diff --git a/.gitignore b/.gitignore index 24b2278..828593f 100644 --- a/.gitignore +++ b/.gitignore @@ -1,2 +1,4 @@ ##忽略此文件夹## -build-data_process_class_dll-Desktop_Qt_5_7_0_MSVC2013_32bit-Release/ \ No newline at end of file +build-data_process_class_dll-Desktop_Qt_5_7_0_MSVC2013_32bit-Release/ +debug/ +release/ \ No newline at end of file diff --git a/Makefile b/Makefile new file mode 100644 index 0000000..285d6d1 --- /dev/null +++ b/Makefile @@ -0,0 +1,426 @@ +############################################################################# +# Makefile for building: data_process_class_dll +# Generated by qmake (3.0) (Qt 5.7.0) +# Project: data_process_class_dll\data_process_class_dll.pro +# Template: lib +# Command: C:\Qt\Qt5.7.0\5.7\msvc2013\bin\qmake.exe -spec win32-msvc2013 -o Makefile data_process_class_dll\data_process_class_dll.pro +############################################################################# + +MAKEFILE = Makefile + +first: release +install: release-install 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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 $(MAKEFILE).Debug +debug-all: FORCE + @set MAKEFLAGS=$(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 $(MAKEFILE).Debug uninstall + +Makefile: data_process_class_dll\data_process_class_dll.pro C:\Qt\Qt5.7.0\5.7\msvc2013\mkspecs\win32-msvc2013\qmake.conf C:\Qt\Qt5.7.0\5.7\msvc2013\mkspecs\features\spec_pre.prf \ + C:\Qt\Qt5.7.0\5.7\msvc2013\mkspecs\common\angle.conf \ + C:\Qt\Qt5.7.0\5.7\msvc2013\mkspecs\common\msvc-base.conf \ + 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+C:\Qt\Qt5.7.0\5.7\msvc2013\mkspecs\features\file_copies.prf: +C:\Qt\Qt5.7.0\5.7\msvc2013\mkspecs\features\win32\windows.prf: +C:\Qt\Qt5.7.0\5.7\msvc2013\mkspecs\features\testcase_targets.prf: +C:\Qt\Qt5.7.0\5.7\msvc2013\mkspecs\features\exceptions.prf: +C:\Qt\Qt5.7.0\5.7\msvc2013\mkspecs\features\yacc.prf: +C:\Qt\Qt5.7.0\5.7\msvc2013\mkspecs\features\lex.prf: +data_process_class_dll\data_process_class_dll.pro: +C:\Qt\Qt5.7.0\5.7\msvc2013\lib\Qt5Core.prl: +qmake: FORCE + @$(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 diff --git a/Makefile.Debug b/Makefile.Debug new file mode 100644 index 0000000..71fa80f --- /dev/null +++ b/Makefile.Debug @@ -0,0 +1,2252 @@ +############################################################################# +# Makefile for building: data_process_class_dll +# Generated by qmake (3.0) (Qt 5.7.0) +# Project: data_process_class_dll\data_process_class_dll.pro +# Template: lib +############################################################################# + +MAKEFILE = Makefile.Debug + +####### Compiler, tools and options + +CC = cl +CXX = cl +DEFINES = -DUNICODE -DWIN32 -DDATA_PROCESS_CLASS_DLL_LIBRARY -DQT_CORE_LIB +CFLAGS = -nologo -Zc:wchar_t -FS -Zi -MDd -W3 /Fddebug\data_process_class_dll.pdb $(DEFINES) +CXXFLAGS = -nologo -Zc:wchar_t -FS -Zi -MDd -GR -W3 -w34100 -w34189 -w44996 -EHsc /Fddebug\data_process_class_dll.pdb $(DEFINES) +INCPATH = -Idata_process_class_dll -I. -IC:\Qt\Qt5.7.0\5.7\msvc2013\include -IC:\Qt\Qt5.7.0\5.7\msvc2013\include\QtCore -Idebug -IC:\Qt\Qt5.7.0\5.7\msvc2013\mkspecs\win32-msvc2013 +LINKER = link +LFLAGS = /NOLOGO /DYNAMICBASE /NXCOMPAT /DEBUG /DLL /SUBSYSTEM:WINDOWS +LIBS = /LIBPATH:C:\Qt\Qt5.7.0\5.7\msvc2013\lib C:\Qt\Qt5.7.0\5.7\msvc2013\lib\Qt5Cored.lib +QMAKE = C:\Qt\Qt5.7.0\5.7\msvc2013\bin\qmake.exe +IDC = idc +IDL = midl +ZIP = zip -r -9 +DEF_FILE = +RES_FILE = +COPY = copy /y +SED = $(QMAKE) -install sed +COPY_FILE = copy /y +COPY_DIR = xcopy /s /q /y /i +DEL_FILE = del +DEL_DIR = rmdir +MOVE = move +CHK_DIR_EXISTS= if not exist +MKDIR = mkdir +INSTALL_FILE = copy /y +INSTALL_PROGRAM = copy /y +INSTALL_DIR = xcopy /s /q /y /i + +####### Output directory + +OBJECTS_DIR = debug + +####### Files + +SOURCES = data_process_class_dll\data_process_class_dll.cpp \ + data_process_class_dll\data_process.cpp \ + data_process_class_dll\dot_coh.cpp \ + data_process_class_dll\kalman.cpp \ + data_process_class_dll\coor_trans.cpp \ + data_process_class_dll\track_asso.cpp \ + data_process_class_dll\track_init.cpp \ + data_process_class_dll\track_index_mangement.cpp \ + data_process_class_dll\tas_ctrl.cpp \ + data_process_class_dll\track_die.cpp \ + data_process_class_dll\dot_coh_tas.cpp \ + data_process_class_dll\track_asso_tas.cpp +OBJECTS = debug\data_process_class_dll.obj \ + debug\data_process.obj \ + debug\dot_coh.obj \ + debug\kalman.obj \ + debug\coor_trans.obj \ + debug\track_asso.obj \ + debug\track_init.obj \ + debug\track_index_mangement.obj \ + debug\tas_ctrl.obj \ + debug\track_die.obj \ + debug\dot_coh_tas.obj \ + debug\track_asso_tas.obj + +DIST = data_process_class_dll\data_process_class_dll.h \ + data_process_class_dll\data_process_class_dll_global.h \ + data_process_class_dll\data_process.h \ + data_process_class_dll\struct.h \ + data_process_class_dll\parameters.h \ + data_process_class_dll\dot_coh.h \ + data_process_class_dll\kalman.h \ + data_process_class_dll\coor_trans.h \ + data_process_class_dll\track_asso.h \ + data_process_class_dll\track_init.h \ + data_process_class_dll\track_index_mangement.h \ + data_process_class_dll\tas_ctrl.h \ + data_process_class_dll\track_die.h \ + data_process_class_dll\dot_coh_tas.h \ + data_process_class_dll\track_asso_tas.h data_process_class_dll\data_process_class_dll.cpp \ + data_process_class_dll\data_process.cpp \ + data_process_class_dll\dot_coh.cpp \ + data_process_class_dll\kalman.cpp \ + data_process_class_dll\coor_trans.cpp \ + data_process_class_dll\track_asso.cpp \ + data_process_class_dll\track_init.cpp \ + data_process_class_dll\track_index_mangement.cpp \ + data_process_class_dll\tas_ctrl.cpp \ + data_process_class_dll\track_die.cpp \ + data_process_class_dll\dot_coh_tas.cpp \ + data_process_class_dll\track_asso_tas.cpp +QMAKE_TARGET = data_process_class_dll +DESTDIR = debug\ #avoid trailing-slash linebreak +TARGET = data_process_class_dll.dll +DESTDIR_TARGET = debug\data_process_class_dll.dll + +####### Implicit rules + +.SUFFIXES: .c .cpp .cc .cxx + +{data_process_class_dll}.cpp{debug\}.obj:: + $(CXX) -c $(CXXFLAGS) $(INCPATH) -Fodebug\ @<< + $< +<< + +{data_process_class_dll}.cc{debug\}.obj:: + $(CXX) -c $(CXXFLAGS) $(INCPATH) -Fodebug\ @<< + $< +<< + +{data_process_class_dll}.cxx{debug\}.obj:: + $(CXX) -c $(CXXFLAGS) $(INCPATH) -Fodebug\ @<< + $< +<< + +{data_process_class_dll}.c{debug\}.obj:: + $(CC) -c $(CFLAGS) $(INCPATH) -Fodebug\ @<< + $< +<< + +{.}.cpp{debug\}.obj:: + $(CXX) -c $(CXXFLAGS) $(INCPATH) -Fodebug\ @<< + $< +<< + +{.}.cc{debug\}.obj:: + $(CXX) -c $(CXXFLAGS) $(INCPATH) -Fodebug\ @<< + $< +<< + +{.}.cxx{debug\}.obj:: + $(CXX) -c $(CXXFLAGS) $(INCPATH) -Fodebug\ @<< + $< +<< + +{.}.c{debug\}.obj:: + $(CC) -c $(CFLAGS) $(INCPATH) -Fodebug\ @<< + $< +<< + +####### Build rules + +first: all +all: Makefile.Debug $(DESTDIR_TARGET) + +$(DESTDIR_TARGET): $(OBJECTS) + $(LINKER) $(LFLAGS) /MANIFEST:embed /OUT:$(DESTDIR_TARGET) @<< +$(OBJECTS) $(LIBS) +<< + +qmake: FORCE + @$(QMAKE) -spec win32-msvc2013 -o Makefile.Debug data_process_class_dll\data_process_class_dll.pro + +qmake_all: FORCE + +dist: + $(ZIP) data_process_class_dll.zip $(SOURCES) $(DIST) data_process_class_dll\data_process_class_dll.pro C:\Qt\Qt5.7.0\5.7\msvc2013\mkspecs\features\spec_pre.prf C:\Qt\Qt5.7.0\5.7\msvc2013\mkspecs\common\angle.conf C:\Qt\Qt5.7.0\5.7\msvc2013\mkspecs\common\msvc-base.conf C:\Qt\Qt5.7.0\5.7\msvc2013\mkspecs\common\msvc-desktop.conf C:\Qt\Qt5.7.0\5.7\msvc2013\mkspecs\qconfig.pri C:\Qt\Qt5.7.0\5.7\msvc2013\mkspecs\modules\qt_lib_3dcore.pri C:\Qt\Qt5.7.0\5.7\msvc2013\mkspecs\modules\qt_lib_3dcore_private.pri 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C:\Qt\Qt5.7.0\5.7\msvc2013\mkspecs\modules\qt_lib_qmldevtools_private.pri C:\Qt\Qt5.7.0\5.7\msvc2013\mkspecs\modules\qt_lib_qmltest.pri C:\Qt\Qt5.7.0\5.7\msvc2013\mkspecs\modules\qt_lib_qmltest_private.pri C:\Qt\Qt5.7.0\5.7\msvc2013\mkspecs\modules\qt_lib_qtmultimediaquicktools_private.pri C:\Qt\Qt5.7.0\5.7\msvc2013\mkspecs\modules\qt_lib_quick.pri C:\Qt\Qt5.7.0\5.7\msvc2013\mkspecs\modules\qt_lib_quick_private.pri C:\Qt\Qt5.7.0\5.7\msvc2013\mkspecs\modules\qt_lib_quickcontrols2.pri C:\Qt\Qt5.7.0\5.7\msvc2013\mkspecs\modules\qt_lib_quickcontrols2_private.pri C:\Qt\Qt5.7.0\5.7\msvc2013\mkspecs\modules\qt_lib_quickparticles_private.pri C:\Qt\Qt5.7.0\5.7\msvc2013\mkspecs\modules\qt_lib_quicktemplates2_private.pri C:\Qt\Qt5.7.0\5.7\msvc2013\mkspecs\modules\qt_lib_quickwidgets.pri C:\Qt\Qt5.7.0\5.7\msvc2013\mkspecs\modules\qt_lib_quickwidgets_private.pri C:\Qt\Qt5.7.0\5.7\msvc2013\mkspecs\modules\qt_lib_script.pri C:\Qt\Qt5.7.0\5.7\msvc2013\mkspecs\modules\qt_lib_script_private.pri 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C:\Qt\Qt5.7.0\5.7\msvc2013\mkspecs\modules\qt_lib_websockets_private.pri C:\Qt\Qt5.7.0\5.7\msvc2013\mkspecs\modules\qt_lib_webview.pri C:\Qt\Qt5.7.0\5.7\msvc2013\mkspecs\modules\qt_lib_webview_private.pri C:\Qt\Qt5.7.0\5.7\msvc2013\mkspecs\modules\qt_lib_widgets.pri C:\Qt\Qt5.7.0\5.7\msvc2013\mkspecs\modules\qt_lib_widgets_private.pri C:\Qt\Qt5.7.0\5.7\msvc2013\mkspecs\modules\qt_lib_winextras.pri C:\Qt\Qt5.7.0\5.7\msvc2013\mkspecs\modules\qt_lib_winextras_private.pri C:\Qt\Qt5.7.0\5.7\msvc2013\mkspecs\modules\qt_lib_xml.pri C:\Qt\Qt5.7.0\5.7\msvc2013\mkspecs\modules\qt_lib_xml_private.pri C:\Qt\Qt5.7.0\5.7\msvc2013\mkspecs\modules\qt_lib_xmlpatterns.pri C:\Qt\Qt5.7.0\5.7\msvc2013\mkspecs\modules\qt_lib_xmlpatterns_private.pri C:\Qt\Qt5.7.0\5.7\msvc2013\mkspecs\modules\qt_lib_zlib_private.pri C:\Qt\Qt5.7.0\5.7\msvc2013\mkspecs\features\qt_functions.prf C:\Qt\Qt5.7.0\5.7\msvc2013\mkspecs\features\qt_config.prf C:\Qt\Qt5.7.0\5.7\msvc2013\mkspecs\features\win32\qt_config.prf C:\Qt\Qt5.7.0\5.7\msvc2013\mkspecs\win32-msvc2013\qmake.conf C:\Qt\Qt5.7.0\5.7\msvc2013\mkspecs\features\spec_post.prf C:\Qt\Qt5.7.0\5.7\msvc2013\mkspecs\features\exclusive_builds.prf C:\Qt\Qt5.7.0\5.7\msvc2013\mkspecs\features\default_pre.prf C:\Qt\Qt5.7.0\5.7\msvc2013\mkspecs\features\win32\default_pre.prf C:\Qt\Qt5.7.0\5.7\msvc2013\mkspecs\features\resolve_config.prf C:\Qt\Qt5.7.0\5.7\msvc2013\mkspecs\features\exclusive_builds_post.prf C:\Qt\Qt5.7.0\5.7\msvc2013\mkspecs\features\default_post.prf C:\Qt\Qt5.7.0\5.7\msvc2013\mkspecs\features\build_pass.prf C:\Qt\Qt5.7.0\5.7\msvc2013\mkspecs\features\win32\rtti.prf C:\Qt\Qt5.7.0\5.7\msvc2013\mkspecs\features\precompile_header.prf C:\Qt\Qt5.7.0\5.7\msvc2013\mkspecs\features\warn_on.prf C:\Qt\Qt5.7.0\5.7\msvc2013\mkspecs\features\qt.prf C:\Qt\Qt5.7.0\5.7\msvc2013\mkspecs\features\resources.prf C:\Qt\Qt5.7.0\5.7\msvc2013\mkspecs\features\moc.prf C:\Qt\Qt5.7.0\5.7\msvc2013\mkspecs\features\file_copies.prf C:\Qt\Qt5.7.0\5.7\msvc2013\mkspecs\features\win32\windows.prf C:\Qt\Qt5.7.0\5.7\msvc2013\mkspecs\features\testcase_targets.prf C:\Qt\Qt5.7.0\5.7\msvc2013\mkspecs\features\exceptions.prf C:\Qt\Qt5.7.0\5.7\msvc2013\mkspecs\features\yacc.prf C:\Qt\Qt5.7.0\5.7\msvc2013\mkspecs\features\lex.prf data_process_class_dll\data_process_class_dll.pro C:\Qt\Qt5.7.0\5.7\msvc2013\lib\Qt5Cored.prl NO_PCH_SOURCES RESOURCES HEADERS SOURCES OBJECTIVE_SOURCES YACCSOURCES YACCSOURCES LEXSOURCES + +clean: compiler_clean + -$(DEL_FILE) debug\data_process_class_dll.obj debug\data_process.obj debug\dot_coh.obj debug\kalman.obj debug\coor_trans.obj debug\track_asso.obj debug\track_init.obj debug\track_index_mangement.obj debug\tas_ctrl.obj debug\track_die.obj debug\dot_coh_tas.obj debug\track_asso_tas.obj + -$(DEL_FILE) debug\data_process_class_dll.exp debug\data_process_class_dll.ilk debug\data_process_class_dll.idb + +distclean: clean + -$(DEL_FILE) debug\data_process_class_dll.lib debug\data_process_class_dll.pdb + -$(DEL_FILE) $(DESTDIR_TARGET) + -$(DEL_FILE) Makefile.Debug + +mocclean: compiler_moc_header_clean compiler_moc_source_clean + +mocables: compiler_moc_header_make_all compiler_moc_source_make_all + +check: first + +benchmark: first + +compiler_no_pch_compiler_make_all: +compiler_no_pch_compiler_clean: +compiler_rcc_make_all: +compiler_rcc_clean: +compiler_moc_header_make_all: +compiler_moc_header_clean: +compiler_moc_source_make_all: +compiler_moc_source_clean: +compiler_yacc_decl_make_all: +compiler_yacc_decl_clean: +compiler_yacc_impl_make_all: +compiler_yacc_impl_clean: +compiler_lex_make_all: +compiler_lex_clean: +compiler_clean: + + + +####### Compile + +debug\data_process_class_dll.obj: data_process_class_dll\data_process_class_dll.cpp data_process_class_dll/data_process_class_dll.h \ + data_process_class_dll/data_process_class_dll_global.h \ + C:\Qt\Qt5.7.0\5.7\msvc2013\include\QtCore\qglobal.h \ + C:\Qt\Qt5.7.0\5.7\msvc2013\include\QtCore\qconfig.h \ + C:\Qt\Qt5.7.0\5.7\msvc2013\include\QtCore\qfeatures.h \ + C:\Qt\Qt5.7.0\5.7\msvc2013\include\QtCore\qsystemdetection.h \ + C:\Qt\Qt5.7.0\5.7\msvc2013\include\QtCore\qprocessordetection.h \ + C:\Qt\Qt5.7.0\5.7\msvc2013\include\QtCore\qcompilerdetection.h \ + C:\Qt\Qt5.7.0\5.7\msvc2013\include\QtCore\qtypeinfo.h \ + C:\Qt\Qt5.7.0\5.7\msvc2013\include\QtCore\qtypetraits.h \ + C:\Qt\Qt5.7.0\5.7\msvc2013\include\QtCore\qisenum.h \ + C:\Qt\Qt5.7.0\5.7\msvc2013\include\QtCore\qsysinfo.h \ + C:\Qt\Qt5.7.0\5.7\msvc2013\include\QtCore\qlogging.h \ + C:\Qt\Qt5.7.0\5.7\msvc2013\include\QtCore\qflags.h \ + C:\Qt\Qt5.7.0\5.7\msvc2013\include\QtCore\qatomic.h \ + C:\Qt\Qt5.7.0\5.7\msvc2013\include\QtCore\qbasicatomic.h \ + C:\Qt\Qt5.7.0\5.7\msvc2013\include\QtCore\qatomic_bootstrap.h \ + C:\Qt\Qt5.7.0\5.7\msvc2013\include\QtCore\qgenericatomic.h \ + C:\Qt\Qt5.7.0\5.7\msvc2013\include\QtCore\qatomic_cxx11.h \ + 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C:\Qt\Qt5.7.0\5.7\msvc2013\include\QtCore\qbytearraylist.h \ + C:\Qt\Qt5.7.0\5.7\msvc2013\include\QtCore\qbytearray.h \ + C:\Qt\Qt5.7.0\5.7\msvc2013\include\QtCore\qnamespace.h \ + C:\Qt\Qt5.7.0\5.7\msvc2013\include\QtCore\qstring.h \ + C:\Qt\Qt5.7.0\5.7\msvc2013\include\QtCore\qstringbuilder.h \ + C:\Qt\Qt5.7.0\5.7\msvc2013\include\QtCore\qstringlist.h \ + C:\Qt\Qt5.7.0\5.7\msvc2013\include\QtCore\qregexp.h \ + C:\Qt\Qt5.7.0\5.7\msvc2013\include\QtCore\qstringmatcher.h \ + C:\Qt\Qt5.7.0\5.7\msvc2013\include\QtCore\qpoint.h \ + data_process_class_dll/dot_coh.h \ + data_process_class_dll/dot_coh_tas.h \ + data_process_class_dll/track_init.h \ + data_process_class_dll/track_index_mangement.h \ + data_process_class_dll/track_asso.h \ + data_process_class_dll/track_asso_tas.h \ + data_process_class_dll/track_die.h \ + data_process_class_dll/tas_ctrl.h \ + data_process_class_dll\Eigen\Dense \ + data_process_class_dll\Eigen\Core \ + 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data_process_class_dll\Eigen\src\Core\products\GeneralMatrixVector.h \ + data_process_class_dll\Eigen\src\Core\products\GeneralMatrixMatrix.h \ + data_process_class_dll\Eigen\src\Core\SolveTriangular.h \ + data_process_class_dll\Eigen\src\Core\products\GeneralMatrixMatrixTriangular.h \ + data_process_class_dll\Eigen\src\Core\products\SelfadjointMatrixVector.h \ + data_process_class_dll\Eigen\src\Core\products\SelfadjointMatrixMatrix.h \ + data_process_class_dll\Eigen\src\Core\products\SelfadjointProduct.h \ + data_process_class_dll\Eigen\src\Core\products\SelfadjointRank2Update.h \ + data_process_class_dll\Eigen\src\Core\products\TriangularMatrixVector.h \ + data_process_class_dll\Eigen\src\Core\products\TriangularMatrixMatrix.h \ + data_process_class_dll\Eigen\src\Core\products\TriangularSolverMatrix.h \ + data_process_class_dll\Eigen\src\Core\products\TriangularSolverVector.h \ + data_process_class_dll\Eigen\src\Core\BandMatrix.h \ + data_process_class_dll\Eigen\src\Core\CoreIterators.h \ + data_process_class_dll\Eigen\src\Core\ConditionEstimator.h \ + data_process_class_dll\Eigen\src\Core\BooleanRedux.h \ + data_process_class_dll\Eigen\src\Core\Select.h \ + data_process_class_dll\Eigen\src\Core\VectorwiseOp.h \ + data_process_class_dll\Eigen\src\Core\Random.h \ + data_process_class_dll\Eigen\src\Core\Replicate.h \ + data_process_class_dll\Eigen\src\Core\Reverse.h \ + data_process_class_dll\Eigen\src\Core\ArrayWrapper.h \ + data_process_class_dll\Eigen\src\Core\products\GeneralMatrixMatrix_BLAS.h \ + data_process_class_dll\Eigen\src\Core\products\GeneralMatrixVector_BLAS.h \ + data_process_class_dll\Eigen\src\Core\products\GeneralMatrixMatrixTriangular_BLAS.h \ + data_process_class_dll\Eigen\src\Core\products\SelfadjointMatrixMatrix_BLAS.h \ + data_process_class_dll\Eigen\src\Core\products\SelfadjointMatrixVector_BLAS.h \ + data_process_class_dll\Eigen\src\Core\products\TriangularMatrixMatrix_BLAS.h \ + data_process_class_dll\Eigen\src\Core\products\TriangularMatrixVector_BLAS.h \ + data_process_class_dll\Eigen\src\Core\products\TriangularSolverMatrix_BLAS.h \ + data_process_class_dll\Eigen\src\Core\Assign_MKL.h \ + data_process_class_dll\Eigen\src\Core\GlobalFunctions.h \ + data_process_class_dll\Eigen\src\Core\util\ReenableStupidWarnings.h \ + data_process_class_dll\Eigen\LU \ + data_process_class_dll\Eigen\src\misc\Kernel.h \ + data_process_class_dll\Eigen\src\misc\Image.h \ + data_process_class_dll\Eigen\src\LU\FullPivLU.h \ + data_process_class_dll\Eigen\src\LU\PartialPivLU.h \ + data_process_class_dll\Eigen\src\misc\lapacke.h \ + data_process_class_dll\Eigen\src\misc\lapacke_mangling.h \ + data_process_class_dll\Eigen\src\LU\PartialPivLU_LAPACKE.h \ + data_process_class_dll\Eigen\src\LU\Determinant.h \ + data_process_class_dll\Eigen\src\LU\InverseImpl.h \ + data_process_class_dll\Eigen\src\LU\arch\Inverse_SSE.h \ + data_process_class_dll\Eigen\Cholesky \ + data_process_class_dll\Eigen\Jacobi \ + data_process_class_dll\Eigen\src\Jacobi\Jacobi.h \ + data_process_class_dll\Eigen\src\Cholesky\LLT.h \ + data_process_class_dll\Eigen\src\Cholesky\LDLT.h \ + data_process_class_dll\Eigen\src\Cholesky\LLT_LAPACKE.h \ + data_process_class_dll\Eigen\QR \ + data_process_class_dll\Eigen\Householder \ + data_process_class_dll\Eigen\src\Householder\Householder.h \ + data_process_class_dll\Eigen\src\Householder\HouseholderSequence.h \ + data_process_class_dll\Eigen\src\Householder\BlockHouseholder.h \ + data_process_class_dll\Eigen\src\QR\HouseholderQR.h \ + data_process_class_dll\Eigen\src\QR\FullPivHouseholderQR.h \ + data_process_class_dll\Eigen\src\QR\ColPivHouseholderQR.h \ + data_process_class_dll\Eigen\src\QR\CompleteOrthogonalDecomposition.h \ + data_process_class_dll\Eigen\src\QR\HouseholderQR_LAPACKE.h \ + data_process_class_dll\Eigen\src\QR\ColPivHouseholderQR_LAPACKE.h \ + data_process_class_dll\Eigen\SVD \ + data_process_class_dll\Eigen\src\misc\RealSvd2x2.h \ + data_process_class_dll\Eigen\src\SVD\UpperBidiagonalization.h \ + data_process_class_dll\Eigen\src\SVD\SVDBase.h \ + data_process_class_dll\Eigen\src\SVD\JacobiSVD.h \ + data_process_class_dll\Eigen\src\SVD\BDCSVD.h \ + data_process_class_dll\Eigen\src\SVD\JacobiSVD_LAPACKE.h \ + data_process_class_dll\Eigen\Geometry \ + data_process_class_dll\Eigen\src\Geometry\OrthoMethods.h \ + data_process_class_dll\Eigen\src\Geometry\EulerAngles.h \ + data_process_class_dll\Eigen\src\Geometry\Homogeneous.h \ + data_process_class_dll\Eigen\src\Geometry\RotationBase.h \ + data_process_class_dll\Eigen\src\Geometry\Rotation2D.h \ + data_process_class_dll\Eigen\src\Geometry\Quaternion.h \ + data_process_class_dll\Eigen\src\Geometry\AngleAxis.h \ + data_process_class_dll\Eigen\src\Geometry\Transform.h \ + data_process_class_dll\Eigen\src\Geometry\Translation.h \ + data_process_class_dll\Eigen\src\Geometry\Scaling.h \ + data_process_class_dll\Eigen\src\Geometry\Hyperplane.h \ + data_process_class_dll\Eigen\src\Geometry\ParametrizedLine.h \ + data_process_class_dll\Eigen\src\Geometry\AlignedBox.h \ + data_process_class_dll\Eigen\src\Geometry\Umeyama.h \ + data_process_class_dll\Eigen\src\Geometry\arch\Geometry_SSE.h \ + data_process_class_dll\Eigen\Eigenvalues \ + data_process_class_dll\Eigen\src\Eigenvalues\Tridiagonalization.h \ + data_process_class_dll\Eigen\src\Eigenvalues\RealSchur.h \ + data_process_class_dll\Eigen\src\Eigenvalues\HessenbergDecomposition.h \ + data_process_class_dll\Eigen\src\Eigenvalues\EigenSolver.h \ + data_process_class_dll\Eigen\src\Eigenvalues\SelfAdjointEigenSolver.h \ + data_process_class_dll\Eigen\src\Eigenvalues\GeneralizedSelfAdjointEigenSolver.h \ + data_process_class_dll\Eigen\src\Eigenvalues\ComplexSchur.h \ + data_process_class_dll\Eigen\src\Eigenvalues\ComplexEigenSolver.h \ + data_process_class_dll\Eigen\src\Eigenvalues\RealQZ.h \ + data_process_class_dll\Eigen\src\Eigenvalues\GeneralizedEigenSolver.h \ + data_process_class_dll\Eigen\src\Eigenvalues\MatrixBaseEigenvalues.h \ + data_process_class_dll\Eigen\src\Eigenvalues\RealSchur_LAPACKE.h \ + data_process_class_dll\Eigen\src\Eigenvalues\ComplexSchur_LAPACKE.h \ + data_process_class_dll\Eigen\src\Eigenvalues\SelfAdjointEigenSolver_LAPACKE.h \ + data_process_class_dll/coor_trans.h \ + C:\Qt\Qt5.7.0\5.7\msvc2013\include\QtCore\qmath.h + +####### Install + +install: FORCE + +uninstall: FORCE + +FORCE: + diff --git a/Makefile.Release b/Makefile.Release new file mode 100644 index 0000000..d59172f --- /dev/null +++ b/Makefile.Release @@ -0,0 +1,2252 @@ +############################################################################# +# Makefile for building: data_process_class_dll +# Generated by qmake (3.0) (Qt 5.7.0) +# Project: data_process_class_dll\data_process_class_dll.pro +# Template: lib +############################################################################# + +MAKEFILE = Makefile.Release + +####### Compiler, tools and options + +CC = cl +CXX = cl +DEFINES = -DUNICODE -DWIN32 -DDATA_PROCESS_CLASS_DLL_LIBRARY -DQT_NO_DEBUG -DQT_CORE_LIB -DNDEBUG +CFLAGS = -nologo -Zc:wchar_t -FS -O2 -MD -Zc:strictStrings -W3 $(DEFINES) +CXXFLAGS = -nologo -Zc:wchar_t -FS -O2 -MD -Zc:strictStrings -GR -W3 -w34100 -w34189 -w44996 -EHsc $(DEFINES) +INCPATH = -Idata_process_class_dll -I. -IC:\Qt\Qt5.7.0\5.7\msvc2013\include -IC:\Qt\Qt5.7.0\5.7\msvc2013\include\QtCore -Irelease -IC:\Qt\Qt5.7.0\5.7\msvc2013\mkspecs\win32-msvc2013 +LINKER = link +LFLAGS = /NOLOGO /DYNAMICBASE /NXCOMPAT /INCREMENTAL:NO /DLL /SUBSYSTEM:WINDOWS +LIBS = /LIBPATH:C:\Qt\Qt5.7.0\5.7\msvc2013\lib C:\Qt\Qt5.7.0\5.7\msvc2013\lib\Qt5Core.lib +QMAKE = C:\Qt\Qt5.7.0\5.7\msvc2013\bin\qmake.exe +IDC = idc +IDL = midl +ZIP = zip -r -9 +DEF_FILE = +RES_FILE = +COPY = copy /y +SED = $(QMAKE) -install sed +COPY_FILE = copy /y +COPY_DIR = xcopy /s /q /y /i +DEL_FILE = del +DEL_DIR = rmdir +MOVE = move +CHK_DIR_EXISTS= if not exist +MKDIR = mkdir +INSTALL_FILE = copy /y +INSTALL_PROGRAM = copy /y +INSTALL_DIR = xcopy /s /q /y /i + +####### Output directory + +OBJECTS_DIR = release + +####### Files + +SOURCES = data_process_class_dll\data_process_class_dll.cpp \ + data_process_class_dll\data_process.cpp \ + data_process_class_dll\dot_coh.cpp \ + data_process_class_dll\kalman.cpp \ + data_process_class_dll\coor_trans.cpp \ + data_process_class_dll\track_asso.cpp \ + data_process_class_dll\track_init.cpp \ + data_process_class_dll\track_index_mangement.cpp \ + data_process_class_dll\tas_ctrl.cpp \ + data_process_class_dll\track_die.cpp \ + data_process_class_dll\dot_coh_tas.cpp \ + data_process_class_dll\track_asso_tas.cpp +OBJECTS = release\data_process_class_dll.obj \ + release\data_process.obj \ + release\dot_coh.obj \ + release\kalman.obj \ + release\coor_trans.obj \ + release\track_asso.obj \ + release\track_init.obj \ + release\track_index_mangement.obj \ + release\tas_ctrl.obj \ + release\track_die.obj \ + release\dot_coh_tas.obj \ + release\track_asso_tas.obj + +DIST = data_process_class_dll\data_process_class_dll.h \ + data_process_class_dll\data_process_class_dll_global.h \ + data_process_class_dll\data_process.h \ + data_process_class_dll\struct.h \ + data_process_class_dll\parameters.h \ + data_process_class_dll\dot_coh.h \ + data_process_class_dll\kalman.h \ + data_process_class_dll\coor_trans.h \ + data_process_class_dll\track_asso.h \ + data_process_class_dll\track_init.h \ + data_process_class_dll\track_index_mangement.h \ + data_process_class_dll\tas_ctrl.h \ + data_process_class_dll\track_die.h \ + data_process_class_dll\dot_coh_tas.h \ + data_process_class_dll\track_asso_tas.h data_process_class_dll\data_process_class_dll.cpp \ + data_process_class_dll\data_process.cpp \ + data_process_class_dll\dot_coh.cpp \ + data_process_class_dll\kalman.cpp \ + 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C:\Qt\Qt5.7.0\5.7\msvc2013\mkspecs\features\resources.prf C:\Qt\Qt5.7.0\5.7\msvc2013\mkspecs\features\moc.prf C:\Qt\Qt5.7.0\5.7\msvc2013\mkspecs\features\file_copies.prf C:\Qt\Qt5.7.0\5.7\msvc2013\mkspecs\features\win32\windows.prf C:\Qt\Qt5.7.0\5.7\msvc2013\mkspecs\features\testcase_targets.prf C:\Qt\Qt5.7.0\5.7\msvc2013\mkspecs\features\exceptions.prf C:\Qt\Qt5.7.0\5.7\msvc2013\mkspecs\features\yacc.prf C:\Qt\Qt5.7.0\5.7\msvc2013\mkspecs\features\lex.prf data_process_class_dll\data_process_class_dll.pro C:\Qt\Qt5.7.0\5.7\msvc2013\lib\Qt5Core.prl NO_PCH_SOURCES RESOURCES HEADERS SOURCES OBJECTIVE_SOURCES YACCSOURCES YACCSOURCES LEXSOURCES + +clean: compiler_clean + -$(DEL_FILE) release\data_process_class_dll.obj release\data_process.obj release\dot_coh.obj release\kalman.obj release\coor_trans.obj release\track_asso.obj release\track_init.obj release\track_index_mangement.obj release\tas_ctrl.obj release\track_die.obj release\dot_coh_tas.obj release\track_asso_tas.obj + -$(DEL_FILE) release\data_process_class_dll.exp + +distclean: clean + -$(DEL_FILE) release\data_process_class_dll.lib + -$(DEL_FILE) $(DESTDIR_TARGET) + -$(DEL_FILE) Makefile.Release + +mocclean: compiler_moc_header_clean compiler_moc_source_clean + +mocables: compiler_moc_header_make_all compiler_moc_source_make_all + +check: first + +benchmark: first + +compiler_no_pch_compiler_make_all: +compiler_no_pch_compiler_clean: +compiler_rcc_make_all: +compiler_rcc_clean: +compiler_moc_header_make_all: +compiler_moc_header_clean: +compiler_moc_source_make_all: +compiler_moc_source_clean: +compiler_yacc_decl_make_all: +compiler_yacc_decl_clean: +compiler_yacc_impl_make_all: +compiler_yacc_impl_clean: +compiler_lex_make_all: +compiler_lex_clean: +compiler_clean: + + + +####### Compile + +release\data_process_class_dll.obj: data_process_class_dll\data_process_class_dll.cpp data_process_class_dll/data_process_class_dll.h \ + data_process_class_dll/data_process_class_dll_global.h \ + C:\Qt\Qt5.7.0\5.7\msvc2013\include\QtCore\qglobal.h \ + C:\Qt\Qt5.7.0\5.7\msvc2013\include\QtCore\qconfig.h \ + C:\Qt\Qt5.7.0\5.7\msvc2013\include\QtCore\qfeatures.h \ + C:\Qt\Qt5.7.0\5.7\msvc2013\include\QtCore\qsystemdetection.h \ + C:\Qt\Qt5.7.0\5.7\msvc2013\include\QtCore\qprocessordetection.h \ + C:\Qt\Qt5.7.0\5.7\msvc2013\include\QtCore\qcompilerdetection.h \ + C:\Qt\Qt5.7.0\5.7\msvc2013\include\QtCore\qtypeinfo.h \ + C:\Qt\Qt5.7.0\5.7\msvc2013\include\QtCore\qtypetraits.h \ + C:\Qt\Qt5.7.0\5.7\msvc2013\include\QtCore\qisenum.h \ + C:\Qt\Qt5.7.0\5.7\msvc2013\include\QtCore\qsysinfo.h \ + C:\Qt\Qt5.7.0\5.7\msvc2013\include\QtCore\qlogging.h \ + C:\Qt\Qt5.7.0\5.7\msvc2013\include\QtCore\qflags.h \ + C:\Qt\Qt5.7.0\5.7\msvc2013\include\QtCore\qatomic.h \ + C:\Qt\Qt5.7.0\5.7\msvc2013\include\QtCore\qbasicatomic.h \ + C:\Qt\Qt5.7.0\5.7\msvc2013\include\QtCore\qatomic_bootstrap.h \ + C:\Qt\Qt5.7.0\5.7\msvc2013\include\QtCore\qgenericatomic.h \ + C:\Qt\Qt5.7.0\5.7\msvc2013\include\QtCore\qatomic_cxx11.h \ + C:\Qt\Qt5.7.0\5.7\msvc2013\include\QtCore\qatomic_msvc.h \ + C:\Qt\Qt5.7.0\5.7\msvc2013\include\QtCore\qglobalstatic.h \ + C:\Qt\Qt5.7.0\5.7\msvc2013\include\QtCore\qmutex.h \ + C:\Qt\Qt5.7.0\5.7\msvc2013\include\QtCore\qnumeric.h \ + C:\Qt\Qt5.7.0\5.7\msvc2013\include\QtCore\qversiontagging.h \ + data_process_class_dll/data_process.h \ + data_process_class_dll/parameters.h \ + data_process_class_dll/struct.h \ + C:\Qt\Qt5.7.0\5.7\msvc2013\include\QtCore\QVector \ + C:\Qt\Qt5.7.0\5.7\msvc2013\include\QtCore\qvector.h \ + C:\Qt\Qt5.7.0\5.7\msvc2013\include\QtCore\qalgorithms.h \ + C:\Qt\Qt5.7.0\5.7\msvc2013\include\QtCore\qiterator.h \ + C:\Qt\Qt5.7.0\5.7\msvc2013\include\QtCore\qlist.h \ + C:\Qt\Qt5.7.0\5.7\msvc2013\include\QtCore\qrefcount.h \ + C:\Qt\Qt5.7.0\5.7\msvc2013\include\QtCore\qarraydata.h \ + C:\Qt\Qt5.7.0\5.7\msvc2013\include\QtCore\qhashfunctions.h \ + C:\Qt\Qt5.7.0\5.7\msvc2013\include\QtCore\qchar.h \ + C:\Qt\Qt5.7.0\5.7\msvc2013\include\QtCore\qpair.h \ + C:\Qt\Qt5.7.0\5.7\msvc2013\include\QtCore\qbytearraylist.h \ + C:\Qt\Qt5.7.0\5.7\msvc2013\include\QtCore\qbytearray.h \ + C:\Qt\Qt5.7.0\5.7\msvc2013\include\QtCore\qnamespace.h \ + C:\Qt\Qt5.7.0\5.7\msvc2013\include\QtCore\qstring.h \ + C:\Qt\Qt5.7.0\5.7\msvc2013\include\QtCore\qstringbuilder.h \ + C:\Qt\Qt5.7.0\5.7\msvc2013\include\QtCore\qstringlist.h \ + C:\Qt\Qt5.7.0\5.7\msvc2013\include\QtCore\qregexp.h \ + C:\Qt\Qt5.7.0\5.7\msvc2013\include\QtCore\qstringmatcher.h \ + C:\Qt\Qt5.7.0\5.7\msvc2013\include\QtCore\qpoint.h \ + data_process_class_dll/dot_coh.h \ + data_process_class_dll/dot_coh_tas.h \ + data_process_class_dll/track_init.h \ + data_process_class_dll/track_index_mangement.h \ + data_process_class_dll/track_asso.h \ + data_process_class_dll/track_asso_tas.h \ + data_process_class_dll/track_die.h \ + data_process_class_dll/tas_ctrl.h \ + data_process_class_dll\Eigen\Dense \ + data_process_class_dll\Eigen\Core \ + data_process_class_dll\Eigen\src\Core\util\DisableStupidWarnings.h \ + data_process_class_dll\Eigen\src\Core\util\Macros.h \ + data_process_class_dll\Eigen\src\Core\util\MKL_support.h \ + data_process_class_dll\Eigen\src\misc\blas.h \ + data_process_class_dll\Eigen\src\Core\util\Constants.h \ + data_process_class_dll\Eigen\src\Core\util\Meta.h \ + data_process_class_dll\Eigen\src\Core\util\ForwardDeclarations.h \ + data_process_class_dll\Eigen\src\Core\util\StaticAssert.h \ + data_process_class_dll\Eigen\src\Core\util\XprHelper.h \ + data_process_class_dll\Eigen\src\Core\util\Memory.h \ + data_process_class_dll\Eigen\src\Core\NumTraits.h \ + data_process_class_dll\Eigen\src\Core\MathFunctions.h \ + data_process_class_dll\Eigen\src\Core\GenericPacketMath.h \ + data_process_class_dll\Eigen\src\Core\MathFunctionsImpl.h \ + data_process_class_dll\Eigen\src\Core\arch\Default\ConjHelper.h \ + data_process_class_dll\Eigen\src\Core\arch\SSE\PacketMath.h \ + data_process_class_dll\Eigen\src\Core\arch\AVX\PacketMath.h \ + data_process_class_dll\Eigen\src\Core\arch\AVX512\PacketMath.h \ + data_process_class_dll\Eigen\src\Core\arch\AVX512\MathFunctions.h \ + data_process_class_dll\Eigen\src\Core\arch\SSE\Complex.h \ + data_process_class_dll\Eigen\src\Core\arch\SSE\MathFunctions.h \ + data_process_class_dll\Eigen\src\Core\arch\AVX\MathFunctions.h \ + data_process_class_dll\Eigen\src\Core\arch\AVX\Complex.h \ + data_process_class_dll\Eigen\src\Core\arch\AVX\TypeCasting.h \ + data_process_class_dll\Eigen\src\Core\arch\SSE\TypeCasting.h \ + data_process_class_dll\Eigen\src\Core\arch\AltiVec\PacketMath.h \ + data_process_class_dll\Eigen\src\Core\arch\AltiVec\MathFunctions.h \ + data_process_class_dll\Eigen\src\Core\arch\AltiVec\Complex.h \ + data_process_class_dll\Eigen\src\Core\arch\NEON\PacketMath.h \ + data_process_class_dll\Eigen\src\Core\arch\NEON\MathFunctions.h \ + data_process_class_dll\Eigen\src\Core\arch\NEON\Complex.h \ + data_process_class_dll\Eigen\src\Core\arch\ZVector\PacketMath.h \ + data_process_class_dll\Eigen\src\Core\arch\ZVector\MathFunctions.h \ + data_process_class_dll\Eigen\src\Core\arch\ZVector\Complex.h \ + data_process_class_dll\Eigen\src\Core\arch\CUDA\Half.h \ + data_process_class_dll\Eigen\src\Core\arch\CUDA\PacketMathHalf.h \ + data_process_class_dll\Eigen\src\Core\arch\CUDA\TypeCasting.h \ + data_process_class_dll\Eigen\src\Core\arch\CUDA\PacketMath.h \ + data_process_class_dll\Eigen\src\Core\arch\CUDA\MathFunctions.h \ + data_process_class_dll\Eigen\src\Core\arch\Default\Settings.h \ + data_process_class_dll\Eigen\src\Core\functors\TernaryFunctors.h \ + data_process_class_dll\Eigen\src\Core\functors\BinaryFunctors.h \ + data_process_class_dll\Eigen\src\Core\functors\UnaryFunctors.h \ + data_process_class_dll\Eigen\src\Core\functors\NullaryFunctors.h \ + data_process_class_dll\Eigen\src\Core\functors\StlFunctors.h \ + data_process_class_dll\Eigen\src\Core\functors\AssignmentFunctors.h \ + data_process_class_dll\Eigen\src\Core\arch\CUDA\Complex.h \ + data_process_class_dll\Eigen\src\Core\IO.h \ + data_process_class_dll\Eigen\src\Core\DenseCoeffsBase.h \ + data_process_class_dll\Eigen\src\Core\DenseBase.h \ + data_process_class_dll\Eigen\src\plugins\BlockMethods.h \ + data_process_class_dll\Eigen\src\Core\MatrixBase.h \ + data_process_class_dll\Eigen\src\plugins\CommonCwiseUnaryOps.h \ + data_process_class_dll\Eigen\src\plugins\CommonCwiseBinaryOps.h \ + data_process_class_dll\Eigen\src\plugins\MatrixCwiseUnaryOps.h \ + data_process_class_dll\Eigen\src\plugins\MatrixCwiseBinaryOps.h \ + data_process_class_dll\Eigen\src\Core\EigenBase.h \ + data_process_class_dll\Eigen\src\Core\Product.h \ + data_process_class_dll\Eigen\src\Core\CoreEvaluators.h \ + data_process_class_dll\Eigen\src\Core\AssignEvaluator.h \ + data_process_class_dll\Eigen\src\Core\Assign.h \ + data_process_class_dll\Eigen\src\Core\ArrayBase.h \ + data_process_class_dll\Eigen\src\plugins\ArrayCwiseUnaryOps.h \ + data_process_class_dll\Eigen\src\plugins\ArrayCwiseBinaryOps.h \ + data_process_class_dll\Eigen\src\Core\util\BlasUtil.h \ + data_process_class_dll\Eigen\src\Core\DenseStorage.h \ + data_process_class_dll\Eigen\src\Core\NestByValue.h \ + data_process_class_dll\Eigen\src\Core\ReturnByValue.h \ + data_process_class_dll\Eigen\src\Core\NoAlias.h \ + data_process_class_dll\Eigen\src\Core\PlainObjectBase.h \ + data_process_class_dll\Eigen\src\Core\Matrix.h \ + data_process_class_dll\Eigen\src\Core\Array.h \ + data_process_class_dll\Eigen\src\Core\CwiseTernaryOp.h \ + data_process_class_dll\Eigen\src\Core\CwiseBinaryOp.h \ + data_process_class_dll\Eigen\src\Core\CwiseUnaryOp.h \ + data_process_class_dll\Eigen\src\Core\CwiseNullaryOp.h \ + data_process_class_dll\Eigen\src\Core\CwiseUnaryView.h \ + data_process_class_dll\Eigen\src\Core\SelfCwiseBinaryOp.h \ + data_process_class_dll\Eigen\src\Core\Dot.h \ + data_process_class_dll\Eigen\src\Core\StableNorm.h \ + data_process_class_dll\Eigen\src\Core\Stride.h \ + data_process_class_dll\Eigen\src\Core\MapBase.h \ + data_process_class_dll\Eigen\src\Core\Map.h \ + data_process_class_dll\Eigen\src\Core\Ref.h \ + data_process_class_dll\Eigen\src\Core\Block.h \ + data_process_class_dll\Eigen\src\Core\VectorBlock.h \ + data_process_class_dll\Eigen\src\Core\Transpose.h \ + data_process_class_dll\Eigen\src\Core\DiagonalMatrix.h \ + data_process_class_dll\Eigen\src\Core\Diagonal.h \ + data_process_class_dll\Eigen\src\Core\DiagonalProduct.h \ + data_process_class_dll\Eigen\src\Core\Redux.h \ + data_process_class_dll\Eigen\src\Core\Visitor.h \ + data_process_class_dll\Eigen\src\Core\Fuzzy.h \ + data_process_class_dll\Eigen\src\Core\Swap.h \ + data_process_class_dll\Eigen\src\Core\CommaInitializer.h \ + data_process_class_dll\Eigen\src\Core\GeneralProduct.h \ + data_process_class_dll\Eigen\src\Core\Solve.h \ + data_process_class_dll\Eigen\src\Core\Inverse.h \ + data_process_class_dll\Eigen\src\Core\SolverBase.h \ + data_process_class_dll\Eigen\src\Core\PermutationMatrix.h \ + data_process_class_dll\Eigen\src\Core\Transpositions.h \ + data_process_class_dll\Eigen\src\Core\TriangularMatrix.h \ + data_process_class_dll\Eigen\src\Core\SelfAdjointView.h \ + data_process_class_dll\Eigen\src\Core\products\GeneralBlockPanelKernel.h \ + data_process_class_dll\Eigen\src\Core\products\Parallelizer.h \ + data_process_class_dll\Eigen\src\Core\ProductEvaluators.h \ + data_process_class_dll\Eigen\src\Core\products\GeneralMatrixVector.h \ + data_process_class_dll\Eigen\src\Core\products\GeneralMatrixMatrix.h \ + data_process_class_dll\Eigen\src\Core\SolveTriangular.h \ + data_process_class_dll\Eigen\src\Core\products\GeneralMatrixMatrixTriangular.h \ + data_process_class_dll\Eigen\src\Core\products\SelfadjointMatrixVector.h \ + data_process_class_dll\Eigen\src\Core\products\SelfadjointMatrixMatrix.h \ + data_process_class_dll\Eigen\src\Core\products\SelfadjointProduct.h \ + data_process_class_dll\Eigen\src\Core\products\SelfadjointRank2Update.h \ + data_process_class_dll\Eigen\src\Core\products\TriangularMatrixVector.h \ + data_process_class_dll\Eigen\src\Core\products\TriangularMatrixMatrix.h \ + data_process_class_dll\Eigen\src\Core\products\TriangularSolverMatrix.h \ + data_process_class_dll\Eigen\src\Core\products\TriangularSolverVector.h \ + data_process_class_dll\Eigen\src\Core\BandMatrix.h \ + data_process_class_dll\Eigen\src\Core\CoreIterators.h \ + data_process_class_dll\Eigen\src\Core\ConditionEstimator.h \ + data_process_class_dll\Eigen\src\Core\BooleanRedux.h \ + data_process_class_dll\Eigen\src\Core\Select.h \ + data_process_class_dll\Eigen\src\Core\VectorwiseOp.h \ + data_process_class_dll\Eigen\src\Core\Random.h \ + data_process_class_dll\Eigen\src\Core\Replicate.h \ + data_process_class_dll\Eigen\src\Core\Reverse.h \ + data_process_class_dll\Eigen\src\Core\ArrayWrapper.h \ + data_process_class_dll\Eigen\src\Core\products\GeneralMatrixMatrix_BLAS.h \ + data_process_class_dll\Eigen\src\Core\products\GeneralMatrixVector_BLAS.h \ + data_process_class_dll\Eigen\src\Core\products\GeneralMatrixMatrixTriangular_BLAS.h \ + data_process_class_dll\Eigen\src\Core\products\SelfadjointMatrixMatrix_BLAS.h \ + data_process_class_dll\Eigen\src\Core\products\SelfadjointMatrixVector_BLAS.h \ + data_process_class_dll\Eigen\src\Core\products\TriangularMatrixMatrix_BLAS.h \ + data_process_class_dll\Eigen\src\Core\products\TriangularMatrixVector_BLAS.h \ + data_process_class_dll\Eigen\src\Core\products\TriangularSolverMatrix_BLAS.h \ + data_process_class_dll\Eigen\src\Core\Assign_MKL.h \ + data_process_class_dll\Eigen\src\Core\GlobalFunctions.h \ + data_process_class_dll\Eigen\src\Core\util\ReenableStupidWarnings.h \ + data_process_class_dll\Eigen\LU \ + data_process_class_dll\Eigen\src\misc\Kernel.h \ + data_process_class_dll\Eigen\src\misc\Image.h \ + data_process_class_dll\Eigen\src\LU\FullPivLU.h \ + data_process_class_dll\Eigen\src\LU\PartialPivLU.h \ + data_process_class_dll\Eigen\src\misc\lapacke.h \ + data_process_class_dll\Eigen\src\misc\lapacke_mangling.h \ + data_process_class_dll\Eigen\src\LU\PartialPivLU_LAPACKE.h \ + data_process_class_dll\Eigen\src\LU\Determinant.h \ + data_process_class_dll\Eigen\src\LU\InverseImpl.h \ + data_process_class_dll\Eigen\src\LU\arch\Inverse_SSE.h \ + data_process_class_dll\Eigen\Cholesky \ + data_process_class_dll\Eigen\Jacobi \ + data_process_class_dll\Eigen\src\Jacobi\Jacobi.h \ + data_process_class_dll\Eigen\src\Cholesky\LLT.h \ + data_process_class_dll\Eigen\src\Cholesky\LDLT.h \ + data_process_class_dll\Eigen\src\Cholesky\LLT_LAPACKE.h \ + data_process_class_dll\Eigen\QR \ + data_process_class_dll\Eigen\Householder \ + data_process_class_dll\Eigen\src\Householder\Householder.h \ + data_process_class_dll\Eigen\src\Householder\HouseholderSequence.h \ + data_process_class_dll\Eigen\src\Householder\BlockHouseholder.h \ + data_process_class_dll\Eigen\src\QR\HouseholderQR.h \ + data_process_class_dll\Eigen\src\QR\FullPivHouseholderQR.h \ + data_process_class_dll\Eigen\src\QR\ColPivHouseholderQR.h \ + data_process_class_dll\Eigen\src\QR\CompleteOrthogonalDecomposition.h \ + data_process_class_dll\Eigen\src\QR\HouseholderQR_LAPACKE.h \ + data_process_class_dll\Eigen\src\QR\ColPivHouseholderQR_LAPACKE.h \ + data_process_class_dll\Eigen\SVD \ + data_process_class_dll\Eigen\src\misc\RealSvd2x2.h \ + data_process_class_dll\Eigen\src\SVD\UpperBidiagonalization.h \ + data_process_class_dll\Eigen\src\SVD\SVDBase.h \ + data_process_class_dll\Eigen\src\SVD\JacobiSVD.h \ + data_process_class_dll\Eigen\src\SVD\BDCSVD.h \ + data_process_class_dll\Eigen\src\SVD\JacobiSVD_LAPACKE.h \ + data_process_class_dll\Eigen\Geometry \ + data_process_class_dll\Eigen\src\Geometry\OrthoMethods.h 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data_process_class_dll\Eigen\src\Core\CoreIterators.h \ + data_process_class_dll\Eigen\src\Core\ConditionEstimator.h \ + data_process_class_dll\Eigen\src\Core\BooleanRedux.h \ + data_process_class_dll\Eigen\src\Core\Select.h \ + data_process_class_dll\Eigen\src\Core\VectorwiseOp.h \ + data_process_class_dll\Eigen\src\Core\Random.h \ + data_process_class_dll\Eigen\src\Core\Replicate.h \ + data_process_class_dll\Eigen\src\Core\Reverse.h \ + data_process_class_dll\Eigen\src\Core\ArrayWrapper.h \ + data_process_class_dll\Eigen\src\Core\products\GeneralMatrixMatrix_BLAS.h \ + data_process_class_dll\Eigen\src\Core\products\GeneralMatrixVector_BLAS.h \ + data_process_class_dll\Eigen\src\Core\products\GeneralMatrixMatrixTriangular_BLAS.h \ + data_process_class_dll\Eigen\src\Core\products\SelfadjointMatrixMatrix_BLAS.h \ + data_process_class_dll\Eigen\src\Core\products\SelfadjointMatrixVector_BLAS.h \ + data_process_class_dll\Eigen\src\Core\products\TriangularMatrixMatrix_BLAS.h \ + data_process_class_dll\Eigen\src\Core\products\TriangularMatrixVector_BLAS.h \ + data_process_class_dll\Eigen\src\Core\products\TriangularSolverMatrix_BLAS.h \ + data_process_class_dll\Eigen\src\Core\Assign_MKL.h \ + data_process_class_dll\Eigen\src\Core\GlobalFunctions.h \ + data_process_class_dll\Eigen\src\Core\util\ReenableStupidWarnings.h \ + data_process_class_dll\Eigen\LU \ + data_process_class_dll\Eigen\src\misc\Kernel.h \ + data_process_class_dll\Eigen\src\misc\Image.h \ + data_process_class_dll\Eigen\src\LU\FullPivLU.h \ + data_process_class_dll\Eigen\src\LU\PartialPivLU.h \ + data_process_class_dll\Eigen\src\misc\lapacke.h \ + data_process_class_dll\Eigen\src\misc\lapacke_mangling.h \ + data_process_class_dll\Eigen\src\LU\PartialPivLU_LAPACKE.h \ + data_process_class_dll\Eigen\src\LU\Determinant.h \ + data_process_class_dll\Eigen\src\LU\InverseImpl.h \ + data_process_class_dll\Eigen\src\LU\arch\Inverse_SSE.h \ + data_process_class_dll\Eigen\Cholesky \ + data_process_class_dll\Eigen\Jacobi \ + data_process_class_dll\Eigen\src\Jacobi\Jacobi.h \ + data_process_class_dll\Eigen\src\Cholesky\LLT.h \ + data_process_class_dll\Eigen\src\Cholesky\LDLT.h \ + data_process_class_dll\Eigen\src\Cholesky\LLT_LAPACKE.h \ + data_process_class_dll\Eigen\QR \ + data_process_class_dll\Eigen\Householder \ + data_process_class_dll\Eigen\src\Householder\Householder.h \ + data_process_class_dll\Eigen\src\Householder\HouseholderSequence.h \ + data_process_class_dll\Eigen\src\Householder\BlockHouseholder.h \ + data_process_class_dll\Eigen\src\QR\HouseholderQR.h \ + data_process_class_dll\Eigen\src\QR\FullPivHouseholderQR.h \ + data_process_class_dll\Eigen\src\QR\ColPivHouseholderQR.h \ + data_process_class_dll\Eigen\src\QR\CompleteOrthogonalDecomposition.h \ + data_process_class_dll\Eigen\src\QR\HouseholderQR_LAPACKE.h \ + data_process_class_dll\Eigen\src\QR\ColPivHouseholderQR_LAPACKE.h \ + data_process_class_dll\Eigen\SVD \ + data_process_class_dll\Eigen\src\misc\RealSvd2x2.h \ + data_process_class_dll\Eigen\src\SVD\UpperBidiagonalization.h \ + data_process_class_dll\Eigen\src\SVD\SVDBase.h \ + data_process_class_dll\Eigen\src\SVD\JacobiSVD.h \ + data_process_class_dll\Eigen\src\SVD\BDCSVD.h \ + data_process_class_dll\Eigen\src\SVD\JacobiSVD_LAPACKE.h \ + data_process_class_dll\Eigen\Geometry \ + data_process_class_dll\Eigen\src\Geometry\OrthoMethods.h \ + data_process_class_dll\Eigen\src\Geometry\EulerAngles.h \ + data_process_class_dll\Eigen\src\Geometry\Homogeneous.h \ + data_process_class_dll\Eigen\src\Geometry\RotationBase.h \ + data_process_class_dll\Eigen\src\Geometry\Rotation2D.h \ + data_process_class_dll\Eigen\src\Geometry\Quaternion.h \ + data_process_class_dll\Eigen\src\Geometry\AngleAxis.h \ + data_process_class_dll\Eigen\src\Geometry\Transform.h \ + data_process_class_dll\Eigen\src\Geometry\Translation.h \ + data_process_class_dll\Eigen\src\Geometry\Scaling.h \ + data_process_class_dll\Eigen\src\Geometry\Hyperplane.h \ + data_process_class_dll\Eigen\src\Geometry\ParametrizedLine.h \ + data_process_class_dll\Eigen\src\Geometry\AlignedBox.h \ + data_process_class_dll\Eigen\src\Geometry\Umeyama.h \ + data_process_class_dll\Eigen\src\Geometry\arch\Geometry_SSE.h \ + data_process_class_dll\Eigen\Eigenvalues \ + data_process_class_dll\Eigen\src\Eigenvalues\Tridiagonalization.h \ + data_process_class_dll\Eigen\src\Eigenvalues\RealSchur.h \ + data_process_class_dll\Eigen\src\Eigenvalues\HessenbergDecomposition.h \ + data_process_class_dll\Eigen\src\Eigenvalues\EigenSolver.h \ + data_process_class_dll\Eigen\src\Eigenvalues\SelfAdjointEigenSolver.h \ + data_process_class_dll\Eigen\src\Eigenvalues\GeneralizedSelfAdjointEigenSolver.h \ + data_process_class_dll\Eigen\src\Eigenvalues\ComplexSchur.h \ + data_process_class_dll\Eigen\src\Eigenvalues\ComplexEigenSolver.h \ + data_process_class_dll\Eigen\src\Eigenvalues\RealQZ.h \ + data_process_class_dll\Eigen\src\Eigenvalues\GeneralizedEigenSolver.h \ + data_process_class_dll\Eigen\src\Eigenvalues\MatrixBaseEigenvalues.h \ + data_process_class_dll\Eigen\src\Eigenvalues\RealSchur_LAPACKE.h \ + data_process_class_dll\Eigen\src\Eigenvalues\ComplexSchur_LAPACKE.h \ + data_process_class_dll\Eigen\src\Eigenvalues\SelfAdjointEigenSolver_LAPACKE.h \ + data_process_class_dll/coor_trans.h \ + C:\Qt\Qt5.7.0\5.7\msvc2013\include\QtCore\qmath.h + +####### Install + +install: FORCE + +uninstall: FORCE + +FORCE: + diff --git a/README.md b/README.md index 1b0450d..69448ec 100644 --- a/README.md +++ b/README.md @@ -9,3 +9,25 @@ +改进的情况： + +1. 目标凝聚中考虑360°两侧点的凝聚；（已经改20260213） + + float delta_F = fabs(point_0_F-point_1_F)<2*PI-fabs(point_0_F-point_1_F) ? fabs(point_0_F-point_1_F) :2*PI-fabs(point_0_F-point_1_F); + +2. 起航的门限增大8（已经改20260213） + +3. 改了点迹凝聚的逻辑，每一包数据输入的时候滑窗凝聚（ 改了一下数据预处理函数的返回值程序才能执行，20260214） + +4. 起航的时候要删除有重叠航迹（20260215 修改了，验证中） + + + +20260228 +v1.5.1 雷达通信协议修改后的新程序、加了TAS逻辑，待测试 + + + + + + diff --git a/data_process_class_dll/coor_trans.cpp b/data_process_class_dll/coor_trans.cpp index 5ac05f3..6f94b4c 100644 --- a/data_process_class_dll/coor_trans.cpp +++ b/data_process_class_dll/coor_trans.cpp @@ -5,13 +5,13 @@ using namespace std; //极坐标转直角坐标 -void coor_trans::polar2cart(float *x, float *y, float Range, float Azimuth) +void coor_trans::polar2cart(double *x, double *y, double Range, double Azimuth) { *x=Range*cos(Azimuth); *y=Range*sin(Azimuth); } -void coor_trans::cart2polar(float x, float y, float *Range, float *Azimuth) +void coor_trans::cart2polar(double x, double y, double *Range, double *Azimuth) { *Range=sqrt(x*x+y*y); *Azimuth=atan2(y,x); diff --git a/data_process_class_dll/coor_trans.h b/data_process_class_dll/coor_trans.h index 617b514..93eb757 100644 --- a/data_process_class_dll/coor_trans.h +++ b/data_process_class_dll/coor_trans.h @@ -6,9 +6,9 @@ class coor_trans { public: - void polar2cart(float *x, float *y, float Range, float Azimuth); + void polar2cart( double*x, double *y, double Range, double Azimuth); - void cart2polar(float x, float y, float *Range, float *Azimuth); + void cart2polar(double x, double y, double *Range, double *Azimuth); }; diff --git a/data_process_class_dll/data_process.cpp b/data_process_class_dll/data_process.cpp index 680c50e..37b746d 100644 --- a/data_process_class_dll/data_process.cpp +++ b/data_process_class_dll/data_process.cpp @@ -1,7 +1,9 @@ #include "data_process.h" #include "memory.h" +#include #include #include + using namespace std; /*******************************************************************************/ /*******************************************************************************/ @@ -13,20 +15,16 @@ using namespace std; //数据预处理 int Data_Process::data_preprocess(struct DataRev Data_Input[150]) { - beam_count=beam_count+1; //3波束计数 - - //取波束1数据 存入缓存 暂不处理 - if(beam_count%3==1) + //数据存入缓存区域 Data_buffer + if(Data_Input[0].point_type == 0) //tws数据 { - beam_index[0]=Data_Input[0].Beam_index; - data_num_1=Data_Input[0].Point_Sum; + data_num=Data_Input[0].Point_Sum; TAS_track_idx = Data_Input[0].TAS_track_index; - for (int i=0; i().swap(Data_buffer); + } + + + if(model==1) { *Trust_track_num_Output=0; //航迹更新数 *Track_die_num_Output=0; //航迹消亡数目 - dot_coh.dot_coh_process(&Data_buffer,beam_index,&point_recv,Work_Parameter); //点迹凝聚 + track_asso.track_asso_process(&point_recv, + &trust_track, + Trust_Track_Output, + Trust_track_num_Output, + Work_Parameter + ); - QVector().swap(Data_buffer);//凝聚完毕 清除Data_buffer + track_die.track_die_process( &trust_track, + Track_die_Index_Output, + Track_die_num_Output); - if (beam_index[0] == DOT_SECTION_1+2 ) - { - //波束1 - // 点迹区1、9 关联航迹区9 ， 消亡航迹区9， 起始点迹区8 - track_asso.track_asso_process(&point_recv[1-1], - &point_recv[9-1], - &trust_track[9-1], - Trust_Track_Output, - Trust_track_num_Output, - Work_Parameter - ); - - track_die.track_die_process( &trust_track[9-1], - Track_die_Index_Output, - Track_die_num_Output); - - track_init.track_init_process_logic( &point_recv[8-1], - &trust_track, - &temp_track[8-1], - Trust_Track_Output, - Trust_track_num_Output, - Work_Parameter); - - //波束2 - // 点迹区3、4 关联航迹区3 ， 消亡航迹区3， 起始点迹区2 - track_asso.track_asso_process(&point_recv[3-1], - &point_recv[4-1], - &trust_track[3-1], - Trust_Track_Output, - Trust_track_num_Output, - Work_Parameter - );//航迹关联 - - track_die.track_die_process( &trust_track[3-1], - 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); - - track_init.track_init_process_logic( &point_recv[2-1], - &trust_track, - &temp_track[2-1], - Trust_Track_Output, - Trust_track_num_Output, - Work_Parameter); - - //波束3 - // 点迹区6、7 关联航迹区6 ， 消亡航迹区6， 起始点迹区5 - track_asso.track_asso_process(&point_recv[6-1], - &point_recv[7-1], - &trust_track[6-1], - Trust_Track_Output, - Trust_track_num_Output, - Work_Parameter - );//航迹关联 - - track_die.track_die_process( &trust_track[6-1], - Track_die_Index_Output, - Track_die_num_Output); - - track_init.track_init_process_logic( &point_recv[5-1], - &trust_track, - &temp_track[5-1], - Trust_Track_Output, - Trust_track_num_Output, - Work_Parameter); - - - Track_section_sort(); - } - if (beam_index[0] == DOT_SECTION_2+2 ) - { - //波束1 - // 点迹区1、2 关联航迹区1 ， 消亡航迹区1， 起始点迹区9 - track_asso.track_asso_process(&point_recv[1-1], - &point_recv[2-1], - &trust_track[1-1], - Trust_Track_Output, - Trust_track_num_Output, - Work_Parameter - ); - - track_die.track_die_process( &trust_track[1-1], - Track_die_Index_Output, - Track_die_num_Output); - - track_init.track_init_process_logic( &point_recv[9-1], - &trust_track, - &temp_track[9-1], - Trust_Track_Output, - Trust_track_num_Output, - Work_Parameter); - - //波束2 - // 点迹区4、5 关联航迹区4 ， 消亡航迹区4， 起始点迹区3 - - - track_asso.track_asso_process(&point_recv[4-1], - &point_recv[5-1], - &trust_track[4-1], - Trust_Track_Output, - Trust_track_num_Output, - Work_Parameter - ); - - track_die.track_die_process( &trust_track[4-1], - Track_die_Index_Output, - Track_die_num_Output); - - - track_init.track_init_process_logic( &point_recv[3-1], - &trust_track, - &temp_track[3-1], - Trust_Track_Output, - Trust_track_num_Output, - Work_Parameter); - //波束3 - // 点迹区7、8 关联航迹区7 ， 消亡航迹区7， 起始点迹区6 - track_asso.track_asso_process(&point_recv[7-1], - &point_recv[8-1], - &trust_track[7-1], - Trust_Track_Output, - Trust_track_num_Output, - Work_Parameter - ); - - track_die.track_die_process( &trust_track[7-1], - Track_die_Index_Output, - Track_die_num_Output); - - track_init.track_init_process_logic( &point_recv[6-1], - &trust_track, - &temp_track[6-1], - Trust_Track_Output, - Trust_track_num_Output, - Work_Parameter); - Track_section_sort(); - } - if (beam_index[0] == 1 ) - { - //波束1 - // 点迹区2、3 关联航迹区2 ， 消亡航迹区2， 起始点迹区1 - track_asso.track_asso_process(&point_recv[2-1], - &point_recv[3-1], - &trust_track[2-1], - Trust_Track_Output, - Trust_track_num_Output, - Work_Parameter - ); - - track_die.track_die_process( &trust_track[2-1], - Track_die_Index_Output, - Track_die_num_Output); - - - track_init.track_init_process_logic( &point_recv[1-1], - &trust_track, - &temp_track[1-1], - Trust_Track_Output, - Trust_track_num_Output, - Work_Parameter); - - - - //波束2 - // 点迹区5、6 关联航迹区5， 消亡航迹区5， 起始点迹区4 - track_asso.track_asso_process(&point_recv[5-1], - &point_recv[6-1], - &trust_track[5-1], - Trust_Track_Output, - Trust_track_num_Output, - Work_Parameter - ); - - track_die.track_die_process( &trust_track[5-1], - Track_die_Index_Output, - Track_die_num_Output); - - track_init.track_init_process_logic( &point_recv[4-1], - &trust_track, - &temp_track[4-1], - Trust_Track_Output, - Trust_track_num_Output, - Work_Parameter); - - //波束3 - // 点迹区8、9 关联航迹区8 ， 消亡航迹区8， 起始点迹区7 - track_asso.track_asso_process(&point_recv[8-1], - &point_recv[9-1], - &trust_track[8-1], - Trust_Track_Output, - Trust_track_num_Output, - Work_Parameter - ); - - track_die.track_die_process( &trust_track[8-1], - Track_die_Index_Output, - Track_die_num_Output); - - track_init.track_init_process_logic( &point_recv[7-1], - &trust_track, - &temp_track[7-1], - Trust_Track_Output, - Trust_track_num_Output, - Work_Parameter); - Track_section_sort(); - } } - //TAS处理 - else if (model==2) + // TAS处理 + if(model==3) { *Trust_track_num_Output=0; //航迹更新数 *Track_die_num_Output=0; //航迹消亡数目 - dot_coh_tas.dot_coh_tas_process(&Data_buffer,&point_recv_tas); //凝聚 - QVector().swap(Data_buffer);//凝聚完毕 清除Data_buffer - track_asso_tas.track_asso_process_tas(&point_recv_tas, //航迹关联 - &trust_track, - Trust_Track_Output, - Trust_track_num_Output, - Work_Parameter, - TAS_track_idx); + 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 :" <().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); + + + QVector().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); + - QVector().swap(point_recv_tas);//关联完毕 清空point_recv_tas - Track_section_sort(); } - return 0; + + + return 1; } @@ -380,15 +191,8 @@ void Data_Process::Beam_Ctrl(struct TrackingBeam *Tracking_beam, struct Track Trust_Track_Output[][10], int *Trust_track_num_Output) { - if(beam_count%3==0) - { - tas_ctrl.tas_ctrl_process(&trust_track,Tracking_beam, Trust_Track_Output, Trust_track_num_Output,Work_Parameter); - } - else - { - Tracking_beam->open_flag=0; - } + tas_ctrl.tas_ctrl_process(&trust_track,Tracking_beam, Trust_Track_Output, Trust_track_num_Output,Work_Parameter); } @@ -397,31 +201,18 @@ void Data_Process::Beam_Ctrl(struct TrackingBeam *Tracking_beam, //数据处理参数初始化 int Data_Process::track_process_parameters_initial(struct RadarPara Radar_Parameter) { - //变量初始化 - Beam_num=Radar_Parameter.Beam_num; //雷达波位数 - beam_count=0; //波位计数 - memset(beam_index,0,3*sizeof(int)); //三个波位号 - //工作参数设置 memcpy(&Work_Parameter, &Radar_Parameter, sizeof(RadarPara)); - - //初始化容器 - for (int i=0;i ()); - - for (int i=0;i ()); - - for (int i=0;i> () ); - return 0; } + + + //数据处理参数修改 int Data_Process::track_process_parameters_modify(struct RadarPara Radar_Parameter) { @@ -430,6 +221,14 @@ int Data_Process::track_process_parameters_modify(struct RadarPara Radar_Paramet } +//航迹清空函数 +int Data_Process::track_clear_all(void) +{ + //清空可靠航迹 + + return 0; +} + //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 @@ -438,14 +237,14 @@ int Data_Process:: track_delete(int delete_track_num, //手动删除的航 for (int i=0;i #include +#include using namespace Eigen; using namespace std; @@ -44,6 +46,9 @@ public: struct Track Trust_Track_Output[][10], int *Trust_track_num_Output); + //航迹清空函数 + int track_clear_all(void); + //手动航迹删除函数 int track_delete(int delete_track_num, //手动删除的航迹数目 @@ -64,18 +69,19 @@ public: private: - QVector Data_buffer; //接收点迹 输入凝聚 - QVector > point_recv; //凝聚后输出的点迹 按点迹区存入 输入航迹关联、起始 - QVector point_recv_tas; - QVector > trust_track; //可靠航迹 按航迹区存入 - QVector >> temp_track; //临时航迹 按临时航迹区存入 + QVector Data_buffer; //接收点迹 TWS 输入凝聚 + QVector Data_buffer_tas; //接收点迹 TAS 输入凝聚 + + QVector point_recv; //凝聚后输出的点迹 按点迹区存入 输入航迹关联、起始 + QVector point_recv_tas; //凝聚后输出的点迹 TAS + QVector trust_track; //可靠航迹 按航迹区存入 + QVector > temp_track; //临时航迹 按临时航迹区存入 int Beam_num; //波位数 int beam_count; //波位计数 - int data_num_1; //波位1点数 - int data_num_2; //波位2点数 - int data_num_3; //波位3点数 + int data_num; //波位1点数 + int beam_index[3]; //3个波位号(当前帧) int TAS_track_idx; //TAS数据的目标批号 @@ -97,9 +103,9 @@ private: Track_Die track_die; //航迹消亡 - TAS_Ctrl tas_ctrl; //TAS波束控制 + Track_Die_Tas track_die_tas; - void Track_section_sort(); //航迹区整理 + TAS_Ctrl tas_ctrl; //TAS波束控制 }; diff --git a/data_process_class_dll/data_process_class_dll.cpp b/data_process_class_dll/data_process_class_dll.cpp index 254f59c..22c5fb0 100644 --- a/data_process_class_dll/data_process_class_dll.cpp +++ b/data_process_class_dll/data_process_class_dll.cpp @@ -23,6 +23,11 @@ Data_process_class_dll *Data_Process_Factory::GetB() void Data_Process_Factory::Destroy() { - if (p) +// if (p) +// delete p; + + if (p) { delete p; + p = nullptr; + } } diff --git a/data_process_class_dll/data_process_class_dll.h b/data_process_class_dll/data_process_class_dll.h index ef75663..09b2b55 100644 --- a/data_process_class_dll/data_process_class_dll.h +++ b/data_process_class_dll/data_process_class_dll.h @@ -17,13 +17,19 @@ struct DATA_PROCESS_CLASS_DLLSHARED_EXPORT DataRev float Snr; //目标信噪比 float RCS; //目标RCS 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; //波位号 该波位无输入点迹时 也需要给出当前波位 - int PRI; //PRI(us) - int Freq_index; //频点号 + 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 }; @@ -66,6 +72,10 @@ struct DATA_PROCESS_CLASS_DLLSHARED_EXPORT Track 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 }; @@ -83,6 +93,18 @@ struct DATA_PROCESS_CLASS_DLLSHARED_EXPORT TrackingBeam 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 { @@ -122,6 +144,13 @@ struct DATA_PROCESS_CLASS_DLLSHARED_EXPORT RadarPara 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) @@ -175,6 +204,28 @@ public: } + //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 diff --git a/data_process_class_dll/data_process_class_dll.pro b/data_process_class_dll/data_process_class_dll.pro index 0f9570e..d164bc3 100644 --- a/data_process_class_dll/data_process_class_dll.pro +++ b/data_process_class_dll/data_process_class_dll.pro @@ -21,7 +21,9 @@ SOURCES += data_process_class_dll.cpp \ tas_ctrl.cpp \ track_die.cpp \ dot_coh_tas.cpp \ - track_asso_tas.cpp + track_asso_tas.cpp \ + track_init_direct_tracking.cpp \ + track_die_tas.cpp HEADERS += data_process_class_dll.h\ data_process_class_dll_global.h \ @@ -37,7 +39,9 @@ HEADERS += data_process_class_dll.h\ tas_ctrl.h \ track_die.h \ dot_coh_tas.h \ - track_asso_tas.h + track_asso_tas.h \ + track_init_direct_tracking.h \ + track_die_tas.h unix { target.path = /usr/lib diff --git a/data_process_class_dll/data_process_class_dll.pro.user b/data_process_class_dll/data_process_class_dll.pro.user index 981aff8..5accdd2 100644 --- a/data_process_class_dll/data_process_class_dll.pro.user +++ b/data_process_class_dll/data_process_class_dll.pro.user @@ -1,10 +1,10 @@ - + EnvironmentId - {0b80abbd-012d-4338-8c64-507c85ad099b} + {bda90df5-9664-4f48-ab0c-f665f06226f6} ProjectExplorer.Project.ActiveTarget @@ -54,9 +54,7 @@ ProjectExplorer.Project.PluginSettings - - - + ProjectExplorer.Project.Target.0 @@ -122,7 +120,7 @@ true - D:/hhyk_data_process/2003/build-data_process_class_dll-Desktop_Qt_5_7_0_MSVC2013_32bit-Release + E:/Demo/QT/simianzhen256-v1.5.5/release true diff --git a/data_process_class_dll/data_process_class_dll.pro.user.0b80abb b/data_process_class_dll/data_process_class_dll.pro.user.0b80abb new file mode 100644 index 0000000..cf61861 --- /dev/null +++ b/data_process_class_dll/data_process_class_dll.pro.user.0b80abb @@ -0,0 +1,317 @@ + + + + + + EnvironmentId + {0b80abbd-012d-4338-8c64-507c85ad099b} + + + ProjectExplorer.Project.ActiveTarget + 0 + + + ProjectExplorer.Project.EditorSettings + + true + false + true + + Cpp + + CppGlobal + + + + QmlJS + + QmlJSGlobal + + + 2 + UTF-8 + false + 4 + false + 80 + true + true + 1 + true + false + 0 + true + true + 0 + 8 + true + 1 + true + true + true + false + + + + ProjectExplorer.Project.PluginSettings + + + + + + ProjectExplorer.Project.Target.0 + + Desktop Qt 5.7.0 MSVC2013 32bit + Desktop Qt 5.7.0 MSVC2013 32bit + qt.57.win32_msvc2013_kit + 1 + 0 + 0 + + E:/data_process_qt_vision_2003/build-data_process_class_dll-Desktop_Qt_5_7_0_MSVC2013_32bit-Debug + + + true + qmake + + QtProjectManager.QMakeBuildStep + true + + false + false + false + + + true + Make + + Qt4ProjectManager.MakeStep + + false + + + + 2 + 构建 + + ProjectExplorer.BuildSteps.Build + + + + true + Make + + Qt4ProjectManager.MakeStep + + true + clean + + + 1 + 清理 + + ProjectExplorer.BuildSteps.Clean + + 2 + false + + Debug + + Qt4ProjectManager.Qt4BuildConfiguration + 2 + true + + + D:/007_hhyk_data_process/data_process_mianzhen576/mianzhen576-v1.4.2/build-data_process_class_dll-Desktop_Qt_5_7_0_MSVC2013_32bit-Release + + + true + qmake + + QtProjectManager.QMakeBuildStep + false + + false + false + false + + + true + Make + + Qt4ProjectManager.MakeStep + + false + + + + 2 + 构建 + + ProjectExplorer.BuildSteps.Build + + + + true + Make + + Qt4ProjectManager.MakeStep + + true + clean + + + 1 + 清理 + + ProjectExplorer.BuildSteps.Clean + + 2 + false + + Release + + Qt4ProjectManager.Qt4BuildConfiguration + 0 + true + + + E:/data_process_qt_vision_2003/build-data_process_class_dll-Desktop_Qt_5_7_0_MSVC2013_32bit-Profile + + + true + qmake + + QtProjectManager.QMakeBuildStep + true + + false + true + false + + + true + Make + + Qt4ProjectManager.MakeStep + + false + + + + 2 + 构建 + + ProjectExplorer.BuildSteps.Build + + + + true + Make + + Qt4ProjectManager.MakeStep + + true + clean + + + 1 + 清理 + + ProjectExplorer.BuildSteps.Clean + + 2 + false + + Profile + + Qt4ProjectManager.Qt4BuildConfiguration + 0 + true + + 3 + + + 0 + 部署 + + ProjectExplorer.BuildSteps.Deploy + + 1 + 在本地部署 + + ProjectExplorer.DefaultDeployConfiguration + + 1 + + + false + false + 1000 + + true + + false + false + false + false + true + 0.01 + 10 + true + 1 + 25 + + 1 + true + false + true + valgrind + + 0 + 1 + 2 + 3 + 4 + 5 + 6 + 7 + 8 + 9 + 10 + 11 + 12 + 13 + 14 + + 2 + + + + %{buildDir} + 自定义执行档 + + ProjectExplorer.CustomExecutableRunConfiguration + 3768 + false + true + false + false + true + + 1 + + + + ProjectExplorer.Project.TargetCount + 1 + + + ProjectExplorer.Project.Updater.FileVersion + 18 + + + Version + 18 + + diff --git a/data_process_class_dll/dot_coh.cpp b/data_process_class_dll/dot_coh.cpp index 9a3a3fe..0f0325a 100644 --- a/data_process_class_dll/dot_coh.cpp +++ b/data_process_class_dll/dot_coh.cpp @@ -6,66 +6,29 @@ using namespace std; int Dot_Coh::dot_coh_process(QVector *data_input, - int beam_input[3], - QVector > *point_recv, + QVector *point_recv, struct RadarPara Work_Parameter) { - //数据移动一位 - for (int i=0;i point_recv - { - (*point_recv)[floor(data_buffer_2[i].beam_index/BEAM_NUM_DOT_SECTION)].push_back(data_buffer_2[i]); - } - QVector().swap(data_buffer_2); - - - - for (int i=0;i data_buffer_2 - { - data_buffer_2.push_back(data_buffer_1[i]); - } - QVector().swap(data_buffer_1); - - - - for (int i=0;isize();i++) //data_input ---> data_buffer_1 - { - data_buffer_1.push_back((*data_input)[i]); - } - - - //凝聚data_buffer_1 data_buffer_2中的数据 - QVector data_buffer; - - for (int i=0;i().swap(data_buffer_1); - QVector().swap(data_buffer_2); - - - if(data_buffer.size()>1) + if(data_input->size()>1) { - for (unsigned int loop_of_point=0; loop_of_pointsize()-1;loop_of_point++ ) { - if( data_buffer[loop_of_point].Use_Flag!=1) + if( (*data_input)[loop_of_point].Use_Flag!=1) { - float point_0_R=data_buffer[loop_of_point].Range; - float point_0_V=data_buffer[loop_of_point].Velocity; - float point_0_F=data_buffer[loop_of_point].Azimuth; - float point_0_A=data_buffer[loop_of_point].Amplitude; - for (unsigned int i=loop_of_point+1;isize();i++) { - if(data_buffer[loop_of_point].Use_Flag!=1) + if((*data_input)[loop_of_point].Use_Flag!=1) { - float point_1_R=data_buffer[i].Range; - float point_1_V=data_buffer[i].Velocity; - float point_1_F=data_buffer[i].Azimuth; - float point_1_A=data_buffer[i].Amplitude; + float point_1_R=(*data_input)[i].Range; + float point_1_V=(*data_input)[i].Velocity; + float point_1_F=(*data_input)[i].Azimuth; + float point_1_A=(*data_input)[i].Amplitude; //凝聚条件： 距离、方位接近 if(Work_Parameter.work_mode == 0) @@ -73,33 +36,34 @@ int Dot_Coh::dot_coh_process(QVector *data_input, if( (fabs(point_0_R-point_1_R)<=DOT_COH_RANGE && fabs(point_0_F-point_1_F) <=DOT_COH_AZI/180.0*PI && fabs(point_0_V-point_1_V)<=DOT_COH_V)// && point_0_A = point_1_A)// { - data_buffer[i].Use_Flag=1; + (*data_input)[i].Use_Flag=1; } } else { - if( (fabs(point_0_R-point_1_R)<=DOT_COH_RANGE && fabs(point_0_F-point_1_F) <=DOT_COH_AZI/180.0*PI )// + float delta_F = fabs(point_0_F-point_1_F)<2*PI-fabs(point_0_F-point_1_F) ? fabs(point_0_F-point_1_F) :2*PI-fabs(point_0_F-point_1_F); + if( (fabs(point_0_R-point_1_R)<=DOT_COH_RANGE && delta_F <=DOT_COH_AZI/180.0*PI )// && point_0_A = point_1_A)// { - data_buffer[i].Use_Flag=1; + (*data_input)[i].Use_Flag=1; } @@ -111,15 +75,14 @@ int Dot_Coh::dot_coh_process(QVector *data_input, } } - //删除凝聚点 和 量程范围外点 QVector ::iterator Iter; - for (Iter=data_buffer.begin(); Iter!=data_buffer.end();) + for (Iter=data_input->begin(); Iter!=data_input->end();) { if((*Iter).Use_Flag==1 || (*Iter).Range R_MAX ) { - data_buffer.erase(Iter); - Iter=data_buffer.begin(); + data_input->erase(Iter); + Iter=data_input->begin(); } else { @@ -127,15 +90,9 @@ int Dot_Coh::dot_coh_process(QVector *data_input, } } - //凝聚后的数据分别存入data_buffer_1 data_buffer_2 - for(int i=0;isize();i++) //data_buffer_2 ---> point_recv { - if(data_buffer[i].beam_index == beam_input[0] - || data_buffer[i].beam_index == beam_input[1] - || data_buffer[i].beam_index == beam_input[2]) - data_buffer_1.push_back(data_buffer[i]); - else - data_buffer_2.push_back(data_buffer[i]); + (*point_recv).push_back((*data_input)[i]); } return 0; @@ -143,6 +100,160 @@ int Dot_Coh::dot_coh_process(QVector *data_input, + +int Dot_Coh::dot_coh_process_buff( QVector *data_input, //输入的点迹 + QVector *point_recv, //输出点迹 + struct RadarPara Work_Parameter //工作参数 +) +{ + + + + //1. data_input与data_input_buff进行凝聚 + + //1.1 data_input、data_input_buff中的数据放在一起 + QVector data_tmp; + for (int i=0;isize();i++) + { + data_tmp.push_back((*data_input)[i]); + data_tmp[data_tmp.size()-1].point_section_asso = 2; + } + + //1.2 把data_input、data_input_buff清空 + + QVector().swap(data_input_buff); + QVector().swap(*data_input); + + + //1.3 对data_tmp进行凝聚 + if(data_tmp.size()>1) + { + + for (unsigned int loop_of_point=0; loop_of_point= point_1_A)// + { + data_tmp[i].Use_Flag=1; + } + } + else + { + float delta_F = fabs(point_0_F-point_1_F)<2*PI-fabs(point_0_F-point_1_F) ? fabs(point_0_F-point_1_F) :2*PI-fabs(point_0_F-point_1_F); + if( (fabs(point_0_R-point_1_R)<=DOT_COH_RANGE && delta_F <=DOT_COH_AZI/180.0*PI )// + && point_0_A = point_1_A)// + { + data_tmp[i].Use_Flag=1; + } + + + + } + } + } + } + } + } + + //1.4 删除凝聚点 和 量程范围外点 + QVector ::iterator Iter; + for (Iter=data_tmp.begin(); Iter!=data_tmp.end();) + { + if((*Iter).Use_Flag==1 || (*Iter).Range R_MAX ) + { + data_tmp.erase(Iter); + Iter=data_tmp.begin(); + } + else + { + Iter++; + } + } + + //1.5 将data_tmp中凝聚后的点再分到 data_input_buff和data_input中 + for (int i=0;i().swap(data_tmp); + + + + //2.data_input_buff数据输出给point_recv + + for (int i=0;i().swap(data_input_buff); + + + //3.data_input数据输出给data_input_buff + for (int i=0;isize();i++) + { + data_input_buff.push_back((*data_input)[i]); + } + + + + + return 0; +} + + + + Dot_Coh::Dot_Coh(void) { diff --git a/data_process_class_dll/dot_coh.h b/data_process_class_dll/dot_coh.h index 8ad007c..d1d422c 100644 --- a/data_process_class_dll/dot_coh.h +++ b/data_process_class_dll/dot_coh.h @@ -4,7 +4,7 @@ #include "parameters.h" #include "struct.h" #include - +#include using namespace std; @@ -15,21 +15,28 @@ public: // 点迹凝聚函数 int dot_coh_process( QVector *data_input, //输入的点迹 - int beam_input[3], //输入点迹的波位号 - QVector > *point_recv, //输出点迹 + QVector *point_recv, //输出点迹 struct RadarPara Work_Parameter //工作参数 ); + + //点迹凝聚函数，缓存一帧，一边输出，一边进行滑窗凝聚 + int dot_coh_process_buff( QVector *data_input, //输入的点迹 + QVector *point_recv, //输出点迹 + struct RadarPara Work_Parameter //工作参数 + ); + + + + //构造函数 Dot_Coh(); + + private: + QVector data_input_buff; - QVector data_buffer_1; //数据缓存 - - QVector data_buffer_2; - - QVector data_buffer_3; }; diff --git a/data_process_class_dll/kalman.cpp b/data_process_class_dll/kalman.cpp index 3b6b19d..082c5be 100644 --- a/data_process_class_dll/kalman.cpp +++ b/data_process_class_dll/kalman.cpp @@ -11,7 +11,7 @@ using namespace std; -void kalman:: kalman_filter_init_2dots(float Z0[2], float Z1[2], float T,float X[4], float P[4][4]) +void kalman:: kalman_filter_init_2dots(double Z0[2], double Z1[2], double T,double X[4], double P[4][4]) { X[0]=Z1[0]; @@ -19,13 +19,13 @@ void kalman:: kalman_filter_init_2dots(float Z0[2], float Z1[2], float T,float X X[2]=Z1[1]; X[3]=(Z1[1]-Z0[1])/T; - float rho,theta; + double rho,theta; coor_trans Coor_trans; Coor_trans.cart2polar(Z1[0],Z1[1],&rho,&theta); - float lambda_theta=exp(-SIGMA_A*SIGMA_A/2); - float lambda_theta1=exp(-2*SIGMA_A*SIGMA_A); + double lambda_theta=exp(-SIGMA_A*SIGMA_A/2); + double lambda_theta1=exp(-2*SIGMA_A*SIGMA_A); - float R[2][2]; + double R[2][2]; R[0][0]=(pow(lambda_theta,-2)-2)*rho*rho*cos(theta)*cos(theta)+0.5*(rho*rho+SIGMA_R*SIGMA_R)*(1+lambda_theta1*cos(2*theta)); R[1][1]=(pow(lambda_theta,-2)-2)*rho*rho*sin(theta)*sin(theta)+0.5*(rho*rho+SIGMA_R*SIGMA_R)*(1-lambda_theta1*cos(2*theta)); R[0][1]=(pow(lambda_theta,-2)-2)*rho*rho*sin(theta)*cos(theta)+0.5*(rho*rho+SIGMA_R*SIGMA_R)*lambda_theta1*sin(2*theta); @@ -56,68 +56,68 @@ void kalman:: kalman_filter_init_2dots(float Z0[2], float Z1[2], float T,float X } -float kalman::d_cal_track_init(float Z[2],float X[4],float P[4][4],float T) +double kalman::d_cal_track_init(double Z[2],double X[4],double P[4][4],double T) { //X(k+1|k) - Matrix4f F; + Matrix4d F; F<< 1, T, 0, 0, 0, 1, 0, 0, 0, 0, 1, T, 0, 0, 0, 1; - Vector4f X_present = Vector4f(X[0],X[1],X[2],X[3]); - Vector4f X_pred; + Vector4d X_present = Vector4d(X[0],X[1],X[2],X[3]); + Vector4d X_pred; X_pred=F*X_present; //Z(k+1|k) - MatrixXf H(2,4); + MatrixXd H(2,4); H<< 1,0,0,0, 0,0,1,0; - Vector2f Z_pred; + Vector2d Z_pred; Z_pred=H*X_pred; //P(k+1|k) - Matrix2f Q; + Matrix2d Q; Q<< 0.03*0.03, 0, 0, 0.03*0.03; - MatrixXf G(4,2); + MatrixXd G(4,2); G<< T*T/2, 0, T, 0, 0, T*T/2, 0, T; - float rho,theta; + double rho,theta; coor_trans Coor_trans; Coor_trans.cart2polar(Z[0],Z[1],&rho,&theta); - float lambda_theta=exp(-SIGMA_A*SIGMA_A/2); - float lambda_theta1=exp(-2*SIGMA_A*SIGMA_A); + double lambda_theta=exp(-SIGMA_A*SIGMA_A/2); + double lambda_theta1=exp(-2*SIGMA_A*SIGMA_A); - Matrix2f R; + Matrix2d R; R(0,0)=(pow(lambda_theta,-2)-2)*rho*rho*cos(theta)*cos(theta)+0.5*(rho*rho+SIGMA_R*SIGMA_R)*(1+lambda_theta1*cos(2*theta)); R(1,1)=(pow(lambda_theta,-2)-2)*rho*rho*sin(theta)*sin(theta)+0.5*(rho*rho+SIGMA_R*SIGMA_R)*(1-lambda_theta1*cos(2*theta)); R(0,1)=(pow(lambda_theta,-2)-2)*rho*rho*sin(theta)*cos(theta)+0.5*(rho*rho+SIGMA_R*SIGMA_R)*lambda_theta1*sin(2*theta); R(1,0)=R(0,1); - Matrix4f P_present; + Matrix4d P_present; for (int i=0;i<4;i++) for (int j=0;j<4;j++) P_present(i,j)=P[i][j]; - Matrix4f P_pred; + Matrix4d P_pred; P_pred=F*P_present*F.transpose()+G*Q*G.transpose(); //S - Matrix2f S; + Matrix2d S; S=H*P_pred*H.transpose()+R; //d - Vector2f Z_presnet= Vector2f(Z[0],Z[1]); - Vector2f delta_z; + Vector2d Z_presnet= Vector2d(Z[0],Z[1]); + Vector2d delta_z; delta_z=Z_presnet-Z_pred; - float d=delta_z.transpose()*S.inverse()*delta_z; + double d=delta_z.transpose()*S.inverse()*delta_z; return d; @@ -125,14 +125,14 @@ float kalman::d_cal_track_init(float Z[2],float X[4],float P[4][4],float T) -void kalman::kalman_filter_init_3dots(float Z0[2], float Z1[2],float Z2[2], float T1,float T2, float X[6], float P[6][6]) +void kalman::kalman_filter_init_3dots(double Z0[2], double Z1[2],double Z2[2], double T1,double T2, double X[6], double P[6][6]) { - float x0=Z0[0]; - float y0=Z0[1]; - float x1=Z1[0]; - float y1=Z1[1]; - float x2=Z2[0]; - float y2=Z2[1]; + double x0=Z0[0]; + double y0=Z0[1]; + double x1=Z1[0]; + double y1=Z1[1]; + double x2=Z2[0]; + double y2=Z2[1]; X[0]=x2; X[1]=(x2-x1)/T2 ; @@ -143,15 +143,15 @@ void kalman::kalman_filter_init_3dots(float Z0[2], float Z1[2],float Z2[2], floa - float R0[2][2]; - float R1[2][2]; - float R2[2][2]; + double R0[2][2]; + double R1[2][2]; + double R2[2][2]; - float rho,theta; + double rho,theta; coor_trans Coor_trans; Coor_trans.cart2polar(Z0[0],Z0[1],&rho,&theta); - float lambda_theta=exp(-SIGMA_A*SIGMA_A/2); - float lambda_theta1=exp(-2*SIGMA_A*SIGMA_A); + double lambda_theta=exp(-SIGMA_A*SIGMA_A/2); + double lambda_theta1=exp(-2*SIGMA_A*SIGMA_A); R0[0][0]=(pow(lambda_theta,-2)-2)*rho*rho*cos(theta)*cos(theta)+0.5*(rho*rho+SIGMA_R*SIGMA_R)*(1+lambda_theta1*cos(2*theta)); R0[1][1]=(pow(lambda_theta,-2)-2)*rho*rho*sin(theta)*sin(theta)+0.5*(rho*rho+SIGMA_R*SIGMA_R)*(1-lambda_theta1*cos(2*theta)); R0[0][1]=(pow(lambda_theta,-2)-2)*rho*rho*sin(theta)*cos(theta)+0.5*(rho*rho+SIGMA_R*SIGMA_R)*lambda_theta1*sin(2*theta); @@ -171,15 +171,15 @@ void kalman::kalman_filter_init_3dots(float Z0[2], float Z1[2],float Z2[2], floa R2[0][1]=(pow(lambda_theta,-2)-2)*rho*rho*sin(theta)*cos(theta)+0.5*(rho*rho+SIGMA_R*SIGMA_R)*lambda_theta1*sin(2*theta); R2[1][0]=R2[0][1]; - float P11[3][3]={{R2[0][0], R2[0][0]/T2, (R2[0][0]/T2)/((T2+T1)/2)} , + double P11[3][3]={{R2[0][0], R2[0][0]/T2, (R2[0][0]/T2)/((T2+T1)/2)} , {R2[0][0]/T2, (R2[0][0]+R1[0][0])/pow(T2,2), ((R2[0][0]+R1[0][0])/pow(T2,2)+R1[0][0]/(T1*T2))/((T1+T2)/2)} , {(R2[0][0]/T2)/((T2+T1)/2), ((R2[0][0]+R1[0][0])/pow(T2,2)+R1[0][0]/(T1*T2))/((T1+T2)/2) , 4*((R2[0][0]+R1[0][0])/pow(T2,2)+(R1[0][0]+R0[0][0])/pow(T1,2)+2*R1[0][0]/(T1*T2))/pow(T1+T2,2)}}; - float P12[3][3]={{R2[0][1], R2[0][1]/T2, (R2[0][1]/T2)/((T2+T1)/2)} , + double P12[3][3]={{R2[0][1], R2[0][1]/T2, (R2[0][1]/T2)/((T2+T1)/2)} , {R2[0][1]/T2, (R2[0][1]+R1[0][1])/pow(T2,2), ((R2[0][1]+R1[0][1])/pow(T2,2)+R1[0][1]/(T1*T2))/((T1+T2)/2)} , {(R2[0][1]/T2)/((T2+T1)/2), ((R2[0][1]+R1[0][1])/pow(T2,2)+R1[0][1]/(T1*T2))/((T1+T2)/2) , 4*((R2[0][1]+R1[0][1])/pow(T2,2)+(R1[0][1]+R0[0][1])/pow(T1,2)+2*R1[0][1]/(T1*T2))/pow(T1+T2,2)}}; - float P22[3][3]={{R2[1][1], R2[1][1]/T2, (R2[1][1]/T2)/((T2+T1)/2)} , + double P22[3][3]={{R2[1][1], R2[1][1]/T2, (R2[1][1]/T2)/((T2+T1)/2)} , {R2[1][1]/T2, (R2[1][1]+R1[1][1])/pow(T2,2), ((R2[1][1]+R1[1][1])/pow(T2,2)+R1[1][1]/(T1*T2))/((T1+T2)/2)} , {(R2[1][1]/T2)/((T2+T1)/2), ((R2[1][1]+R1[1][1])/pow(T2,2)+R1[1][1]/(T1*T2))/((T1+T2)/2) , 4*((R2[1][1]+R1[1][1])/pow(T2,2)+(R1[1][1]+R0[1][1])/pow(T1,2)+2*R1[1][1]/(T1*T2))/pow(T1+T2,2)}}; for (int i=0;i<3;i++) @@ -203,11 +203,11 @@ void kalman::kalman_filter_init_3dots(float Z0[2], float Z1[2],float Z2[2], floa -float kalman::d_cal(float Z[2],float X[6],float P[6][6]) +double kalman::d_cal(double Z[2],double X[6],double P[6][6]) { - VectorXf X_pred(6); - MatrixXf P_pred(6,6); - Vector2f Z_mea(Z[0],Z[1]); + VectorXd X_pred(6); + MatrixXd P_pred(6,6); + Vector2d Z_mea(Z[0],Z[1]); for (int i=0;i<6;i++) X_pred(i)=X[i]; @@ -217,46 +217,46 @@ float kalman::d_cal(float Z[2],float X[6],float P[6][6]) P_pred(i,j)=P[i][j]; //Z(k+1|k) - MatrixXf H(2,6); + MatrixXd H(2,6); H<< 1,0,0,0,0,0, 0,0,0,1,0,0; - Vector2f Z_pred; + Vector2d Z_pred; Z_pred=H*X_pred; //R - float rho,theta; + double rho,theta; coor_trans Coor_trans; Coor_trans.cart2polar(Z[0],Z[1],&rho,&theta); - float lambda_theta=exp(-SIGMA_A*SIGMA_A/2); - float lambda_theta1=exp(-2*SIGMA_A*SIGMA_A); + double lambda_theta=exp(-SIGMA_A*SIGMA_A/2); + double lambda_theta1=exp(-2*SIGMA_A*SIGMA_A); - Matrix2f R; + Matrix2d R; R(0,0)=(pow(lambda_theta,-2)-2)*rho*rho*cos(theta)*cos(theta)+0.5*(rho*rho+SIGMA_R*SIGMA_R)*(1+lambda_theta1*cos(2*theta)); R(1,1)=(pow(lambda_theta,-2)-2)*rho*rho*sin(theta)*sin(theta)+0.5*(rho*rho+SIGMA_R*SIGMA_R)*(1-lambda_theta1*cos(2*theta)); R(0,1)=(pow(lambda_theta,-2)-2)*rho*rho*sin(theta)*cos(theta)+0.5*(rho*rho+SIGMA_R*SIGMA_R)*lambda_theta1*sin(2*theta); R(1,0)=R(0,1); //S - Matrix2f S; + Matrix2d S; S=H*P_pred*H.transpose()+R; //d - Vector2f delta_z; + Vector2d delta_z; delta_z=Z_mea-Z_pred; - float d=delta_z.transpose()*S.inverse()*delta_z; + double d=delta_z.transpose()*S.inverse()*delta_z; return d; }; -float kalman::d_cal_EKF(float F[6][6], float Q[6][6] ,float Z[3],float X[6],float P[6][6],float prt,float freq_ind) +double kalman::d_cal_EKF(double F[6][6], double Q[6][6] ,double Z[3],double X[6],double P[6][6],double prt,double freq_ind) { - MatrixXf F1(6,6); - MatrixXf Q1(6,6); + MatrixXd F1(6,6); + MatrixXd Q1(6,6); for (int i=0;i<6;i++) for (int j=0;j<6;j++) @@ -264,8 +264,8 @@ float kalman::d_cal_EKF(float F[6][6], float Q[6][6] ,float Z[3],float X[6],floa F1(i,j) = F[i][j]; Q1(i,j) = Q[i][j] ; } - VectorXf X1(6); - MatrixXf P1(6,6); + VectorXd X1(6); + MatrixXd P1(6,6); for (int i=0;i<6;i++) X1(i)=X[i]; @@ -274,29 +274,29 @@ float kalman::d_cal_EKF(float F[6][6], float Q[6][6] ,float Z[3],float X[6],floa P1(i,j)=P[i][j]; - VectorXf X_pred(6); - MatrixXf P_pred(6,6); + VectorXd X_pred(6); + MatrixXd P_pred(6,6); X_pred = F1*X1; P_pred = F1*P1*F1.transpose()+Q1; - Vector3f Z_pred; - float x=X_pred(0); - float vx=X_pred(1); - float y=X_pred(3); - float vy=X_pred(4); + Vector3d Z_pred; + double x=X_pred(0); + double vx=X_pred(1); + double y=X_pred(3); + double vy=X_pred(4); Z_pred(0) = sqrt(x*x+y*y); Z_pred(1)=atan2(y,x); if(Z_pred(1)<0) Z_pred(1)=Z_pred(1)+2*PI; Z_pred(2)= -(x*vx+y*vy)/sqrt(x*x+y*y); - MatrixXf H(3,6); + MatrixXd H(3,6); H(0,0) = x/sqrt(x*x+y*y); H(0,1)=0; H(0,2)=0; H(0,3)=y/sqrt(x*x+y*y); H(0,4)=0; H(0,5)=0; H(1,0) = -y/(x*x+y*y); H(1,1)=0; H(1,2)=0; H(1,3)=x/(x*x+y*y); H(1,4)=0; H(1,5)=0; H(2,0) = -y*(vx*y-vy*x)/((x*x+y*y)*sqrt(x*x+y*y)); H(2,1)=-x/sqrt(x*x+y*y); H(2,2)=0; H(2,3) = -x*(vy*x-vx*y)/((x*x+y*y)*sqrt(x*x+y*y)); H(2,4)=-y/sqrt(x*x+y*y); H(2,5)=0; - Matrix3f R; + Matrix3d R; R(0,0)=SIGMA_R*SIGMA_R; R(1,1)=SIGMA_A*SIGMA_A; R(2,2)=SIGMA_V*SIGMA_V; @@ -308,18 +308,18 @@ float kalman::d_cal_EKF(float F[6][6], float Q[6][6] ,float Z[3],float X[6],floa R(1,2)=0; //S - Matrix3f S; + Matrix3d S; S=H*P_pred*H.transpose()+R; //bind_speed - float v_bind=Bind_speed(prt, freq_ind); + double v_bind=Bind_speed(prt, freq_ind); //d - Vector3f Z_mea(Z[0],Z[1],Z[2]); - Vector3f delta_z; + Vector3d Z_mea(Z[0],Z[1],Z[2]); + Vector3d delta_z; delta_z=Z_mea-Z_pred; delta_z(2)=delta_z(2)-Round(delta_z(2)/v_bind)*v_bind; - float d=delta_z.transpose()*S.inverse()*delta_z; + double d=delta_z.transpose()*S.inverse()*delta_z; return d; @@ -327,11 +327,11 @@ float kalman::d_cal_EKF(float F[6][6], float Q[6][6] ,float Z[3],float X[6],floa } -float kalman:: d_cal_with_doppler(float F[6][6], float Q[6][6] , float Z[2],float X[6],float P[6][6],float vr,float prt,float freq_ind) +double kalman:: d_cal_with_doppler(double F[6][6], double Q[6][6] , double Z[2],double X[6],double P[6][6],double vr,double prt,double freq_ind) { - MatrixXf F1(6,6); - MatrixXf Q1(6,6); + MatrixXd F1(6,6); + MatrixXd Q1(6,6); for (int i=0;i<6;i++) for (int j=0;j<6;j++) @@ -339,8 +339,8 @@ float kalman:: d_cal_with_doppler(float F[6][6], float Q[6][6] , float Z[2],floa F1(i,j) = F[i][j]; Q1(i,j) = Q[i][j] ; } - VectorXf X1(6); - MatrixXf P1(6,6); + VectorXd X1(6); + MatrixXd P1(6,6); for (int i=0;i<6;i++) X1(i)=X[i]; @@ -349,39 +349,39 @@ float kalman:: d_cal_with_doppler(float F[6][6], float Q[6][6] , float Z[2],floa P1(i,j)=P[i][j]; - VectorXf X_pred(6); - MatrixXf P_pred(6,6); - Vector3f Z_mea(Z[0],Z[1],vr); + VectorXd X_pred(6); + MatrixXd P_pred(6,6); + Vector3d Z_mea(Z[0],Z[1],vr); X_pred = F1*X1; P_pred = F1*P1*F1.transpose()+Q1; //Z(k+1|k) - float x=X[0]; - float vx=X[1]; - float y=X[3]; - float vy=X[4]; - float h31=-y*(vx*y-vy*x)/((x*x+y*y)*sqrt(x*x+y*y)); - float h32=-x/sqrt(x*x+y*y); - float h34=-x*(vy*x-vx*y)/((x*x+y*y)*sqrt(x*x+y*y)); - float h35=-y/sqrt(x*x+y*y); - MatrixXf H(3,6); + double x=X[0]; + double vx=X[1]; + double y=X[3]; + double vy=X[4]; + double h31=-y*(vx*y-vy*x)/((x*x+y*y)*sqrt(x*x+y*y)); + double h32=-x/sqrt(x*x+y*y); + double h34=-x*(vy*x-vx*y)/((x*x+y*y)*sqrt(x*x+y*y)); + double h35=-y/sqrt(x*x+y*y); + MatrixXd H(3,6); H(0,0)=1;H(0,1)=0;H(0,2)=0;H(0,3)=0;H(0,4)=0;H(0,5)=0; H(1,0)=0;H(1,1)=0;H(1,2)=0;H(1,3)=1;H(1,4)=0;H(1,5)=0; H(2,0)=h31;H(2,1)=h32;H(2,2)=0;H(2,3)=h34;H(2,4)=h35;H(2,5)=0; - Vector3f Z_pred; + Vector3d Z_pred; Z_pred=H*X_pred; //R - float rho,theta; + double rho,theta; coor_trans Coor_trans; Coor_trans.cart2polar(Z[0],Z[1],&rho,&theta); - float lambda_theta=exp(-SIGMA_A*SIGMA_A/2); - float lambda_theta1=exp(-2*SIGMA_A*SIGMA_A); + double lambda_theta=exp(-SIGMA_A*SIGMA_A/2); + double lambda_theta1=exp(-2*SIGMA_A*SIGMA_A); - Matrix3f R; + Matrix3d R; R(0,0)=(pow(lambda_theta,-2)-2)*rho*rho*cos(theta)*cos(theta)+0.5*(rho*rho+SIGMA_R*SIGMA_R)*(1+lambda_theta1*cos(2*theta)); R(1,1)=(pow(lambda_theta,-2)-2)*rho*rho*sin(theta)*sin(theta)+0.5*(rho*rho+SIGMA_R*SIGMA_R)*(1-lambda_theta1*cos(2*theta)); R(0,1)=(pow(lambda_theta,-2)-2)*rho*rho*sin(theta)*cos(theta)+0.5*(rho*rho+SIGMA_R*SIGMA_R)*lambda_theta1*sin(2*theta); @@ -393,29 +393,29 @@ float kalman:: d_cal_with_doppler(float F[6][6], float Q[6][6] , float Z[2],floa R(1,2)=0; //S - Matrix3f S; + Matrix3d S; S=H*P_pred*H.transpose()+R; - //bind_speed - float v_bind=Bind_speed(prt, freq_ind); +// bind_speed + double v_bind=Bind_speed(prt, freq_ind); //d - Vector3f delta_z; + Vector3d delta_z; delta_z=Z_mea-Z_pred; delta_z(2)=delta_z(2)-Round(delta_z(2)/v_bind)*v_bind; - float d=delta_z.transpose()*S.inverse()*delta_z; + double d=delta_z.transpose()*S.inverse()*delta_z; return d; }; -void kalman::kalman_pred(float F[6][6], float Q[6][6] ,float X[6],float P[6][6],float X_pred[6],float P_pred[6][6]) +void kalman::kalman_pred(double F[6][6], double Q[6][6] ,double X[6],double P[6][6],double X_pred[6],double P_pred[6][6]) { - MatrixXf F1(6,6); - MatrixXf Q1(6,6); + MatrixXd F1(6,6); + MatrixXd Q1(6,6); for (int i=0;i<6;i++) for (int j=0;j<6;j++) @@ -423,8 +423,8 @@ void kalman::kalman_pred(float F[6][6], float Q[6][6] ,float X[6],float P[6][6], F1(i,j) = F[i][j]; Q1(i,j) = Q[i][j] ; } - VectorXf X1(6); - MatrixXf P1(6,6); + VectorXd X1(6); + MatrixXd P1(6,6); for (int i=0;i<6;i++) X1(i)=X[i]; @@ -432,8 +432,8 @@ void kalman::kalman_pred(float F[6][6], float Q[6][6] ,float X[6],float P[6][6], for (int j=0;j<6;j++) P1(i,j)=P[i][j]; - VectorXf X1_pred(6); - MatrixXf P1_pred(6,6); + VectorXd X1_pred(6); + MatrixXd P1_pred(6,6); X1_pred = F1*X1; @@ -449,12 +449,12 @@ void kalman::kalman_pred(float F[6][6], float Q[6][6] ,float X[6],float P[6][6], }; -void kalman::kalman_filter_EKF(float F[6][6], float Q[6][6], float X[6],float P[6][6],float Z[3], - float X_filter[6],float P_filter[6][6],float S_filter[2][2], - float prt,float freq_ind ) +void kalman::kalman_filter_EKF(double F[6][6], double Q[6][6], double X_cur[6],double P_cur[6][6],double Z[3], + double X_filter[6],double P_filter[6][6],double S_filter[2][2], + double prt,double freq_ind ) { - MatrixXf F1(6,6); - MatrixXf Q1(6,6); + MatrixXd F1(6,6); + MatrixXd Q1(6,6); for (int i=0;i<6;i++) for (int j=0;j<6;j++) @@ -462,17 +462,17 @@ void kalman::kalman_filter_EKF(float F[6][6], float Q[6][6], float X[6],float P[ F1(i,j) = F[i][j]; Q1(i,j) = Q[i][j] ; } - VectorXf X1(6); - MatrixXf P1(6,6); + VectorXd X1(6); + MatrixXd P1(6,6); for (int i=0;i<6;i++) - X1(i)=X[i]; + X1(i)=X_cur[i]; for (int i=0;i<6;i++) for (int j=0;j<6;j++) - P1(i,j)=P[i][j]; + P1(i,j)=P_cur[i][j]; - VectorXf X_pred(6); - MatrixXf P_pred(6,6); + VectorXd X_pred(6); + MatrixXd P_pred(6,6); X_pred = F1*X1; @@ -480,26 +480,26 @@ void kalman::kalman_filter_EKF(float F[6][6], float Q[6][6], float X[6],float P[ - Vector3f Z_mea(Z[0],Z[1],Z[2]); + Vector3d Z_mea(Z[0],Z[1],Z[2]); - Vector3f Z_pred; - float x=X_pred(0); - float vx=X_pred(1); - float y=X_pred(3); - float vy=X_pred(4); + Vector3d Z_pred; + double x=X_pred(0); + double vx=X_pred(1); + double y=X_pred(3); + double vy=X_pred(4); Z_pred(0) = sqrt(x*x+y*y); Z_pred(1)=atan2(y,x); if(Z_pred(1)<0) Z_pred(1)=Z_pred(1)+2*PI; Z_pred(2)= -(x*vx+y*vy)/sqrt(x*x+y*y); - MatrixXf H(3,6); + MatrixXd H(3,6); H(0,0) = x/sqrt(x*x+y*y); H(0,1)=0; H(0,2)=0; H(0,3)=y/sqrt(x*x+y*y); H(0,4)=0; H(0,5)=0; H(1,0) = -y/(x*x+y*y); H(1,1)=0; H(1,2)=0; H(1,3)=x/(x*x+y*y); H(1,4)=0; H(1,5)=0; H(2,0) = -y*(vx*y-vy*x)/((x*x+y*y)*sqrt(x*x+y*y)); H(2,1)=-x/sqrt(x*x+y*y); H(2,2)=0; H(2,3) = -x*(vy*x-vx*y)/((x*x+y*y)*sqrt(x*x+y*y)); H(2,4)=-y/sqrt(x*x+y*y); H(2,5)=0; - Matrix3f R; + Matrix3d R; R(0,0)=SIGMA_R*SIGMA_R; R(1,1)=SIGMA_A*SIGMA_A; R(2,2)=SIGMA_V*SIGMA_V; @@ -511,29 +511,29 @@ void kalman::kalman_filter_EKF(float F[6][6], float Q[6][6], float X[6],float P[ R(1,2)=0; //S - Matrix3f S; + Matrix3d S; S=H*P_pred*H.transpose()+R; //kalmam gain - MatrixXf K; + MatrixXd K; K=P_pred*H.transpose()*S.inverse(); //bind_speed - float v_bind=Bind_speed(prt, freq_ind); + double v_bind=Bind_speed(prt, freq_ind); //d - Vector3f delta_z; + Vector3d delta_z; delta_z=Z_mea-Z_pred; delta_z(2)=delta_z(2)-Round(delta_z(2)/v_bind)*v_bind; //X(k+1|k+1) - VectorXf X; + VectorXd X; X=X_pred+K*delta_z; //P(k+1|k+1) - MatrixXf P; - MatrixXf I; + MatrixXd P; + MatrixXd I; I.setIdentity(6, 6); @@ -554,12 +554,12 @@ void kalman::kalman_filter_EKF(float F[6][6], float Q[6][6], float X[6],float P[ } -void kalman::kalman_filter(float F[6][6], float Q[6][6], - float X[6],float P[6][6], - float Z[2],float X_filter[6],float P_filter[6][6],float S_filter[2][2]) +void kalman::kalman_filter(double F[6][6], double Q[6][6], + double X_cur[6],double P_cur[6][6], + double Z[2],double X_filter[6],double P_filter[6][6],double S_filter[2][2]) { - MatrixXf F1(6,6); - MatrixXf Q1(6,6); + MatrixXd F1(6,6); + MatrixXd Q1(6,6); for (int i=0;i<6;i++) for (int j=0;j<6;j++) @@ -567,17 +567,17 @@ void kalman::kalman_filter(float F[6][6], float Q[6][6], F1(i,j) = F[i][j]; Q1(i,j) = Q[i][j] ; } - VectorXf X1(6); - MatrixXf P1(6,6); + VectorXd X1(6); + MatrixXd P1(6,6); for (int i=0;i<6;i++) - X1(i)=X[i]; + X1(i)=X_cur[i]; for (int i=0;i<6;i++) for (int j=0;j<6;j++) - P1(i,j)=P[i][j]; + P1(i,j)=P_cur[i][j]; - VectorXf X_pred(6); - MatrixXf P_pred(6,6); + VectorXd X_pred(6); + MatrixXd P_pred(6,6); X_pred = F1*X1; @@ -585,48 +585,48 @@ void kalman::kalman_filter(float F[6][6], float Q[6][6], - Vector2f Z_mea(Z[0],Z[1]); + Vector2d Z_mea(Z[0],Z[1]); //Z(k+1|k) - MatrixXf H(2,6); + MatrixXd H(2,6); H<< 1,0,0,0,0,0, 0,0,0,1,0,0; - Vector2f Z_pred; + Vector2d Z_pred; Z_pred=H*X_pred; //R - float rho,theta; + double rho,theta; coor_trans Coor_trans; Coor_trans.cart2polar(Z[0],Z[1],&rho,&theta); - float lambda_theta=exp(-SIGMA_A*SIGMA_A/2); - float lambda_theta1=exp(-2*SIGMA_A*SIGMA_A); + double lambda_theta=exp(-SIGMA_A*SIGMA_A/2); + double lambda_theta1=exp(-2*SIGMA_A*SIGMA_A); - Matrix2f R; + Matrix2d R; R(0,0)=(pow(lambda_theta,-2)-2)*rho*rho*cos(theta)*cos(theta)+0.5*(rho*rho+SIGMA_R*SIGMA_R)*(1+lambda_theta1*cos(2*theta)); R(1,1)=(pow(lambda_theta,-2)-2)*rho*rho*sin(theta)*sin(theta)+0.5*(rho*rho+SIGMA_R*SIGMA_R)*(1-lambda_theta1*cos(2*theta)); R(0,1)=(pow(lambda_theta,-2)-2)*rho*rho*sin(theta)*cos(theta)+0.5*(rho*rho+SIGMA_R*SIGMA_R)*lambda_theta1*sin(2*theta); R(1,0)=R(0,1); //S - Matrix2f S; + Matrix2d S; S=H*P_pred*H.transpose()+R; //kalmam gain - MatrixXf K; + MatrixXd K; K=P_pred*H.transpose()*S.inverse(); //X(k+1|k+1) - VectorXf X; + VectorXd X; X=X_pred+K*(Z_mea-Z_pred); //P(k+1|k+1) - MatrixXf P; - MatrixXf I; + MatrixXd P; + MatrixXd I; I.setIdentity(6, 6); @@ -646,57 +646,57 @@ void kalman::kalman_filter(float F[6][6], float Q[6][6], }; -float kalman::d_cal_track_init_EKF(float Z[3],float X[4],float P[4][4],float T,float prt,float freq_ind) +double kalman::d_cal_track_init_EKF(double Z[3],double X[4],double P[4][4],double T,double prt,double freq_ind) { //X(k+1|k) - Matrix4f F; + Matrix4d F; F<< 1, T, 0, 0, 0, 1, 0, 0, 0, 0, 1, T, 0, 0, 0, 1; - Vector4f X_present = Vector4f(X[0],X[1],X[2],X[3]); - Vector4f X_pred; + Vector4d X_present = Vector4d(X[0],X[1],X[2],X[3]); + Vector4d X_pred; X_pred=F*X_present; //P(k+1|k) - Matrix2f Q; + Matrix2d Q; Q<< 0.03*0.03, 0, 0, 0.03*0.03; - MatrixXf G(4,2); + MatrixXd G(4,2); G<< T*T/2, 0, T, 0, 0, T*T/2, 0, T; - Matrix4f P_present; + Matrix4d P_present; for (int i=0;i<4;i++) for (int j=0;j<4;j++) P_present(i,j)=P[i][j]; - Matrix4f P_pred; + Matrix4d P_pred; P_pred=F*P_present*F.transpose()+G*Q*G.transpose(); //Z(k+1|k) - Vector3f Z_pred; - float x=X_pred(0); - float vx=X_pred(1); - float y=X_pred(2); - float vy=X_pred(3); + Vector3d Z_pred; + double x=X_pred(0); + double vx=X_pred(1); + double y=X_pred(2); + double vy=X_pred(3); Z_pred(0) = sqrt(x*x+y*y); Z_pred(1)=atan2(y,x); if(Z_pred(1)<0) Z_pred(1)=Z_pred(1)+2*PI; Z_pred(2)= -(x*vx+y*vy)/sqrt(x*x+y*y); - MatrixXf H(3,4); + MatrixXd H(3,4); H(0,0) = x/sqrt(x*x+y*y); H(0,1)=0; H(0,2)=y/sqrt(x*x+y*y); H(0,3)=0; H(1,0) = -y/(x*x+y*y); H(1,1)=0; H(1,2)=x/(x*x+y*y); H(1,3)=0; H(2,0) = -y*(vx*y-vy*x)/((x*x+y*y)*sqrt(x*x+y*y)); H(2,1)=-x/sqrt(x*x+y*y); H(2,2) = -x*(vy*x-vx*y)/((x*x+y*y)*sqrt(x*x+y*y)); H(2,3)=-y/sqrt(x*x+y*y); - Matrix3f R; + Matrix3d R; R(0,0)=SIGMA_R*SIGMA_R; R(1,1)=SIGMA_A*SIGMA_A; R(2,2)=SIGMA_V*SIGMA_V; @@ -708,80 +708,80 @@ float kalman::d_cal_track_init_EKF(float Z[3],float X[4],float P[4][4],float T,f R(1,2)=0; //S - Matrix3f S; + Matrix3d S; S=H*P_pred*H.transpose()+R; //bind_speed - float v_bind=Bind_speed(prt, freq_ind); + double v_bind=Bind_speed(prt, freq_ind); //d - Vector3f Z_presnet= Vector3f(Z[0],Z[1],Z[2]); - Vector3f delta_z; + Vector3d Z_presnet= Vector3d(Z[0],Z[1],Z[2]); + Vector3d delta_z; delta_z=Z_presnet-Z_pred; delta_z(2)=delta_z(2)-Round(delta_z(2)/v_bind)*v_bind; - float d=delta_z.transpose()*S.inverse()*delta_z; + double d=delta_z.transpose()*S.inverse()*delta_z; return d; } -float kalman::d_cal_track_init_with_doppler(float Z[2],float X[4],float P[4][4],float T,float vr,float prt,float freq_ind) +double kalman::d_cal_track_init_with_doppler(double Z[2],double X[4],double P[4][4],double T,double vr,double prt,double freq_ind) { //X(k+1|k) - Matrix4f F; + Matrix4d F; F<< 1, T, 0, 0, 0, 1, 0, 0, 0, 0, 1, T, 0, 0, 0, 1; - Vector4f X_present = Vector4f(X[0],X[1],X[2],X[3]); - Vector4f X_pred; + Vector4d X_present = Vector4d(X[0],X[1],X[2],X[3]); + Vector4d X_pred; X_pred=F*X_present; //Z(k+1|k) - float x=X_pred(0); - float vx=X_pred(1); - float y=X_pred(2); - float vy=X_pred(3); - float h31=-y*(vx*y-vy*x)/((x*x+y*y)*sqrt(x*x+y*y)); - float h32=-x/sqrt(x*x+y*y); - float h33=-x*(vy*x-vx*y)/((x*x+y*y)*sqrt(x*x+y*y)); - float h34=-y/sqrt(x*x+y*y); - MatrixXf H(3,4); + double x=X_pred(0); + double vx=X_pred(1); + double y=X_pred(2); + double vy=X_pred(3); + double h31=-y*(vx*y-vy*x)/((x*x+y*y)*sqrt(x*x+y*y)); + double h32=-x/sqrt(x*x+y*y); + double h33=-x*(vy*x-vx*y)/((x*x+y*y)*sqrt(x*x+y*y)); + double h34=-y/sqrt(x*x+y*y); + MatrixXd H(3,4); H(0,0)=1;H(0,1)=0;H(0,2)=0;H(0,3)=0; H(1,0)=0;H(1,1)=0;H(1,2)=1;H(1,3)=0; H(2,0)=h31;H(2,1)=h32;H(2,2)=h33;H(2,3)=h34; - Vector3f Z_pred; + Vector3d Z_pred; Z_pred=H*X_pred; //P(k+1|k) - Matrix2f Q; + Matrix2d Q; Q<< 0.03*0.03, 0, 0, 0.03*0.03; - MatrixXf G(4,2); + MatrixXd G(4,2); G<< T*T/2, 0, T, 0, 0, T*T/2, 0, T; - Matrix4f P_present; + Matrix4d P_present; for (int i=0;i<4;i++) for (int j=0;j<4;j++) P_present(i,j)=P[i][j]; - Matrix4f P_pred; + Matrix4d P_pred; P_pred=F*P_present*F.transpose()+G*Q*G.transpose(); //R - float rho,theta; + double rho,theta; coor_trans Coor_trans; Coor_trans.cart2polar(Z[0],Z[1],&rho,&theta); - float lambda_theta=exp(-SIGMA_A*SIGMA_A/2); - float lambda_theta1=exp(-2*SIGMA_A*SIGMA_A); + double lambda_theta=exp(-SIGMA_A*SIGMA_A/2); + double lambda_theta1=exp(-2*SIGMA_A*SIGMA_A); - Matrix3f R; + Matrix3d R; R(0,0)=(pow(lambda_theta,-2)-2)*rho*rho*cos(theta)*cos(theta)+0.5*(rho*rho+SIGMA_R*SIGMA_R)*(1+lambda_theta1*cos(2*theta)); R(1,1)=(pow(lambda_theta,-2)-2)*rho*rho*sin(theta)*sin(theta)+0.5*(rho*rho+SIGMA_R*SIGMA_R)*(1-lambda_theta1*cos(2*theta)); R(0,1)=(pow(lambda_theta,-2)-2)*rho*rho*sin(theta)*cos(theta)+0.5*(rho*rho+SIGMA_R*SIGMA_R)*lambda_theta1*sin(2*theta); @@ -793,27 +793,27 @@ float kalman::d_cal_track_init_with_doppler(float Z[2],float X[4],float P[4][4], R(1,2)=0; //S - Matrix3f S; + Matrix3d S; S=H*P_pred*H.transpose()+R; //bind_speed - float v_bind=Bind_speed(prt, freq_ind); + double v_bind=Bind_speed(prt, freq_ind); //d - Vector3f Z_presnet= Vector3f(Z[0],Z[1],vr); - Vector3f delta_z; + Vector3d Z_presnet= Vector3d(Z[0],Z[1],vr); + Vector3d delta_z; delta_z=Z_presnet-Z_pred; delta_z(2)=delta_z(2)-Round(delta_z(2)/v_bind)*v_bind; - float d=delta_z.transpose()*S.inverse()*delta_z; + double d=delta_z.transpose()*S.inverse()*delta_z; return d; }; -float kalman::Bind_speed(float prt,float freq_ind) +double kalman::Bind_speed(double prt,double freq_ind) { - float freq=FREQ0+freq_ind*0.02; + double freq=FREQ0+freq_ind*0.02; return 150000.0/(freq*prt); diff --git a/data_process_class_dll/kalman.h b/data_process_class_dll/kalman.h index 82e4b55..d5aa480 100644 --- a/data_process_class_dll/kalman.h +++ b/data_process_class_dll/kalman.h @@ -12,32 +12,32 @@ class kalman { public: - void kalman_pred(float F[6][6], float Q[6][6], float X[6], float P[6][6], float X_pred[6], float P_pred[6][6]); + void kalman_pred(double F[6][6], double Q[6][6], double X[6], double P[6][6], double X_pred[6], double P_pred[6][6]); - void kalman_filter_init_2dots(float Z0[2], float Z1[2], float T,float X[4], float P[4][4]);//两点初始化卡尔曼滤波器 + void kalman_filter_init_2dots(double Z0[2], double Z1[2], double T,double X[4], double P[4][4]);//两点初始化卡尔曼滤波器 - float d_cal_track_init(float Z[2],float X[4],float P[4][4],float T); //计算点 临时航迹的d + double d_cal_track_init(double Z[2],double X[4],double P[4][4],double T); //计算点 临时航迹的d - float d_cal_track_init_with_doppler(float Z[2],float X[4],float P[4][4],float T,float vr,float prt,float freq_ind); + double d_cal_track_init_with_doppler(double Z[2],double X[4],double P[4][4],double T,double vr,double prt,double freq_ind); - float d_cal_track_init_EKF(float Z[3],float X[4],float P[4][4],float T,float prt,float freq_ind); + double d_cal_track_init_EKF(double Z[3],double X[4],double P[4][4],double T,double prt,double freq_ind); - void kalman_filter_init_3dots(float Z0[2], float Z1[2],float Z2[2], float T1,float T2, float X[6], float P[6][6]); + void kalman_filter_init_3dots(double Z0[2], double Z1[2],double Z2[2], double T1,double T2, double X[6], double P[6][6]); - float d_cal(float Z[2],float X[6],float P[6][6]); + double d_cal(double Z[2],double X[6],double P[6][6]); - float d_cal_with_doppler(float F[6][6], float Q[6][6] ,float Z[2],float X[6],float P[6][6],float vr,float prt,float freq_ind); + double d_cal_with_doppler(double F[6][6], double Q[6][6] ,double Z[2],double X[6],double P[6][6],double vr,double prt,double freq_ind); - float d_cal_EKF(float F[6][6], float Q[6][6] ,float Z[3],float X[6],float P[6][6],float prt,float freq_ind); + double d_cal_EKF(double F[6][6], double Q[6][6] ,double Z[3],double X[6],double P[6][6],double prt,double freq_ind); - void kalman_filter(float F[6][6], float Q[6][6], float X[6],float P[6][6],float Z[2],float X_filter[6],float P_filter[6][6],float S_filter[2][2]); + void kalman_filter(double F[6][6], double Q[6][6], double X[6],double P[6][6],double Z[2],double X_filter[6],double P_filter[6][6],double S_filter[2][2]); - void kalman_filter_EKF(float F[6][6], float Q[6][6], float X[6],float P[6][6],float Z[3], - float X_filter[6],float P_filter[6][6],float S_filter[2][2], - float prt,float freq_ind ); + void kalman_filter_EKF(double F[6][6], double Q[6][6], double X[6],double P[6][6],double Z[3], + double X_filter[6],double P_filter[6][6],double S_filter[2][2], + double prt,double freq_ind ); - float Bind_speed(float prt,float freq_ind); //根据PRT 和 频率 计算不模糊速度 + double Bind_speed(double prt,double freq_ind); //根据PRT 和 频率 计算不模糊速度 }; #endif // KALMAN_H diff --git a/data_process_class_dll/parameters.h b/data_process_class_dll/parameters.h index cdc9b3f..1517c7b 100644 --- a/data_process_class_dll/parameters.h +++ b/data_process_class_dll/parameters.h @@ -5,72 +5,72 @@ #define PI 3.1415926f //频点(GHz) -#define FREQ0 5.262 -#define FREQ1 5.282 -#define FREQ2 5.302 -#define FREQ3 5.322 -#define FREQ4 5.342 -#define FREQ5 5.362 -#define FREQ6 5.382 -#define FREQ7 5.402 -#define FREQ8 5.422 -#define FREQ9 5.442 -#define FREQ10 5.462 -#define FREQ11 5.482 -#define FREQ12 5.502 -#define FREQ13 5.522 -#define FREQ14 5.542 -#define FREQ15 5.560 -#define FREQ16 5.582 -#define FREQ17 5.602 -#define FREQ18 5.622 -#define FREQ19 5.642 -#define FREQ20 5.662 +#define FREQ0 16.8 +#define FREQ1 16.8 +#define FREQ2 16.8 +#define FREQ3 16.8 +#define FREQ4 16.8 +#define FREQ5 16.8 +#define FREQ6 16.8 +#define FREQ7 16.8 +#define FREQ8 16.8 +#define FREQ9 16.8 +#define FREQ10 16.8 +#define FREQ11 16.8 +#define FREQ12 16.8 +#define FREQ13 16.8 +#define FREQ14 16.8 +#define FREQ15 16.8 +#define FREQ16 16.8 +#define FREQ17 16.8 +#define FREQ18 16.8 +#define FREQ19 16.8 +#define FREQ20 16.8 //波位 -#define BEAM_NUM 54 +//#define BEAM_NUM 54 -#define BEAM_WIDTH 6.666 +//#define BEAM_WIDTH 6.666 -//一个点迹区包含波位 -#define DOT_SECTION_NUM 9 -#define BEAM_NUM_DOT_SECTION 6 +////一个点迹区包含波位 +//#define DOT_SECTION_NUM 9 +//#define BEAM_NUM_DOT_SECTION 6 -#define DOT_SECTION_1 5 -#define DOT_SECTION_2 11 -#define DOT_SECTION_3 17 -#define DOT_SECTION_4 23 -#define DOT_SECTION_5 29 -#define DOT_SECTION_6 35 -#define DOT_SECTION_7 41 -#define DOT_SECTION_8 47 -#define DOT_SECTION_9 53 +//#define DOT_SECTION_1 5 +//#define DOT_SECTION_2 11 +//#define DOT_SECTION_3 17 +//#define DOT_SECTION_4 23 +//#define DOT_SECTION_5 29 +//#define DOT_SECTION_6 35 +//#define DOT_SECTION_7 41 +//#define DOT_SECTION_8 47 +//#define DOT_SECTION_9 53 //航迹区划分 -#define TRACK_SECTION_NUM 9 -#define TRACK_SECTION_WIDTH 40 +//#define TRACK_SECTION_NUM 9 +//#define TRACK_SECTION_WIDTH 40 -#define TRACK_SECTION_1_START 13.2 -#define TRACK_SECTION_2_START 53.2 -#define TRACK_SECTION_3_START 93.2 -#define TRACK_SECTION_4_START 133.2 -#define TRACK_SECTION_5_START 173.2 -#define TRACK_SECTION_6_START 213.2 -#define TRACK_SECTION_7_START 253.2 -#define TRACK_SECTION_8_START 293.2 -#define TRACK_SECTION_9_START 333.2 +//#define TRACK_SECTION_1_START 13.2 +//#define TRACK_SECTION_2_START 53.2 +//#define TRACK_SECTION_3_START 93.2 +//#define TRACK_SECTION_4_START 133.2 +//#define TRACK_SECTION_5_START 173.2 +//#define TRACK_SECTION_6_START 213.2 +//#define TRACK_SECTION_7_START 253.2 +//#define TRACK_SECTION_8_START 293.2 +//#define TRACK_SECTION_9_START 333.2 /******************************数据处理参数**************************************/ -#define DATA_RATE_SHORT 5.076 //三种不同模式下的 数据率 -#define DATA_RATE_MIDDLE 4.986 -#define DATA_RATE_FAR 3.024 +//#define DATA_RATE_SHORT 1 //三种不同模式下的 数据率 +//#define DATA_RATE_MIDDLE 1 +//#define DATA_RATE_FAR 1 -#define DATA_RATE_TAS 2 +#define DATA_RATE_TAS 0.3 #define SIGMA_R 10.0 //测量误差 #define SIGMA_A 0.02 @@ -79,43 +79,44 @@ #define DOT_COH_RANGE 80 //点迹凝聚 #define DOT_COH_V 2 -#define DOT_COH_AZI 4 +#define DOT_COH_AZI 6 #define MAX_BEAM_NUM 100 //最大TWS波位数 -#define MAX_TRACK_NUM 200 -#define MAX_TRACK_INDEX 200 //最大航迹批号 +#define MAX_TRACK_NUM 500 +#define MAX_TRACK_INDEX 500 //最大航迹批号 #define ASSOCIATE_THRESHOLD_MIN 1 #define ASSOCIATE_THRESHOLD_MID 3 //关联波门 #define ASSOCIATE_THRESHOLD_MAX 10 #define R_MIN 100 -#define R_MAX 60000 +#define R_MAX 100000 -#define V_MAX 550 //最大速度 -#define V_MIN 1 //最小速度 -#define TRACK_START_THRESHOLD 3 //起航波门 -#define ALPHA_START 70 //起航夹角 +//#define V_MAX 500 //最大速度 +//#define V_MIN 1 //速度最小 +#define TRACK_START_THRESHOLD 8 //起航波门 3 越大越容易起批 +#define ALPHA_START 60 //起航夹角 120 越大越容易起批 - -#define TRACK_DIE_ROUND 3 // 航迹消亡时间 +#define TRACK_DIE_ROUND 4 // 航迹消亡时间 #define TRACK_DIE_ROUND_TAS 5 #define ASSO_THORD 3 -#define H_F_WIN_LEN 10 +#define H_F_WIN_LEN 3 -#define TAS_QUEUE_LENGTH 8 +#define TAS_QUEUE_LENGTH 4 //Tas调用的cpi数 #define MAX_TAS_NUM 4 -#define T_TAS_PRED 1 +#define T_TAS_PRED 0.7 #define UNCONF_TARGET 0 +#define DIRECT_TRACKING_QUEUE_LENGTH 10 + #define Round(x) (((x) > 0) \ ? (((int)((x) + 0.5) > (int)(x)) ? ((int)(x) + 1) : ((int)(x))) \ diff --git a/data_process_class_dll/struct.h b/data_process_class_dll/struct.h index aaa3602..cbb973a 100644 --- a/data_process_class_dll/struct.h +++ b/data_process_class_dll/struct.h @@ -25,6 +25,10 @@ struct PointRecv int Freq_index; //频点 int track_mode; //TAS 1 TWS0 int point_section_asso; //点迹区 + + 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 }; @@ -33,8 +37,8 @@ struct Trust_Track { int Track_Index; //航迹号 - float Amplitude; //幅度 - float Height; //高度 + double Amplitude; //幅度 + double Height; //高度 int T_track; //航迹时间 @@ -56,29 +60,33 @@ struct Trust_Track int Track_section_idx; //航迹区号 - QVector Hight_smooth; //高度平滑 + QVector Hight_smooth; //高度平滑 - float range_point; //关联上的点信息（距离、方位、俯仰） - float azi_point; - float elev_point; - float vr_point; - float prf_point; + double range_point; //关联上的点信息（距离、方位、俯仰） + double azi_point; + double elev_point; + double vr_point; + double prf_point; int point_type; //TWS TAS - float snr_point; //信噪比 + double snr_point; //信噪比 - float RCS; + double RCS; - float X[6]; //IMM - float P[6][6]; + 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 - float X1[6]; - float X2[6]; - float X3[6]; - float P1[6][6]; - float P2[6][6]; - float P3[6][6]; - float u[3]; + double X[6]; //IMM + double P[6][6]; + + double X1[6]; + double X2[6]; + double X3[6]; + double P1[6][6]; + double P2[6][6]; + double P3[6][6]; + double u[3]; }; @@ -88,23 +96,29 @@ struct Trust_Track struct Temp_track { - float X[4]; //状态 - float P[4][4]; //协方差 + double X[4]; //状态 + double P[4][4]; //协方差 - float r; //距离 - float azi; //方位 - float vr; //径向速度 - float height; //高度 - float snr; //信噪比 - float RCS; //RCS - float Amp; //幅度 + double r; //距离 + double azi; //方位 + double vr; //径向速度 + double height; //高度 + double snr; //信噪比 + double RCS; //RCS + double Amp; //幅度 int T; //时间戳 + double d; //关联上的点的d + int buff_round; //已缓存圈数 int Temp_track_section_idx; //临时航迹区号 与点迹区的划分相同 int asso_flag; //关联标志 已关联：1 未关联：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 }; @@ -121,6 +135,17 @@ struct Tracking_Target }; +//引导跟踪目标结构体 +struct Direct_Tracking_Target +{ + int ID; + double Azi; + double Elev; + double Range; + int empty_flag; //是否为空标志位 1非空 0空 +// int track_init_flag; //是否已经建航 1是 0否 + +}; diff --git a/data_process_class_dll/tas_ctrl.cpp b/data_process_class_dll/tas_ctrl.cpp index 30a1c7a..b1f9c18 100644 --- a/data_process_class_dll/tas_ctrl.cpp +++ b/data_process_class_dll/tas_ctrl.cpp @@ -18,8 +18,7 @@ TAS_Ctrl::TAS_Ctrl() tas_target_num=0; } - -void TAS_Ctrl::tas_ctrl_process(QVector > *trust_track, +void TAS_Ctrl::tas_ctrl_process(QVector *trust_track, struct TrackingBeam *Tracking_beam, struct Track Trust_Track_Output[][10], int *Trust_track_num_Output, @@ -43,27 +42,26 @@ void TAS_Ctrl::tas_ctrl_process(QVector > *trust_track, }; -void TAS_Ctrl::tas_target_add(QVector > *trust_track, +void TAS_Ctrl::tas_target_add(QVector *trust_track, struct Track Trust_Track_Output[][10], int *Trust_track_num_Output, struct RadarPara Work_Parameter) { for (int i=0;isize();i++) - for (int k=0;k<(*trust_track)[i].size();k++) { - float r=sqrt(pow((*trust_track)[i][k].X[0],2)+pow((*trust_track)[i][k].X[3],2)); - float v=sqrt(pow((*trust_track)[i][k].X[1],2)+pow((*trust_track)[i][k].X[4],2)); - float h=(*trust_track)[i][k].Height+Work_Parameter.Height; - float azi = atan2((*trust_track)[i][k].X[3],(*trust_track)[i][k].X[0]); + double r=sqrt(pow((*trust_track)[i].X[0],2)+pow((*trust_track)[i].X[3],2)); + double v=sqrt(pow((*trust_track)[i].X[1],2)+pow((*trust_track)[i].X[4],2)); + double h=(*trust_track)[i].Height+Work_Parameter.Height; + double azi = atan2((*trust_track)[i].X[3],(*trust_track)[i].X[0]); if(azi<0) azi=azi+2*PI; azi=azi/PI*180; //进入跟踪的条件： 1.手动跟踪的目标 或 满足速度、距离、高度条件满足 关联点数大于2 2.不在禁止跟踪区域 - if( ( (*trust_track)[i][k].manual_tracking_flag == 1)//|| (tas_auto_start( v, r, h, Work_Parameter)==1 && (*trust_track)[i][k].associate_point_number>=2) + if( ( (*trust_track)[i].manual_tracking_flag == 1)//|| (tas_auto_start( v, r, h, Work_Parameter)==1 && (*trust_track)[i][k].associate_point_number>=2) && tas_target_num < MAX_TAS_NUM - && (*trust_track)[i][k].Track_Mode == 0 + && (*trust_track)[i].Track_Mode == 0 && tas_prohibite_area( r, azi, v, h, Work_Parameter) == 0) { for(int j=0;j> *trust_track, 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][k].Track_Index; + tas_target_queue[j].Index=(*trust_track)[i].Track_Index; tas_target_queue[j].empty_flag=1; //跟踪目标数目加一 tas_target_num=tas_target_num+1; //TAS跟踪标志置1 - (*trust_track)[i][k].Track_Mode=1; + (*trust_track)[i].Track_Mode=1; //目标跟踪状态发生改变 对外输出航迹更新信息 *Trust_track_num_Output= *Trust_track_num_Output+1; - float r_output,azmi_output; + double r_output,azmi_output; coor_trans Coor_trans; - Coor_trans.cart2polar((*trust_track)[i][k].X[0],(*trust_track)[i][k].X[3],&r_output,&azmi_output); + Coor_trans.cart2polar((*trust_track)[i].X[0],(*trust_track)[i].X[3],&r_output,&azmi_output); Trust_Track_Output[*Trust_track_num_Output-1][0].Point_Sum=1; Trust_Track_Output[*Trust_track_num_Output-1][0].Range=r_output; Trust_Track_Output[*Trust_track_num_Output-1][0].Azimuth=azmi_output/PI*180; - Trust_Track_Output[*Trust_track_num_Output-1][0].Track_Index=(*trust_track)[i][k].Track_Index; //航迹号 + Trust_Track_Output[*Trust_track_num_Output-1][0].Track_Index=(*trust_track)[i].Track_Index; //航迹号 Trust_Track_Output[*Trust_track_num_Output-1][0].Range_V= - sqrt((*trust_track)[i][k].X[1]*(*trust_track)[i][k].X[1]+(*trust_track)[i][k].X[4]*(*trust_track)[i][k].X[4]); - Trust_Track_Output[*Trust_track_num_Output-1][0].Amplitude=(*trust_track)[i][k].Amplitude; - Trust_Track_Output[*Trust_track_num_Output-1][0].Flag_Point=(*trust_track)[i][k].point_flag; - Trust_Track_Output[*Trust_track_num_Output-1][0].Track_Mode=(*trust_track)[i][k].Track_Mode; - Trust_Track_Output[*Trust_track_num_Output-1][0].Elevation=asin((*trust_track)[i][k].Height/r_output)/PI*180; - Trust_Track_Output[*Trust_track_num_Output-1][0].z=(*trust_track)[i][k].Height+Work_Parameter.Height; - Trust_Track_Output[*Trust_track_num_Output-1][0].Target_Type=(*trust_track)[i][k].Target_Type; - Trust_Track_Output[*Trust_track_num_Output-1][0].track_snr = (*trust_track)[i][k].snr_point; + 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].Flag_Point=(*trust_track)[i].point_flag; + Trust_Track_Output[*Trust_track_num_Output-1][0].Track_Mode=(*trust_track)[i].Track_Mode; + Trust_Track_Output[*Trust_track_num_Output-1][0].Elevation=asin((*trust_track)[i].Height/r_output)/PI*180; + Trust_Track_Output[*Trust_track_num_Output-1][0].z=(*trust_track)[i].Height+Work_Parameter.Height; + Trust_Track_Output[*Trust_track_num_Output-1][0].Target_Type=(*trust_track)[i].Target_Type; + Trust_Track_Output[*Trust_track_num_Output-1][0].track_snr = (*trust_track)[i].snr_point; break; } @@ -111,28 +109,28 @@ void TAS_Ctrl::tas_target_add(QVector > *trust_track, -int TAS_Ctrl:: tas_auto_start(float v, float r, float h, struct RadarPara Work_Parameter) -{ +//int TAS_Ctrl:: tas_auto_start(double v, double r, double h, struct RadarPara Work_Parameter) +//{ -// if(r>Work_Parameter.R_TAS_min && rWork_Parameter.V_TAS_min -// && ( (r<=1000 && h>=Work_Parameter.TAS_Height_1) || (r<=2000 && r>1000 && h>=Work_Parameter.TAS_Height_2) || (r<=3000 && r>2000 && h>=Work_Parameter.TAS_Height_3) || (r<=4000 && r>3000 && h>=Work_Parameter.TAS_Height_4) || (r>4000 && h>=Work_Parameter.TAS_Height_5) ) -// ) - if( r>Work_Parameter.R_TAS_min && rWork_Parameter.V_TAS_min - && ( (r<=1000 && h>=Work_Parameter.TAS_Height_1) || (r<=2000 && r>1000 && h>=Work_Parameter.TAS_Height_2) || (r<=3000 && r>2000 && h>=Work_Parameter.TAS_Height_3) || (r<=4000 && r>3000 && h>=Work_Parameter.TAS_Height_4) || (r>4000 && h>=Work_Parameter.TAS_Height_5) ) ) - { - return 1; - } - else - { - return 0; - } +//// if(r>Work_Parameter.R_TAS_min && rWork_Parameter.V_TAS_min +//// && ( (r<=1000 && h>=Work_Parameter.TAS_Height_1) || (r<=2000 && r>1000 && h>=Work_Parameter.TAS_Height_2) || (r<=3000 && r>2000 && h>=Work_Parameter.TAS_Height_3) || (r<=4000 && r>3000 && h>=Work_Parameter.TAS_Height_4) || (r>4000 && h>=Work_Parameter.TAS_Height_5) ) +//// ) +// if( r>Work_Parameter.R_TAS_min && rWork_Parameter.V_TAS_min +// && ( (r<=1000 && h>=Work_Parameter.TAS_Height_1) || (r<=2000 && r>1000 && h>=Work_Parameter.TAS_Height_2) || (r<=3000 && r>2000 && h>=Work_Parameter.TAS_Height_3) || (r<=4000 && r>3000 && h>=Work_Parameter.TAS_Height_4) || (r>4000 && h>=Work_Parameter.TAS_Height_5) ) ) +// { +// return 1; +// } +// else +// { +// return 0; +// } -// return 0; +//// return 0; -}; +//}; -int TAS_Ctrl::tas_prohibite_area(float r,float azi, float v, float h,struct RadarPara Work_Parameter) +int TAS_Ctrl::tas_prohibite_area(double r,double azi, double v, double h,struct RadarPara Work_Parameter) { for (int i=0;i> *trust_track, +void TAS_Ctrl::tas_target_del(QVector *trust_track, struct Track Trust_Track_Output[][10], int *Trust_track_num_Output, struct RadarPara Work_Parameter) @@ -162,9 +160,8 @@ void TAS_Ctrl::tas_target_del(QVector > *trust_track, //查找TAS队列里的目标是否存在 int flag=0; for (int j=0;jsize();j++) - for (int k=0;k<(*trust_track)[j].size();k++) { - if(tas_target_queue[i].Index==(*trust_track)[j][k].Track_Index && (*trust_track)[j][k].Track_Mode == 1) + if(tas_target_queue[i].Index==(*trust_track)[j].Track_Index && (*trust_track)[j].Track_Mode == 1) { flag=1; } @@ -179,104 +176,102 @@ void TAS_Ctrl::tas_target_del(QVector > *trust_track, } //判断TAS目标是否满足自动跟踪条件 若不满足移除TAS队列 通知界面改变目标状态 - for ( int i=0;isize();i++) - for (int j=0;j<(*trust_track)[i].size();j++) - { - float r=sqrt(pow((*trust_track)[i][j].X[0],2)+pow((*trust_track)[i][j].X[3],2)); - float v=sqrt(pow((*trust_track)[i][j].X[1],2)+pow((*trust_track)[i][j].X[4],2)); - float h=(*trust_track)[i][j].Height+Work_Parameter.Height; +// for ( int i=0;isize();i++) +// { +// double r=sqrt(pow((*trust_track)[i].X[0],2)+pow((*trust_track)[i].X[3],2)); +// double v=sqrt(pow((*trust_track)[i].X[1],2)+pow((*trust_track)[i].X[4],2)); +// double h=(*trust_track)[i].Height+Work_Parameter.Height; - if((*trust_track)[i][j].manual_tracking_flag == 0 && (*trust_track)[i][j].Track_Mode == 1 && tas_auto_end(v,r,h,Work_Parameter) == 1) //满足结束跟踪条件 - { +// if((*trust_track)[i].manual_tracking_flag == 0 && (*trust_track)[i].Track_Mode == 1 && tas_auto_end(v,r,h,Work_Parameter) == 1) //满足结束跟踪条件 +// { - int track_index=(*trust_track)[i][j].Track_Index; +// int track_index=(*trust_track)[i].Track_Index; - for (int ii=0;ii1000 && h2000 && h3000 && h4000 && hWork_Parameter.V_TAS_max - ) - { - return 1; +//int TAS_Ctrl::tas_auto_end(double v, double r, double h, struct RadarPara Work_Parameter) +//{ +// if((r<=1000 && h1000 && h2000 && h3000 && h4000 && hWork_Parameter.V_TAS_max +// ) +// { +// return 1; - } - else - { +// } +// else +// { - return 0; - } +// return 0; +// } - return 0; +// return 0; -}; +//}; -void TAS_Ctrl::tas_beam_output(QVector > *trust_track, +void TAS_Ctrl::tas_beam_output(QVector *trust_track, struct TrackingBeam *Tracking_beam) { if(tas_target_queue[0].empty_flag==1) { - float H_track; - float X_now[6]; + double H_track; + double X_now[6]; for (int i=0;isize();i++ ) - for (int j=0;j<(*trust_track)[i].size();j++) { - if((*trust_track)[i][j].Track_Index == tas_target_queue[0].Index) + if((*trust_track)[i].Track_Index == tas_target_queue[0].Index) { - H_track = (*trust_track)[i][j].Height; + H_track = (*trust_track)[i].Height; for(int ii=0;ii<6;ii++) - X_now[ii]=(*trust_track)[i][j].X[ii]; + X_now[ii]=(*trust_track)[i].X[ii]; } } //预测目标位置 计算跟踪波束波位号 俯仰角 - float x_track=X_now[0]+X_now[1]*T_TAS_PRED; - float y_track=X_now[3]+X_now[4]*T_TAS_PRED; - float amzi,range; + 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 amzi,range; coor_trans Coor_trans; Coor_trans.cart2polar(x_track,y_track,&range,&amzi); @@ -286,7 +281,7 @@ void TAS_Ctrl::tas_beam_output(QVector > *trust_track, //目标方位 Tracking_beam->Azi=amzi/PI*180; //目标俯仰角 - float elev=asin(H_track/range)/PI*180; + double elev=asin(H_track/range)/PI*180; if(elev<=0) diff --git a/data_process_class_dll/tas_ctrl.h b/data_process_class_dll/tas_ctrl.h index 0204b62..eb551eb 100644 --- a/data_process_class_dll/tas_ctrl.h +++ b/data_process_class_dll/tas_ctrl.h @@ -14,7 +14,7 @@ public: TAS_Ctrl(); - void tas_ctrl_process( QVector > *trust_track, + void tas_ctrl_process( QVector *trust_track, struct TrackingBeam *Tracking_beam, struct Track Trust_Track_Output[][10], int *Trust_track_num_Output, @@ -24,29 +24,29 @@ public: private: //添加TAS目标 - void tas_target_add(QVector > *trust_track, + void tas_target_add(QVector *trust_track, struct Track Trust_Track_Output[][10], int *Trust_track_num_Output, struct RadarPara Work_Parameter); //删除TAS目标 - void tas_target_del(QVector > *trust_track, + void tas_target_del(QVector *trust_track, struct Track Trust_Track_Output[][10], int *Trust_track_num_Output, struct RadarPara Work_Parameter); //TAS队列信息输出 - void tas_beam_output(QVector > *trust_track, + void tas_beam_output(QVector *trust_track, struct TrackingBeam *Tracking_beam); //TAS 自动开启条件 - int tas_auto_start(float v, float r, float h, struct RadarPara Work_Parameter); + int tas_auto_start(double v, double r, double h, struct RadarPara Work_Parameter); //TAS 自动退出条件 - int tas_auto_end(float v, float r, float h, struct RadarPara Work_Parameter); + int tas_auto_end(double v, double r, double h, struct RadarPara Work_Parameter); // 禁止跟踪区域判断 - int tas_prohibite_area(float r,float azi, float v, float h,struct RadarPara Work_Parameter); + int tas_prohibite_area(double r,double azi, double v, double h,struct RadarPara Work_Parameter); struct Tracking_Target tas_target_queue[TAS_QUEUE_LENGTH]; //跟踪目标信息队列 diff --git a/data_process_class_dll/track_asso.cpp b/data_process_class_dll/track_asso.cpp index fc92f11..44d1d1d 100644 --- a/data_process_class_dll/track_asso.cpp +++ b/data_process_class_dll/track_asso.cpp @@ -9,11 +9,10 @@ using namespace Eigen; using namespace std; -// //////////////////////////// 用point_recv_1、point_recv_2中点迹与trust_track中的点迹进行关联， ///////////// +// //////////////////////////// 用point_recv中点迹与trust_track中的点迹进行关联， ///////////// // //////////////////////////// 航迹更新结果通过Trust_Track_Output[MAX_TRACK_NUM][10]和 Trust_track_num_Output输出 ///////////// -int Track_Asso:: track_asso_process(QVector *point_recv_1, //输入点迹 - QVector *point_recv_2, +int Track_Asso:: track_asso_process(QVector *point_recv, //输入点迹 QVector *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 @@ -22,19 +21,13 @@ int Track_Asso:: track_asso_process(QVector *point_recv { //取出对应点迹区的点 - for (int i=0;i< point_recv_1->size();i++) + for (int i=0;i< point_recv->size();i++) { - point_process.push_back((*point_recv_1)[i]); + point_process.push_back((*point_recv)[i]); int n=point_process.size(); point_process[n-1].point_section_asso = 1; } - for (int i=0;i< point_recv_2->size();i++) - { - point_process.push_back((*point_recv_2)[i]); - int n=point_process.size(); - point_process[n-1].point_section_asso = 2; - } //IMM算法 model_interaction(trust_track); @@ -60,18 +53,12 @@ int Track_Asso:: track_asso_process(QVector *point_recv } //剩余点重新存入点迹 - QVector().swap((*point_recv_1)); - QVector().swap((*point_recv_2)); + QVector().swap((*point_recv)); for (int i=0;i *point_recv //输出航迹 for (int i=0;isize();i++) { // 输出更新航迹条件： +// if((*trust_track)[i].manual_tracking_flag==0) +// { - *Trust_track_num_Output= *Trust_track_num_Output+1; + *Trust_track_num_Output= *Trust_track_num_Output+1; - Trust_Track_Output[*Trust_track_num_Output-1][0].Point_Sum=1; - float 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; - float 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; - float 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; + if((*trust_track)[i].Height0&&(*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=0; + Trust_Track_Output[*Trust_track_num_Output-1][0].prf_point = (*trust_track)[i].prf_point; + Trust_Track_Output[*Trust_track_num_Output-1][0].track_snr = (*trust_track)[i].snr_point; + + //直接输出点迹高度-20260605 + Trust_Track_Output[*Trust_track_num_Output-1][0].z = (*trust_track)[i].range_point * sin((*trust_track)[i].elev_point/180.0*PI); + Trust_Track_Output[*Trust_track_num_Output-1][0].Elevation = (*trust_track)[i].elev_point; + + Trust_Track_Output[*Trust_track_num_Output-1][0].x=(*trust_track)[i].X[0]; + Trust_Track_Output[*Trust_track_num_Output-1][0].y=(*trust_track)[i].X[3]; + Trust_Track_Output[*Trust_track_num_Output-1][0].v_x=(*trust_track)[i].X[1]; + Trust_Track_Output[*Trust_track_num_Output-1][0].v_y=(*trust_track)[i].X[4]; + + Trust_Track_Output[*Trust_track_num_Output-1][0].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)); +// } } return 0; @@ -135,117 +143,120 @@ void Track_Asso:: model_interaction(QVector *trust_track) for (int loop_of_track=0;loop_of_tracksize();loop_of_track++) { - float 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]; +// if((*trust_track)[loop_of_track].manual_tracking_flag == 0) +// { + 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]; - float 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]; - float 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]; - } - - - float X1_sub_Xo1[6],X2_sub_Xo1[6],X3_sub_Xo1[6]; - float X1_sub_Xo2[6],X2_sub_Xo2[6],X3_sub_Xo2[6]; - float X1_sub_Xo3[6],X2_sub_Xo3[6],X3_sub_Xo3[6]; - float X11[6][6],X21[6][6],X31[6][6]; - float X12[6][6],X22[6][6],X32[6][6]; - float X13[6][6],X23[6][6],X33[6][6]; - - - 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]; - - } - - - for (int i=0;i<6;i++) - for(int j=0;j<6;j++) + double Xo1_last[6],Xo2_last[6],Xo3_last[6],X1[6],X2[6],X3[6]; + for (int i=0;i<6;i++) { - 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]; + 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]; } - float 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++) + for (int i=0;i<6;i++) { - 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]; + 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++) - { - (*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++) + + 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++) { - (*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]; + + 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]; + } + + + 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]; + } +// } } } // 产生 F Q 矩阵 -void Track_Asso::IMM_F_Q_gen(float v_track, float delta_T,float F[6][6], float Q1[6][6], float Q2[6][6], float Q3[6][6],struct RadarPara Work_Parameter) +void Track_Asso::IMM_F_Q_gen(double v_track, double delta_T,double F[6][6], double Q1[6][6], double Q2[6][6], double Q3[6][6],struct RadarPara Work_Parameter) { //F - float alpha=0.2; - memset(F,0,36*sizeof(float)); + double alpha=0.2; + memset(F,0,36*sizeof(double)); F[0][0]=1; F[0][1]=delta_T; F[0][2]=(alpha*delta_T-1+exp(-alpha*delta_T))/pow(alpha,2); @@ -270,14 +281,14 @@ void Track_Asso::IMM_F_Q_gen(float v_track, float delta_T,float F[6][6], float Q //模型1 //Q - float q1=Work_Parameter.Model1_Q_slow; - float q111=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)); - float q121=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)); - float q131=1/(2*pow(alpha,3))*(1-exp(-2*alpha*delta_T)-2*alpha*delta_T*exp(-alpha*delta_T)); - float q221=1/(2*pow(alpha,3))*(4*exp(-alpha*delta_T)-3-exp(-2*alpha*delta_T)+2*alpha*delta_T); - float q231=1/(2*pow(alpha,2))*(exp(-2*alpha*delta_T)+1-2*exp(-alpha*delta_T)); - float q331=1/(2*alpha)*(1-exp(-2*alpha*delta_T)); - memset(Q1,0,36*sizeof(float)); + double q1=Work_Parameter.Model1_Q_slow; + double q111=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 q121=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 q131=1/(2*pow(alpha,3))*(1-exp(-2*alpha*delta_T)-2*alpha*delta_T*exp(-alpha*delta_T)); + double q221=1/(2*pow(alpha,3))*(4*exp(-alpha*delta_T)-3-exp(-2*alpha*delta_T)+2*alpha*delta_T); + double q231=1/(2*pow(alpha,2))*(exp(-2*alpha*delta_T)+1-2*exp(-alpha*delta_T)); + double q331=1/(2*alpha)*(1-exp(-2*alpha*delta_T)); + memset(Q1,0,36*sizeof(double)); Q1[0][0]=q1*q111; Q1[0][1]=q1*q121; Q1[0][2]=q1*q131; Q1[1][0]=q1*q121; Q1[1][1]=q1*q221; Q1[1][2]=q1*q231; Q1[2][0]=q1*q131; Q1[2][1]=q1*q231; Q1[2][2]=q1*q331; @@ -289,33 +300,37 @@ void Track_Asso::IMM_F_Q_gen(float v_track, float delta_T,float F[6][6], float Q //模型2 //Q - float q2; + double q2; if(v_track<=5) { q2=Work_Parameter.Model2_Q_slow/20; } - else if(v_track<=50&&v_track>5) + else if(v_track<=15&&v_track>5) { q2=Work_Parameter.Model2_Q_slow; } - else if(v_track<=100&&v_track>50) + else if(v_track<=30&&v_track>15) { - q2=10.0*Work_Parameter.Model2_Q_fast; + q2=Work_Parameter.Model2_Q_slow; + } + else if(v_track<=100&&v_track>30) + { + q2=Work_Parameter.Model2_Q_fast; } else { - q2=40.0*Work_Parameter.Model2_Q_fast; + q2=Work_Parameter.Model2_Q_fast; } - float 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)); - float 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)); - float q132=1/(2*pow(alpha,3))*(1-exp(-2*alpha*delta_T)-2*alpha*delta_T*exp(-alpha*delta_T)); - float q222=1/(2*pow(alpha,3))*(4*exp(-alpha*delta_T)-3-exp(-2*alpha*delta_T)+2*alpha*delta_T); - float q232=1/(2*pow(alpha,2))*(exp(-2*alpha*delta_T)+1-2*exp(-alpha*delta_T)); - float 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(float)); + 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; @@ -327,34 +342,43 @@ void Track_Asso::IMM_F_Q_gen(float v_track, float delta_T,float F[6][6], float Q //模型3 //Q - float q3; + double q3; if(v_track<=5) { q3=Work_Parameter.Model3_Q_slow/20; } - else if(v_track<=50&&v_track>5) + else if(v_track<=15&&v_track>5) { q3=Work_Parameter.Model3_Q_slow; } + else if(v_track<=20&&v_track>15) + { + q3=Work_Parameter.Model3_Q_slow; + } + else if(v_track<=50&&v_track>20) + { + q3=Work_Parameter.Model3_Q_fast; + + } else if(v_track<=100&&v_track>50) { - q3=10.0*Work_Parameter.Model3_Q_fast; + q3=2*Work_Parameter.Model3_Q_fast; } else { - q3=40.0*Work_Parameter.Model3_Q_fast; + q3=10*Work_Parameter.Model3_Q_fast; } - float 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)); - float 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)); - float q133=1/(2*pow(alpha,3))*(1-exp(-2*alpha*delta_T)-2*alpha*delta_T*exp(-alpha*delta_T)); - float q223=1/(2*pow(alpha,3))*(4*exp(-alpha*delta_T)-3-exp(-2*alpha*delta_T)+2*alpha*delta_T); - float q233=1/(2*pow(alpha,2))*(exp(-2*alpha*delta_T)+1-2*exp(-alpha*delta_T)); - float q333=1/(2*alpha)*(1-exp(-2*alpha*delta_T)); + 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(float)); + 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; @@ -368,16 +392,16 @@ void Track_Asso::IMM_F_Q_gen(float v_track, float delta_T,float F[6][6], float Q // 计算三个 d -void Track_Asso::IMM_d_cal(float v_track, - float X1[6], float P1[6][6], - float X2[6], float P2[6][6], - float X3[6], float P3[6][6], - float Z[3], float prt,float freq_ind, - float delta_T, - float *d1,float *d2,float *d3, +void Track_Asso::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) { - float F[6][6], Q1[6][6], Q2[6][6], Q3[6][6]; + 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; @@ -396,10 +420,10 @@ void Track_Asso:: model_filter(QVector *trust_track,struct RadarP //存储关联信息 struct asso_info { - float d1; - float d2; - float d3; - float d_min; + double d1; + double d2; + double d3; + double d_min; int point_index; int track_index; }; @@ -408,55 +432,147 @@ void Track_Asso:: model_filter(QVector *trust_track,struct RadarP //遍历所有点迹航迹 计算点迹和航迹的统计距离 for (int loop_of_track = 0; loop_of_tracksize();loop_of_track++) { - (*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 +// if((*trust_track)[loop_of_track].manual_tracking_flag==0) +// { + (*trust_track)[loop_of_track].point_flag = 0; //航迹的point_flag置为0 关联上点后再置为1 - for (int loop_of_point = 0; loop_of_point=1000) + { + if(abs(h_track-h_point)<=200) + { + d_h = 1; + } + else + { + d_h = 0; + } + + } + else if(r_track>=2000 && r_track<3000 ) + { + if(abs(h_track-h_point)<=200) + { + d_h = 1; + } + else + { + d_h = 0; + } + } + else if(r_track>=3000 && r_track<5000) + { + if(abs(h_track-h_point)<=300) + { + d_h = 1; + } + else + { + d_h = 0; + } + } + else + { + d_h = 1; + } + + qDebug() << delta_T<<" "< PI){ + a_delta = 2*PI - a_delta; + } + + double R = sqrt(r_track * r_track + r_point*r_point - 2*r_track*r_point*cos(a_delta)); + double VT = v_track*delta_T; + + bool d_r = true; + + if(VT < 100 && R > 300){ + //VT<100m，使用固定门限300m + d_r = false; + }else if((VT>=100 && VT<=300 && R/VT>3)){ + d_r = false; + }else if(VT>300 && R > 1200){ + d_r = false; + } + + //小于关联门限 保存关联信息 + if( + ( r_track<=500 && (d1*d1500&&r_track<1000) && (d1*d1=1000 && (d1*d1 *trust_track,struct RadarP if(associated_num>0) { int min_index=1; - float min_d=associated_info[0].d_min; + double min_d=associated_info[0].d_min; for (int ii=0;ii *trust_track,struct RadarP int track_index=associated_info[min_index-1].track_index; int point_index=associated_info[min_index-1].point_index; - float d1=associated_info[min_index-1].d1; - float d2=associated_info[min_index-1].d2; - float d3=associated_info[min_index-1].d3; + double d1=associated_info[min_index-1].d1; + double d2=associated_info[min_index-1].d2; + double d3=associated_info[min_index-1].d3; //卡尔曼滤波 - float Z[3]={point_process[point_index-1].Range,point_process[point_index-1].Azimuth,point_process[point_index-1].Velocity}; - float prt = point_process[point_index-1].PRF_index; - float freq_ind = point_process[point_index-1].Freq_index; - float X1[6],X2[6],X3[6],P1[6][6],P2[6][6],P3[6][6]; - memcpy(X1,(*trust_track)[track_index-1].X1,6*sizeof(float)); - memcpy(X2,(*trust_track)[track_index-1].X2,6*sizeof(float)); - memcpy(X3,(*trust_track)[track_index-1].X3,6*sizeof(float)); - memcpy(P1,(*trust_track)[track_index-1].P1,6*6*sizeof(float)); - memcpy(P2,(*trust_track)[track_index-1].P2,6*6*sizeof(float)); - memcpy(P3,(*trust_track)[track_index-1].P3,6*6*sizeof(float)); - float v_track = sqrt(pow((*trust_track)[track_index-1].X[1],2)+pow((*trust_track)[track_index-1].X[4],2)); - float delta_T = (point_process[point_index-1].CPI_Time - (*trust_track)[track_index-1].T_track)/1000.0; - float F[6][6], Q1[6][6], Q2[6][6], Q3[6][6]; + 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 X1[6],X2[6],X3[6],P1[6][6],P2[6][6],P3[6][6]; + memcpy(X1,(*trust_track)[track_index-1].X1,6*sizeof(double)); + memcpy(X2,(*trust_track)[track_index-1].X2,6*sizeof(double)); + memcpy(X3,(*trust_track)[track_index-1].X3,6*sizeof(double)); + memcpy(P1,(*trust_track)[track_index-1].P1,6*6*sizeof(double)); + memcpy(P2,(*trust_track)[track_index-1].P2,6*6*sizeof(double)); + memcpy(P3,(*trust_track)[track_index-1].P3,6*6*sizeof(double)); + double v_track = sqrt(pow((*trust_track)[track_index-1].X[1],2)+pow((*trust_track)[track_index-1].X[4],2)); + double delta_T = (point_process[point_index-1].CPI_Time - (*trust_track)[track_index-1].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); if(delta_T>0) { - float X1_filter[6],X2_filter[6],X3_filter[6],P1_filter[6][6],P2_filter[6][6],P3_filter[6][6]; - float S1[2][2],S2[2][2],S3[2][2]; + 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_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 ); @@ -518,20 +634,20 @@ void Track_Asso:: model_filter(QVector *trust_track,struct RadarP S2_out(ii,jj)=S2[ii][jj]; S3_out(ii,jj)=S3[ii][jj]; } - float det_S1=S1_out.determinant(); - float Possibility1=1/sqrt(2*PI*det_S1)*exp(-0.5*d1); - float det_S2=S2_out.determinant(); - float Possibility2=1/sqrt(2*PI*det_S2)*exp(-0.5*d2); - float det_S3=S3_out.determinant(); - float Possibility3=1/sqrt(2*PI*det_S3)*exp(-0.5*d3); + double det_S1=S1_out.determinant(); + double Possibility1=1/sqrt(2*PI*det_S1)*exp(-0.5*d1); + double det_S2=S2_out.determinant(); + double Possibility2=1/sqrt(2*PI*det_S2)*exp(-0.5*d2); + double det_S3=S3_out.determinant(); + double Possibility3=1/sqrt(2*PI*det_S3)*exp(-0.5*d3); //更新模型概率 - float u_last[3]; + double u_last[3]; u_last[0]=(*trust_track)[track_index-1].u[0]; u_last[1]=(*trust_track)[track_index-1].u[1]; u_last[2]=(*trust_track)[track_index-1].u[2]; - float c[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]; @@ -558,8 +674,7 @@ void Track_Asso:: model_filter(QVector *trust_track,struct RadarP //更新航迹时间 (*trust_track)[track_index-1].T_track = point_process[point_index-1].CPI_Time; - //更新高度 - track_hight_update(track_index,point_index,trust_track); + //更新关联上的点迹信息 (*trust_track)[track_index-1].range_point=point_process[point_index-1].Range; @@ -572,6 +687,15 @@ void Track_Asso:: model_filter(QVector *trust_track,struct RadarP (*trust_track)[track_index-1].Amplitude= point_process[point_index-1].Amplitude; //幅度 (*trust_track)[track_index-1].RCS = point_process[point_index-1].RCS; + + (*trust_track)[track_index-1].pitch_num = point_process[point_index-1].pitch_num; + + std::memcpy((*trust_track)[track_index-1].speed_dim, point_process[point_index-1].speed_dim, sizeof((*trust_track)[track_index-1].speed_dim)); + std::memcpy((*trust_track)[track_index-1].range_dim, point_process[point_index-1].range_dim, sizeof((*trust_track)[track_index-1].range_dim)); + + //更新高度 + track_hight_update(track_index,point_index,trust_track); + } (*trust_track)[track_index-1].Extrapolate_round = 0; //连续未用实点更新时间 (*trust_track)[track_index-1].point_flag=1; //实点 @@ -610,52 +734,52 @@ void Track_Asso:: model_filter(QVector *trust_track,struct RadarP //未关联上的航迹 进行外推 tws for (int i =0; i<(*trust_track).size();i++ ) { - if((*trust_track)[i].point_flag == 0 && (*trust_track)[i].Track_Mode == 0) + if((*trust_track)[i].point_flag == 0 && (*trust_track)[i].manual_tracking_flag == 0) { - float v_track = sqrt(pow((*trust_track)[i].X[1],2)+pow((*trust_track)[i].X[4],2)); - float delta_T; + double v_track = sqrt(pow((*trust_track)[i].X[1],2)+pow((*trust_track)[i].X[4],2)); + double delta_T; if(Work_Parameter.work_mode == 0) { - delta_T = DATA_RATE_SHORT; + delta_T = Work_Parameter.DATA_RATE_SHORT; } else if(Work_Parameter.work_mode == 1) { - delta_T = DATA_RATE_MIDDLE; + delta_T = Work_Parameter.DATA_RATE_MIDDLE; } else if(Work_Parameter.work_mode == 2) { - delta_T = DATA_RATE_FAR; + delta_T = Work_Parameter.DATA_RATE_FAR; } else { - delta_T = DATA_RATE_SHORT; + delta_T = Work_Parameter.DATA_RATE_SHORT; } - float F[6][6], Q1[6][6], Q2[6][6], Q3[6][6]; + 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); //航迹X P - float X1[6],X2[6],X3[6],P1[6][6],P2[6][6],P3[6][6]; - memcpy(X1,(*trust_track)[i].X1,6*sizeof(float)); - memcpy(X2,(*trust_track)[i].X2,6*sizeof(float)); - memcpy(X3,(*trust_track)[i].X3,6*sizeof(float)); - memcpy(P1,(*trust_track)[i].P1,6*6*sizeof(float)); - memcpy(P2,(*trust_track)[i].P2,6*6*sizeof(float)); - memcpy(P3,(*trust_track)[i].P3,6*6*sizeof(float)); + double X1[6],X2[6],X3[6],P1[6][6],P2[6][6],P3[6][6]; + memcpy(X1,(*trust_track)[i].X1,6*sizeof(double)); + memcpy(X2,(*trust_track)[i].X2,6*sizeof(double)); + memcpy(X3,(*trust_track)[i].X3,6*sizeof(double)); + memcpy(P1,(*trust_track)[i].P1,6*6*sizeof(double)); + memcpy(P2,(*trust_track)[i].P2,6*6*sizeof(double)); + memcpy(P3,(*trust_track)[i].P3,6*6*sizeof(double)); //外推 - float X1_pred[6],X2_pred[6],X3_pred[6],P1_pred[6][6],P2_pred[6][6],P3_pred[6][6]; + double X1_pred[6],X2_pred[6],X3_pred[6],P1_pred[6][6],P2_pred[6][6],P3_pred[6][6]; kalman Kalman; Kalman.kalman_pred(F, Q1, X1, P1, X1_pred, P1_pred); Kalman.kalman_pred(F, Q2, X2, P2, X2_pred, P2_pred); Kalman.kalman_pred(F, Q3, X3, P3, X3_pred, P3_pred); - memcpy((*trust_track)[i].X1,X1_pred,6*sizeof(float)); - memcpy((*trust_track)[i].X2,X2_pred,6*sizeof(float)); - memcpy((*trust_track)[i].X3,X3_pred,6*sizeof(float)); - memcpy((*trust_track)[i].P1,P1_pred,6*6*sizeof(float)); - memcpy((*trust_track)[i].P2,P2_pred,6*6*sizeof(float)); - memcpy((*trust_track)[i].P3,P3_pred,6*6*sizeof(float)); + memcpy((*trust_track)[i].X1,X1_pred,6*sizeof(double)); + memcpy((*trust_track)[i].X2,X2_pred,6*sizeof(double)); + memcpy((*trust_track)[i].X3,X3_pred,6*sizeof(double)); + memcpy((*trust_track)[i].P1,P1_pred,6*6*sizeof(double)); + memcpy((*trust_track)[i].P2,P2_pred,6*6*sizeof(double)); + memcpy((*trust_track)[i].P3,P3_pred,6*6*sizeof(double)); (*trust_track)[i].T_track = (*trust_track)[i].T_track+delta_T*1000.0; //更新航迹时间 @@ -674,95 +798,98 @@ void Track_Asso:: model_output(QVector *trust_track) for(int loop_of_track=0; loop_of_tracksize(); loop_of_track++) { - float u_now[3]; - u_now[0]=(*trust_track)[loop_of_track].u[0]; - u_now[1]=(*trust_track)[loop_of_track].u[1]; - u_now[2]=(*trust_track)[loop_of_track].u[2]; +// if((*trust_track)[loop_of_track].manual_tracking_flag==0) +// { + double u_now[3]; + u_now[0]=(*trust_track)[loop_of_track].u[0]; + u_now[1]=(*trust_track)[loop_of_track].u[1]; + u_now[2]=(*trust_track)[loop_of_track].u[2]; - float X1_filter[6],X2_filter[6],X3_filter[6]; - float P1_filter[6][6],P2_filter[6][6],P3_filter[6][6]; - for (int ii=0;ii<6;ii++) - { - X1_filter[ii]=(*trust_track)[loop_of_track].X1[ii]; - X2_filter[ii]=(*trust_track)[loop_of_track].X2[ii]; - X3_filter[ii]=(*trust_track)[loop_of_track].X3[ii]; - } - for (int ii=0;ii<6;ii++) - for(int jj=0;jj<6;jj++) + 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++) { - P1_filter[ii][jj]=(*trust_track)[loop_of_track].P1[ii][jj]; - P2_filter[ii][jj]=(*trust_track)[loop_of_track].P2[ii][jj]; - P3_filter[ii][jj]=(*trust_track)[loop_of_track].P3[ii][jj]; + X1_filter[ii]=(*trust_track)[loop_of_track].X1[ii]; + X2_filter[ii]=(*trust_track)[loop_of_track].X2[ii]; + X3_filter[ii]=(*trust_track)[loop_of_track].X3[ii]; } + for (int ii=0;ii<6;ii++) + for(int jj=0;jj<6;jj++) + { + P1_filter[ii][jj]=(*trust_track)[loop_of_track].P1[ii][jj]; + P2_filter[ii][jj]=(*trust_track)[loop_of_track].P2[ii][jj]; + P3_filter[ii][jj]=(*trust_track)[loop_of_track].P3[ii][jj]; + } - float X_filter[6], P_filter[6][6]; - for (int i=0;i<6;i++) - X_filter[i]=u_now[0]*X1_filter[i]+u_now[1]*X2_filter[i]+u_now[2]*X3_filter[i]; + double X_filter[6], P_filter[6][6]; + for (int i=0;i<6;i++) + X_filter[i]=u_now[0]*X1_filter[i]+u_now[1]*X2_filter[i]+u_now[2]*X3_filter[i]; - float X1_sub_X[6], X2_sub_X[6], X3_sub_X[6]; - float X1X[6][6], X2X[6][6],X3X[6][6]; - for (int i=0;i<6;i++) - { - X1_sub_X[i]=X1_filter[i]-X_filter[i]; - X2_sub_X[i]=X2_filter[i]-X_filter[i]; - X3_sub_X[i]=X3_filter[i]-X_filter[i]; - } - for(int i=0;i<6;i++) - for (int j=0;j<6;j++) + 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 i=0;i<6;i++) { - X1X[i][j]=X1_sub_X[i]*X1_sub_X[j]; - X2X[i][j]=X2_sub_X[i]*X2_sub_X[j]; - X3X[i][j]=X3_sub_X[i]*X3_sub_X[j]; + X1_sub_X[i]=X1_filter[i]-X_filter[i]; + X2_sub_X[i]=X2_filter[i]-X_filter[i]; + X3_sub_X[i]=X3_filter[i]-X_filter[i]; } - for(int i=0;i<6;i++) - for (int j=0;j<6;j++) - P_filter[i][j]=u_now[0]*(P1_filter[i][j]+X1X[i][j])+u_now[1]*(P2_filter[i][j]+X2X[i][j])+u_now[2]*(P3_filter[i][j]+X3X[i][j]); + for(int i=0;i<6;i++) + for (int j=0;j<6;j++) + { + X1X[i][j]=X1_sub_X[i]*X1_sub_X[j]; + X2X[i][j]=X2_sub_X[i]*X2_sub_X[j]; + X3X[i][j]=X3_sub_X[i]*X3_sub_X[j]; + } + for(int i=0;i<6;i++) + for (int j=0;j<6;j++) + P_filter[i][j]=u_now[0]*(P1_filter[i][j]+X1X[i][j])+u_now[1]*(P2_filter[i][j]+X2X[i][j])+u_now[2]*(P3_filter[i][j]+X3X[i][j]); - //本地航迹文件更新 - (*trust_track)[loop_of_track].X[0]=X_filter[0]; //位置 速度 - (*trust_track)[loop_of_track].X[1]=X_filter[1]; - (*trust_track)[loop_of_track].X[2]=X_filter[2]; - (*trust_track)[loop_of_track].X[3]=X_filter[3]; - (*trust_track)[loop_of_track].X[4]=X_filter[4]; - (*trust_track)[loop_of_track].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)[loop_of_track].P[ii][jj]=P_filter[ii][jj]; + //本地航迹文件更新 + (*trust_track)[loop_of_track].X[0]=X_filter[0]; //位置 速度 + (*trust_track)[loop_of_track].X[1]=X_filter[1]; + (*trust_track)[loop_of_track].X[2]=X_filter[2]; + (*trust_track)[loop_of_track].X[3]=X_filter[3]; + (*trust_track)[loop_of_track].X[4]=X_filter[4]; + (*trust_track)[loop_of_track].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)[loop_of_track].P[ii][jj]=P_filter[ii][jj]; - //航迹区更新 - float r, azi; - coor_trans Coor_trans; - Coor_trans.cart2polar((*trust_track)[loop_of_track].X[0], (*trust_track)[loop_of_track].X[3], &r, &azi); + // //航迹区更新 + // double r, azi; + // coor_trans Coor_trans; + // Coor_trans.cart2polar((*trust_track)[loop_of_track].X[0], (*trust_track)[loop_of_track].X[3], &r, &azi); - if(azi/PI*180>=TRACK_SECTION_1_START && azi/PI*180=TRACK_SECTION_1_START && azi/PI*180=TRACK_SECTION_2_START && azi/PI*180=TRACK_SECTION_2_START && azi/PI*180=TRACK_SECTION_3_START && azi/PI*180=TRACK_SECTION_3_START && azi/PI*180=TRACK_SECTION_4_START && azi/PI*180=TRACK_SECTION_4_START && azi/PI*180=TRACK_SECTION_5_START && azi/PI*180=TRACK_SECTION_5_START && azi/PI*180=TRACK_SECTION_6_START && azi/PI*180=TRACK_SECTION_6_START && azi/PI*180=TRACK_SECTION_7_START && azi/PI*180=TRACK_SECTION_7_START && azi/PI*180=TRACK_SECTION_8_START && azi/PI*180=TRACK_SECTION_8_START && azi/PI*180=TRACK_SECTION_9_START && azi/PI*180=TRACK_SECTION_9_START || azi/PI*180 1000) + { + height_win_length = H_F_WIN_LEN+3; + } + else if((*trust_track)[updata_track_index-1].range_point <= 4000 && (*trust_track)[updata_track_index-1].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)[updata_track_index-1].Hight_smooth.size()=H_F_WIN_LEN) + else if((*trust_track)[updata_track_index-1].Hight_smooth.size()>=height_win_length) { int N=(*trust_track)[updata_track_index-1].Hight_smooth.size(); - for (int i=0;i - +#include using namespace std; @@ -15,8 +15,7 @@ using namespace std; class Track_Asso { public: - int track_asso_process(QVector *point_recv_1, //点迹文件 - QVector *point_recv_2, + int track_asso_process(QVector *point_recv, //点迹文件 QVector *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 @@ -41,18 +40,18 @@ private: void model_output(QVector *trust_track ); //模型输出 - void IMM_d_cal(float v_track, - float X1[6], float P1[6][6], - float X2[6], float P2[6][6], - float X3[6], float P3[6][6], - float Z[3], float prt,float freq_ind, - float delta_T, - float *d1,float *d2,float *d3, + void 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); - void IMM_F_Q_gen(float v_track, float delta_T,float F[6][6], float Q1[6][6], float Q2[6][6], float Q3[6][6],struct RadarPara Work_Parameter); + void IMM_F_Q_gen(double v_track, double delta_T,double F[6][6], double Q1[6][6], double Q2[6][6], double Q3[6][6],struct RadarPara Work_Parameter); - float Pt[3][3]; //模型转移概率 + double Pt[3][3]; //模型转移概率 diff --git a/data_process_class_dll/track_asso_direct_tracking.cpp b/data_process_class_dll/track_asso_direct_tracking.cpp new file mode 100644 index 0000000..6570994 --- /dev/null +++ b/data_process_class_dll/track_asso_direct_tracking.cpp @@ -0,0 +1,724 @@ +#include "track_asso_direct_tracking.h" +#include "kalman.h" +#include "coor_trans.h" +#include +#include "memory.h" +#include +#include +using namespace Eigen; +using namespace std; + + +int Track_Asso_Direct_Tracking::track_asso_process_direct_tracking(QVector *point_recv, //点迹 + Trust_Track *trust_track, //航迹 + 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 + ) +{ + + //取出点迹 + for (int i=0;i< point_recv->size();i++) + { + point_process.push_back((*point_recv)[i]); + } + + //IMM算法 + model_interaction(trust_track); + + model_filter(trust_track, Work_Parameter); + + model_output(trust_track); + + //point_process清空 + QVector().swap(point_process); + + + //输出航迹 + + *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).X[0]+(*trust_track).X[1]*Work_Parameter.Sys_delay; + y=(*trust_track).X[3]+(*trust_track).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).Height/r)/PI*180; + Trust_Track_Output[*Trust_track_num_Output-1][0].Track_Index=(*trust_track).Track_Index; + Trust_Track_Output[*Trust_track_num_Output-1][0].Range_V = + sqrt((*trust_track).X[1]*(*trust_track).X[1]+(*trust_track).X[4]*(*trust_track).X[4]); + Trust_Track_Output[*Trust_track_num_Output-1][0].Amplitude = (*trust_track).Amplitude; + Trust_Track_Output[*Trust_track_num_Output-1][0].Track_Mode=(*trust_track).Track_Mode; + Trust_Track_Output[*Trust_track_num_Output-1][0].track_time=(*trust_track).T_track/1000.0; + Trust_Track_Output[*Trust_track_num_Output-1][0].Flag_Point = (*trust_track).point_flag; + Trust_Track_Output[*Trust_track_num_Output-1][0].z=(*trust_track).Height+Work_Parameter.Height; + + double Direction_Angle; + Direction_Angle=atan((*trust_track).X[4]/(*trust_track).X[1]); + if((*trust_track).X[1]<0){Direction_Angle=Direction_Angle+PI;} + if((*trust_track).X[1]>0&&(*trust_track).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).range_point; + Trust_Track_Output[*Trust_track_num_Output-1][0].azi_point=(*trust_track).azi_point; + Trust_Track_Output[*Trust_track_num_Output-1][0].elev_point=(*trust_track).elev_point; + Trust_Track_Output[*Trust_track_num_Output-1][0].vr_point=(*trust_track).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).prf_point; + Trust_Track_Output[*Trust_track_num_Output-1][0].track_snr = (*trust_track).snr_point; + Trust_Track_Output[*Trust_track_num_Output-1][0].x=(*trust_track).X[0]; + Trust_Track_Output[*Trust_track_num_Output-1][0].y=(*trust_track).X[3]; + Trust_Track_Output[*Trust_track_num_Output-1][0].v_x=(*trust_track).X[1]; + Trust_Track_Output[*Trust_track_num_Output-1][0].v_y=(*trust_track).X[4]; + Trust_Track_Output[*Trust_track_num_Output-1][0].track_rcs = (*trust_track).RCS; + + + + return 0; +} + + +void Track_Asso_Direct_Tracking::model_interaction(Trust_Track *trust_track) //模型交互 +{ + + double u_last[3]; + u_last[0]=(*trust_track).u[0]; + u_last[1]=(*trust_track).u[1]; + u_last[2]=(*trust_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]; + + 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).X1[i]; + X2[i]=(*trust_track).X2[i]; + X3[i]=(*trust_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]; + } + + + 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++) + { + + 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]; + } + + + 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).P1[i][j]+X11[i][j])*u_t[0][0]+((*trust_track).P2[i][j]+X21[i][j])*u_t[1][0]+((*trust_track).P3[i][j]+X31[i][j])*u_t[2][0]; + Po2_last[i][j]=((*trust_track).P1[i][j]+X12[i][j])*u_t[0][1]+((*trust_track).P2[i][j]+X22[i][j])*u_t[1][1]+((*trust_track).P3[i][j]+X32[i][j])*u_t[2][1]; + Po3_last[i][j]=((*trust_track).P1[i][j]+X13[i][j])*u_t[0][2]+((*trust_track).P2[i][j]+X23[i][j])*u_t[1][2]+((*trust_track).P3[i][j]+X33[i][j])*u_t[2][2]; + } + + for(int i=0;i<6;i++) + { + (*trust_track).X1[i]=Xo1_last[i]; + (*trust_track).X2[i]=Xo2_last[i]; + (*trust_track).X3[i]=Xo3_last[i]; + } + for(int i=0;i<6;i++) + for (int j=0;j<6;j++) + { + (*trust_track).P1[i][j]=Po1_last[i][j]; + (*trust_track).P2[i][j]=Po2_last[i][j]; + (*trust_track).P3[i][j]=Po3_last[i][j]; + } + + +} + + +void Track_Asso_Direct_Tracking::model_filter(Trust_Track *trust_track, //滤波 + struct RadarPara Work_Parameter) +{ + //存储关联信息 + struct asso_info + { + double d1; + double d2; + double d3; + double d_min; + int point_index; + }; + QVector associated_info; + + + //航迹信息 + double X1[6],X2[6],X3[6],P1[6][6],P2[6][6],P3[6][6]; + double T_track; + double v_track; + double r_track; + double h_track; + (*trust_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).X1,6*sizeof(double)); + memcpy(X2,(*trust_track).X2,6*sizeof(double)); + memcpy(X3,(*trust_track).X3,6*sizeof(double)); + memcpy(P1,(*trust_track).P1,6*6*sizeof(double)); + memcpy(P2,(*trust_track).P2,6*6*sizeof(double)); + memcpy(P3,(*trust_track).P3,6*6*sizeof(double)); + T_track = (*trust_track).T_track; + v_track = sqrt(pow((*trust_track).X[1],2)+pow((*trust_track).X[4],2)); + r_track = sqrt(pow((*trust_track).X[0],2)+pow((*trust_track).X[3],2)); + h_track = (*trust_track).Height; + + // 计算量测和航迹统计距离 + for (int loop_of_point = 0; loop_of_point=1000) + { + if(abs(h_track-h_point)<=200) + { + d_h = 1; + } + else + { + d_h = 0; + } + + } + else if(r_track>=2000 && r_track<3000 ) + { + if(abs(h_track-h_point)<=200) + { + d_h = 1; + } + else + { + d_h = 0; + } + } + else if(r_track>=3000 && r_track<5000) + { + if(abs(h_track-h_point)<=300) + { + d_h = 1; + } + else + { + d_h = 0; + } + } + else + { + d_h = 1; + } + + //小于关联门限 保存关联信息 + if((d1*d10) + { + //找最近点 + int min_index=1; + double min_d=associated_info[0].d_min; + for (int ii=0;ii50) + { + q2=10.0*Work_Parameter.Model2_Q_fast; + } + else + { + 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)); + + 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; + + + //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; + + 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; + + +} + + +// 计算三个 d +void Track_Asso_Direct_Tracking::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 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_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); + +} + + + +//高度维更新 +void Track_Asso_Direct_Tracking::track_hight_update(int asso_point_index, //点迹号 + Trust_Track *trust_track //航迹 + ) +{ + + (*trust_track).Hight_smooth.push_back(point_process[asso_point_index-1].Height); + + + int height_win_length; + if((*trust_track).range_point <= 1000) + { + height_win_length = H_F_WIN_LEN+2; + } + else if((*trust_track).range_point <= 2000 && (*trust_track).range_point > 1000) + { + height_win_length = H_F_WIN_LEN+3; + } + else if((*trust_track).range_point <= 4000 && (*trust_track).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).Hight_smooth.size()=height_win_length) + { + + int N=(*trust_track).Hight_smooth.size(); + for (int ii=0;ii +using namespace std; + + +class Track_Asso_Direct_Tracking +{ + public: + int track_asso_process_direct_tracking(QVector *point_recv, //点迹 + Trust_Track *trust_track, //航迹 + 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 + ); + + Track_Asso_Direct_Tracking(); + + + private: + + //要处理的点迹 + QVector point_process; + + + //IMM + void model_interaction(Trust_Track *trust_track); //模型交互 + + + void model_filter(Trust_Track *trust_track, //滤波 + struct RadarPara Work_Parameter + ); + + void model_output(Trust_Track *trust_track); //模型输出 + + void 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); + + void IMM_F_Q_gen(double v_track, double delta_T,double F[6][6], double Q1[6][6], double Q2[6][6], double Q3[6][6],struct RadarPara Work_Parameter); + + double Pt[3][3]; //模型转移概率 + + //高度维更新 + void track_hight_update(int asso_point_index, //点迹号 + Trust_Track *trust_track //航迹 + ); +}; + + +#endif // TRACK_ASSO_DIRECT_TRACKING_H diff --git a/data_process_class_dll/track_asso_tas.cpp b/data_process_class_dll/track_asso_tas.cpp index ecc3ca8..0f10f8e 100644 --- a/data_process_class_dll/track_asso_tas.cpp +++ b/data_process_class_dll/track_asso_tas.cpp @@ -10,7 +10,7 @@ using namespace std; int Track_Asso_Tas::track_asso_process_tas(QVector *point_recv_tas, //点迹文件 - QVector > *trust_track, //航迹文件 + QVector *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 @@ -39,53 +39,54 @@ int Track_Asso_Tas::track_asso_process_tas(QVector *poi //输出航迹 for (int i=0;isize();i++) { // 输出更新航迹条件： - for (int j=0;j<(*trust_track)[i].size();j++) - { - if((*trust_track)[i][j].Track_Index == tas_track_idx) + 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; - float x,y; - x=(*trust_track)[i][j].X[0]+(*trust_track)[i][j].X[1]*Work_Parameter.Sys_delay; - y=(*trust_track)[i][j].X[3]+(*trust_track)[i][j].X[4]*Work_Parameter.Sys_delay; + 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; - float r, azi; + 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][j].Height/r)/PI*180; - Trust_Track_Output[*Trust_track_num_Output-1][0].Track_Index=(*trust_track)[i][j].Track_Index; + 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][j].X[1]*(*trust_track)[i][j].X[1]+(*trust_track)[i][j].X[4]*(*trust_track)[i][j].X[4]); - Trust_Track_Output[*Trust_track_num_Output-1][0].Amplitude = (*trust_track)[i][j].Amplitude; - Trust_Track_Output[*Trust_track_num_Output-1][0].Track_Mode=(*trust_track)[i][j].Track_Mode; - Trust_Track_Output[*Trust_track_num_Output-1][0].track_time=(*trust_track)[i][j].T_track/1000.0; - Trust_Track_Output[*Trust_track_num_Output-1][0].Flag_Point = (*trust_track)[i][j].point_flag; - Trust_Track_Output[*Trust_track_num_Output-1][0].z=(*trust_track)[i][j].Height+Work_Parameter.Height; + 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; - float Direction_Angle; - Direction_Angle=atan((*trust_track)[i][j].X[4]/(*trust_track)[i][j].X[1]); - if((*trust_track)[i][j].X[1]<0){Direction_Angle=Direction_Angle+PI;} - if((*trust_track)[i][j].X[1]>0&&(*trust_track)[i][j].X[4]<0){Direction_Angle=Direction_Angle+2*PI;} + 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][j].range_point; - Trust_Track_Output[*Trust_track_num_Output-1][0].azi_point=(*trust_track)[i][j].azi_point; - Trust_Track_Output[*Trust_track_num_Output-1][0].elev_point=(*trust_track)[i][j].elev_point; - Trust_Track_Output[*Trust_track_num_Output-1][0].vr_point=(*trust_track)[i][j].vr_point; + 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][j].prf_point; - Trust_Track_Output[*Trust_track_num_Output-1][0].track_snr = (*trust_track)[i][j].snr_point; - Trust_Track_Output[*Trust_track_num_Output-1][0].x=(*trust_track)[i][j].X[0]; - Trust_Track_Output[*Trust_track_num_Output-1][0].y=(*trust_track)[i][j].X[3]; - Trust_Track_Output[*Trust_track_num_Output-1][0].v_x=(*trust_track)[i][j].X[1]; - Trust_Track_Output[*Trust_track_num_Output-1][0].v_y=(*trust_track)[i][j].X[4]; - Trust_Track_Output[*Trust_track_num_Output-1][0].track_rcs = (*trust_track)[i][j].RCS; + 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)); } - } + } return 0; @@ -95,25 +96,31 @@ int Track_Asso_Tas::track_asso_process_tas(QVector *poi //进行多模型交互 -void Track_Asso_Tas:: model_interaction(QVector > *trust_track, int tas_track_idx) +void Track_Asso_Tas:: model_interaction( QVector *trust_track, int tas_track_idx) { for (int loop_of_track=0;loop_of_tracksize();loop_of_track++) { - for (int loop_of_track_1=0;loop_of_track_1<(*trust_track)[loop_of_track].size();loop_of_track_1++) - { - if((*trust_track)[loop_of_track][loop_of_track_1].Track_Index == tas_track_idx) + if((*trust_track)[loop_of_track].Track_Index == tas_track_idx) { - float u_last[3]; - u_last[0]=(*trust_track)[loop_of_track][loop_of_track_1].u[0]; - u_last[1]=(*trust_track)[loop_of_track][loop_of_track_1].u[1]; - u_last[2]=(*trust_track)[loop_of_track][loop_of_track_1].u[2]; - float u_t[3][3]; +// if(point_process.size()>0) +// { +// qDebug() << "model_interaction point_process :" <> *trust_tr u_t[2][2]=Pt[2][2]*u_last[2]/c[2]; - float Xo1_last[6],Xo2_last[6],Xo3_last[6],X1[6],X2[6],X3[6]; + 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][loop_of_track_1].X1[i]; - X2[i]=(*trust_track)[loop_of_track][loop_of_track_1].X2[i]; - X3[i]=(*trust_track)[loop_of_track][loop_of_track_1].X3[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]; } @@ -147,12 +154,12 @@ void Track_Asso_Tas:: model_interaction(QVector > *trust_tr } - float X1_sub_Xo1[6],X2_sub_Xo1[6],X3_sub_Xo1[6]; - float X1_sub_Xo2[6],X2_sub_Xo2[6],X3_sub_Xo2[6]; - float X1_sub_Xo3[6],X2_sub_Xo3[6],X3_sub_Xo3[6]; - float X11[6][6],X21[6][6],X31[6][6]; - float X12[6][6],X22[6][6],X32[6][6]; - float 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++) @@ -186,35 +193,35 @@ void Track_Asso_Tas:: model_interaction(QVector > *trust_tr } - float Po1_last[6][6],Po2_last[6][6],Po3_last[6][6]; + 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][loop_of_track_1].P1[i][j]+X11[i][j])*u_t[0][0]+((*trust_track)[loop_of_track][loop_of_track_1].P2[i][j]+X21[i][j])*u_t[1][0]+((*trust_track)[loop_of_track][loop_of_track_1].P3[i][j]+X31[i][j])*u_t[2][0]; - Po2_last[i][j]=((*trust_track)[loop_of_track][loop_of_track_1].P1[i][j]+X12[i][j])*u_t[0][1]+((*trust_track)[loop_of_track][loop_of_track_1].P2[i][j]+X22[i][j])*u_t[1][1]+((*trust_track)[loop_of_track][loop_of_track_1].P3[i][j]+X32[i][j])*u_t[2][1]; - Po3_last[i][j]=((*trust_track)[loop_of_track][loop_of_track_1].P1[i][j]+X13[i][j])*u_t[0][2]+((*trust_track)[loop_of_track][loop_of_track_1].P2[i][j]+X23[i][j])*u_t[1][2]+((*trust_track)[loop_of_track][loop_of_track_1].P3[i][j]+X33[i][j])*u_t[2][2]; + 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][loop_of_track_1].X1[i]=Xo1_last[i]; - (*trust_track)[loop_of_track][loop_of_track_1].X2[i]=Xo2_last[i]; - (*trust_track)[loop_of_track][loop_of_track_1].X3[i]=Xo3_last[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][loop_of_track_1].P1[i][j]=Po1_last[i][j]; - (*trust_track)[loop_of_track][loop_of_track_1].P2[i][j]=Po2_last[i][j]; - (*trust_track)[loop_of_track][loop_of_track_1].P3[i][j]=Po3_last[i][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, //滤波 +void Track_Asso_Tas::model_filter( QVector *trust_track, //滤波 struct RadarPara Work_Parameter, int tas_track_idx ) @@ -222,10 +229,10 @@ void Track_Asso_Tas::model_filter(QVector > *trust_ //存储关联信息 struct asso_info { - float d1; - float d2; - float d3; - float d_min; + double d1; + double d2; + double d3; + double d_min; int point_index; }; QVector associated_info; @@ -233,28 +240,35 @@ void Track_Asso_Tas::model_filter(QVector > *trust_ //航迹信息 - float X1[6],X2[6],X3[6],P1[6][6],P2[6][6],P3[6][6]; - float T_track; - float v_track; + double X1[6],X2[6],X3[6],P1[6][6],P2[6][6],P3[6][6]; + double T_track; + double v_track; + double r_track; + double h_track; for (int loop_of_track=0;loop_of_tracksize();loop_of_track++) { - for (int loop_of_track_1=0;loop_of_track_1<(*trust_track)[loop_of_track].size();loop_of_track_1++) - { - if((*trust_track)[loop_of_track][loop_of_track_1].Track_Index == tas_track_idx) + if((*trust_track)[loop_of_track].Track_Index == tas_track_idx) { - (*trust_track)[loop_of_track][loop_of_track_1].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][loop_of_track_1].X1,6*sizeof(float)); - memcpy(X2,(*trust_track)[loop_of_track][loop_of_track_1].X2,6*sizeof(float)); - memcpy(X3,(*trust_track)[loop_of_track][loop_of_track_1].X3,6*sizeof(float)); - memcpy(P1,(*trust_track)[loop_of_track][loop_of_track_1].P1,6*6*sizeof(float)); - memcpy(P2,(*trust_track)[loop_of_track][loop_of_track_1].P2,6*6*sizeof(float)); - memcpy(P3,(*trust_track)[loop_of_track][loop_of_track_1].P3,6*6*sizeof(float)); +// if(point_process.size()>0) +// { +// qDebug() << "model_filter point_process :" <> *trust_ for (int loop_of_point = 0; loop_of_point=1000) + { + if(abs(h_track-h_point)<=200) + { + d_h = 1; + } + else + { + d_h = 0; + } + + } + else if(r_track>=2000 && r_track<3000 ) + { + if(abs(h_track-h_point)<=200) + { + d_h = 1; + } + else + { + d_h = 0; + } + } + else if(r_track>=3000 && r_track<5000) + { + if(abs(h_track-h_point)<=300) + { + d_h = 1; + } + else + { + d_h = 0; + } + } + else + { + d_h = 1; + } + + +// qDebug() << "T d" <> *trust_ //有关联 滤波 if (associated_info.size()>0) { + +// qDebug() << "TAS asoooooo222" ; + //找最近点 int min_index=1; - float min_d=associated_info[0].d_min; + double min_d=associated_info[0].d_min; for (int ii=0;ii> *trust_ } } int point_index=associated_info[min_index-1].point_index; - float d1=associated_info[min_index-1].d1; - float d2=associated_info[min_index-1].d2; - float d3=associated_info[min_index-1].d3; + double d1=associated_info[min_index-1].d1; + double d2=associated_info[min_index-1].d2; + double d3=associated_info[min_index-1].d3; //卡尔曼滤波 - float Z[3]={point_process[point_index-1].Range,point_process[point_index-1].Azimuth,point_process[point_index-1].Velocity}; - float prt = point_process[point_index-1].PRF_index; - float freq_ind = point_process[point_index-1].Freq_index; -// float Z[2]; + 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); - float delta_T = (point_process[point_index-1].CPI_Time - T_track)/1000.0; - float F[6][6], Q1[6][6], Q2[6][6], Q3[6][6]; + 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); - float X1_filter[6],X2_filter[6],X3_filter[6],P1_filter[6][6],P2_filter[6][6],P3_filter[6][6]; - float S1[2][2],S2[2][2],S3[2][2]; + 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); @@ -343,101 +422,105 @@ void Track_Asso_Tas::model_filter(QVector > *trust_ S2_out(ii,jj)=S2[ii][jj]; S3_out(ii,jj)=S3[ii][jj]; } - float det_S1=S1_out.determinant(); - float Possibility1=1/sqrt(2*PI*det_S1)*exp(-0.5*d1); - float det_S2=S2_out.determinant(); - float Possibility2=1/sqrt(2*PI*det_S2)*exp(-0.5*d2); - float det_S3=S3_out.determinant(); - float Possibility3=1/sqrt(2*PI*det_S3)*exp(-0.5*d3); + double det_S1=S1_out.determinant(); + double Possibility1=1/sqrt(2*PI*det_S1)*exp(-0.5*d1); + double det_S2=S2_out.determinant(); + double Possibility2=1/sqrt(2*PI*det_S2)*exp(-0.5*d2); + double det_S3=S3_out.determinant(); + double Possibility3=1/sqrt(2*PI*det_S3)*exp(-0.5*d3); //更新航迹 for(int i=0;isize();i++) - for (int j=0;j<(*trust_track)[i].size();j++) - { - if((*trust_track)[i][j].Track_Index == tas_track_idx) + + if((*trust_track)[i].Track_Index == tas_track_idx) { //更新模型概率 - float u_last[3]; - u_last[0]=(*trust_track)[i][j].u[0]; - u_last[1]=(*trust_track)[i][j].u[1]; - u_last[2]=(*trust_track)[i][j].u[2]; + 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]; - float c[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]; - (*trust_track)[i][j].u[0]=Possibility1*c[0]/(Possibility1*c[0]+Possibility2*c[1]+Possibility3*c[2]); - (*trust_track)[i][j].u[1]=Possibility2*c[1]/(Possibility1*c[0]+Possibility2*c[1]+Possibility3*c[2]); - (*trust_track)[i][j].u[2]=Possibility3*c[2]/(Possibility1*c[0]+Possibility2*c[1]+Possibility3*c[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][j].X1[ii]=X1_filter[ii]; - (*trust_track)[i][j].X2[ii]=X2_filter[ii]; - (*trust_track)[i][j].X3[ii]=X3_filter[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][j].P1[ii][jj]=P1_filter[ii][jj]; - (*trust_track)[i][j].P2[ii][jj]=P2_filter[ii][jj]; - (*trust_track)[i][j].P3[ii][jj]=P3_filter[ii][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][j].T_track = point_process[point_index-1].CPI_Time; + (*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); - - //更新关联上的点迹信息 - (*trust_track)[i][j].range_point=point_process[point_index-1].Range; - (*trust_track)[i][j].azi_point=point_process[point_index-1].Azimuth/PI*180; - (*trust_track)[i][j].elev_point= asin(point_process[point_index-1].Height/point_process[point_index-1].Range)/PI*180; - (*trust_track)[i][j].vr_point=point_process[point_index-1].Velocity; - (*trust_track)[i][j].point_type = 1; - (*trust_track)[i][j].prf_point = point_process[point_index-1].PRF_index; - (*trust_track)[i][j].snr_point = point_process[point_index-1].snr; - (*trust_track)[i][j].Extrapolate_round = 0; //连续未用实点更新时间 - (*trust_track)[i][j].point_flag=1; //实点 - (*trust_track)[i][j].Amplitude= point_process[point_index-1].Amplitude; //幅度 - (*trust_track)[i][j].associate_point_number = (*trust_track)[i][j].associate_point_number+1; //关联点数+1 - (*trust_track)[i][j].RCS = point_process[point_index-1].RCS; - } - } + } //未关联上，航迹外推 else { + for(int i=0;isize();i++) - for (int j=0;j<(*trust_track)[i].size();j++) + if((*trust_track)[i].Track_Index == tas_track_idx) { - if((*trust_track)[i][j].Track_Index == tas_track_idx) - { - float delta_T = DATA_RATE_TAS; - float 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); + double delta_T = DATA_RATE_TAS; + 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); - float X1_pred[6],X2_pred[6],X3_pred[6],P1_pred[6][6],P2_pred[6][6],P3_pred[6][6]; - kalman Kalman; - Kalman.kalman_pred(F, Q1, X1, P1, X1_pred, P1_pred); - Kalman.kalman_pred(F, Q2, X2, P2, X2_pred, P2_pred); - Kalman.kalman_pred(F, Q3, X3, P3, X3_pred, P3_pred); - memcpy((*trust_track)[i][j].X1,X1_pred,6*sizeof(float)); - memcpy((*trust_track)[i][j].X2,X2_pred,6*sizeof(float)); - memcpy((*trust_track)[i][j].X3,X3_pred,6*sizeof(float)); - memcpy((*trust_track)[i][j].P1,P1_pred,6*6*sizeof(float)); - memcpy((*trust_track)[i][j].P2,P2_pred,6*6*sizeof(float)); - memcpy((*trust_track)[i][j].P3,P3_pred,6*6*sizeof(float)); + double X1_pred[6],X2_pred[6],X3_pred[6],P1_pred[6][6],P2_pred[6][6],P3_pred[6][6]; + kalman Kalman; + Kalman.kalman_pred(F, Q1, X1, P1, X1_pred, P1_pred); + Kalman.kalman_pred(F, Q2, X2, P2, X2_pred, P2_pred); + Kalman.kalman_pred(F, Q3, X3, P3, X3_pred, P3_pred); + memcpy((*trust_track)[i].X1,X1_pred,6*sizeof(double)); + memcpy((*trust_track)[i].X2,X2_pred,6*sizeof(double)); + memcpy((*trust_track)[i].X3,X3_pred,6*sizeof(double)); + memcpy((*trust_track)[i].P1,P1_pred,6*6*sizeof(double)); + memcpy((*trust_track)[i].P2,P2_pred,6*6*sizeof(double)); + memcpy((*trust_track)[i].P3,P3_pred,6*6*sizeof(double)); - (*trust_track)[i][j].T_track = (*trust_track)[i][j].T_track+delta_T*1000.0; //更新航迹时间 - (*trust_track)[i][j].point_flag=0; //虚点 - (*trust_track)[i][j].Extrapolate_round =(*trust_track)[i][j].Extrapolate_round+1; - } + (*trust_track)[i].T_track = (*trust_track)[i].T_track+delta_T*1000.0; //更新航迹时间 + (*trust_track)[i].point_flag=0; //虚点 + (*trust_track)[i].Extrapolate_round =(*trust_track)[i].Extrapolate_round+1; } + } @@ -446,41 +529,39 @@ void Track_Asso_Tas::model_filter(QVector > *trust_ -void Track_Asso_Tas::model_output(QVector > *trust_track, int tas_track_idx ) +void Track_Asso_Tas::model_output(QVector *trust_track, int tas_track_idx ) { for(int i=0; isize(); i++) - for (int j=0;j<(*trust_track)[i].size();j++) - { - if((*trust_track)[i][j].Track_Index==tas_track_idx) + if((*trust_track)[i].Track_Index==tas_track_idx) { - float u_now[3]; - u_now[0]=(*trust_track)[i][j].u[0]; - u_now[1]=(*trust_track)[i][j].u[1]; - u_now[2]=(*trust_track)[i][j].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]; - float X1_filter[6],X2_filter[6],X3_filter[6]; - float P1_filter[6][6],P2_filter[6][6],P3_filter[6][6]; + 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][j].X1[ii]; - X2_filter[ii]=(*trust_track)[i][j].X2[ii]; - X3_filter[ii]=(*trust_track)[i][j].X3[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++) { - P1_filter[ii][jj]=(*trust_track)[i][j].P1[ii][jj]; - P2_filter[ii][jj]=(*trust_track)[i][j].P2[ii][jj]; - P3_filter[ii][jj]=(*trust_track)[i][j].P3[ii][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]; } - float X_filter[6], P_filter[6][6]; + 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]; - float X1_sub_X[6], X2_sub_X[6], X3_sub_X[6]; - float X1X[6][6], X2X[6][6],X3X[6][6]; + 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]; @@ -500,65 +581,37 @@ void Track_Asso_Tas::model_output(QVector > *trust_track //本地航迹文件更新 - (*trust_track)[i][j].X[0]=X_filter[0]; //位置 速度 - (*trust_track)[i][j].X[1]=X_filter[1]; - (*trust_track)[i][j].X[2]=X_filter[2]; - (*trust_track)[i][j].X[3]=X_filter[3]; - (*trust_track)[i][j].X[4]=X_filter[4]; - (*trust_track)[i][j].X[5]=X_filter[5]; + (*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][j].P[ii][jj]=P_filter[ii][jj]; + (*trust_track)[i].P[ii][jj]=P_filter[ii][jj]; //航迹区更新 - float r, azi; + double r, azi; coor_trans Coor_trans; - Coor_trans.cart2polar((*trust_track)[i][j].X[0], (*trust_track)[i][j].X[3], &r, &azi); + Coor_trans.cart2polar((*trust_track)[i].X[0], (*trust_track)[i].X[3], &r, &azi); - if(azi/PI*180>=TRACK_SECTION_1_START && azi/PI*180=TRACK_SECTION_2_START && azi/PI*180=TRACK_SECTION_3_START && azi/PI*180=TRACK_SECTION_4_START && azi/PI*180=TRACK_SECTION_5_START && azi/PI*180=TRACK_SECTION_6_START && azi/PI*180=TRACK_SECTION_7_START && azi/PI*180=TRACK_SECTION_8_START && azi/PI*180=TRACK_SECTION_9_START && azi/PI*180> *trust_track //航迹 + QVector *trust_track //航迹 ) { for(int i=0; isize(); i++) - for (int j=0;j<(*trust_track)[i].size();j++) - { - if((*trust_track)[i][j].Track_Index==tas_track_idx) + if((*trust_track)[i].Track_Index==tas_track_idx) { - (*trust_track)[i][j].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); - float sum=0; - if((*trust_track)[i][j].Hight_smooth.size()=H_F_WIN_LEN) + else if((*trust_track)[i].range_point <= 2000 && (*trust_track)[i].range_point > 1000) { - - int N=(*trust_track)[i][j].Hight_smooth.size(); - for (int ii=0;ii 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) + { + + int N=(*trust_track)[i].Hight_smooth.size(); + for (int ii=0;ii +#include using namespace std; @@ -12,7 +13,7 @@ class Track_Asso_Tas { public: int track_asso_process_tas(QVector *point_recv_tas, //点迹文件 - QVector > *trust_track, //航迹文件 + QVector *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 @@ -28,35 +29,33 @@ private: //IMM - void model_interaction(QVector > *trust_track, int tas_track_idx); //模型交互 + void model_interaction(QVector *trust_track, int tas_track_idx); //模型交互 - void model_filter(QVector > *trust_track, //滤波 + void model_filter(QVector *trust_track, //滤波 struct RadarPara Work_Parameter, int tas_track_idx ); - void model_output(QVector > *trust_track, int tas_track_idx ); //模型输出 + void model_output(QVector *trust_track, int tas_track_idx ); //模型输出 - void IMM_d_cal(float v_track, - float X1[6], float P1[6][6], - float X2[6], float P2[6][6], - float X3[6], float P3[6][6], - float Z[3], float prt,float freq_ind, - float delta_T, - float *d1,float *d2,float *d3, + void 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); - void IMM_F_Q_gen(float v_track, float delta_T,float F[6][6], float Q1[6][6], float Q2[6][6], float Q3[6][6],struct RadarPara Work_Parameter); - - float Pt[3][3]; //模型转移概率 - + void IMM_F_Q_gen(double v_track, double delta_T,double F[6][6], double Q1[6][6], double Q2[6][6], double Q3[6][6],struct RadarPara Work_Parameter); + double Pt[3][3]; //模型转移概率 //高度维更新 void track_hight_update(int tas_track_index, //更新的航迹号 int asso_point_index, //点迹号 - QVector > *trust_track //航迹 + QVector *trust_track //航迹 ); diff --git a/data_process_class_dll/track_die.cpp b/data_process_class_dll/track_die.cpp index 9353671..b62c631 100644 --- a/data_process_class_dll/track_die.cpp +++ b/data_process_class_dll/track_die.cpp @@ -16,8 +16,10 @@ void Track_Die::track_die_process( QVector *trust_track, for (Iter=trust_track->begin(); Iter!=trust_track->end();) { if( ((*Iter).Track_Mode == 0 && (*Iter).Extrapolate_round >= TRACK_DIE_ROUND) - ||((*Iter).Track_Mode == 1 && (*Iter).Extrapolate_round >= TRACK_DIE_ROUND_TAS) + // ||((*Iter).Track_Mode == 1 && (*Iter).Extrapolate_round >= TRACK_DIE_ROUND_TAS) ||(*Iter).manual_delete_flag == 1) + + { //输出消亡信息 *Track_die_num_Output=*Track_die_num_Output+1; diff --git a/data_process_class_dll/track_die_tas.cpp b/data_process_class_dll/track_die_tas.cpp new file mode 100644 index 0000000..3cd6227 --- /dev/null +++ b/data_process_class_dll/track_die_tas.cpp @@ -0,0 +1,36 @@ +#include "track_die_tas.h" +#include "kalman.h" +#include "coor_trans.h" +#include +#include"memory.h" +#include +using namespace std; + + +void Track_Die_Tas::track_die_process_tas( QVector *trust_track, + int Track_die_Index_Output[], + int *Track_die_num_Output) + { + + QVector ::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) + + + { + //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; + + trust_track->erase(Iter); + Iter=trust_track->begin(); + } + else + { + Iter++; + } + } + +}; diff --git a/data_process_class_dll/track_die_tas.h b/data_process_class_dll/track_die_tas.h new file mode 100644 index 0000000..f399a56 --- /dev/null +++ b/data_process_class_dll/track_die_tas.h @@ -0,0 +1,22 @@ +#ifndef TRACK_DIE_TAS_H +#define TRACK_DIE_TAS_H +#include "data_process_class_dll.h" +#include "parameters.h" +#include "struct.h" +#include +using namespace std; + + + +class Track_Die_Tas +{ +public: + void track_die_process_tas( QVector *trust_track, + int Track_die_Index_Output[], + int *Track_die_num_Output); + + + + +}; +#endif // TRACK_DIE_TAS_H diff --git a/data_process_class_dll/track_index_mangement.cpp b/data_process_class_dll/track_index_mangement.cpp index 38ea976..080bd3e 100644 --- a/data_process_class_dll/track_index_mangement.cpp +++ b/data_process_class_dll/track_index_mangement.cpp @@ -7,21 +7,18 @@ using namespace std; -int Track_Ind_Mangement ::track_ind_get(QVector > *trust_track) +int Track_Ind_Mangement ::track_ind_get( QVector *trust_track) { int isempty = 1; - - for (int i = 0; i < trust_track->size(); i++) + if((*trust_track).size()>0) { - if((*trust_track)[i].size()>0) - { - isempty = 0; - } + isempty = 0; } + if (isempty == 1) { lastest_index = 1; @@ -32,10 +29,9 @@ int Track_Ind_Mangement ::track_ind_get(QVector > *trust_tr //建立航迹号列表 int List[MAX_TRACK_INDEX]={0}; for (int i=0;isize();i++) - for (int j=0;j<(*trust_track)[i].size();j++) - { - List[(*trust_track)[i][j].Track_Index-1]=1; - } + { + List[(*trust_track)[i].Track_Index-1]=1; + } //分配航迹号 if(lastest_index> *trust_tr return lastest_index; } } + + for (int i=1;i> *trust_track); + int track_ind_get( QVector *trust_track); private: diff --git a/data_process_class_dll/track_init.cpp b/data_process_class_dll/track_init.cpp index 3e6f576..ffaea99 100644 --- a/data_process_class_dll/track_init.cpp +++ b/data_process_class_dll/track_init.cpp @@ -10,7 +10,7 @@ using namespace std; int Track_Init::track_init_process_logic( QVector *point_recv, //输入点迹 - QVector > *trust_track, //可靠航迹 + QVector *trust_track, //可靠航迹 QVector > *temp_track, struct Track Trust_Track_Output[MAX_TRACK_NUM][10], int *Trust_track_num_Output, @@ -19,6 +19,23 @@ int Track_Init::track_init_process_logic( QVector *poi { +// for(int i=0;i<(*point_recv).size();i++) +// { +// if((*point_recv)[i].CPI_Time == 30675948 || (*point_recv)[i].CPI_Time == 30682320 +// || (*point_recv)[i].CPI_Time == 30682132 || (*point_recv)[i].CPI_Time == 30688692 +// || (*point_recv)[i].CPI_Time == 30691692 || (*point_recv)[i].CPI_Time == 30691880) +// { +// qDebug() << "azi=" << (*point_recv)[i].Azimuth +// << "dis=" << (*point_recv)[i].Range +// << "h=" << (*point_recv)[i].Height +// << "v=" << (*point_recv)[i].Velocity +// << "wave=" << (*point_recv)[i].beam_index +// << "time=" << (*point_recv)[i].CPI_Time; +// } +// } + + + //取出待起航的点迹数据 for (int i=0;i<(*point_recv).size();i++) point_process.push_back((*point_recv)[i]); @@ -73,6 +90,9 @@ int Track_Init::track_init_process_logic( QVector *poi temp_track_tmp.vr = point_process[i].Velocity; temp_track_tmp.snr = point_process[i].snr; temp_track_tmp.RCS = point_process[i].RCS; + temp_track_tmp.pitch_num = point_process[i].pitch_num; + std::memcpy(temp_track_tmp.speed_dim, point_process[i].speed_dim, sizeof(temp_track_tmp.speed_dim)); + std::memcpy(temp_track_tmp.range_dim, point_process[i].range_dim, sizeof(temp_track_tmp.range_dim)); temp_track_tmp.asso_flag = 0; temp_track_tmp.X[0]=point_process[i].Range*cos(point_process[i].Azimuth); temp_track_tmp.X[1]=0; @@ -80,11 +100,22 @@ int Track_Init::track_init_process_logic( QVector *poi temp_track_tmp.X[3]=0; temp_track_tmp.T = point_process[i].CPI_Time; temp_track_tmp.buff_round = 1; - temp_track_tmp.Temp_track_section_idx = floor(point_process[i].beam_index/BEAM_NUM_DOT_SECTION)+1; +// temp_track_tmp.Temp_track_section_idx = floor(point_process[i].beam_index/BEAM_NUM_DOT_SECTION)+1; temp_track->push_back( QVector ()); int n=temp_track->size(); (*temp_track)[n-1].push_back(temp_track_tmp); + +// if(point_process[i].CPI_Time == 30675948 || point_process[i].CPI_Time == 30682320) +// { +// qDebug() << "point_process_azi=" << point_process[i].Azimuth +// << "point_process_dis=" << point_process[i].Range +// << "point_process_h=" << point_process[i].Height +// << "point_process_v=" << point_process[i].Velocity +// << "point_process_wave=" << point_process[i].beam_index +// << "point_process_time=" << point_process[i].CPI_Time; +// } + } //清空点迹 @@ -104,6 +135,20 @@ int Track_Init::track_init_process_logic( QVector *poi tmp_track_die(temp_track); +// qDebug() << "-----------------------------------------------"; +// for(int i=0;isize();i++) +// { +// for(int j=0;j<(*temp_track)[i].size();j++) +// { +// qDebug() << "temp_track_azi=" << (*temp_track)[i][j].azi +// << "temp_track_dis=" << (*temp_track)[i][j].r +// << "temp_track_h=" << (*temp_track)[i][j].height +// << "temp_track_v=" << (*temp_track)[i][j].vr +// << "temp_track_time=" << (*temp_track)[i][j].T; +// } +// } + + return 0; } @@ -120,6 +165,7 @@ void Track_Init::point_temp_track_asso(QVector > *temp_t { int track_idx; int point_idx; + double d; }; QVector asso_info; @@ -129,56 +175,74 @@ void Track_Init::point_temp_track_asso(QVector > *temp_t { int L = (*temp_track)[j].size(); - if( (*temp_track)[j].size() > 1 && (*temp_track)[j][L-1].buff_round == 2) + if( (*temp_track)[j].size() > 1 && (*temp_track)[j][L-1].buff_round >= 2) { //点迹信息 -// float Z[2]={ point_process[i].Range*cos(point_process[i].Azimuth),point_process[i].Range*sin(point_process[i].Azimuth)} ; - float Z[3]={point_process[i].Range, +// double Z[2]={ point_process[i].Range*cos(point_process[i].Azimuth),point_process[i].Range*sin(point_process[i].Azimuth)} ; + double Z[3]={point_process[i].Range, point_process[i].Azimuth, point_process[i].Velocity}; - float vr_point=point_process[i].Velocity; - float r_point=point_process[i].Range; - float prt = point_process[i].PRF_index; - float freq_ind = point_process[i].Freq_index; - float h_point = point_process[i].Height; - float T_point = point_process[i].CPI_Time; + double vr_point=point_process[i].Velocity; + double r_point=point_process[i].Range; + double prt = point_process[i].PRF_index; + double freq_ind = point_process[i].Freq_index; + double h_point = point_process[i].Height; + double T_point = point_process[i].CPI_Time; //航迹信息 - float X[4]; - float P[4][4]; - memcpy(X,(*temp_track)[j][L-1].X,4*sizeof(float)); - memcpy(P,(*temp_track)[j][L-1].P,4*4*sizeof(float)); - float v_temp_track=(*temp_track)[j][L-1].vr; - float r_temp_track=(*temp_track)[j][L-1].r; - float h_temp_track=(*temp_track)[j][L-1].height; - float T_track_head = (*temp_track)[j][L-1].T; + double X[4]; + double P[4][4]; + memcpy(X,(*temp_track)[j][L-1].X,4*sizeof(double)); + memcpy(P,(*temp_track)[j][L-1].P,4*4*sizeof(double)); + double v_temp_track=(*temp_track)[j][L-1].vr; + double r_temp_track=(*temp_track)[j][L-1].r; + double h_temp_track=(*temp_track)[j][L-1].height; + double T_track_head = (*temp_track)[j][L-1].T; - - float delta_T = (T_point - T_track_head)/1000.0; + double delta_T = (T_point - T_track_head)/1000.0; if( fabs(r_point-r_temp_track)>=5 ) { //计算d kalman Kalman; - float d = Kalman.d_cal_track_init_EKF(Z,X,P,delta_T,prt,freq_ind); - //float d = Kalman.d_cal_track_init_with_doppler(Z,X,P,delta_T,vr_point,prt,freq_ind); - //float d = Kalman.d_cal_track_init(Z,X,P,delta_T); + double d = Kalman.d_cal_track_init_EKF(Z,X,P,delta_T,prt,freq_ind); + //double d = Kalman.d_cal_track_init_with_doppler(Z,X,P,delta_T,vr_point,prt,freq_ind); + //double d = Kalman.d_cal_track_init(Z,X,P,delta_T); //计算夹角 - float x0=(*temp_track)[j][L-2].X[0]; - float y0=(*temp_track)[j][L-2].X[2]; - float x1=(*temp_track)[j][L-1].X[0]; - float y1=(*temp_track)[j][L-1].X[2]; - float x2=Z[0]*cos(Z[1]); - float y2=Z[0]*sin(Z[1]); + double x0=(*temp_track)[j][L-2].X[0]; + double y0=(*temp_track)[j][L-2].X[2]; + double x1=(*temp_track)[j][L-1].X[0]; + double y1=(*temp_track)[j][L-1].X[2]; + double x2=Z[0]*cos(Z[1]); + double y2=Z[0]*sin(Z[1]); double alpha = alpha_cal_track_init(x0,y0,x1,y1,x2,y2); + +// if(T_track_head == 33855816 && T_point == 33859004 ) +// { +// qDebug() << "r_point=" << r_point +// << "h_point=" << h_point +// << "T_point=" << T_point +// << "r_temp_track=" << r_temp_track +// << "v_temp_track=" << v_temp_track +// << "h_temp_track=" << h_temp_track +// << "T_track_head=" << T_track_head +// << "d=" << d +// << "alpha=" << alpha; + +// } + + + + if(d*d<=TRACK_START_THRESHOLD*TRACK_START_THRESHOLD && alpha0)// && fabs(h_point-h_temp_track )<= r_point*SIGMA_E&& abs(vr_point-v_temp_track)/abs(v_temp_track)<0.8 { struct Asso_info asso_info_tmp; asso_info_tmp.point_idx = i+1; asso_info_tmp.track_idx = j+1; + asso_info_tmp.d = d; asso_info.push_back(asso_info_tmp); (*temp_track)[j][L-1].asso_flag = 1; point_process[i].Use_Flag = 1; @@ -188,8 +252,6 @@ void Track_Init::point_temp_track_asso(QVector > *temp_t } } - - // temp_track中加入新关联上的临时航迹 for (int i = 0 ; i> *temp_t asso_track_info_tmp.RCS = point_process[asso_info[i].point_idx-1].RCS; asso_track_info_tmp.asso_flag=0; asso_track_info_tmp.buff_round = 1; - asso_track_info_tmp.Temp_track_section_idx = floor(point_process[asso_info[i].point_idx-1].beam_index/BEAM_NUM_DOT_SECTION)+1; - float Z0[2]={(*temp_track)[asso_info[i].track_idx-1][L-1].r*cos((*temp_track)[asso_info[i].track_idx-1][L-1].azi), + asso_track_info_tmp.pitch_num = point_process[asso_info[i].point_idx-1].pitch_num; + std::memcpy(asso_track_info_tmp.speed_dim, point_process[asso_info[i].point_idx-1].speed_dim, sizeof(asso_track_info_tmp.speed_dim)); + std::memcpy(asso_track_info_tmp.range_dim, point_process[asso_info[i].point_idx-1].range_dim, sizeof(asso_track_info_tmp.range_dim)); + asso_track_info_tmp.d = asso_info[i].d; +// asso_track_info_tmp.Temp_track_section_idx = floor(point_process[asso_info[i].point_idx-1].beam_index/BEAM_NUM_DOT_SECTION)+1; + double Z0[2]={(*temp_track)[asso_info[i].track_idx-1][L-1].r*cos((*temp_track)[asso_info[i].track_idx-1][L-1].azi), (*temp_track)[asso_info[i].track_idx-1][L-1].r*sin((*temp_track)[asso_info[i].track_idx-1][L-1].azi)}; - float Z1[2]={point_process[asso_info[i].point_idx-1].Range*cos(point_process[asso_info[i].point_idx-1].Azimuth), + double Z1[2]={point_process[asso_info[i].point_idx-1].Range*cos(point_process[asso_info[i].point_idx-1].Azimuth), point_process[asso_info[i].point_idx-1].Range*sin(point_process[asso_info[i].point_idx-1].Azimuth)}; - float X[4]; - float P[4][4]; + double X[4]; + double P[4][4]; kalman Kalman; - float T = ( point_process[asso_info[i].point_idx-1].CPI_Time - (*temp_track)[asso_info[i].track_idx-1][L-1].T)/1000.0; + double T = ( point_process[asso_info[i].point_idx-1].CPI_Time - (*temp_track)[asso_info[i].track_idx-1][L-1].T)/1000.0; Kalman.kalman_filter_init_2dots(Z0,Z1,T,X,P); - memcpy(asso_track_info_tmp.X, X, 4*sizeof(float)); - memcpy(asso_track_info_tmp.P, P, 4*4*sizeof(float)); + memcpy(asso_track_info_tmp.X, X, 4*sizeof(double)); + memcpy(asso_track_info_tmp.P, P, 4*4*sizeof(double)); (*temp_track)[(*temp_track).size()-1].push_back(asso_track_info_tmp); } @@ -279,49 +345,89 @@ void Track_Init::point_track_head_asso( QVector > *temp_ for ( int j=0;jsize();j++) { - if((*temp_track)[j].size()==1 && (*temp_track)[j][0].buff_round == 2) + if((*temp_track)[j].size()==1 && (*temp_track)[j][0].buff_round >= 2) { //点迹信息 - float x_point, y_point, vr_point; + double x_point, y_point, vr_point; coor_trans Coor_trans; Coor_trans.polar2cart(&x_point,&y_point,point_process[i].Range,point_process[i].Azimuth); vr_point=point_process[i].Velocity; - float r_point=point_process[i].Range; - float h_point = point_process[i].Height; - float T_point = point_process[i].CPI_Time; + double r_point=point_process[i].Range; + double h_point = point_process[i].Height; + double T_point = point_process[i].CPI_Time; //航迹信息 - float x_track_head, y_track_head; + double x_track_head, y_track_head; x_track_head=(*temp_track)[j][0].X[0]; y_track_head=(*temp_track)[j][0].X[2]; - float v_track_head=(*temp_track)[j][0].vr; - float h_track_head = (*temp_track)[j][0].height; - float T_track_head = (*temp_track)[j][0].T; + double v_track_head=(*temp_track)[j][0].vr; + double h_track_head = (*temp_track)[j][0].height; + double T_track_head = (*temp_track)[j][0].T; + +// if(T_track_head == 30675948) +// { +// qDebug() << "r_point=" << r_point +// << "h_point=" << h_point +// << "T_point=" << T_point +// << "x_track_head=" << x_track_head +// << "y_track_head=" << y_track_head +// << "v_track_head=" << v_track_head +// << "T_track_head=" << T_track_head; +// } + +// if(T_point == 30682320) +// { +// qDebug() <<"!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!"; +// qDebug() << "r_point=" << r_point +// << "h_point=" << h_point +// << "T_point=" << T_point +// << "x_track_head=" << x_track_head +// << "y_track_head=" << y_track_head +// << "v_track_head=" << v_track_head +// << "T_track_head=" << T_track_head; +// } //距离差 - float dis = sqrt(pow(x_point-x_track_head,2)+pow(y_point-y_track_head,2)); + double dis = sqrt(pow(x_point-x_track_head,2)+pow(y_point-y_track_head,2)); - float vmax; + double vmax; if(Work_Parameter.work_mode == 0) //近程模式 最大速度减小一点 { - vmax = V_MAX/5; + vmax = Work_Parameter.V_MAX; } else //中远程模式 最大速度正常用 { - vmax = V_MAX; + vmax = Work_Parameter.V_MAX; } - float delta_T = (T_point - T_track_head)/1000.0; + double delta_T = (T_point - T_track_head)/1000.0; //满足关联条件的点航 - if( ( (r_point>=1000 && dis<=vmax*delta_T && dis>=V_MIN*delta_T) || (r_point<1000 && dis<=vmax*delta_T/2.0 && dis>=V_MIN*delta_T/2.0) ) - && vr_point*v_track_head>0 )//&& fabs(vr_point-v_track_head)/fabs(v_track_head)<0.2 && fabs(h_point-h_track_head)<=r_point*SIGMA_E +// if( ( (r_point>=1000 && dis<=vmax*delta_T && dis>=V_MIN*delta_T) || (r_point<1000 && dis<=vmax*delta_T/2.0 && dis>=V_MIN*delta_T/2.0) ) +// && vr_point*v_track_head>0 )//&& fabs(vr_point-v_track_head)/fabs(v_track_head)<0.2 && fabs(h_point-h_track_head)<=r_point*SIGMA_E + if( + ( (Work_Parameter.work_mode == 0&&( (r_point>=1000 && dis<=vmax*delta_T && dis>=Work_Parameter.V_MIN*delta_T) || (r_point<1000 && dis<=vmax*delta_T/2.0 && dis>=Work_Parameter.V_MIN*delta_T/2.0) )) + || (Work_Parameter.work_mode != 0&&( (r_point>=2000 && dis<=vmax*delta_T && dis>=Work_Parameter.V_MIN*delta_T) || (r_point<2000 && dis<=vmax*delta_T/3.0 && dis>=Work_Parameter.V_MIN*delta_T/2.0) )) + ) + && vr_point*v_track_head>0 ) { + +// if(T_track_head == 30675948) +// { +// qDebug() << "r_point=" << r_point +// << "h_point=" << h_point +// << "T_point=" << T_point +// << "x_track_head=" << x_track_head +// << "y_track_head=" << y_track_head +// << "v_track_head=" << v_track_head +// << "T_track_head=" << T_track_head; +// } + struct Asso_info asso_info_tmp; asso_info_tmp.point_idx = i+1; asso_info_tmp.track_idx = j+1; @@ -356,21 +462,24 @@ void Track_Init::point_track_head_asso( QVector > *temp_ asso_track_info_tmp.snr = point_process[asso_info[i].point_idx-1].snr; asso_track_info_tmp.RCS = point_process[asso_info[i].point_idx-1].RCS; asso_track_info_tmp.T = point_process[asso_info[i].point_idx-1].CPI_Time; + asso_track_info_tmp.pitch_num = point_process[asso_info[i].point_idx-1].pitch_num; + std::memcpy(asso_track_info_tmp.speed_dim, point_process[asso_info[i].point_idx-1].speed_dim, sizeof(asso_track_info_tmp.speed_dim)); + std::memcpy(asso_track_info_tmp.range_dim, point_process[asso_info[i].point_idx-1].range_dim, sizeof(asso_track_info_tmp.range_dim)); asso_track_info_tmp.asso_flag = 0; asso_track_info_tmp.buff_round = 1; - asso_track_info_tmp.Temp_track_section_idx = floor(point_process[asso_info[i].point_idx-1].beam_index/BEAM_NUM_DOT_SECTION)+1;; - float Z0[2]={(*temp_track)[asso_info[i].track_idx-1][0].r*cos((*temp_track)[asso_info[i].track_idx-1][0].azi), +// asso_track_info_tmp.Temp_track_section_idx = floor(point_process[asso_info[i].point_idx-1].beam_index/BEAM_NUM_DOT_SECTION)+1;; + double Z0[2]={(*temp_track)[asso_info[i].track_idx-1][0].r*cos((*temp_track)[asso_info[i].track_idx-1][0].azi), (*temp_track)[asso_info[i].track_idx-1][0].r*sin((*temp_track)[asso_info[i].track_idx-1][0].azi)}; - float Z1[2]={point_process[asso_info[i].point_idx-1].Range*cos(point_process[asso_info[i].point_idx-1].Azimuth), + double Z1[2]={point_process[asso_info[i].point_idx-1].Range*cos(point_process[asso_info[i].point_idx-1].Azimuth), point_process[asso_info[i].point_idx-1].Range*sin(point_process[asso_info[i].point_idx-1].Azimuth)}; - float X[4]; - float P[4][4]; + double X[4]; + double P[4][4]; kalman Kalman; - float T = (point_process[asso_info[i].point_idx-1].CPI_Time - (*temp_track)[asso_info[i].track_idx-1][0].T)/1000.0; + double T = (point_process[asso_info[i].point_idx-1].CPI_Time - (*temp_track)[asso_info[i].track_idx-1][0].T)/1000.0; Kalman.kalman_filter_init_2dots(Z0,Z1,T,X,P); - memcpy(asso_track_info_tmp.X, X, 4*sizeof(float)); - memcpy(asso_track_info_tmp.P, P, 4*4*sizeof(float)); + memcpy(asso_track_info_tmp.X, X, 4*sizeof(double)); + memcpy(asso_track_info_tmp.P, P, 4*4*sizeof(double)); (*temp_track)[(*temp_track).size()-1].push_back(asso_track_info_tmp); } @@ -398,7 +507,7 @@ void Track_Init::point_track_head_asso( QVector > *temp_ ////////////////////////////////////////////计算三点间的夹角//////////////////////////////////////////////// -double Track_Init::alpha_cal_track_init(float x0,float y0,float x1,float y1,float x2,float y2) +double Track_Init::alpha_cal_track_init(double x0,double y0,double x1,double y1,double x2,double y2) { double D12[2]={x1-x0,y1-y0}; double D23[2]={x2-x1,y2-y1}; @@ -412,156 +521,33 @@ double Track_Init::alpha_cal_track_init(float x0,float y0,float x1,float y1,floa -void Track_Init::tmp_track_to_trust_track(QVector > *trust_track, +void Track_Init::tmp_track_to_trust_track(QVector *trust_track, QVector > *temp_track, struct Track Trust_Track_Output[MAX_TRACK_NUM][10], int *Trust_track_num_Output, struct RadarPara Work_Parameter) { - //temp_track中的临时航迹转为可靠航迹 + QVector > Track_to_start; + + // 1. 将temp_track中满足条件的航迹取出, 放到Track_to_start中 QVector >::iterator Iter; for (Iter=temp_track->begin(); Iter!=temp_track->end();) { int L=(*Iter).size(); - float range=(*Iter)[L-1].r; - float azi=(*Iter)[L-1].azi/PI*180; + double range=(*Iter)[L-1].r; + double azi=(*Iter)[L-1].azi/PI*180; if( ( L==Work_Parameter.track_start_point_num)&& track_init_prohibit(range,azi,Work_Parameter)==0) //按长度查找TRUST_TRACK_POINT { - if(trust_track->size() ()); + for (int i = 0; i0) - { - - //加入本地航迹文件 - float Z0[2]={((*Iter)[L-3].r)*cos((*Iter)[L-3].azi),((*Iter)[L-3].r)*sin((*Iter)[L-3].azi) }; - float Z1[2]={((*Iter)[L-2].r)*cos((*Iter)[L-2].azi),((*Iter)[L-2].r)*sin((*Iter)[L-2].azi) }; - float Z2[2]={((*Iter)[L-1].r)*cos((*Iter)[L-1].azi),((*Iter)[L-1].r)*sin((*Iter)[L-1].azi) }; - float X[6]; - float P[6][6]; - float T1=((*Iter)[L-2].T-(*Iter)[L-3].T)/1000.0; - float T2=((*Iter)[L-1].T-(*Iter)[L-2].T)/1000.0; - kalman Kalman; - Kalman.kalman_filter_init_3dots(Z0, Z1, Z2, T1,T2, X ,P); - - Trust_Track trust_track_tmp; - memcpy(trust_track_tmp.X, X, 6*sizeof(float)); - memcpy(trust_track_tmp.P, P, 6*6*sizeof(float)); - - trust_track_tmp.Amplitude=(*Iter)[L-1].Amp; - trust_track_tmp.snr_point = (*Iter)[L-1].snr; - trust_track_tmp.RCS = (*Iter)[L-1].RCS; - trust_track_tmp.T_track = (*Iter)[L-1].T; - trust_track_tmp.point_flag=1; //实点 - trust_track_tmp.Track_Mode=0; //跟踪模式 TWS 0 - trust_track_tmp.Target_Type=UNCONF_TARGET; - trust_track_tmp.Track_Index=index; - trust_track_tmp.Height=(*Iter)[L-1].height; - trust_track_tmp.Extrapolate_round=0; - trust_track_tmp.approach_flag = -1; - trust_track_tmp.manual_delete_flag = 0; - trust_track_tmp.associate_point_number = 0; - trust_track_tmp.manual_tracking_flag = 0; - trust_track_tmp.point_type = 0; - trust_track_tmp.u[0]=0.3333; - trust_track_tmp.u[1]=0.3333; - trust_track_tmp.u[2]=0.3333; - memcpy(trust_track_tmp.X1, X, 6*sizeof(float)); - memcpy(trust_track_tmp.P1, P, 6*6*sizeof(float)); - memcpy(trust_track_tmp.X2, X, 6*sizeof(float)); - memcpy(trust_track_tmp.P2, P, 6*6*sizeof(float)); - memcpy(trust_track_tmp.X3, X, 6*sizeof(float)); - memcpy(trust_track_tmp.P3, P, 6*6*sizeof(float)); - - float r, azi; - coor_trans Coor_trans; - Coor_trans.cart2polar(X[0], X[3], &r, &azi); - - - if(azi/PI*180>=TRACK_SECTION_1_START && azi/PI*180=TRACK_SECTION_2_START && azi/PI*180=TRACK_SECTION_3_START && azi/PI*180=TRACK_SECTION_4_START && azi/PI*180=TRACK_SECTION_5_START && azi/PI*180=TRACK_SECTION_6_START && azi/PI*180=TRACK_SECTION_7_START && azi/PI*180=TRACK_SECTION_8_START && azi/PI*180=TRACK_SECTION_9_START || azi/PI*180erase(Iter); - Iter=temp_track->begin(); - } - else - { - Iter++; - } } - else - { - Iter++; - } - + temp_track->erase(Iter); + Iter=temp_track->begin(); } else { @@ -569,6 +555,173 @@ void Track_Init::tmp_track_to_trust_track(QVector > *tru } } + //2.两两比较Track_to_start中的航迹信息，删除重复的航迹 + int L = Work_Parameter.track_start_point_num; + for (int i=0; i>::iterator Iter1; + for (Iter1=Track_to_start.begin(); Iter1!=Track_to_start.end();) + { + if( (*Iter1)[0].asso_flag == 2 ) + { + Track_to_start.erase(Iter1); + Iter1=Track_to_start.begin(); + } + else + { + Iter1++; + } + } + + + + + + + + //3.Track_to_start中剩余的航迹起始为可靠航迹 + for (int i=0; isize()0) + { + + //加入本地航迹文件 + double Z0[2]={(Track_to_start[i][L-3].r)*cos(Track_to_start[i][L-3].azi),(Track_to_start[i][L-3].r)*sin(Track_to_start[i][L-3].azi) }; + double Z1[2]={(Track_to_start[i][L-2].r)*cos(Track_to_start[i][L-2].azi),(Track_to_start[i][L-2].r)*sin(Track_to_start[i][L-2].azi) }; + double Z2[2]={(Track_to_start[i][L-1].r)*cos(Track_to_start[i][L-1].azi),(Track_to_start[i][L-1].r)*sin(Track_to_start[i][L-1].azi) }; + double X[6]; + double P[6][6]; + double T1=(Track_to_start[i][L-2].T-Track_to_start[i][L-3].T)/1000.0; + double T2=(Track_to_start[i][L-1].T-Track_to_start[i][L-2].T)/1000.0; + kalman Kalman; + Kalman.kalman_filter_init_3dots(Z0, Z1, Z2, T1,T2, X ,P); + + Trust_Track trust_track_tmp; + memcpy(trust_track_tmp.X, X, 6*sizeof(double)); + memcpy(trust_track_tmp.P, P, 6*6*sizeof(double)); + + trust_track_tmp.Amplitude=Track_to_start[i][L-1].Amp; + trust_track_tmp.snr_point = Track_to_start[i][L-1].snr; + trust_track_tmp.RCS = Track_to_start[i][L-1].RCS; + trust_track_tmp.pitch_num = Track_to_start[i][L-1].pitch_num; + std::memcpy(trust_track_tmp.speed_dim, Track_to_start[i][L-1].speed_dim, sizeof(trust_track_tmp.speed_dim)); + std::memcpy(trust_track_tmp.range_dim, Track_to_start[i][L-1].range_dim, sizeof(trust_track_tmp.range_dim)); + trust_track_tmp.T_track = Track_to_start[i][L-1].T; + trust_track_tmp.point_flag=1; //实点 + trust_track_tmp.Track_Mode=0; //跟踪模式 TWS 0 + trust_track_tmp.Target_Type=UNCONF_TARGET; + trust_track_tmp.Track_Index=index; + trust_track_tmp.Height=Track_to_start[i][L-1].height; + trust_track_tmp.Extrapolate_round=0; + trust_track_tmp.approach_flag = -1; + trust_track_tmp.manual_delete_flag = 0; + trust_track_tmp.associate_point_number = 0; + trust_track_tmp.manual_tracking_flag = 0; + trust_track_tmp.point_type = 0; + trust_track_tmp.u[0]=0.3333; + trust_track_tmp.u[1]=0.3333; + trust_track_tmp.u[2]=0.3333; + memcpy(trust_track_tmp.X1, X, 6*sizeof(double)); + memcpy(trust_track_tmp.P1, P, 6*6*sizeof(double)); + memcpy(trust_track_tmp.X2, X, 6*sizeof(double)); + memcpy(trust_track_tmp.P2, P, 6*6*sizeof(double)); + memcpy(trust_track_tmp.X3, X, 6*sizeof(double)); + memcpy(trust_track_tmp.P3, P, 6*6*sizeof(double)); + + double r, azi; + coor_trans Coor_trans; + Coor_trans.cart2polar(X[0], X[3], &r, &azi); + + (*trust_track).push_back(trust_track_tmp); + + + //输出航迹更新信息 + *Trust_track_num_Output=*Trust_track_num_Output+1; + for (int j=0;j>().swap(Track_to_start); + + } @@ -579,10 +732,11 @@ void Track_Init::tmp_track_die(QVector > *temp_track) for (Iter=temp_track->begin(); Iter!=temp_track->end();) { int n=(*Iter).size(); - if( (*Iter)[n-1].buff_round >1 || n>=10) + if( (*Iter)[n-1].buff_round >2 || n>=10) { - temp_track->erase(Iter); - Iter=temp_track->begin(); + + temp_track->erase(Iter); + Iter=temp_track->begin(); } else { @@ -594,7 +748,7 @@ void Track_Init::tmp_track_die(QVector > *temp_track) -int Track_Init::track_init_prohibit(float r, float azi, struct RadarPara Work_Parameter) +int Track_Init::track_init_prohibit(double r, double azi, struct RadarPara Work_Parameter) { diff --git a/data_process_class_dll/track_init.h b/data_process_class_dll/track_init.h index 3d547a3..f706afd 100644 --- a/data_process_class_dll/track_init.h +++ b/data_process_class_dll/track_init.h @@ -5,6 +5,7 @@ #include "parameters.h" #include "struct.h" #include +#include using namespace std; @@ -17,7 +18,7 @@ public: //航迹起始逻辑法 int track_init_process_logic( QVector *point_recv, //输入点迹 - QVector > *trust_track, //可靠航迹 + QVector *trust_track, //可靠航迹 QVector > *temp_track, struct Track Trust_Track_Output[MAX_TRACK_NUM][10], int *Trust_track_num_Output, @@ -39,7 +40,7 @@ private: void point_track_head_asso( QVector > *temp_track, struct RadarPara Work_Parameter); //航迹头与点迹关联 - void tmp_track_to_trust_track( QVector > *trust_track, //临时航迹转可靠航迹 + void tmp_track_to_trust_track( QVector *trust_track, //临时航迹转可靠航迹 QVector > *temp_track, struct Track Trust_Track_Output[MAX_TRACK_NUM][10], int *Trust_track_num_Output, @@ -47,9 +48,9 @@ private: void tmp_track_die(QVector > *temp_track);//临时航迹消亡 - double alpha_cal_track_init(float x0,float y0,float x1,float y1,float x2,float y2); //计算夹角 + double alpha_cal_track_init(double x0,double y0,double x1,double y1,double x2,double y2); //计算夹角 - int track_init_prohibit(float r, float azi, struct RadarPara Work_Parameter); //判断目标是否位于航迹起始屏蔽区 是返回1 否返回0 + int track_init_prohibit(double r, double azi, struct RadarPara Work_Parameter); //判断目标是否位于航迹起始屏蔽区 是返回1 否返回0 Track_Ind_Mangement track_index_mangement; diff --git a/data_process_class_dll/track_init_direct_tracking.cpp b/data_process_class_dll/track_init_direct_tracking.cpp new file mode 100644 index 0000000..dd4c4c9 --- /dev/null +++ b/data_process_class_dll/track_init_direct_tracking.cpp @@ -0,0 +1,469 @@ +#include "track_init_direct_tracking.h" +#include "kalman.h" +#include "coor_trans.h" +#include +#include "memory.h" +#include +#include +#include +using namespace std; + +int Track_Init_Direct_Tracking::track_init_process_logic( QVector *point_recv, //输入点迹 + QVector *trust_track, //可靠航迹 + QVector > *temp_track, + struct Track Trust_Track_Output[MAX_TRACK_NUM][10], + int *Trust_track_num_Output, + struct RadarPara Work_Parameter, + int track_ID + ) +{ + + + + return 0; + +} + + +void Track_Init_Direct_Tracking::point_temp_track_asso(QVector > *temp_track, + struct RadarPara Work_Parameter) //临时航迹与点迹关联 +{ + //关联信息 + struct Asso_info + { + int track_idx; + int point_idx; + }; + QVector asso_info; + + for ( int i=0;i 1 && (*temp_track)[j][L-1].buff_round >= 2) + { + + //点迹信息 +// double Z[2]={ point_process[i].Range*cos(point_process[i].Azimuth),point_process[i].Range*sin(point_process[i].Azimuth)} ; + double Z[3]={point_process[i].Range, + point_process[i].Azimuth, + point_process[i].Velocity}; + double vr_point=point_process[i].Velocity; + double r_point=point_process[i].Range; + double prt = point_process[i].PRF_index; + double freq_ind = point_process[i].Freq_index; + double h_point = point_process[i].Height; + double T_point = point_process[i].CPI_Time; + + //航迹信息 + double X[4]; + double P[4][4]; + memcpy(X,(*temp_track)[j][L-1].X,4*sizeof(double)); + memcpy(P,(*temp_track)[j][L-1].P,4*4*sizeof(double)); + double v_temp_track=(*temp_track)[j][L-1].vr; + double r_temp_track=(*temp_track)[j][L-1].r; + double h_temp_track=(*temp_track)[j][L-1].height; + double T_track_head = (*temp_track)[j][L-1].T; + + + double delta_T = (T_point - T_track_head)/1000.0; + + if( fabs(r_point-r_temp_track)>=5 ) + { + //计算d + kalman Kalman; + double d = Kalman.d_cal_track_init_EKF(Z,X,P,delta_T,prt,freq_ind); + //double d = Kalman.d_cal_track_init_with_doppler(Z,X,P,delta_T,vr_point,prt,freq_ind); + //double d = Kalman.d_cal_track_init(Z,X,P,delta_T); + //计算夹角 + double x0=(*temp_track)[j][L-2].X[0]; + double y0=(*temp_track)[j][L-2].X[2]; + double x1=(*temp_track)[j][L-1].X[0]; + double y1=(*temp_track)[j][L-1].X[2]; + double x2=Z[0]*cos(Z[1]); + double y2=Z[0]*sin(Z[1]); + double alpha = alpha_cal_track_init(x0,y0,x1,y1,x2,y2); + + + if(d*d<=TRACK_START_THRESHOLD*TRACK_START_THRESHOLD && alpha0)// && fabs(h_point-h_temp_track )<= r_point*SIGMA_E&& abs(vr_point-v_temp_track)/abs(v_temp_track)<0.8 + { + struct Asso_info asso_info_tmp; + asso_info_tmp.point_idx = i+1; + asso_info_tmp.track_idx = j+1; + asso_info.push_back(asso_info_tmp); + (*temp_track)[j][L-1].asso_flag = 1; + point_process[i].Use_Flag = 1; + } + } + } + } + } + + + + // temp_track中加入新关联上的临时航迹 + for (int i = 0 ; i ()); + + //前L个点 + int L = (*temp_track)[asso_info[i].track_idx-1].size(); + for (int j=0;j < L;j++ ) + { + (*temp_track)[(*temp_track).size()-1].push_back((*temp_track)[asso_info[i].track_idx-1][j]); + (*temp_track)[(*temp_track).size()-1][j].asso_flag = 0; + } + + //关联上的点 + Temp_track asso_track_info_tmp; + asso_track_info_tmp.r = point_process[asso_info[i].point_idx-1].Range; + asso_track_info_tmp.azi = point_process[asso_info[i].point_idx-1].Azimuth; + asso_track_info_tmp.height = point_process[asso_info[i].point_idx-1].Height; + asso_track_info_tmp.Amp = point_process[asso_info[i].point_idx-1].Amplitude; + asso_track_info_tmp.T = point_process[asso_info[i].point_idx-1].CPI_Time; + asso_track_info_tmp.vr = point_process[asso_info[i].point_idx-1].Velocity; + asso_track_info_tmp.snr = point_process[asso_info[i].point_idx-1].snr; + asso_track_info_tmp.RCS = point_process[asso_info[i].point_idx-1].RCS; + asso_track_info_tmp.pitch_num = point_process[asso_info[i].point_idx-1].pitch_num; + std::memcpy(asso_track_info_tmp.speed_dim, point_process[asso_info[i].point_idx-1].speed_dim, sizeof(asso_track_info_tmp.speed_dim)); + std::memcpy(asso_track_info_tmp.range_dim, point_process[asso_info[i].point_idx-1].range_dim, sizeof(asso_track_info_tmp.range_dim)); + asso_track_info_tmp.asso_flag=0; + asso_track_info_tmp.buff_round = 1; +// asso_track_info_tmp.Temp_track_section_idx = floor(point_process[asso_info[i].point_idx-1].beam_index/BEAM_NUM_DOT_SECTION)+1; + double Z0[2]={(*temp_track)[asso_info[i].track_idx-1][L-1].r*cos((*temp_track)[asso_info[i].track_idx-1][L-1].azi), + (*temp_track)[asso_info[i].track_idx-1][L-1].r*sin((*temp_track)[asso_info[i].track_idx-1][L-1].azi)}; + double Z1[2]={point_process[asso_info[i].point_idx-1].Range*cos(point_process[asso_info[i].point_idx-1].Azimuth), + point_process[asso_info[i].point_idx-1].Range*sin(point_process[asso_info[i].point_idx-1].Azimuth)}; + double X[4]; + double P[4][4]; + kalman Kalman; + double T = ( point_process[asso_info[i].point_idx-1].CPI_Time - (*temp_track)[asso_info[i].track_idx-1][L-1].T)/1000.0; + + Kalman.kalman_filter_init_2dots(Z0,Z1,T,X,P); + memcpy(asso_track_info_tmp.X, X, 4*sizeof(double)); + memcpy(asso_track_info_tmp.P, P, 4*4*sizeof(double)); + (*temp_track)[(*temp_track).size()-1].push_back(asso_track_info_tmp); + } + + + //temp_track中删除关联上的临时航迹 + QVector >::iterator Iter; + for (Iter=temp_track->begin(); Iter!=temp_track->end();) + { + if((*Iter).size()>=2) + { + if((*Iter)[(*Iter).size()-1].asso_flag==1) + { + temp_track->erase(Iter); + Iter=temp_track->begin(); + } + else + { + Iter++; + } + } + else + { + Iter++; + } + } +} + +void Track_Init_Direct_Tracking::point_track_head_asso( QVector > *temp_track, + struct RadarPara Work_Parameter) //航迹头与点迹关联 +{ + //关联上的信息 + struct Asso_info + { + int track_idx; + int point_idx; + }; + QVector asso_info; + + + //关联 + for ( int i=0;isize();j++) + { + + if((*temp_track)[j].size()==1 && (*temp_track)[j][0].buff_round >= 2) + { + + + //点迹信息 + double x_point, y_point, vr_point; + coor_trans Coor_trans; + Coor_trans.polar2cart(&x_point,&y_point,point_process[i].Range,point_process[i].Azimuth); + vr_point=point_process[i].Velocity; + double r_point=point_process[i].Range; + double h_point = point_process[i].Height; + double T_point = point_process[i].CPI_Time; + + //航迹信息 + double x_track_head, y_track_head; + x_track_head=(*temp_track)[j][0].X[0]; + y_track_head=(*temp_track)[j][0].X[2]; + double v_track_head=(*temp_track)[j][0].vr; + double h_track_head = (*temp_track)[j][0].height; + double T_track_head = (*temp_track)[j][0].T; + + + //距离差 + double dis = sqrt(pow(x_point-x_track_head,2)+pow(y_point-y_track_head,2)); + + double vmax; + if(Work_Parameter.work_mode == 0) //近程模式 最大速度减小一点 + { + //vmax = V_MAX/5; + vmax = Work_Parameter.V_MAX; + + } + else //中远程模式 最大速度正常用 + { + // vmax = V_MAX; + vmax = Work_Parameter.V_MAX; + + } + + double delta_T = (T_point - T_track_head)/1000.0; + + + + //满足关联条件的点航 + if( ( (r_point>=1000 && dis<=vmax*delta_T && dis>=Work_Parameter.V_MIN*delta_T) || (r_point<1000 && dis<=vmax*delta_T/2.0 && dis>=Work_Parameter.V_MIN*delta_T/2.0) ) + && vr_point*v_track_head>0 )//&& fabs(vr_point-v_track_head)/fabs(v_track_head)<0.2 && fabs(h_point-h_track_head)<=r_point*SIGMA_E + { + struct Asso_info asso_info_tmp; + asso_info_tmp.point_idx = i+1; + asso_info_tmp.track_idx = j+1; + asso_info.push_back(asso_info_tmp); + (*temp_track)[j][0].asso_flag = 1; + point_process[i].Use_Flag = 1; + } + + + + } + } + } + + + // temp_track中加入新关联上的临时航迹 + for (int i = 0 ; i ()); + + //第一个点 + (*temp_track)[(*temp_track).size()-1].push_back((*temp_track)[asso_info[i].track_idx-1][0]); + (*temp_track)[(*temp_track).size()-1][0].asso_flag = 0; + + //第二个点 + struct Temp_track asso_track_info_tmp; + asso_track_info_tmp.r = point_process[asso_info[i].point_idx-1].Range; + asso_track_info_tmp.azi = point_process[asso_info[i].point_idx-1].Azimuth; + asso_track_info_tmp.height = point_process[asso_info[i].point_idx-1].Height; + asso_track_info_tmp.Amp = point_process[asso_info[i].point_idx-1].Amplitude; + asso_track_info_tmp.vr = point_process[asso_info[i].point_idx-1].Velocity; + asso_track_info_tmp.snr = point_process[asso_info[i].point_idx-1].snr; + asso_track_info_tmp.RCS = point_process[asso_info[i].point_idx-1].RCS; + asso_track_info_tmp.T = point_process[asso_info[i].point_idx-1].CPI_Time; + asso_track_info_tmp.pitch_num = point_process[asso_info[i].point_idx-1].pitch_num; + std::memcpy(asso_track_info_tmp.speed_dim, point_process[asso_info[i].point_idx-1].speed_dim, sizeof(asso_track_info_tmp.speed_dim)); + std::memcpy(asso_track_info_tmp.range_dim, point_process[asso_info[i].point_idx-1].range_dim, sizeof(asso_track_info_tmp.range_dim)); + asso_track_info_tmp.asso_flag = 0; + asso_track_info_tmp.buff_round = 1; +// asso_track_info_tmp.Temp_track_section_idx = floor(point_process[asso_info[i].point_idx-1].beam_index/BEAM_NUM_DOT_SECTION)+1;; + double Z0[2]={(*temp_track)[asso_info[i].track_idx-1][0].r*cos((*temp_track)[asso_info[i].track_idx-1][0].azi), + (*temp_track)[asso_info[i].track_idx-1][0].r*sin((*temp_track)[asso_info[i].track_idx-1][0].azi)}; + double Z1[2]={point_process[asso_info[i].point_idx-1].Range*cos(point_process[asso_info[i].point_idx-1].Azimuth), + point_process[asso_info[i].point_idx-1].Range*sin(point_process[asso_info[i].point_idx-1].Azimuth)}; + double X[4]; + double P[4][4]; + kalman Kalman; + double T = (point_process[asso_info[i].point_idx-1].CPI_Time - (*temp_track)[asso_info[i].track_idx-1][0].T)/1000.0; + + Kalman.kalman_filter_init_2dots(Z0,Z1,T,X,P); + memcpy(asso_track_info_tmp.X, X, 4*sizeof(double)); + memcpy(asso_track_info_tmp.P, P, 4*4*sizeof(double)); + (*temp_track)[(*temp_track).size()-1].push_back(asso_track_info_tmp); + + } + + + + //temp_track中删除关联上的航迹头 + QVector >::iterator Iter; + for (Iter=temp_track->begin(); Iter!=temp_track->end();) + { + if((*Iter)[0].asso_flag==1) + { + temp_track->erase(Iter); + Iter=temp_track->begin(); + } + else + { + Iter++; + } + + } + +} + + + +void Track_Init_Direct_Tracking::tmp_track_to_trust_track( QVector *trust_track, //临时航迹转可靠航迹 + QVector > *temp_track, + struct Track Trust_Track_Output[MAX_TRACK_NUM][10], + int *Trust_track_num_Output, + struct RadarPara Work_Parameter, + int track_ID) +{ + //temp_track中的临时航迹转为可靠航迹 + QVector >::iterator Iter; + for (Iter=temp_track->begin(); Iter!=temp_track->end();) + { + int L=(*Iter).size(); + double range=(*Iter)[L-1].r; + double azi=(*Iter)[L-1].azi/PI*180; + if( L==Work_Parameter.track_start_point_num) //按长度查找TRUST_TRACK_POINT + { + + //加入本地航迹文件 + double Z0[2]={((*Iter)[L-3].r)*cos((*Iter)[L-3].azi),((*Iter)[L-3].r)*sin((*Iter)[L-3].azi) }; + double Z1[2]={((*Iter)[L-2].r)*cos((*Iter)[L-2].azi),((*Iter)[L-2].r)*sin((*Iter)[L-2].azi) }; + double Z2[2]={((*Iter)[L-1].r)*cos((*Iter)[L-1].azi),((*Iter)[L-1].r)*sin((*Iter)[L-1].azi) }; + double X[6]; + double P[6][6]; + double T1=((*Iter)[L-2].T-(*Iter)[L-3].T)/1000.0; + double T2=((*Iter)[L-1].T-(*Iter)[L-2].T)/1000.0; + kalman Kalman; + Kalman.kalman_filter_init_3dots(Z0, Z1, Z2, T1,T2, X ,P); + Trust_Track trust_track_tmp; + memcpy(trust_track_tmp.X, X, 6*sizeof(double)); + memcpy(trust_track_tmp.P, P, 6*6*sizeof(double)); + + trust_track_tmp.Track_Index = track_ID; + trust_track_tmp.Amplitude=(*Iter)[L-1].Amp; + trust_track_tmp.snr_point = (*Iter)[L-1].snr; + trust_track_tmp.RCS = (*Iter)[L-1].RCS; + trust_track_tmp.T_track = (*Iter)[L-1].T; + trust_track_tmp.point_flag=1; //实点 + trust_track_tmp.Track_Mode=1; //跟踪模式 TWS 0 + trust_track_tmp.Target_Type=UNCONF_TARGET; + trust_track_tmp.Height=(*Iter)[L-1].height; + trust_track_tmp.Extrapolate_round=0; + trust_track_tmp.approach_flag = -1; + trust_track_tmp.manual_delete_flag = 0; + trust_track_tmp.associate_point_number = 0; + trust_track_tmp.manual_tracking_flag = 0; + trust_track_tmp.point_type = 0; + trust_track_tmp.u[0]=0.3333; + trust_track_tmp.u[1]=0.3333; + trust_track_tmp.u[2]=0.3333; + memcpy(trust_track_tmp.X1, X, 6*sizeof(double)); + memcpy(trust_track_tmp.P1, P, 6*6*sizeof(double)); + memcpy(trust_track_tmp.X2, X, 6*sizeof(double)); + memcpy(trust_track_tmp.P2, P, 6*6*sizeof(double)); + memcpy(trust_track_tmp.X3, X, 6*sizeof(double)); + memcpy(trust_track_tmp.P3, P, 6*6*sizeof(double)); + (*trust_track).push_back(trust_track_tmp); + + trust_track_tmp.pitch_num = (*Iter)[L-1].pitch_num; + + std::memcpy(trust_track_tmp.speed_dim, (*Iter)[L-1].speed_dim, sizeof(trust_track_tmp.speed_dim)); + std::memcpy(trust_track_tmp.range_dim, (*Iter)[L-1].range_dim, sizeof(trust_track_tmp.range_dim)); + + //输出航迹更新信息 + *Trust_track_num_Output=*Trust_track_num_Output+1; + for (int j=0;jerase(Iter); + Iter=temp_track->begin(); + } + else + { + Iter++; + } + } + + +} + + +void Track_Init_Direct_Tracking::tmp_track_die(QVector > *temp_track) +{ + + QVector >::iterator Iter; + for (Iter=temp_track->begin(); Iter!=temp_track->end();) + { + int n=(*Iter).size(); + if( (*Iter)[n-1].buff_round >1 || n>=10) + { + temp_track->erase(Iter); + Iter=temp_track->begin(); + } + else + { + Iter++; + } + } +} + + + + +double Track_Init_Direct_Tracking::alpha_cal_track_init(double x0,double y0,double x1,double y1,double x2,double y2) +{ + double D12[2]={x1-x0,y1-y0}; + double D23[2]={x2-x1,y2-y1}; + double alpha=acos((D12[0]*D23[0]+D12[1]*D23[1])/(sqrt(D12[0]*D12[0]+D12[1]*D12[1])*sqrt(D23[0]*D23[0]+D23[1]*D23[1])))/PI*180; + + return alpha; + + +} + +Track_Init_Direct_Tracking::Track_Init_Direct_Tracking() +{ + + +} diff --git a/data_process_class_dll/track_init_direct_tracking.h b/data_process_class_dll/track_init_direct_tracking.h new file mode 100644 index 0000000..e623cf0 --- /dev/null +++ b/data_process_class_dll/track_init_direct_tracking.h @@ -0,0 +1,54 @@ +#ifndef TRACK_INIT_DIRECT_TRACKING_H +#define TRACK_INIT_DIRECT_TRACKING_H +#include "data_process_class_dll.h" +#include "parameters.h" +#include "struct.h" +#include + +class Track_Init_Direct_Tracking +{ +public: + + //航迹起始逻辑法 + int track_init_process_logic( QVector *point_recv, //输入点迹 + QVector *trust_track, //可靠航迹 + QVector > *temp_track, + struct Track Trust_Track_Output[MAX_TRACK_NUM][10], + int *Trust_track_num_Output, + struct RadarPara Work_Parameter, + int track_ID + ); + + Track_Init_Direct_Tracking(); + + +private: + + + QVector point_process; //要处理的点迹 + + + void point_temp_track_asso(QVector > *temp_track, + struct RadarPara Work_Parameter); //临时航迹与点迹关联 + + + void point_track_head_asso( QVector > *temp_track, + struct RadarPara Work_Parameter); //航迹头与点迹关联 + + void tmp_track_to_trust_track( QVector *trust_track, //临时航迹转可靠航迹 + QVector > *temp_track, + struct Track Trust_Track_Output[MAX_TRACK_NUM][10], + int *Trust_track_num_Output, + struct RadarPara Work_Parameter, + int track_ID + ); + + void tmp_track_die(QVector > *temp_track);//临时航迹消亡 + + double alpha_cal_track_init(double x0,double y0,double x1,double y1,double x2,double y2); //计算夹角 + + +}; + + +#endif // TRACK_INIT_DIRECT_TRACKING_H diff --git a/航迹点迹分区说明.vsdx b/航迹点迹分区说明.vsdx deleted file mode 100644 index fbed518..0000000 Binary files a/航迹点迹分区说明.vsdx and /dev/null differ