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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/dot_coh.cpp
+188 -77
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@@ -6,66 +6,29 @@ using namespace std;
int Dot_Coh::dot_coh_process(QVector <PointRecv> *data_input,
int beam_input[3],
QVector <QVector<PointRecv>> *point_recv,
QVector <PointRecv> *point_recv,
struct RadarPara Work_Parameter)
{
//数据移动一位
for (int i=0;i<data_buffer_2.size();i++) //data_buffer_2 ---> point_recv
{
(*point_recv)[floor(data_buffer_2[i].beam_index/BEAM_NUM_DOT_SECTION)].push_back(data_buffer_2[i]);
}
QVector<PointRecv>().swap(data_buffer_2);
for (int i=0;i<data_buffer_1.size();i++) //data_buffer_1 ---> data_buffer_2
{
data_buffer_2.push_back(data_buffer_1[i]);
}
QVector<PointRecv>().swap(data_buffer_1);
for (int i=0;i<data_input->size();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 <PointRecv> data_buffer;
for (int i=0;i<data_buffer_1.size();i++)
data_buffer.push_back(data_buffer_1[i]);
for (int i=0;i<data_buffer_2.size();i++)
data_buffer.push_back(data_buffer_2[i]);
QVector<PointRecv>().swap(data_buffer_1);
QVector<PointRecv>().swap(data_buffer_2);
if(data_buffer.size()>1)
if(data_input->size()>1)
{
for (unsigned int loop_of_point=0; loop_of_point<data_buffer.size()-1;loop_of_point++ )
for (unsigned int loop_of_point=0; loop_of_point<data_input->size()-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;i<data_buffer.size();i++)
float point_0_R=(*data_input)[loop_of_point].Range;
float point_0_V=(*data_input)[loop_of_point].Velocity;
float point_0_F=(*data_input)[loop_of_point].Azimuth;
float point_0_A=(*data_input)[loop_of_point].Amplitude;
for (unsigned int i=loop_of_point+1;i<data_input->size();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 <PointRecv> *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 )//
{
point_0_R=data_buffer[i].Range;
point_0_V=data_buffer[i].Velocity;
point_0_A=data_buffer[i].Amplitude;
point_0_F=data_buffer[i].Azimuth;
data_buffer[loop_of_point].Use_Flag=1;
point_0_R=(*data_input)[i].Range;
point_0_V=(*data_input)[i].Velocity;
point_0_A=(*data_input)[i].Amplitude;
point_0_F=(*data_input)[i].Azimuth;
(*data_input)[loop_of_point].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 && 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 )//
{
point_0_R=data_buffer[i].Range;
point_0_V=data_buffer[i].Velocity;
point_0_A=data_buffer[i].Amplitude;
point_0_F=data_buffer[i].Azimuth;
data_buffer[loop_of_point].Use_Flag=1;
point_0_R=(*data_input)[i].Range;
point_0_V=(*data_input)[i].Velocity;
point_0_A=(*data_input)[i].Amplitude;
point_0_F=(*data_input)[i].Azimuth;
(*data_input)[loop_of_point].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 )//
else 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 <PointRecv> *data_input,
}
}
//删除凝聚点 和 量程范围外点
QVector <PointRecv>::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_MIN || (*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 <PointRecv> *data_input,
}
}
//凝聚后的数据分别存入data_buffer_1 data_buffer_2
for(int i=0;i<data_buffer.size();i++)
for (int i=0;i<data_input->size();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 <PointRecv> *data_input,
int Dot_Coh::dot_coh_process_buff( QVector <PointRecv> *data_input, //输入的点迹
QVector <PointRecv> *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 <PointRecv> data_tmp;
for (int i=0;i<data_input_buff.size();i++)
{
data_tmp.push_back(data_input_buff[i]);
data_tmp[data_tmp.size()-1].point_section_asso = 1;
}
for (int i=0;i<data_input->size();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<PointRecv>().swap(data_input_buff);
QVector<PointRecv>().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<data_tmp.size()-1;loop_of_point++ )
{
if( data_tmp[loop_of_point].Use_Flag!=1)
{
float point_0_R=data_tmp[loop_of_point].Range;
float point_0_V=data_tmp[loop_of_point].Velocity;
float point_0_F=data_tmp[loop_of_point].Azimuth;
float point_0_A=data_tmp[loop_of_point].Amplitude;
for (unsigned int i=loop_of_point+1;i<data_tmp.size();i++)
{
if(data_tmp[loop_of_point].Use_Flag!=1)
{
float point_1_R=data_tmp[i].Range;
float point_1_V=data_tmp[i].Velocity;
float point_1_F=data_tmp[i].Azimuth;
float point_1_A=data_tmp[i].Amplitude;
//凝聚条件： 距离、方位接近
if(Work_Parameter.work_mode == 0)
{
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 )//
{
point_0_R=data_tmp[i].Range;
point_0_V=data_tmp[i].Velocity;
point_0_A=data_tmp[i].Amplitude;
point_0_F=data_tmp[i].Azimuth;
data_tmp[loop_of_point].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 && fabs(point_0_V-point_1_V)<=DOT_COH_V)//
&& point_0_A >= 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 )//
{
point_0_R=data_tmp[i].Range;
point_0_V=data_tmp[i].Velocity;
point_0_A=data_tmp[i].Amplitude;
point_0_F=data_tmp[i].Azimuth;
data_tmp[loop_of_point].Use_Flag=1;
}
else 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 <PointRecv>::iterator Iter;
for (Iter=data_tmp.begin(); Iter!=data_tmp.end();)
{
if((*Iter).Use_Flag==1 || (*Iter).Range <R_MIN || (*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<data_tmp.size();i++)
{
if(data_tmp[i].point_section_asso==1)
{
data_input_buff.push_back(data_tmp[i]);
}
if(data_tmp[i].point_section_asso==2)
{
(*data_input).push_back(data_tmp[i]);
}
}
QVector<PointRecv>().swap(data_tmp);
//2.data_input_buff数据输出给point_recv
for (int i=0;i<data_input_buff.size();i++)
{
(*point_recv).push_back(data_input_buff[i]);
}
QVector<PointRecv>().swap(data_input_buff);
//3.data_input数据输出给data_input_buff
for (int i=0;i<data_input->size();i++)
{
data_input_buff.push_back((*data_input)[i]);
}
return 0;
}
Dot_Coh::Dot_Coh(void)
{