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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/parameters.h
+64 -63
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@@ -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))) \