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更新：1、适配四面阵机扫跟踪模式。

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Signed-off-by: waiwaylee <waiwaylee@foxmail.com>
This commit is contained in:
waiwaylee
2026-07-13 10:20:32 +08:00
parent ae3ef84441
commit 8b1896dd74
21 changed files with 521 additions and 7774 deletions
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data_process_class_dll/tas_ctrl.cpp
+30 -24
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@@ -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;