||
rows: $c.m_storage.m_rows,
|
||||
cols: $c.ColsAtCompileTime,
|
||||
; Check for RowMajorBit
|
||||
#if ($c.Flags & 0x1) (
|
||||
#array(
|
||||
rank: 2,
|
||||
base: 0,
|
||||
expr: ($c.m_storage.m_data)[($i % $c.m_storage.m_rows)*$c.ColsAtCompileTime + (($i- $i % $c.m_storage.m_rows)/$c.m_storage.m_rows)],
|
||||
size: ($r==1)*$c.m_storage.m_rows+($r==0)*$c.ColsAtCompileTime
|
||||
)
|
||||
) #else (
|
||||
#array(
|
||||
rank: 2,
|
||||
base: 0,
|
||||
expr: ($c.m_storage.m_data)[$i],
|
||||
size: ($r==1)*$c.m_storage.m_rows+($r==0)*$c.ColsAtCompileTime
|
||||
)
|
||||
)
|
||||
)
|
||||
)
|
||||
|
||||
preview
|
||||
(
|
||||
#(
|
||||
"[",
|
||||
$c.m_storage.m_rows,
|
||||
",",
|
||||
$c.ColsAtCompileTime,
|
||||
"](",
|
||||
#array(
|
||||
expr : [($c.m_storage.m_data)[$i],g],
|
||||
size : $c.m_storage.m_rows*$c.ColsAtCompileTime
|
||||
),
|
||||
")"
|
||||
)
|
||||
)
|
||||
}
|
||||
|
||||
; Fixed size matrix (ColMajor and RowMajor support)
|
||||
Eigen::Matrix<*,*,*,*,*,*>{
|
||||
children
|
||||
(
|
||||
#(
|
||||
[internals]: [$c,!],
|
||||
rows: $c.RowsAtCompileTime,
|
||||
cols: $c.ColsAtCompileTime,
|
||||
; Check for RowMajorBit
|
||||
#if ($c.Flags & 0x1) (
|
||||
#array(
|
||||
rank: 2,
|
||||
base: 0,
|
||||
expr: ($c.m_storage.m_data.array)[($i % $c.RowsAtCompileTime)*$c.ColsAtCompileTime + (($i- $i % $c.RowsAtCompileTime)/$c.RowsAtCompileTime)],
|
||||
size: ($r==1)*$c.RowsAtCompileTime+($r==0)*$c.ColsAtCompileTime
|
||||
)
|
||||
) #else (
|
||||
#array(
|
||||
rank: 2,
|
||||
base: 0,
|
||||
expr: ($c.m_storage.m_data.array)[$i],
|
||||
size: ($r==1)*$c.RowsAtCompileTime+($r==0)*$c.ColsAtCompileTime
|
||||
)
|
||||
)
|
||||
)
|
||||
)
|
||||
|
||||
preview
|
||||
(
|
||||
#(
|
||||
"[",
|
||||
$c.RowsAtCompileTime,
|
||||
",",
|
||||
$c.ColsAtCompileTime,
|
||||
"](",
|
||||
#array(
|
||||
expr : [($c.m_storage.m_data.array)[$i],g],
|
||||
size : $c.RowsAtCompileTime*$c.ColsAtCompileTime
|
||||
),
|
||||
")"
|
||||
)
|
||||
)
|
||||
}
|
||||
@@ -70,7 +70,8 @@
|
||||
//#define DATA_RATE_MIDDLE 1
|
||||
//#define DATA_RATE_FAR 1
|
||||
|
||||
#define DATA_RATE_TAS 0.33
|
||||
//#define DATA_RATE_TAS 0.046875
|
||||
#define DATA_RATE_TAS 0.0625
|
||||
|
||||
#define SIGMA_R 10.0 //测量误差
|
||||
#define SIGMA_A 0.02
|
||||
@@ -101,7 +102,7 @@
|
||||
#define ALPHA_START 60 //起航夹角 120 越大越容易起批
|
||||
|
||||
#define TRACK_DIE_ROUND 4 // 航迹消亡时间
|
||||
#define TRACK_DIE_ROUND_TAS 5
|
||||
#define TRACK_DIE_ROUND_TAS 96 //
|
||||
|
||||
#define ASSO_THORD 3
|
||||
|
||||
@@ -111,7 +112,8 @@
|
||||
|
||||
#define TAS_QUEUE_LENGTH 1 //Tas调用的cpi数
|
||||
#define MAX_TAS_NUM 1
|
||||
#define T_TAS_PRED 0.33
|
||||
//#define T_TAS_PRED 0.046875
|
||||
#define T_TAS_PRED DATA_RATE_TAS
|
||||
|
||||
#define UNCONF_TARGET 0
|
||||
|
||||
|
||||
@@ -3,6 +3,7 @@
|
||||
#include <qmath.h>
|
||||
#include"memory.h"
|
||||
#include <QVector>
|
||||
#include <QDebug>
|
||||
using namespace std;
|
||||
|
||||
|
||||
@@ -22,20 +23,21 @@ void TAS_Ctrl::tas_ctrl_process(QVector<Trust_Track> *trust_track,
|
||||
struct TrackingBeam *Tracking_beam,
|
||||
struct Track Trust_Track_Output[][10],
|
||||
int *Trust_track_num_Output,
|
||||
struct RadarPara Work_Parameter)
|
||||
struct RadarPara Work_Parameter,
|
||||
int latest_timestamp)
|
||||
{
|
||||
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);
|
||||
tas_beam_output(trust_track,Tracking_beam,latest_timestamp);
|
||||
|
||||
//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));
|
||||
// //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));
|
||||
|
||||
|
||||
|
||||
@@ -66,7 +68,7 @@ void TAS_Ctrl::tas_target_add(QVector<Trust_Track> *trust_track,
|
||||
{
|
||||
for(int j=0;j<TAS_QUEUE_LENGTH;j++)
|
||||
{
|
||||
if(tas_target_queue[j].empty_flag==0 && j%2==0)
|
||||
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].Track_Index;
|
||||
@@ -159,13 +161,14 @@ void TAS_Ctrl::tas_target_del(QVector<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 (int j=0;j<trust_track->size();j++){
|
||||
{
|
||||
if(tas_target_queue[i].Index==(*trust_track)[j].Track_Index && (*trust_track)[j].Track_Mode == 1)
|
||||
if(tas_target_queue[i].Index==(*trust_track)[j].Track_Index && (*trust_track)[j].Track_Mode == 1 && (*trust_track)[j].manual_tracking_flag == 1)
|
||||
{
|
||||
flag=1;
|
||||
}
|
||||
}
|
||||
}
|
||||
//目标不存在 说明已消批 从队列里删除
|
||||
if(flag == 0)
|
||||
{
|
||||
@@ -249,47 +252,50 @@ void TAS_Ctrl::tas_target_del(QVector<Trust_Track> *trust_track,
|
||||
|
||||
|
||||
void TAS_Ctrl::tas_beam_output(QVector<Trust_Track> *trust_track,
|
||||
struct TrackingBeam *Tracking_beam)
|
||||
struct TrackingBeam *Tracking_beam,
|
||||
int latest_timestamp)
|
||||
{
|
||||
if(tas_target_queue[0].empty_flag==1)
|
||||
{
|
||||
|
||||
double H_track;
|
||||
double X_now[6];
|
||||
int CPI_time = 0;
|
||||
for (int i=0;i<trust_track->size();i++ )
|
||||
{
|
||||
if((*trust_track)[i].Track_Index == tas_target_queue[0].Index)
|
||||
{
|
||||
H_track = (*trust_track)[i].Height;
|
||||
CPI_time = (*trust_track)[i].T_track;
|
||||
for(int ii=0;ii<6;ii++)
|
||||
X_now[ii]=(*trust_track)[i].X[ii];
|
||||
}
|
||||
}
|
||||
|
||||
float delta_T = (latest_timestamp - CPI_time) / 1000.0f;
|
||||
|
||||
//预测目标位置 计算跟踪波束波位号 俯仰角
|
||||
|
||||
double x_track=X_now[0]+X_now[1]*T_TAS_PRED;
|
||||
double y_track=X_now[3]+X_now[4]*T_TAS_PRED;
|
||||
double x_track=X_now[0]+X_now[1]*delta_T;
|
||||
double y_track=X_now[3]+X_now[4]*delta_T;
|
||||
double 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;
|
||||
// Tracking_beam->Azi+=6;
|
||||
//目标俯仰角
|
||||
double elev=asin(H_track/range)/PI*180;
|
||||
|
||||
|
||||
if(elev<=0)
|
||||
elev=0;
|
||||
else if(elev>=40)
|
||||
elev=40;
|
||||
else
|
||||
elev=elev;
|
||||
// if(elev<=0)
|
||||
// elev=0;
|
||||
// else if(elev>=40)
|
||||
// elev=40;
|
||||
// else
|
||||
// elev=elev;
|
||||
|
||||
|
||||
Tracking_beam->Elev=elev;
|
||||
|
||||
@@ -18,7 +18,8 @@ public:
|
||||
struct TrackingBeam *Tracking_beam,
|
||||
struct Track Trust_Track_Output[][10],
|
||||
int *Trust_track_num_Output,
|
||||
struct RadarPara Work_Parameter);
|
||||
struct RadarPara Work_Parameter,
|
||||
int latest_timestamp);
|
||||
|
||||
|
||||
private:
|
||||
@@ -37,7 +38,8 @@ private:
|
||||
|
||||
//TAS队列信息输出
|
||||
void tas_beam_output(QVector<Trust_Track> *trust_track,
|
||||
struct TrackingBeam *Tracking_beam);
|
||||
struct TrackingBeam *Tracking_beam,
|
||||
int latest_timestamp);
|
||||
|
||||
//TAS 自动开启条件
|
||||
int tas_auto_start(double v, double r, double h, struct RadarPara Work_Parameter);
|
||||
|
||||
@@ -10,12 +10,12 @@ using namespace std;
|
||||
|
||||
|
||||
int Track_Asso_Tas::track_asso_process_tas(QVector<PointRecv> *point_recv_tas, //点迹文件
|
||||
QVector<Trust_Track> *trust_track, //航迹文件
|
||||
struct Track Trust_Track_Output[MAX_TRACK_NUM][10], //更新航迹信息
|
||||
int *Trust_track_num_Output, //更新航迹数
|
||||
struct RadarPara Work_Parameter, //工作参数
|
||||
int tas_track_idx
|
||||
)
|
||||
QVector<Trust_Track> *trust_track, //航迹文件
|
||||
struct Track Trust_Track_Output[MAX_TRACK_NUM][10], //更新航迹信息
|
||||
int *Trust_track_num_Output, //更新航迹数
|
||||
struct RadarPara Work_Parameter, //工作参数
|
||||
int tas_track_idx
|
||||
)
|
||||
|
||||
{
|
||||
|
||||
@@ -39,53 +39,53 @@ int Track_Asso_Tas::track_asso_process_tas(QVector<PointRecv> *poi
|
||||
//输出航迹
|
||||
for (int i=0;i<trust_track->size();i++)
|
||||
{ // 输出更新航迹条件：
|
||||
if((*trust_track)[i].Track_Index == tas_track_idx)
|
||||
{
|
||||
*Trust_track_num_Output= *Trust_track_num_Output+1;
|
||||
if((*trust_track)[i].Track_Index == tas_track_idx)
|
||||
{
|
||||
*Trust_track_num_Output= *Trust_track_num_Output+1;
|
||||
|
||||
Trust_Track_Output[*Trust_track_num_Output-1][0].Point_Sum=1;
|
||||
double x,y;
|
||||
x=(*trust_track)[i].X[0]+(*trust_track)[i].X[1]*Work_Parameter.Sys_delay;
|
||||
y=(*trust_track)[i].X[3]+(*trust_track)[i].X[4]*Work_Parameter.Sys_delay;
|
||||
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].Elevation = asin((*trust_track)[i].Height/r)/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;
|
||||
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].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].Point_Sum=1;
|
||||
double x,y;
|
||||
x=(*trust_track)[i].X[0]+(*trust_track)[i].X[1]*Work_Parameter.Sys_delay;
|
||||
y=(*trust_track)[i].X[3]+(*trust_track)[i].X[4]*Work_Parameter.Sys_delay;
|
||||
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].Elevation = asin((*trust_track)[i].Height/r)/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;
|
||||
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].Flag_Point = (*trust_track)[i].point_flag;
|
||||
Trust_Track_Output[*Trust_track_num_Output-1][0].z=(*trust_track)[i].Height+Work_Parameter.Height;
|
||||
|
||||
double Direction_Angle;
|
||||
Direction_Angle=atan((*trust_track)[i].X[4]/(*trust_track)[i].X[1]);
|
||||
if((*trust_track)[i].X[1]<0){Direction_Angle=Direction_Angle+PI;}
|
||||
if((*trust_track)[i].X[1]>0&&(*trust_track)[i].X[4]<0){Direction_Angle=Direction_Angle+2*PI;}
|
||||
Trust_Track_Output[*Trust_track_num_Output-1][0].Direction_Angle=Direction_Angle/PI*180;
|
||||
double Direction_Angle;
|
||||
Direction_Angle=atan((*trust_track)[i].X[4]/(*trust_track)[i].X[1]);
|
||||
if((*trust_track)[i].X[1]<0){Direction_Angle=Direction_Angle+PI;}
|
||||
if((*trust_track)[i].X[1]>0&&(*trust_track)[i].X[4]<0){Direction_Angle=Direction_Angle+2*PI;}
|
||||
Trust_Track_Output[*Trust_track_num_Output-1][0].Direction_Angle=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].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].pitch_num = (*trust_track)[i].pitch_num;
|
||||
//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].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].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));
|
||||
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));
|
||||
}
|
||||
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));
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
@@ -100,131 +100,131 @@ void Track_Asso_Tas:: model_interaction( QVector<Trust_Track> *trust_track, in
|
||||
{
|
||||
|
||||
|
||||
for (int loop_of_track=0;loop_of_track<trust_track->size();loop_of_track++)
|
||||
{
|
||||
for (int loop_of_track=0;loop_of_track<trust_track->size();loop_of_track++)
|
||||
{
|
||||
|
||||
|
||||
if((*trust_track)[loop_of_track].Track_Index == tas_track_idx)
|
||||
{
|
||||
if((*trust_track)[loop_of_track].Track_Index == tas_track_idx)
|
||||
{
|
||||
|
||||
|
||||
// if(point_process.size()>0)
|
||||
// {
|
||||
// qDebug() << "model_interaction point_process :" <<point_process[0].Azimuth/PI*180<<" "<<point_process[0].Range;
|
||||
// }
|
||||
// if(point_process.size()>0)
|
||||
// {
|
||||
// qDebug() << "model_interaction point_process :" <<point_process[0].Azimuth/PI*180<<" "<<point_process[0].Range;
|
||||
// }
|
||||
|
||||
|
||||
|
||||
double u_last[3];
|
||||
u_last[0]=(*trust_track)[loop_of_track].u[0];
|
||||
u_last[1]=(*trust_track)[loop_of_track].u[1];
|
||||
u_last[2]=(*trust_track)[loop_of_track].u[2];
|
||||
double u_last[3];
|
||||
u_last[0]=(*trust_track)[loop_of_track].u[0];
|
||||
u_last[1]=(*trust_track)[loop_of_track].u[1];
|
||||
u_last[2]=(*trust_track)[loop_of_track].u[2];
|
||||
|
||||
double u_t[3][3];
|
||||
double c[3];
|
||||
c[0]=Pt[0][0]*u_last[0]+Pt[1][0]*u_last[1]+Pt[2][0]*u_last[2];
|
||||
c[1]=Pt[0][1]*u_last[0]+Pt[1][1]*u_last[1]+Pt[2][1]*u_last[2];
|
||||
c[2]=Pt[0][2]*u_last[0]+Pt[1][2]*u_last[1]+Pt[2][2]*u_last[2];
|
||||
double u_t[3][3];
|
||||
double c[3];
|
||||
c[0]=Pt[0][0]*u_last[0]+Pt[1][0]*u_last[1]+Pt[2][0]*u_last[2];
|
||||
c[1]=Pt[0][1]*u_last[0]+Pt[1][1]*u_last[1]+Pt[2][1]*u_last[2];
|
||||
c[2]=Pt[0][2]*u_last[0]+Pt[1][2]*u_last[1]+Pt[2][2]*u_last[2];
|
||||
|
||||
u_t[0][0]=Pt[0][0]*u_last[0]/c[0];
|
||||
u_t[1][0]=Pt[1][0]*u_last[1]/c[0];
|
||||
u_t[2][0]=Pt[2][0]*u_last[2]/c[0];
|
||||
u_t[0][1]=Pt[0][1]*u_last[0]/c[1];
|
||||
u_t[1][1]=Pt[1][1]*u_last[1]/c[1];
|
||||
u_t[2][1]=Pt[2][1]*u_last[2]/c[1];
|
||||
u_t[0][2]=Pt[0][2]*u_last[0]/c[2];
|
||||
u_t[1][2]=Pt[1][2]*u_last[1]/c[2];
|
||||
u_t[2][2]=Pt[2][2]*u_last[2]/c[2];
|
||||
u_t[0][0]=Pt[0][0]*u_last[0]/c[0];
|
||||
u_t[1][0]=Pt[1][0]*u_last[1]/c[0];
|
||||
u_t[2][0]=Pt[2][0]*u_last[2]/c[0];
|
||||
u_t[0][1]=Pt[0][1]*u_last[0]/c[1];
|
||||
u_t[1][1]=Pt[1][1]*u_last[1]/c[1];
|
||||
u_t[2][1]=Pt[2][1]*u_last[2]/c[1];
|
||||
u_t[0][2]=Pt[0][2]*u_last[0]/c[2];
|
||||
u_t[1][2]=Pt[1][2]*u_last[1]/c[2];
|
||||
u_t[2][2]=Pt[2][2]*u_last[2]/c[2];
|
||||
|
||||
|
||||
double Xo1_last[6],Xo2_last[6],Xo3_last[6],X1[6],X2[6],X3[6];
|
||||
for (int i=0;i<6;i++)
|
||||
{
|
||||
X1[i]=(*trust_track)[loop_of_track].X1[i];
|
||||
X2[i]=(*trust_track)[loop_of_track].X2[i];
|
||||
X3[i]=(*trust_track)[loop_of_track].X3[i];
|
||||
}
|
||||
double Xo1_last[6],Xo2_last[6],Xo3_last[6],X1[6],X2[6],X3[6];
|
||||
for (int i=0;i<6;i++)
|
||||
{
|
||||
X1[i]=(*trust_track)[loop_of_track].X1[i];
|
||||
X2[i]=(*trust_track)[loop_of_track].X2[i];
|
||||
X3[i]=(*trust_track)[loop_of_track].X3[i];
|
||||
}
|
||||
|
||||
|
||||
for (int i=0;i<6;i++)
|
||||
{
|
||||
Xo1_last[i]=u_t[0][0]*X1[i]+u_t[1][0]*X2[i]+u_t[2][0]*X3[i];
|
||||
Xo2_last[i]=u_t[0][1]*X1[i]+u_t[1][1]*X2[i]+u_t[2][1]*X3[i];
|
||||
Xo3_last[i]=u_t[0][2]*X1[i]+u_t[1][2]*X2[i]+u_t[2][2]*X3[i];
|
||||
}
|
||||
for (int i=0;i<6;i++)
|
||||
{
|
||||
Xo1_last[i]=u_t[0][0]*X1[i]+u_t[1][0]*X2[i]+u_t[2][0]*X3[i];
|
||||
Xo2_last[i]=u_t[0][1]*X1[i]+u_t[1][1]*X2[i]+u_t[2][1]*X3[i];
|
||||
Xo3_last[i]=u_t[0][2]*X1[i]+u_t[1][2]*X2[i]+u_t[2][2]*X3[i];
|
||||
}
|
||||
|
||||
|
||||
double X1_sub_Xo1[6],X2_sub_Xo1[6],X3_sub_Xo1[6];
|
||||
double X1_sub_Xo2[6],X2_sub_Xo2[6],X3_sub_Xo2[6];
|
||||
double X1_sub_Xo3[6],X2_sub_Xo3[6],X3_sub_Xo3[6];
|
||||
double X11[6][6],X21[6][6],X31[6][6];
|
||||
double X12[6][6],X22[6][6],X32[6][6];
|
||||
double X13[6][6],X23[6][6],X33[6][6];
|
||||
double X1_sub_Xo1[6],X2_sub_Xo1[6],X3_sub_Xo1[6];
|
||||
double X1_sub_Xo2[6],X2_sub_Xo2[6],X3_sub_Xo2[6];
|
||||
double X1_sub_Xo3[6],X2_sub_Xo3[6],X3_sub_Xo3[6];
|
||||
double X11[6][6],X21[6][6],X31[6][6];
|
||||
double X12[6][6],X22[6][6],X32[6][6];
|
||||
double X13[6][6],X23[6][6],X33[6][6];
|
||||
|
||||
|
||||
for (int i=0;i<6;i++)
|
||||
{
|
||||
for (int i=0;i<6;i++)
|
||||
{
|
||||
|
||||
X1_sub_Xo1[i]=X1[i]-Xo1_last[i];
|
||||
X2_sub_Xo1[i]=X2[i]-Xo1_last[i];
|
||||
X3_sub_Xo1[i]=X3[i]-Xo1_last[i];
|
||||
X1_sub_Xo2[i]=X1[i]-Xo2_last[i];
|
||||
X2_sub_Xo2[i]=X2[i]-Xo2_last[i];
|
||||
X3_sub_Xo2[i]=X3[i]-Xo2_last[i];
|
||||
X1_sub_Xo3[i]=X1[i]-Xo3_last[i];
|
||||
X2_sub_Xo3[i]=X2[i]-Xo3_last[i];
|
||||
X3_sub_Xo3[i]=X3[i]-Xo3_last[i];
|
||||
X1_sub_Xo1[i]=X1[i]-Xo1_last[i];
|
||||
X2_sub_Xo1[i]=X2[i]-Xo1_last[i];
|
||||
X3_sub_Xo1[i]=X3[i]-Xo1_last[i];
|
||||
X1_sub_Xo2[i]=X1[i]-Xo2_last[i];
|
||||
X2_sub_Xo2[i]=X2[i]-Xo2_last[i];
|
||||
X3_sub_Xo2[i]=X3[i]-Xo2_last[i];
|
||||
X1_sub_Xo3[i]=X1[i]-Xo3_last[i];
|
||||
X2_sub_Xo3[i]=X2[i]-Xo3_last[i];
|
||||
X3_sub_Xo3[i]=X3[i]-Xo3_last[i];
|
||||
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
for (int i=0;i<6;i++)
|
||||
for(int j=0;j<6;j++)
|
||||
{
|
||||
X11[i][j]=X1_sub_Xo1[i]*X1_sub_Xo1[j];
|
||||
X21[i][j]=X2_sub_Xo1[i]*X2_sub_Xo1[j];
|
||||
X31[i][j]=X3_sub_Xo1[i]*X3_sub_Xo1[j];
|
||||
X12[i][j]=X1_sub_Xo2[i]*X1_sub_Xo2[j];
|
||||
X22[i][j]=X2_sub_Xo2[i]*X2_sub_Xo2[j];
|
||||
X32[i][j]=X3_sub_Xo2[i]*X3_sub_Xo2[j];
|
||||
X13[i][j]=X1_sub_Xo3[i]*X1_sub_Xo3[j];
|
||||
X23[i][j]=X2_sub_Xo3[i]*X2_sub_Xo3[j];
|
||||
X33[i][j]=X3_sub_Xo3[i]*X3_sub_Xo3[j];
|
||||
}
|
||||
for (int i=0;i<6;i++)
|
||||
for(int j=0;j<6;j++)
|
||||
{
|
||||
X11[i][j]=X1_sub_Xo1[i]*X1_sub_Xo1[j];
|
||||
X21[i][j]=X2_sub_Xo1[i]*X2_sub_Xo1[j];
|
||||
X31[i][j]=X3_sub_Xo1[i]*X3_sub_Xo1[j];
|
||||
X12[i][j]=X1_sub_Xo2[i]*X1_sub_Xo2[j];
|
||||
X22[i][j]=X2_sub_Xo2[i]*X2_sub_Xo2[j];
|
||||
X32[i][j]=X3_sub_Xo2[i]*X3_sub_Xo2[j];
|
||||
X13[i][j]=X1_sub_Xo3[i]*X1_sub_Xo3[j];
|
||||
X23[i][j]=X2_sub_Xo3[i]*X2_sub_Xo3[j];
|
||||
X33[i][j]=X3_sub_Xo3[i]*X3_sub_Xo3[j];
|
||||
}
|
||||
|
||||
|
||||
double Po1_last[6][6],Po2_last[6][6],Po3_last[6][6];
|
||||
for (int i=0;i<6;i++)
|
||||
for(int j=0;j<6;j++)
|
||||
{
|
||||
Po1_last[i][j]=((*trust_track)[loop_of_track].P1[i][j]+X11[i][j])*u_t[0][0]+((*trust_track)[loop_of_track].P2[i][j]+X21[i][j])*u_t[1][0]+((*trust_track)[loop_of_track].P3[i][j]+X31[i][j])*u_t[2][0];
|
||||
Po2_last[i][j]=((*trust_track)[loop_of_track].P1[i][j]+X12[i][j])*u_t[0][1]+((*trust_track)[loop_of_track].P2[i][j]+X22[i][j])*u_t[1][1]+((*trust_track)[loop_of_track].P3[i][j]+X32[i][j])*u_t[2][1];
|
||||
Po3_last[i][j]=((*trust_track)[loop_of_track].P1[i][j]+X13[i][j])*u_t[0][2]+((*trust_track)[loop_of_track].P2[i][j]+X23[i][j])*u_t[1][2]+((*trust_track)[loop_of_track].P3[i][j]+X33[i][j])*u_t[2][2];
|
||||
}
|
||||
double Po1_last[6][6],Po2_last[6][6],Po3_last[6][6];
|
||||
for (int i=0;i<6;i++)
|
||||
for(int j=0;j<6;j++)
|
||||
{
|
||||
Po1_last[i][j]=((*trust_track)[loop_of_track].P1[i][j]+X11[i][j])*u_t[0][0]+((*trust_track)[loop_of_track].P2[i][j]+X21[i][j])*u_t[1][0]+((*trust_track)[loop_of_track].P3[i][j]+X31[i][j])*u_t[2][0];
|
||||
Po2_last[i][j]=((*trust_track)[loop_of_track].P1[i][j]+X12[i][j])*u_t[0][1]+((*trust_track)[loop_of_track].P2[i][j]+X22[i][j])*u_t[1][1]+((*trust_track)[loop_of_track].P3[i][j]+X32[i][j])*u_t[2][1];
|
||||
Po3_last[i][j]=((*trust_track)[loop_of_track].P1[i][j]+X13[i][j])*u_t[0][2]+((*trust_track)[loop_of_track].P2[i][j]+X23[i][j])*u_t[1][2]+((*trust_track)[loop_of_track].P3[i][j]+X33[i][j])*u_t[2][2];
|
||||
}
|
||||
|
||||
for(int i=0;i<6;i++)
|
||||
{
|
||||
(*trust_track)[loop_of_track].X1[i]=Xo1_last[i];
|
||||
(*trust_track)[loop_of_track].X2[i]=Xo2_last[i];
|
||||
(*trust_track)[loop_of_track].X3[i]=Xo3_last[i];
|
||||
}
|
||||
for(int i=0;i<6;i++)
|
||||
for (int j=0;j<6;j++)
|
||||
{
|
||||
(*trust_track)[loop_of_track].P1[i][j]=Po1_last[i][j];
|
||||
(*trust_track)[loop_of_track].P2[i][j]=Po2_last[i][j];
|
||||
(*trust_track)[loop_of_track].P3[i][j]=Po3_last[i][j];
|
||||
}
|
||||
}
|
||||
}
|
||||
for(int i=0;i<6;i++)
|
||||
{
|
||||
(*trust_track)[loop_of_track].X1[i]=Xo1_last[i];
|
||||
(*trust_track)[loop_of_track].X2[i]=Xo2_last[i];
|
||||
(*trust_track)[loop_of_track].X3[i]=Xo3_last[i];
|
||||
}
|
||||
for(int i=0;i<6;i++)
|
||||
for (int j=0;j<6;j++)
|
||||
{
|
||||
(*trust_track)[loop_of_track].P1[i][j]=Po1_last[i][j];
|
||||
(*trust_track)[loop_of_track].P2[i][j]=Po2_last[i][j];
|
||||
(*trust_track)[loop_of_track].P3[i][j]=Po3_last[i][j];
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
|
||||
void Track_Asso_Tas::model_filter( QVector<Trust_Track> *trust_track, //滤波
|
||||
struct RadarPara Work_Parameter,
|
||||
int tas_track_idx
|
||||
)
|
||||
struct RadarPara Work_Parameter,
|
||||
int tas_track_idx
|
||||
)
|
||||
{
|
||||
//存储关联信息
|
||||
struct asso_info
|
||||
@@ -247,29 +247,29 @@ void Track_Asso_Tas::model_filter( QVector<Trust_Track> *trust
|
||||
double h_track;
|
||||
for (int loop_of_track=0;loop_of_track<trust_track->size();loop_of_track++)
|
||||
{
|
||||
if((*trust_track)[loop_of_track].Track_Index == tas_track_idx)
|
||||
{
|
||||
if((*trust_track)[loop_of_track].Track_Index == tas_track_idx)
|
||||
{
|
||||
|
||||
// if(point_process.size()>0)
|
||||
// {
|
||||
// qDebug() << "model_filter point_process :" <<point_process[0].Azimuth/PI*180<<" "<<point_process[0].Range;
|
||||
// }
|
||||
// if(point_process.size()>0)
|
||||
// {
|
||||
// qDebug() << "model_filter point_process :" <<point_process[0].Azimuth/PI*180<<" "<<point_process[0].Range;
|
||||
// }
|
||||
|
||||
(*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
|
||||
memcpy(X1,(*trust_track)[loop_of_track].X1,6*sizeof(double));
|
||||
memcpy(X2,(*trust_track)[loop_of_track].X2,6*sizeof(double));
|
||||
memcpy(X3,(*trust_track)[loop_of_track].X3,6*sizeof(double));
|
||||
memcpy(P1,(*trust_track)[loop_of_track].P1,6*6*sizeof(double));
|
||||
memcpy(P2,(*trust_track)[loop_of_track].P2,6*6*sizeof(double));
|
||||
memcpy(P3,(*trust_track)[loop_of_track].P3,6*6*sizeof(double));
|
||||
(*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
|
||||
memcpy(X1,(*trust_track)[loop_of_track].X1,6*sizeof(double));
|
||||
memcpy(X2,(*trust_track)[loop_of_track].X2,6*sizeof(double));
|
||||
memcpy(X3,(*trust_track)[loop_of_track].X3,6*sizeof(double));
|
||||
memcpy(P1,(*trust_track)[loop_of_track].P1,6*6*sizeof(double));
|
||||
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;
|
||||
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;
|
||||
}
|
||||
T_track = (*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;
|
||||
}
|
||||
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
|
||||
@@ -277,12 +277,12 @@ void Track_Asso_Tas::model_filter( QVector<Trust_Track> *trust
|
||||
for (int 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),
|
||||
// point_process[loop_of_point].Range*sin(point_process[loop_of_point].Azimuth)};
|
||||
// double Z[2]={point_process[loop_of_point].Range*cos(point_process[loop_of_point].Azimuth),
|
||||
// point_process[loop_of_point].Range*sin(point_process[loop_of_point].Azimuth)};
|
||||
double Z[3] = {point_process[loop_of_point].Range,
|
||||
point_process[loop_of_point].Azimuth,
|
||||
point_process[loop_of_point].Velocity};
|
||||
// double v_point = point_process[loop_of_point].Velocity;
|
||||
point_process[loop_of_point].Azimuth,
|
||||
point_process[loop_of_point].Velocity};
|
||||
// double v_point = point_process[loop_of_point].Velocity;
|
||||
double prt = point_process[loop_of_point].PRF_index;
|
||||
double freq_ind = point_process[loop_of_point].Freq_index;
|
||||
double delta_T = (point_process[loop_of_point].CPI_Time - T_track)/1000.0;
|
||||
@@ -298,7 +298,7 @@ void Track_Asso_Tas::model_filter( QVector<Trust_Track> *trust
|
||||
{
|
||||
if(abs(h_track-h_point)<=150)
|
||||
{
|
||||
d_h = 1;
|
||||
d_h = 1;
|
||||
}
|
||||
else
|
||||
{
|
||||
@@ -310,7 +310,7 @@ void Track_Asso_Tas::model_filter( QVector<Trust_Track> *trust
|
||||
{
|
||||
if(abs(h_track-h_point)<=200)
|
||||
{
|
||||
d_h = 1;
|
||||
d_h = 1;
|
||||
}
|
||||
else
|
||||
{
|
||||
@@ -322,7 +322,7 @@ void Track_Asso_Tas::model_filter( QVector<Trust_Track> *trust
|
||||
{
|
||||
if(abs(h_track-h_point)<=200)
|
||||
{
|
||||
d_h = 1;
|
||||
d_h = 1;
|
||||
}
|
||||
else
|
||||
{
|
||||
@@ -333,7 +333,7 @@ void Track_Asso_Tas::model_filter( QVector<Trust_Track> *trust
|
||||
{
|
||||
if(abs(h_track-h_point)<=300)
|
||||
{
|
||||
d_h = 1;
|
||||
d_h = 1;
|
||||
}
|
||||
else
|
||||
{
|
||||
@@ -342,20 +342,20 @@ void Track_Asso_Tas::model_filter( QVector<Trust_Track> *trust
|
||||
}
|
||||
else
|
||||
{
|
||||
d_h = 1;
|
||||
d_h = 1;
|
||||
}
|
||||
|
||||
|
||||
// qDebug() << "T d" <<point_process[loop_of_point].CPI_Time/1000<<" "<<T_track/1000<<" "<<delta_T<<" "<<d1<<" "<<d2<<" "<<d3;
|
||||
// qDebug() << "h_track" <<h_track<<" h_point"<<h_point<<" d_h"<<d_h;
|
||||
// qDebug() << "T d" <<point_process[loop_of_point].CPI_Time/1000<<" "<<T_track/1000<<" "<<delta_T<<" "<<d1<<" "<<d2<<" "<<d3;
|
||||
// qDebug() << "h_track" <<h_track<<" h_point"<<h_point<<" d_h"<<d_h;
|
||||
|
||||
|
||||
//小于关联门限 保存关联信息
|
||||
if((d1*d1<ASSO_THORD*ASSO_THORD || d2*d2<ASSO_THORD*ASSO_THORD || d3*d3<ASSO_THORD*ASSO_THORD)
|
||||
)// && d_h == 1
|
||||
)// && d_h == 1
|
||||
{
|
||||
|
||||
// qDebug() << "TAS asoooooo111" ;
|
||||
// qDebug() << "TAS asoooooo111" ;
|
||||
struct asso_info associated_info_tmp;
|
||||
associated_info_tmp.d1=d1;
|
||||
associated_info_tmp.d2=d2;
|
||||
@@ -376,7 +376,7 @@ void Track_Asso_Tas::model_filter( QVector<Trust_Track> *trust
|
||||
if (associated_info.size()>0)
|
||||
{
|
||||
|
||||
// qDebug() << "TAS asoooooo222" ;
|
||||
// qDebug() << "TAS asoooooo222" ;
|
||||
|
||||
//找最近点
|
||||
int min_index=1;
|
||||
@@ -398,9 +398,9 @@ void Track_Asso_Tas::model_filter( QVector<Trust_Track> *trust
|
||||
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;
|
||||
double freq_ind = point_process[point_index-1].Freq_index;
|
||||
// double Z[2];
|
||||
// Z[0]=point_process[point_index-1].Range*cos(point_process[point_index-1].Azimuth);
|
||||
// Z[1]=point_process[point_index-1].Range*sin(point_process[point_index-1].Azimuth);
|
||||
// double Z[2];
|
||||
// Z[0]=point_process[point_index-1].Range*cos(point_process[point_index-1].Azimuth);
|
||||
// Z[1]=point_process[point_index-1].Range*sin(point_process[point_index-1].Azimuth);
|
||||
double delta_T = (point_process[point_index-1].CPI_Time - T_track)/1000.0;
|
||||
double F[6][6], Q1[6][6], Q2[6][6], Q3[6][6];
|
||||
IMM_F_Q_gen( v_track, delta_T,F, Q1, Q2, Q3,Work_Parameter);
|
||||
@@ -408,9 +408,9 @@ void Track_Asso_Tas::model_filter( QVector<Trust_Track> *trust
|
||||
double X1_filter[6],X2_filter[6],X3_filter[6],P1_filter[6][6],P2_filter[6][6],P3_filter[6][6];
|
||||
double S1[2][2],S2[2][2],S3[2][2];
|
||||
kalman Kalman;
|
||||
// Kalman.kalman_filter(F,Q1,X1,P1,Z,X1_filter,P1_filter,S1);
|
||||
// Kalman.kalman_filter(F,Q2,X2,P2,Z,X2_filter,P2_filter,S2);
|
||||
// Kalman.kalman_filter(F,Q3,X3,P3,Z,X3_filter,P3_filter,S3);
|
||||
// Kalman.kalman_filter(F,Q1,X1,P1,Z,X1_filter,P1_filter,S1);
|
||||
// Kalman.kalman_filter(F,Q2,X2,P2,Z,X2_filter,P2_filter,S2);
|
||||
// Kalman.kalman_filter(F,Q3,X3,P3,Z,X3_filter,P3_filter,S3);
|
||||
Kalman.kalman_filter_EKF(F,Q1,X1,P1,Z,X1_filter,P1_filter,S1, prt, freq_ind );
|
||||
Kalman.kalman_filter_EKF(F,Q2,X2,P2,Z,X2_filter,P2_filter,S2, prt, freq_ind );
|
||||
Kalman.kalman_filter_EKF(F,Q3,X3,P3,Z,X3_filter,P3_filter,S3, prt, freq_ind );
|
||||
@@ -432,65 +432,65 @@ void Track_Asso_Tas::model_filter( QVector<Trust_Track> *trust
|
||||
//更新航迹
|
||||
for(int i=0;i<trust_track->size();i++)
|
||||
|
||||
if((*trust_track)[i].Track_Index == tas_track_idx)
|
||||
if((*trust_track)[i].Track_Index == tas_track_idx)
|
||||
{
|
||||
//更新模型概率
|
||||
double u_last[3];
|
||||
u_last[0]=(*trust_track)[i].u[0];
|
||||
u_last[1]=(*trust_track)[i].u[1];
|
||||
u_last[2]=(*trust_track)[i].u[2];
|
||||
|
||||
double c[3];
|
||||
c[0]=Pt[0][0]*u_last[0]+Pt[1][0]*u_last[1]+Pt[2][0]*u_last[2];
|
||||
c[1]=Pt[0][1]*u_last[0]+Pt[1][1]*u_last[1]+Pt[2][1]*u_last[2];
|
||||
c[2]=Pt[0][2]*u_last[0]+Pt[1][2]*u_last[1]+Pt[2][2]*u_last[2];
|
||||
|
||||
(*trust_track)[i].u[0]=Possibility1*c[0]/(Possibility1*c[0]+Possibility2*c[1]+Possibility3*c[2]);
|
||||
(*trust_track)[i].u[1]=Possibility2*c[1]/(Possibility1*c[0]+Possibility2*c[1]+Possibility3*c[2]);
|
||||
(*trust_track)[i].u[2]=Possibility3*c[2]/(Possibility1*c[0]+Possibility2*c[1]+Possibility3*c[2]);
|
||||
|
||||
//更新 X1 X2 X3 P1 P2 P3
|
||||
for(int ii=0;ii<6;ii++)
|
||||
{
|
||||
//更新模型概率
|
||||
double u_last[3];
|
||||
u_last[0]=(*trust_track)[i].u[0];
|
||||
u_last[1]=(*trust_track)[i].u[1];
|
||||
u_last[2]=(*trust_track)[i].u[2];
|
||||
|
||||
double c[3];
|
||||
c[0]=Pt[0][0]*u_last[0]+Pt[1][0]*u_last[1]+Pt[2][0]*u_last[2];
|
||||
c[1]=Pt[0][1]*u_last[0]+Pt[1][1]*u_last[1]+Pt[2][1]*u_last[2];
|
||||
c[2]=Pt[0][2]*u_last[0]+Pt[1][2]*u_last[1]+Pt[2][2]*u_last[2];
|
||||
|
||||
(*trust_track)[i].u[0]=Possibility1*c[0]/(Possibility1*c[0]+Possibility2*c[1]+Possibility3*c[2]);
|
||||
(*trust_track)[i].u[1]=Possibility2*c[1]/(Possibility1*c[0]+Possibility2*c[1]+Possibility3*c[2]);
|
||||
(*trust_track)[i].u[2]=Possibility3*c[2]/(Possibility1*c[0]+Possibility2*c[1]+Possibility3*c[2]);
|
||||
|
||||
//更新 X1 X2 X3 P1 P2 P3
|
||||
for(int ii=0;ii<6;ii++)
|
||||
{
|
||||
(*trust_track)[i].X1[ii]=X1_filter[ii];
|
||||
(*trust_track)[i].X2[ii]=X2_filter[ii];
|
||||
(*trust_track)[i].X3[ii]=X3_filter[ii];
|
||||
}
|
||||
for(int ii=0;ii<6;ii++)
|
||||
for (int jj=0;jj<6;jj++)
|
||||
{
|
||||
(*trust_track)[i].P1[ii][jj]=P1_filter[ii][jj];
|
||||
(*trust_track)[i].P2[ii][jj]=P2_filter[ii][jj];
|
||||
(*trust_track)[i].P3[ii][jj]=P3_filter[ii][jj];
|
||||
}
|
||||
|
||||
//更新航迹时间
|
||||
(*trust_track)[i].T_track = point_process[point_index-1].CPI_Time;
|
||||
|
||||
|
||||
|
||||
//更新关联上的点迹信息
|
||||
(*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;
|
||||
(*trust_track)[i].vr_point=point_process[point_index-1].Velocity;
|
||||
(*trust_track)[i].point_type = 1;
|
||||
(*trust_track)[i].prf_point = point_process[point_index-1].PRF_index;
|
||||
(*trust_track)[i].snr_point = point_process[point_index-1].snr;
|
||||
(*trust_track)[i].Extrapolate_round = 0; //连续未用实点更新时间
|
||||
(*trust_track)[i].point_flag=1; //实点
|
||||
(*trust_track)[i].Amplitude= point_process[point_index-1].Amplitude; //幅度
|
||||
(*trust_track)[i].associate_point_number = (*trust_track)[i].associate_point_number+1; //关联点数+1
|
||||
(*trust_track)[i].RCS = point_process[point_index-1].RCS;
|
||||
|
||||
(*trust_track)[i].pitch_num = point_process[point_index-1].pitch_num;
|
||||
|
||||
std::memcpy((*trust_track)[i].speed_dim, point_process[point_index-1].speed_dim, sizeof((*trust_track)[i].speed_dim));
|
||||
std::memcpy((*trust_track)[i].range_dim, point_process[point_index-1].range_dim, sizeof((*trust_track)[i].range_dim));
|
||||
|
||||
//更新高度
|
||||
track_hight_update(tas_track_idx,point_index,trust_track);
|
||||
(*trust_track)[i].X1[ii]=X1_filter[ii];
|
||||
(*trust_track)[i].X2[ii]=X2_filter[ii];
|
||||
(*trust_track)[i].X3[ii]=X3_filter[ii];
|
||||
}
|
||||
for(int ii=0;ii<6;ii++)
|
||||
for (int jj=0;jj<6;jj++)
|
||||
{
|
||||
(*trust_track)[i].P1[ii][jj]=P1_filter[ii][jj];
|
||||
(*trust_track)[i].P2[ii][jj]=P2_filter[ii][jj];
|
||||
(*trust_track)[i].P3[ii][jj]=P3_filter[ii][jj];
|
||||
}
|
||||
|
||||
//更新航迹时间
|
||||
(*trust_track)[i].T_track = point_process[point_index-1].CPI_Time;
|
||||
|
||||
|
||||
|
||||
//更新关联上的点迹信息
|
||||
(*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;
|
||||
(*trust_track)[i].vr_point=point_process[point_index-1].Velocity;
|
||||
(*trust_track)[i].point_type = 1;
|
||||
(*trust_track)[i].prf_point = point_process[point_index-1].PRF_index;
|
||||
(*trust_track)[i].snr_point = point_process[point_index-1].snr;
|
||||
(*trust_track)[i].Extrapolate_round = 0; //连续未用实点更新时间
|
||||
(*trust_track)[i].point_flag=1; //实点
|
||||
(*trust_track)[i].Amplitude= point_process[point_index-1].Amplitude; //幅度
|
||||
(*trust_track)[i].associate_point_number = (*trust_track)[i].associate_point_number+1; //关联点数+1
|
||||
(*trust_track)[i].RCS = point_process[point_index-1].RCS;
|
||||
|
||||
(*trust_track)[i].pitch_num = point_process[point_index-1].pitch_num;
|
||||
|
||||
std::memcpy((*trust_track)[i].speed_dim, point_process[point_index-1].speed_dim, sizeof((*trust_track)[i].speed_dim));
|
||||
std::memcpy((*trust_track)[i].range_dim, point_process[point_index-1].range_dim, sizeof((*trust_track)[i].range_dim));
|
||||
|
||||
//更新高度
|
||||
track_hight_update(tas_track_idx,point_index,trust_track);
|
||||
}
|
||||
|
||||
}
|
||||
//未关联上，航迹外推
|
||||
@@ -532,72 +532,72 @@ void Track_Asso_Tas::model_filter( QVector<Trust_Track> *trust
|
||||
void Track_Asso_Tas::model_output(QVector<Trust_Track> *trust_track, int tas_track_idx )
|
||||
{
|
||||
for(int i=0; i<trust_track->size(); i++)
|
||||
if((*trust_track)[i].Track_Index==tas_track_idx)
|
||||
{
|
||||
if((*trust_track)[i].Track_Index==tas_track_idx)
|
||||
{
|
||||
|
||||
double u_now[3];
|
||||
u_now[0]=(*trust_track)[i].u[0];
|
||||
u_now[1]=(*trust_track)[i].u[1];
|
||||
u_now[2]=(*trust_track)[i].u[2];
|
||||
double u_now[3];
|
||||
u_now[0]=(*trust_track)[i].u[0];
|
||||
u_now[1]=(*trust_track)[i].u[1];
|
||||
u_now[2]=(*trust_track)[i].u[2];
|
||||
|
||||
double X1_filter[6],X2_filter[6],X3_filter[6];
|
||||
double P1_filter[6][6],P2_filter[6][6],P3_filter[6][6];
|
||||
for (int ii=0;ii<6;ii++)
|
||||
double X1_filter[6],X2_filter[6],X3_filter[6];
|
||||
double P1_filter[6][6],P2_filter[6][6],P3_filter[6][6];
|
||||
for (int ii=0;ii<6;ii++)
|
||||
{
|
||||
X1_filter[ii]=(*trust_track)[i].X1[ii];
|
||||
X2_filter[ii]=(*trust_track)[i].X2[ii];
|
||||
X3_filter[ii]=(*trust_track)[i].X3[ii];
|
||||
}
|
||||
for (int ii=0;ii<6;ii++)
|
||||
for(int jj=0;jj<6;jj++)
|
||||
{
|
||||
X1_filter[ii]=(*trust_track)[i].X1[ii];
|
||||
X2_filter[ii]=(*trust_track)[i].X2[ii];
|
||||
X3_filter[ii]=(*trust_track)[i].X3[ii];
|
||||
P1_filter[ii][jj]=(*trust_track)[i].P1[ii][jj];
|
||||
P2_filter[ii][jj]=(*trust_track)[i].P2[ii][jj];
|
||||
P3_filter[ii][jj]=(*trust_track)[i].P3[ii][jj];
|
||||
}
|
||||
for (int ii=0;ii<6;ii++)
|
||||
for(int jj=0;jj<6;jj++)
|
||||
{
|
||||
P1_filter[ii][jj]=(*trust_track)[i].P1[ii][jj];
|
||||
P2_filter[ii][jj]=(*trust_track)[i].P2[ii][jj];
|
||||
P3_filter[ii][jj]=(*trust_track)[i].P3[ii][jj];
|
||||
}
|
||||
|
||||
double X_filter[6], P_filter[6][6];
|
||||
for (int ii=0;ii<6;ii++)
|
||||
X_filter[ii]=u_now[0]*X1_filter[ii]+u_now[1]*X2_filter[ii]+u_now[2]*X3_filter[ii];
|
||||
double X_filter[6], P_filter[6][6];
|
||||
for (int ii=0;ii<6;ii++)
|
||||
X_filter[ii]=u_now[0]*X1_filter[ii]+u_now[1]*X2_filter[ii]+u_now[2]*X3_filter[ii];
|
||||
|
||||
double X1_sub_X[6], X2_sub_X[6], X3_sub_X[6];
|
||||
double X1X[6][6], X2X[6][6],X3X[6][6];
|
||||
for (int ii=0;ii<6;ii++)
|
||||
double X1_sub_X[6], X2_sub_X[6], X3_sub_X[6];
|
||||
double X1X[6][6], X2X[6][6],X3X[6][6];
|
||||
for (int ii=0;ii<6;ii++)
|
||||
{
|
||||
X1_sub_X[ii]=X1_filter[ii]-X_filter[ii];
|
||||
X2_sub_X[ii]=X2_filter[ii]-X_filter[ii];
|
||||
X3_sub_X[ii]=X3_filter[ii]-X_filter[ii];
|
||||
}
|
||||
for(int ii=0;ii<6;ii++)
|
||||
for (int jj=0;jj<6;jj++)
|
||||
{
|
||||
X1_sub_X[ii]=X1_filter[ii]-X_filter[ii];
|
||||
X2_sub_X[ii]=X2_filter[ii]-X_filter[ii];
|
||||
X3_sub_X[ii]=X3_filter[ii]-X_filter[ii];
|
||||
X1X[ii][jj]=X1_sub_X[ii]*X1_sub_X[jj];
|
||||
X2X[ii][jj]=X2_sub_X[ii]*X2_sub_X[jj];
|
||||
X3X[ii][jj]=X3_sub_X[ii]*X3_sub_X[jj];
|
||||
}
|
||||
for(int ii=0;ii<6;ii++)
|
||||
for (int jj=0;jj<6;jj++)
|
||||
{
|
||||
X1X[ii][jj]=X1_sub_X[ii]*X1_sub_X[jj];
|
||||
X2X[ii][jj]=X2_sub_X[ii]*X2_sub_X[jj];
|
||||
X3X[ii][jj]=X3_sub_X[ii]*X3_sub_X[jj];
|
||||
}
|
||||
for(int ii=0;ii<6;ii++)
|
||||
for (int jj=0;jj<6;jj++)
|
||||
P_filter[ii][jj]=u_now[0]*(P1_filter[ii][jj]+X1X[ii][jj])+u_now[1]*(P2_filter[ii][jj]+X2X[ii][jj])+u_now[2]*(P3_filter[ii][jj]+X3X[ii][jj]);
|
||||
for(int ii=0;ii<6;ii++)
|
||||
for (int jj=0;jj<6;jj++)
|
||||
P_filter[ii][jj]=u_now[0]*(P1_filter[ii][jj]+X1X[ii][jj])+u_now[1]*(P2_filter[ii][jj]+X2X[ii][jj])+u_now[2]*(P3_filter[ii][jj]+X3X[ii][jj]);
|
||||
|
||||
|
||||
//本地航迹文件更新
|
||||
(*trust_track)[i].X[0]=X_filter[0]; //位置 速度
|
||||
(*trust_track)[i].X[1]=X_filter[1];
|
||||
(*trust_track)[i].X[2]=X_filter[2];
|
||||
(*trust_track)[i].X[3]=X_filter[3];
|
||||
(*trust_track)[i].X[4]=X_filter[4];
|
||||
(*trust_track)[i].X[5]=X_filter[5];
|
||||
//本地航迹文件更新
|
||||
(*trust_track)[i].X[0]=X_filter[0]; //位置 速度
|
||||
(*trust_track)[i].X[1]=X_filter[1];
|
||||
(*trust_track)[i].X[2]=X_filter[2];
|
||||
(*trust_track)[i].X[3]=X_filter[3];
|
||||
(*trust_track)[i].X[4]=X_filter[4];
|
||||
(*trust_track)[i].X[5]=X_filter[5];
|
||||
|
||||
for(int ii=0;ii<6;ii++) //协方差矩阵
|
||||
for (int jj=0;jj<6;jj++)
|
||||
(*trust_track)[i].P[ii][jj]=P_filter[ii][jj];
|
||||
for(int ii=0;ii<6;ii++) //协方差矩阵
|
||||
for (int jj=0;jj<6;jj++)
|
||||
(*trust_track)[i].P[ii][jj]=P_filter[ii][jj];
|
||||
|
||||
//航迹区更新
|
||||
double r, azi;
|
||||
coor_trans Coor_trans;
|
||||
Coor_trans.cart2polar((*trust_track)[i].X[0], (*trust_track)[i].X[3], &r, &azi);
|
||||
//航迹区更新
|
||||
double r, azi;
|
||||
coor_trans Coor_trans;
|
||||
Coor_trans.cart2polar((*trust_track)[i].X[0], (*trust_track)[i].X[3], &r, &azi);
|
||||
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
}
|
||||
@@ -665,58 +665,58 @@ void Track_Asso_Tas::IMM_F_Q_gen(double v_track, double delta_T,double F[6][6],
|
||||
q2=10.0*Work_Parameter.Model2_Q_fast;
|
||||
}
|
||||
else
|
||||
{
|
||||
q2=Work_Parameter.Model2_Q_fast;
|
||||
}
|
||||
{
|
||||
q2=Work_Parameter.Model2_Q_fast;
|
||||
}
|
||||
|
||||
double q112=1/(2*pow(alpha,5))*(1-exp(-2*alpha*delta_T)+2*alpha*delta_T+2*pow(alpha,3)*pow(delta_T,3)/3-2*pow(alpha,2)*pow(delta_T,2)-4*alpha*delta_T*exp(-alpha*delta_T));
|
||||
double q122=1/(2*pow(alpha,4))*(exp(-2*alpha*delta_T)+1-2*exp(-alpha*delta_T)+2*alpha*delta_T*exp(-alpha*delta_T)-2*alpha*delta_T+pow(alpha,2)*pow(delta_T,2));
|
||||
double q132=1/(2*pow(alpha,3))*(1-exp(-2*alpha*delta_T)-2*alpha*delta_T*exp(-alpha*delta_T));
|
||||
double q222=1/(2*pow(alpha,3))*(4*exp(-alpha*delta_T)-3-exp(-2*alpha*delta_T)+2*alpha*delta_T);
|
||||
double q232=1/(2*pow(alpha,2))*(exp(-2*alpha*delta_T)+1-2*exp(-alpha*delta_T));
|
||||
double q332=1/(2*alpha)*(1-exp(-2*alpha*delta_T));
|
||||
double q112=1/(2*pow(alpha,5))*(1-exp(-2*alpha*delta_T)+2*alpha*delta_T+2*pow(alpha,3)*pow(delta_T,3)/3-2*pow(alpha,2)*pow(delta_T,2)-4*alpha*delta_T*exp(-alpha*delta_T));
|
||||
double q122=1/(2*pow(alpha,4))*(exp(-2*alpha*delta_T)+1-2*exp(-alpha*delta_T)+2*alpha*delta_T*exp(-alpha*delta_T)-2*alpha*delta_T+pow(alpha,2)*pow(delta_T,2));
|
||||
double q132=1/(2*pow(alpha,3))*(1-exp(-2*alpha*delta_T)-2*alpha*delta_T*exp(-alpha*delta_T));
|
||||
double q222=1/(2*pow(alpha,3))*(4*exp(-alpha*delta_T)-3-exp(-2*alpha*delta_T)+2*alpha*delta_T);
|
||||
double q232=1/(2*pow(alpha,2))*(exp(-2*alpha*delta_T)+1-2*exp(-alpha*delta_T));
|
||||
double q332=1/(2*alpha)*(1-exp(-2*alpha*delta_T));
|
||||
|
||||
memset(Q2,0,36*sizeof(double));
|
||||
Q2[0][0]=q2*q112;Q2[0][1]=q2*q122; Q2[0][2]=q2*q132;
|
||||
Q2[1][0]=q2*q122;Q2[1][1]=q2*q222; Q2[1][2]=q2*q232;
|
||||
Q2[2][0]=q2*q132; Q2[2][1]=q2*q232; Q2[2][2]=q2*q332;
|
||||
memset(Q2,0,36*sizeof(double));
|
||||
Q2[0][0]=q2*q112;Q2[0][1]=q2*q122; Q2[0][2]=q2*q132;
|
||||
Q2[1][0]=q2*q122;Q2[1][1]=q2*q222; Q2[1][2]=q2*q232;
|
||||
Q2[2][0]=q2*q132; Q2[2][1]=q2*q232; Q2[2][2]=q2*q332;
|
||||
|
||||
Q2[3][3]=q2*q112; Q2[3][4]=q2*q122; Q2[3][5]=q2*q132;
|
||||
Q2[4][3]=q2*q122; Q2[4][4]=q2*q222; Q2[4][5]=q2*q232;
|
||||
Q2[5][3]=q2*q132; Q2[5][4]=q2*q232; Q2[5][5]=q2*q332;
|
||||
Q2[3][3]=q2*q112; Q2[3][4]=q2*q122; Q2[3][5]=q2*q132;
|
||||
Q2[4][3]=q2*q122; Q2[4][4]=q2*q222; Q2[4][5]=q2*q232;
|
||||
Q2[5][3]=q2*q132; Q2[5][4]=q2*q232; Q2[5][5]=q2*q332;
|
||||
|
||||
|
||||
//模型3
|
||||
//Q
|
||||
double q3;
|
||||
if(v_track<=5)
|
||||
{
|
||||
q3=Work_Parameter.Model3_Q_slow/20;
|
||||
}
|
||||
else if(v_track<=100&&v_track>50)
|
||||
{
|
||||
q3=10.0*Work_Parameter.Model3_Q_fast;
|
||||
}
|
||||
else
|
||||
{
|
||||
q3=Work_Parameter.Model3_Q_fast;
|
||||
}
|
||||
double q113=1/(2*pow(alpha,5))*(1-exp(-2*alpha*delta_T)+2*alpha*delta_T+2*pow(alpha,3)*pow(delta_T,3)/3-2*pow(alpha,2)*pow(delta_T,2)-4*alpha*delta_T*exp(-alpha*delta_T));
|
||||
double q123=1/(2*pow(alpha,4))*(exp(-2*alpha*delta_T)+1-2*exp(-alpha*delta_T)+2*alpha*delta_T*exp(-alpha*delta_T)-2*alpha*delta_T+pow(alpha,2)*pow(delta_T,2));
|
||||
double q133=1/(2*pow(alpha,3))*(1-exp(-2*alpha*delta_T)-2*alpha*delta_T*exp(-alpha*delta_T));
|
||||
double q223=1/(2*pow(alpha,3))*(4*exp(-alpha*delta_T)-3-exp(-2*alpha*delta_T)+2*alpha*delta_T);
|
||||
double q233=1/(2*pow(alpha,2))*(exp(-2*alpha*delta_T)+1-2*exp(-alpha*delta_T));
|
||||
double q333=1/(2*alpha)*(1-exp(-2*alpha*delta_T));
|
||||
//模型3
|
||||
//Q
|
||||
double q3;
|
||||
if(v_track<=5)
|
||||
{
|
||||
q3=Work_Parameter.Model3_Q_slow/20;
|
||||
}
|
||||
else if(v_track<=100&&v_track>50)
|
||||
{
|
||||
q3=10.0*Work_Parameter.Model3_Q_fast;
|
||||
}
|
||||
else
|
||||
{
|
||||
q3=Work_Parameter.Model3_Q_fast;
|
||||
}
|
||||
double q113=1/(2*pow(alpha,5))*(1-exp(-2*alpha*delta_T)+2*alpha*delta_T+2*pow(alpha,3)*pow(delta_T,3)/3-2*pow(alpha,2)*pow(delta_T,2)-4*alpha*delta_T*exp(-alpha*delta_T));
|
||||
double q123=1/(2*pow(alpha,4))*(exp(-2*alpha*delta_T)+1-2*exp(-alpha*delta_T)+2*alpha*delta_T*exp(-alpha*delta_T)-2*alpha*delta_T+pow(alpha,2)*pow(delta_T,2));
|
||||
double q133=1/(2*pow(alpha,3))*(1-exp(-2*alpha*delta_T)-2*alpha*delta_T*exp(-alpha*delta_T));
|
||||
double q223=1/(2*pow(alpha,3))*(4*exp(-alpha*delta_T)-3-exp(-2*alpha*delta_T)+2*alpha*delta_T);
|
||||
double q233=1/(2*pow(alpha,2))*(exp(-2*alpha*delta_T)+1-2*exp(-alpha*delta_T));
|
||||
double q333=1/(2*alpha)*(1-exp(-2*alpha*delta_T));
|
||||
|
||||
|
||||
memset(Q3,0,36*sizeof(double));
|
||||
Q3[0][0]=q3*q113; Q3[0][1]=q3*q123; Q3[0][2]=q3*q133;
|
||||
Q3[1][0]=q3*q123; Q3[1][1]=q3*q223; Q3[1][2]=q3*q233;
|
||||
Q3[2][0]=q3*q133; Q3[2][1]=q3*q233; Q3[2][2]=q3*q333;
|
||||
memset(Q3,0,36*sizeof(double));
|
||||
Q3[0][0]=q3*q113; Q3[0][1]=q3*q123; Q3[0][2]=q3*q133;
|
||||
Q3[1][0]=q3*q123; Q3[1][1]=q3*q223; Q3[1][2]=q3*q233;
|
||||
Q3[2][0]=q3*q133; Q3[2][1]=q3*q233; Q3[2][2]=q3*q333;
|
||||
|
||||
Q3[3][3]=q3*q113; Q3[3][4]=q3*q123; Q3[3][5]=q3*q133;
|
||||
Q3[4][3]=q3*q123; Q3[4][4]=q3*q223; Q3[4][5]=q3*q233;
|
||||
Q3[5][3]=q3*q133; Q3[5][4]=q3*q233; Q3[5][5]=q3*q333;
|
||||
Q3[3][3]=q3*q113; Q3[3][4]=q3*q123; Q3[3][5]=q3*q133;
|
||||
Q3[4][3]=q3*q123; Q3[4][4]=q3*q223; Q3[4][5]=q3*q233;
|
||||
Q3[5][3]=q3*q133; Q3[5][4]=q3*q233; Q3[5][5]=q3*q333;
|
||||
|
||||
|
||||
}
|
||||
@@ -724,21 +724,21 @@ void Track_Asso_Tas::IMM_F_Q_gen(double v_track, double delta_T,double F[6][6],
|
||||
|
||||
// 计算三个 d
|
||||
void Track_Asso_Tas::IMM_d_cal(double v_track,
|
||||
double X1[6], double P1[6][6],
|
||||
double X2[6], double P2[6][6],
|
||||
double X3[6], double P3[6][6],
|
||||
double Z[3], double prt,double freq_ind,
|
||||
double delta_T,
|
||||
double *d1,double *d2,double *d3,
|
||||
struct RadarPara Work_Parameter)
|
||||
double X1[6], double P1[6][6],
|
||||
double X2[6], double P2[6][6],
|
||||
double X3[6], double P3[6][6],
|
||||
double Z[3], double prt,double freq_ind,
|
||||
double delta_T,
|
||||
double *d1,double *d2,double *d3,
|
||||
struct RadarPara Work_Parameter)
|
||||
{
|
||||
double F[6][6], Q1[6][6], Q2[6][6], Q3[6][6];
|
||||
IMM_F_Q_gen( v_track, delta_T,F, Q1, Q2, Q3,Work_Parameter);
|
||||
|
||||
kalman Kalman;
|
||||
// *d1=Kalman.d_cal_with_doppler(F,Q1,Z,X1,P1,v_point,prt,freq_ind);
|
||||
// *d2=Kalman.d_cal_with_doppler(F,Q2,Z,X2,P2,v_point,prt,freq_ind);
|
||||
// *d3=Kalman.d_cal_with_doppler(F,Q3,Z,X3,P3,v_point,prt,freq_ind);
|
||||
// *d1=Kalman.d_cal_with_doppler(F,Q1,Z,X1,P1,v_point,prt,freq_ind);
|
||||
// *d2=Kalman.d_cal_with_doppler(F,Q2,Z,X2,P2,v_point,prt,freq_ind);
|
||||
// *d3=Kalman.d_cal_with_doppler(F,Q3,Z,X3,P3,v_point,prt,freq_ind);
|
||||
*d1=Kalman.d_cal_EKF(F,Q1,Z,X1,P1,prt,freq_ind);
|
||||
*d2=Kalman.d_cal_EKF(F,Q2,Z,X2,P2,prt,freq_ind);
|
||||
*d3=Kalman.d_cal_EKF(F,Q3,Z,X3,P3,prt,freq_ind);
|
||||
@@ -749,62 +749,62 @@ void Track_Asso_Tas::IMM_d_cal(double v_track,
|
||||
|
||||
//高度维更新
|
||||
void Track_Asso_Tas::track_hight_update(int tas_track_idx, //更新的航迹号
|
||||
int asso_point_index, //点迹号
|
||||
QVector<Trust_Track> *trust_track //航迹
|
||||
)
|
||||
int asso_point_index, //点迹号
|
||||
QVector<Trust_Track> *trust_track //航迹
|
||||
)
|
||||
{
|
||||
for(int 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);
|
||||
{
|
||||
(*trust_track)[i].Hight_smooth.push_back(point_process[asso_point_index-1].Height);
|
||||
|
||||
|
||||
int height_win_length;
|
||||
if((*trust_track)[i].range_point <= 1000)
|
||||
{
|
||||
height_win_length = H_F_WIN_LEN+2;
|
||||
}
|
||||
else if((*trust_track)[i].range_point <= 2000 && (*trust_track)[i].range_point > 1000)
|
||||
{
|
||||
height_win_length = H_F_WIN_LEN+3;
|
||||
}
|
||||
else if((*trust_track)[i].range_point <= 4000 && (*trust_track)[i].range_point > 2000)
|
||||
{
|
||||
height_win_length = H_F_WIN_LEN+4;
|
||||
}
|
||||
else
|
||||
{
|
||||
height_win_length = H_F_WIN_LEN+6;
|
||||
}
|
||||
int height_win_length;
|
||||
if((*trust_track)[i].range_point <= 1000)
|
||||
{
|
||||
height_win_length = H_F_WIN_LEN+2;
|
||||
}
|
||||
else if((*trust_track)[i].range_point <= 2000 && (*trust_track)[i].range_point > 1000)
|
||||
{
|
||||
height_win_length = H_F_WIN_LEN+3;
|
||||
}
|
||||
else if((*trust_track)[i].range_point <= 4000 && (*trust_track)[i].range_point > 2000)
|
||||
{
|
||||
height_win_length = H_F_WIN_LEN+4;
|
||||
}
|
||||
else
|
||||
{
|
||||
height_win_length = H_F_WIN_LEN+6;
|
||||
}
|
||||
|
||||
|
||||
double sum=0;
|
||||
if((*trust_track)[i].Hight_smooth.size()<height_win_length)
|
||||
{
|
||||
double sum=0;
|
||||
if((*trust_track)[i].Hight_smooth.size()<height_win_length)
|
||||
{
|
||||
|
||||
for (int ii=0;ii<(*trust_track)[i].Hight_smooth.size();ii++)
|
||||
{
|
||||
sum=sum+(*trust_track)[i].Hight_smooth[ii];
|
||||
for (int ii=0;ii<(*trust_track)[i].Hight_smooth.size();ii++)
|
||||
{
|
||||
sum=sum+(*trust_track)[i].Hight_smooth[ii];
|
||||
|
||||
}
|
||||
}
|
||||
|
||||
(*trust_track)[i].Height=sum/(*trust_track)[i].Hight_smooth.size();
|
||||
(*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()>=height_win_length)
|
||||
{
|
||||
|
||||
int N=(*trust_track)[i].Hight_smooth.size();
|
||||
for (int ii=0;ii<height_win_length;ii++)
|
||||
{
|
||||
sum=sum+(*trust_track)[i].Hight_smooth[N-1-ii];
|
||||
}
|
||||
(*trust_track)[i].Height=sum/height_win_length;
|
||||
}
|
||||
int N=(*trust_track)[i].Hight_smooth.size();
|
||||
for (int ii=0;ii<height_win_length;ii++)
|
||||
{
|
||||
sum=sum+(*trust_track)[i].Hight_smooth[N-1-ii];
|
||||
}
|
||||
(*trust_track)[i].Height=sum/height_win_length;
|
||||
}
|
||||
|
||||
|
||||
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
}
|
||||
|
||||
@@ -4,22 +4,24 @@
|
||||
#include <qmath.h>
|
||||
#include"memory.h"
|
||||
#include <QVector>
|
||||
#include <QDebug>
|
||||
using namespace std;
|
||||
|
||||
|
||||
void Track_Die_Tas::track_die_process_tas( QVector <Trust_Track> *trust_track,
|
||||
int Track_die_Index_Output[],
|
||||
int *Track_die_num_Output)
|
||||
{
|
||||
int Track_die_Index_Output[],
|
||||
int *Track_die_num_Output)
|
||||
{
|
||||
|
||||
QVector <Trust_Track>::iterator Iter;
|
||||
for (Iter=trust_track->begin(); Iter!=trust_track->end();)
|
||||
{
|
||||
if( ((*Iter).Track_Mode == 1 && (*Iter).Extrapolate_round >= TRACK_DIE_ROUND_TAS)
|
||||
||(*Iter).manual_delete_flag == 1)
|
||||
||(*Iter).manual_delete_flag == 1)
|
||||
|
||||
|
||||
{
|
||||
qDebug() << "remove tas target :" << (*Iter).Track_Index;
|
||||
//输出消亡信息
|
||||
*Track_die_num_Output=*Track_die_num_Output+1;
|
||||
Track_die_Index_Output[*Track_die_num_Output-1]=(*Iter).Track_Index;
|
||||
|
||||
Reference in New Issue
Block a user