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更新：1、修复kalman.cpp中部分参数命名冲突的问题；

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2、TWS点迹关联时增加点航距离门限，限制部分突然关联到很远的点迹的问题。

Signed-off-by: waiwaylee <waiwaylee@foxmail.com>
This commit is contained in:
waiwaylee
2026-06-18 09:16:04 +08:00
parent 167fa793e9
commit 958ff6b11b
38 changed files with 8774 additions and 1775 deletions
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data_process_class_dll/data_process.cpp
+127 -346
View File
@@ -1,7 +1,9 @@
#include "data_process.h"
#include "memory.h"
#include <QVector>
#include <qmath.h>
#include <iostream>
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<data_num_1;i++)
for (int i=0; i<data_num;i++)
{
PointRecv Data_buffer_temp;
Data_buffer_temp.Amplitude=Data_Input[i].Amplitude;
Data_buffer_temp.Azimuth=Data_Input[i].Azimuth/180*PI;
Data_buffer_temp.beam_index = Data_Input[i].Beam_index;
Data_buffer_temp.snr = Data_Input[i].Snr;
Data_buffer_temp.RCS = Data_Input[i].RCS;
Data_buffer_temp.CPI_Time = Data_Input[i].CPI_time;
@@ -37,92 +35,70 @@ int Data_Process::data_preprocess(struct DataRev Data_Input[150])
Data_buffer_temp.Use_Flag = 0;
Data_buffer_temp.Velocity = Data_Input[i].Velocity;
Data_buffer.push_back(Data_buffer_temp);
}
Data_buffer_temp.pitch_num = Data_Input[i].pitch_num;
memset(&Data_Input[0],0,150*sizeof(DataRev));
return 0;
}
//取波束2数据 存入缓存 暂不处理
if(beam_count%3==2)
{
beam_index[1]=Data_Input[0].Beam_index;
data_num_2=Data_Input[0].Point_Sum;
TAS_track_idx = Data_Input[0].TAS_track_index;
for (int i=0;i<data_num_2;i++)
{
PointRecv Data_buffer_temp;
Data_buffer_temp.Amplitude=Data_Input[i].Amplitude;
Data_buffer_temp.Azimuth=Data_Input[i].Azimuth/180*PI;
Data_buffer_temp.beam_index = Data_Input[i].Beam_index;
Data_buffer_temp.snr = Data_Input[i].Snr;
Data_buffer_temp.RCS = Data_Input[i].RCS;
Data_buffer_temp.CPI_Time = Data_Input[i].CPI_time;
Data_buffer_temp.Freq_index = Data_Input[i].Freq_index;
Data_buffer_temp.PRF_index = Data_Input[i].PRI;
Data_buffer_temp.Range = Data_Input[i].Range;
Data_buffer_temp.Height= Data_Input[i].Range*sin(Data_Input[i].Elevation/180*PI);
Data_buffer_temp.Use_Flag = 0;
Data_buffer_temp.Velocity = Data_Input[i].Velocity;
std::memcpy(Data_buffer_temp.speed_dim, Data_Input[i].speed_dim, sizeof(Data_buffer_temp.speed_dim));
std::memcpy(Data_buffer_temp.range_dim, Data_Input[i].range_dim, sizeof(Data_buffer_temp.range_dim));
Data_buffer.push_back(Data_buffer_temp);
}
memset(&Data_Input[0],0,150*sizeof(DataRev));
return 0;
}
//取波束3数据 存入缓存 开始处理
if(beam_count%3==0)
{
beam_index[2]=Data_Input[0].Beam_index;
data_num_3=Data_Input[0].Point_Sum;
TAS_track_idx = Data_Input[0].TAS_track_index;
for (int i=0;i<data_num_3;i++)
if(Data_Input[0].Beam_index_aiz == 16) //TWS
{
PointRecv Data_buffer_temp;
Data_buffer_temp.Amplitude=Data_Input[i].Amplitude;
Data_buffer_temp.Azimuth=Data_Input[i].Azimuth/180*PI;
Data_buffer_temp.beam_index = Data_Input[i].Beam_index;
Data_buffer_temp.snr = Data_Input[i].Snr;
Data_buffer_temp.RCS = Data_Input[i].RCS;
Data_buffer_temp.CPI_Time = Data_Input[i].CPI_time;
Data_buffer_temp.Freq_index = Data_Input[i].Freq_index;
Data_buffer_temp.PRF_index = Data_Input[i].PRI;
Data_buffer_temp.Range = Data_Input[i].Range;
Data_buffer_temp.Height= Data_Input[i].Range*sin(Data_Input[i].Elevation/180*PI);
Data_buffer_temp.Use_Flag = 0;
Data_buffer_temp.Velocity = Data_Input[i].Velocity;
Data_buffer.push_back(Data_buffer_temp);
}
memset(&Data_Input[0],0,150*sizeof(DataRev));
if(beam_index[0]==600 || beam_index[1]==600 || beam_index[2]==600 )
{
return 2; //TAS
return 1;
}
else
{
return 1; //TWS
return 2;
}
}
else if(Data_Input[0].point_type == 1) //tas数据
{
// qDebug() << "TAS TARGET :" <<Data_Input[0].TAS_track_index;
// qDebug() << "TAS POINT :" <<Data_Input[0].Point_Sum;
data_num=Data_Input[0].Point_Sum;
TAS_track_idx = Data_Input[0].TAS_track_index;
for (int i=0; i<data_num;i++)
{
PointRecv Data_buffer_temp;
Data_buffer_temp.Amplitude=Data_Input[i].Amplitude;
Data_buffer_temp.Azimuth=Data_Input[i].Azimuth/180*PI;
Data_buffer_temp.snr = Data_Input[i].Snr;
Data_buffer_temp.RCS = Data_Input[i].RCS;
Data_buffer_temp.CPI_Time = Data_Input[i].CPI_time;
Data_buffer_temp.Freq_index = Data_Input[i].Freq_index;
Data_buffer_temp.PRF_index = Data_Input[i].PRI;
Data_buffer_temp.Range = Data_Input[i].Range;
Data_buffer_temp.Height= Data_Input[i].Range*sin(Data_Input[i].Elevation/180*PI);
Data_buffer_temp.Use_Flag = 0;
Data_buffer_temp.Velocity = Data_Input[i].Velocity;
Data_buffer_temp.pitch_num = Data_Input[i].pitch_num;
std::memcpy(Data_buffer_temp.speed_dim, Data_Input[i].speed_dim, sizeof(Data_buffer_temp.speed_dim));
std::memcpy(Data_buffer_temp.range_dim, Data_Input[i].range_dim, sizeof(Data_buffer_temp.range_dim));
return 0;
Data_buffer_tas.push_back(Data_buffer_temp);
// qDebug() << "Azimuth:" << Data_Input[i].Azimuth
// << "Range:" << Data_Input[i].Range
// << "EL:" << Data_Input[i].Elevation
// << "CPI_Time"<< Data_Input[i].CPI_time
// << "data_num:" << data_num;
}
return 3;
}
else
{
return 0;
}
}
//数据处理
int Data_Process::track_process(struct Track Trust_Track_Output[MAX_TRACK_NUM][10],
int *Trust_track_num_Output,
@@ -130,247 +106,82 @@ int Data_Process::track_process(struct Track Trust_Track_Output[MAX_TRACK_NUM][1
int *Track_die_num_Output,
int model)
{
//TWS处理
if(model==2)
{
dot_coh.dot_coh_process_buff(&Data_buffer,&point_recv,Work_Parameter);
QVector<PointRecv>().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<PointRecv>().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<PointRecv>().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 :" <<point_recv_tas[0].Azimuth/PI*180<<" "<<point_recv_tas[0].Range;
// }
QVector<PointRecv>().swap(Data_buffer_tas);//凝聚完毕 清除Data_buffer
track_asso_tas.track_asso_process_tas(&point_recv_tas, //点迹文件
&trust_track, //航迹文件
Trust_Track_Output, //更新航迹信息
Trust_track_num_Output, //更新航迹数
Work_Parameter, //工作参数
TAS_track_idx);
QVector<PointRecv>().swap(point_recv_tas); //清除 point_recv_tas
track_die_tas.track_die_process_tas( &trust_track,
Track_die_Index_Output,
Track_die_num_Output);
QVector<PointRecv>().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<DOT_SECTION_NUM;i++)
point_recv.push_back(QVector <PointRecv> ());
for (int i=0;i<TRACK_SECTION_NUM;i++)
trust_track.push_back(QVector <Trust_Track> ());
for (int i=0;i<DOT_SECTION_NUM;i++)
temp_track.push_back(QVector<QVector<Temp_track>> () );
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<delete_track_num ;i++)
{
for (int j=0;j<trust_track.size();j++)
for(int k=0;k<trust_track[j].size();k++)
{
if(trust_track[j].Track_Index == delete_track_index[i])
{
if(trust_track[j][k].Track_Index == delete_track_index[i])
{
trust_track[j][k].manual_delete_flag=1;
}
trust_track[j].manual_delete_flag=1;
}
}
}
@@ -457,14 +256,12 @@ int Data_Process:: tracking_start(int track_index) //需要手动转入TAS跟
{
for ( int i=0; i<trust_track.size();i++)
for (int j=0;j<trust_track[i].size();j++)
if(trust_track[i].Track_Index==track_index)
{
if(trust_track[i][j].Track_Index==track_index)
{
trust_track[i][j].manual_tracking_flag = 1;
}
trust_track[i].manual_tracking_flag = 1;
}
return 0;
}
@@ -476,21 +273,5 @@ int Data_Process::tracking_point(float Azimuth)//方位角
void Data_Process::Track_section_sort()
{
for(int i=0;i<trust_track.size();i++)
for(int j=0;j<trust_track[i].size(); )
{
if (trust_track[i][j].Track_section_idx!=i+1)
{
trust_track[trust_track[i][j].Track_section_idx-1].push_back(trust_track[i][j]);
trust_track[i].erase(trust_track[i].begin()+j);
}
else
{
j++;
}
};
}