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更新：1、新增数据记录功能，将过程数据录入数据库；

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2、增加输入点迹数据、凝聚后点迹数据记录；

Signed-off-by: waiwaylee <waiwaylee@foxmail.com>
This commit is contained in:
waiwaylee
2026-09-30 09:02:28 +08:00
parent ff9b111d34
commit a4f32e4036
111 changed files with 321343 additions and 262 deletions
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data_process_class_dll/track_asso.cpp
+22 -22
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@@ -39,7 +39,7 @@ int Track_Asso:: track_asso_process(std::vector<PointRecv> *point_
std::vector <PointRecv>::iterator Iter;
for (Iter= point_process.begin(); Iter!=point_process.end();)
{
if((*Iter).Use_Flag==1 )
if((*Iter).use_flag==1 )
{
point_process.erase(Iter);
Iter=point_process.begin();
@@ -443,7 +443,7 @@ void Track_Asso:: model_filter(std::vector <Trust_Track> *trust_track,struct Ra
{
//时间差
double delta_T = (point_process[loop_of_point].CPI_Time - (*trust_track)[loop_of_track].T_track)/1000.0;
double delta_T = (point_process[loop_of_point].CPI_time - (*trust_track)[loop_of_track].T_track)/1000.0;
//航迹X P
double X1[6],X2[6],X3[6],P1[6][6],P2[6][6],P3[6][6];
memcpy(X1,(*trust_track)[loop_of_track].X1,6*sizeof(double));
@@ -457,12 +457,12 @@ void Track_Asso:: model_filter(std::vector <Trust_Track> *trust_track,struct Ra
double r_track = sqrt(pow((*trust_track)[loop_of_track].X[0],2)+pow((*trust_track)[loop_of_track].X[3],2));
//量测信息
double Z[3] = {point_process[loop_of_point].Range,
point_process[loop_of_point].Azimuth,
point_process[loop_of_point].Velocity};
double Z[3] = {point_process[loop_of_point].range,
point_process[loop_of_point].azimuth,
point_process[loop_of_point].velocity};
double prt = point_process[loop_of_point].PRF_index;
double freq_ind = point_process[loop_of_point].Freq_index;
double h_point = point_process[loop_of_point].Height;
double freq_ind = point_process[loop_of_point].freq_index;
double h_point = point_process[loop_of_point].height;
//计算统计距离d
double d1,d2,d3;
@@ -498,8 +498,8 @@ void Track_Asso:: model_filter(std::vector <Trust_Track> *trust_track,struct Ra
double& t_x0 = (*trust_track)[loop_of_track].X[0];
double& t_y0 = (*trust_track)[loop_of_track].X[3];
double a_track = atan2(t_y0, t_x0); //航迹方位角
double& r_point = point_process[loop_of_point].Range; //点迹距离
double a_delta = abs(a_track - point_process[loop_of_point].Azimuth); //方位差
double& r_point = point_process[loop_of_point].range; //点迹距离
double a_delta = abs(a_track - point_process[loop_of_point].azimuth); //方位差
if(a_delta > PI){
a_delta = 2*PI - a_delta;
}
@@ -567,9 +567,9 @@ void Track_Asso:: model_filter(std::vector <Trust_Track> *trust_track,struct Ra
double d3=associated_info[min_index-1].d3;
//卡尔曼滤波
double Z[3]={point_process[point_index-1].Range,point_process[point_index-1].Azimuth,point_process[point_index-1].Velocity};
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 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));
@@ -578,7 +578,7 @@ void Track_Asso:: model_filter(std::vector <Trust_Track> *trust_track,struct Ra
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 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);
@@ -645,24 +645,24 @@ void Track_Asso:: model_filter(std::vector <Trust_Track> *trust_track,struct Ra
}
//更新航迹时间
(*trust_track)[track_index-1].T_track = point_process[point_index-1].CPI_Time;
(*trust_track)[track_index-1].T_track = point_process[point_index-1].CPI_time;
(*trust_track)[track_index-1].GNSS_time = point_process[point_index-1].GNSS_time;
//更新关联上的点迹信息
(*trust_track)[track_index-1].range_point=point_process[point_index-1].Range;
(*trust_track)[track_index-1].azi_point=point_process[point_index-1].Azimuth/PI*180;
(*trust_track)[track_index-1].elev_point= asin(point_process[point_index-1].Height/point_process[point_index-1].Range)/PI*180;
(*trust_track)[track_index-1].vr_point=point_process[point_index-1].Velocity;
(*trust_track)[track_index-1].range_point=point_process[point_index-1].range;
(*trust_track)[track_index-1].azi_point=point_process[point_index-1].azimuth/PI*180;
(*trust_track)[track_index-1].elev_point= asin(point_process[point_index-1].height/point_process[point_index-1].range)/PI*180;
(*trust_track)[track_index-1].vr_point=point_process[point_index-1].velocity;
(*trust_track)[track_index-1].point_type = 0;
(*trust_track)[track_index-1].prf_point = point_process[point_index-1].PRF_index;
(*trust_track)[track_index-1].snr_point = point_process[point_index-1].snr;
(*trust_track)[track_index-1].Amplitude= point_process[point_index-1].Amplitude; //幅度
(*trust_track)[track_index-1].snr_point = point_process[point_index-1].SNR;
(*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].amp_asv_point = point_process[point_index-1].amp_asv_point;
(*trust_track)[track_index-1].prn_fftn_point = point_process[point_index-1].prn_fftn_point;
(*trust_track)[track_index-1].pitch_num = point_process[point_index-1].pitch_num;
(*trust_track)[track_index-1].pitch_num = point_process[point_index-1].pitch_beam_index;
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));
@@ -701,7 +701,7 @@ void Track_Asso:: model_filter(std::vector <Trust_Track> *trust_track,struct Ra
associated_num=static_cast<int>(associated_info.size());
//在接收点迹中 将关联上的点迹的使用标记位置为1 等待删除
point_process[point_index-1].Use_Flag = 1;
point_process[point_index-1].use_flag = 1;
}
}
@@ -882,7 +882,7 @@ void Track_Asso:: track_hight_update(int updata_
if(updata_track_index<=static_cast<int>(trust_track->size()) && asso_point_index<=static_cast<int>(point_process.size()))
{
(*trust_track)[updata_track_index-1].Hight_smooth.push_back(point_process[asso_point_index-1].Height);
(*trust_track)[updata_track_index-1].Hight_smooth.push_back(point_process[asso_point_index-1].height);
int height_win_length;