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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_init.cpp
+48 -48
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@@ -58,7 +58,7 @@ int Track_Init::track_init_process_logic( std::vector <PointRecv>
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();
@@ -78,22 +78,22 @@ int Track_Init::track_init_process_logic( std::vector <PointRecv>
for (unsigned int i=0;i<point_process.size();i++)
{
Temp_track temp_track_tmp = {};
temp_track_tmp.r = point_process[i].Range;
temp_track_tmp.azi = point_process[i].Azimuth;
temp_track_tmp.height = point_process[i].Height;
temp_track_tmp.Amp = point_process[i].Amplitude;
temp_track_tmp.vr = point_process[i].Velocity;
temp_track_tmp.snr = point_process[i].snr;
temp_track_tmp.r = point_process[i].range;
temp_track_tmp.azi = point_process[i].azimuth;
temp_track_tmp.height = point_process[i].height;
temp_track_tmp.Amp = point_process[i].amplitude;
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;
temp_track_tmp.pitch_num = point_process[i].pitch_beam_index;
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[0]=point_process[i].range*cos(point_process[i].azimuth);
temp_track_tmp.X[1]=0;
temp_track_tmp.X[2]=point_process[i].Range*sin(point_process[i].Azimuth);
temp_track_tmp.X[2]=point_process[i].range*sin(point_process[i].azimuth);
temp_track_tmp.X[3]=0;
temp_track_tmp.T = point_process[i].CPI_Time;
temp_track_tmp.T = point_process[i].CPI_time;
temp_track_tmp.GNSS_time = point_process[i].GNSS_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;
@@ -166,15 +166,15 @@ void Track_Init::point_temp_track_asso(std::vector <std::vector<Temp_track>>
//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 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 = static_cast<double>(point_process[i].CPI_Time);
double freq_ind = point_process[i].freq_index;
double h_point = point_process[i].height;
double T_point = static_cast<double>(point_process[i].CPI_time);
//航迹信息
double X[4];
@@ -226,7 +226,7 @@ void Track_Init::point_temp_track_asso(std::vector <std::vector<Temp_track>>
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;
point_process[i].use_flag = 1;
//std::cout << "v_temp_track : " << v_temp_track << "vr_point : "<< vr_point;
}
}
@@ -249,30 +249,30 @@ void Track_Init::point_temp_track_asso(std::vector <std::vector<Temp_track>>
//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.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.GNSS_time = point_process[asso_info[i].point_idx-1].GNSS_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.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.asso_flag=0;
asso_track_info_tmp.buff_round = 1;
asso_track_info_tmp.pitch_num = point_process[asso_info[i].point_idx-1].pitch_num;
asso_track_info_tmp.pitch_num = point_process[asso_info[i].point_idx-1].pitch_beam_index;
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)};
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 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;
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));
@@ -328,11 +328,11 @@ void Track_Init::point_track_head_asso( std::vector <std::vector<Temp_track>>
//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 = static_cast<double>(point_process[i].CPI_Time);
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 = static_cast<double>(point_process[i].CPI_time);
//航迹信息
double x_track_head, y_track_head;
@@ -376,7 +376,7 @@ void Track_Init::point_track_head_asso( std::vector <std::vector<Temp_track>>
asso_info_tmp.track_idx = static_cast<int>(j)+1;
asso_info.push_back(asso_info_tmp);
(*temp_track)[j][0].asso_flag = 1;
point_process[i].Use_Flag = 1;
point_process[i].use_flag = 1;
//std::cout << "v_track_head: " << v_track_head << "vr_point: " << vr_point;
}
@@ -395,16 +395,16 @@ void Track_Init::point_track_head_asso( std::vector <std::vector<Temp_track>>
//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.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.T = point_process[asso_info[i].point_idx-1].CPI_time;
asso_track_info_tmp.GNSS_time = point_process[asso_info[i].point_idx-1].GNSS_time;
asso_track_info_tmp.pitch_num = point_process[asso_info[i].point_idx-1].pitch_num;
asso_track_info_tmp.pitch_num = point_process[asso_info[i].point_idx-1].pitch_beam_index;
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;
@@ -412,12 +412,12 @@ void Track_Init::point_track_head_asso( std::vector <std::vector<Temp_track>>
// 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 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;
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));