更新：1、数据处理增加版本号输出；

2、增加Debug模式下可靠航迹、关联信息等数据写入数据库；

Signed-off-by: waiwaylee <waiwaylee@foxmail.com>

data_process_class_dll/data_process.cpp

@@ -67,6 +67,8 @@ int Data_Process::data_preprocess(struct DataRev    Data_Input[150])
 		{
 			last_beam_num = Data_Input[0].Beam_index_aiz;
 			circle_id++;
+			// std::cout << Data_Input[0].CPI_time << std::endl;	
+			// RDP_LOG<<"CPI_time: "<<Data_Input[0].CPI_time<<std::endl;
 			return 1;
 		}
 		else
@@ -133,35 +135,6 @@ int Data_Process::data_preprocess(struct DataRev    Data_Input[150])
 
 }
 
-#ifdef RDP_RECORD_ENABLE
-//数据记录示例②：把本圈输出的航迹批量写入表 RdpRecTrackOut（TWS/TAS 共用一张表，用 track_mode 区分）。
-//该辅助函数只在记录功能开启时编译（RDP_RECORD_ENABLE 由构建系统定义），交付构建完全不参与编译
-static void rdp_record_output_tracks(struct Track Trust_Track_Output[][10], int track_num)
-{
-	if (track_num <= 0)
-	{
-		return;
-	}
-	if (track_num > MAX_TRACK_NUM)      //防御：输出行数理论上不应超过航迹容量（见 README 11.2 BUG-08）
-	{
-		track_num = MAX_TRACK_NUM;
-	}
-
-	std::vector<RdpRecTrackOut> recs;
-	recs.reserve(static_cast<size_t>(track_num));
-	for (int i = 0; i < track_num; ++i)
-	{
-		const struct Track &t = Trust_Track_Output[i][0];   //每行第 0 列为该航迹的主记录
-		recs.push_back(RdpRecTrackOut{0, t.Track_Index, t.Track_Mode, t.Point_Sum, t.Flag_Point,
-		                              t.Flag_Direction, t.GNSS_time, t.track_time,
-		                              t.x, t.y, t.z, t.v_x, t.v_y, t.v_z,
-		                              t.Range, t.Azimuth, t.Elevation, t.Range_V,
-		                              t.track_snr, t.track_rcs});
-	}
-	RDP_RECORD_BATCH(recs);
-}
-#endif
-
 //数据处理
 int Data_Process::track_process(struct Track Trust_Track_Output[MAX_TRACK_NUM][10],
 int         *Trust_track_num_Output,
@@ -231,14 +204,6 @@ int         model)
 		//std::cout << "Extrapolate_round :" << trust_track[TAS_track_idx].Extrapolate_round;
 	}
 
-	//数据记录示例②：本圈输出的航迹（仅 TWS/TAS 处理帧有输出；记录功能关闭时不产生任何代码）
-#ifdef RDP_RECORD_ENABLE
-	if (model == 1 || model == 3)
-	{
-		rdp_record_output_tracks(Trust_Track_Output, *Trust_track_num_Output);
-	}
-#endif
-
 	return 1;
 }
 

data_process_class_dll/data_process_class_dll.cpp

@@ -5,6 +5,7 @@
 #include "data_process.h"
 #include "rdp_log.h"
 #include "rdp_record.h"
+#include "parameters.h"
 
 /*
 Data_process_class_dll::Data_process_class_dll()
@@ -26,6 +27,7 @@ Data_process_class_dll *Data_Process_Factory::GetB()
 		rdp_record::Init();
 
 		p=new Data_Process();
+		p->version_info = VERSION_STRING;
 	}
 
 	return p;

data_process_class_dll/data_process_class_dll.h

@@ -3,6 +3,7 @@
 #define DATA_PROCESS_CLASS_DLL_H
 
 #include "data_process_class_dll_global.h"
+#include <string>
 
 /***************************************************** 结构体 ********************************************************/
 // 输入点迹的数据结构 用户可见
@@ -176,6 +177,7 @@ class DATA_PROCESS_CLASS_DLLSHARED_EXPORT Data_process_class_dll
 
 public:
    // Data_process_class_dll();
+	const char* version_info;
 
 	//数据预处理函数
 	virtual int data_preprocess(struct DataRev      Data_Input[150])                        //雷达的输入点迹             主程序创建全局变量  输入数据

data_process_class_dll/parameters.h

@@ -7,13 +7,32 @@
 //频点(GHz)
 #define FREQ0       9.2
 
+/**********************************版本信息*************************************************/
+#define MAJOR_VERSION 1
+#define MINOR_VERSION 5
+#define PATCH_VERSION 6
+#ifdef PHASE_SCANNING
+#define VERSION_INFO "PS"
+#else
+#define VERSION_INFO "MS"
+#endif
+
+#define STRINGIFY_IMPL(x) #x
+#define STRINGIFY(x) STRINGIFY_IMPL(x)
+
+#define VERSION_STRING \
+    "V" STRINGIFY(MAJOR_VERSION) "." \
+    STRINGIFY(MINOR_VERSION) "." \
+    STRINGIFY(PATCH_VERSION) "." \
+    VERSION_INFO
+
 /**********************************日志输出开关**********************************************/
 // 日志文件输出功能开关：
 //   1) 定义（默认）RDP_LOG_ENABLE：启用日志文件输出 —— 调用 Data_Process_Factory::GetB()
 //      时自动将 std::cout 重定向到日志文件，日志文件存放于 RDP_LOG_DIR 目录，
 //      文件名按当前日期+时间自动命名（如 rdp_20240826_153000.log）；
 //   2) 注释掉 RDP_LOG_ENABLE：关闭 —— 不做重定向，日志仍输出到标准输出（控制台）。
-//#define RDP_LOG_ENABLE
+// #define RDP_LOG_ENABLE
 
 //日志文件输出目录（相对当前工作目录的路径，目录不存在时自动创建）
 #define RDP_LOG_DIR  ".\\rdp_logs\\"

data_process_class_dll/rdp_record.cpp

@@ -249,10 +249,25 @@ RDP_RECORD_DEFINE(RdpRecPointCohesionTAS);
 YLT_REFL(RdpRecTempTrack, id, temp_track_id,point_id,circle_id,X,P,r,azi,vr,height,SNR,RCS,amplitude, CPI_time,GNSS_time,d,buff_round,temp_track_section_idx,asso_flag,pitch_num);
 RDP_RECORD_DEFINE(RdpRecTempTrack);
 
-// 示例②：本圈输出的航迹
+//可靠航迹
-YLT_REFL(RdpRecTrackOut, id, track_index, track_mode, point_sum, flag_point, flag_direction,
+YLT_REFL(RdpRecTrustTrack, id,track_id,point_id,circle_id,Track_Index,Range,Azimuth,Elevation,Velocity,Amplitude,Height,T_track,GNSS_time,Track_Sum,Point_Index,Track_Mode,
-         gnss_time_ms, track_time_s, x, y, z, v_x, v_y, v_z, range_m, azi_deg, elev_deg,
+	Track_Update_Flag,Extrapolate_round,point_flag,approach_flag,manual_delete_flag,manual_tracking_flag,
-         range_v_mps, snr, rcs);
+	associate_point_number,primary_target_flag,Target_Type,Track_section_idx,
-RDP_RECORD_DEFINE(RdpRecTrackOut);
+	range_point,azi_point,elev_point,vr_point,prf_point,point_type,snr_point,
+	amp_asv_point,prn_fftn_point,RCS,pitch_num,X,P,X1,X2,X3,P2,P3,u);
+RDP_RECORD_DEFINE(RdpRecTrustTrack);
+
+//关联信息
+YLT_REFL(RdpRecAssoInfo, id,point_id,track_id,circle_id,d1,d2,d3,d_min,point_index,track_index,
+	delta_T,delta_h,R,VT,
+	thd_d,thd_h,thd_r,
+	min_d_flag);
+RDP_RECORD_DEFINE(RdpRecAssoInfo);
+
+// // 示例②：本圈输出的航迹
+// YLT_REFL(RdpRecTrackOut, id, track_index, track_mode, point_sum, flag_point, flag_direction,
+//          gnss_time_ms, track_time_s, x, y, z, v_x, v_y, v_z, range_m, azi_deg, elev_deg,
+//          range_v_mps, snr, rcs);
+// RDP_RECORD_DEFINE(RdpRecTrackOut);
 
 #endif // RDP_RECORD_ENABLE

data_process_class_dll/rdp_record_entity.h

@@ -280,33 +280,165 @@ struct RdpRecTempTrack
 };
 RDP_RECORD_DECLARE(RdpRecTempTrack);
 
-// 示例②：本圈输出的航迹 —— 记录点位于 data_process.cpp::track_process()「数据记录示例②」处，
+// 可靠航迹
-//         TWS/TAS 共用一张表并用 track_mode 区分；每行取输出数组的 [i][0]
+struct RdpRecTrustTrack
-struct RdpRecTrackOut
 {
 	int64_t id;                 //自增主键（写入时固定填 0）
-	int     track_index;        //航迹号
+	long long track_id;						//航迹ID
-	int     track_mode;         //跟踪模式 TAS 1/TWS 0
+	long long point_id;							//关联上的点迹ID
-	int     point_sum;          //该行点数（起批输出为历史点数 L）
+	long long circle_id;						//处理圈数ID
-	int     flag_point;         //1实点/0补点
+	int     Track_Index;                        //航迹号
-	int     flag_direction;     //1靠近/0远离
+	double  Range;						  //距离
-	int64_t gnss_time_ms;       //GNSS 时间（ms）
+	double Azimuth;                        //方位
-	float   track_time_s;       //航迹时间（s）
+	double Elevation;                      //俯仰
-	float   x;                  //x坐标（m）
+	double  Velocity;                          //航向速度
-	float   y;                  //y坐标（m）
+	double  Amplitude;                          //幅度
-	float   z;                  //z坐标（m）
+	double  Height;                             //高度
-	float   v_x;                //x速度（m/s）
+	long long  T_track;                         //航迹时间
-	float   v_y;                //y速度（m/s）
+	long long	GNSS_time;						//GNSS时间
-	float   v_z;                //z速度（m/s）
+	int     Track_Sum;                          //航迹总数
-	float   range_m;            //径向距离（m）
+	int     Point_Index;                        //该航迹上的第几个点
-	float   azi_deg;            //方位（度）
+	int     Track_Mode;                         //跟踪模式
-	float   elev_deg;           //俯仰（度）
+	int     Track_Update_Flag;                  //航迹更新标志 1已更新/0未更新
-	float   range_v_mps;        //速度（m/s，接口字段 Range_V）
+	int     Extrapolate_round;                  //航迹持续外推时间
-	float   snr;                //信噪比
+	int     point_flag;                         //是否实点 1实点 0外推
-	float   rcs;                //RCS
+	int     approach_flag;                      //接近标志 1接近 0远离
-};
+	int     manual_delete_flag;                 //手动航迹删除
-RDP_RECORD_DECLARE(RdpRecTrackOut);
+	int     manual_tracking_flag;             //手动TAS
+	int     associate_point_number;         //关联的点数
+	int		primary_target_flag;				//重点目标标记
+	int     Target_Type;                            //目标类型  搜索目标   低空目标  地面目标
+	int     Track_section_idx;                      //航迹区号
+	double  range_point;                            //关联上的点信息（距离、方位、俯仰）
+	double  azi_point;
+	double  elev_point;
+	double  vr_point;
+	double  prf_point;
+	int     point_type;                             //TWS TAS
+	double  snr_point;                              //信噪比
+	float	amp_asv_point;							//关联上的点迹信息（归一化幅度）
+	float	prn_fftn_point;							//点迹速度维FFT点数
+	double   RCS;
+	int     pitch_num;              // 俯仰波位号
 
+	std::string  X;   //IMM
+	std::string  P;
+
+	std::string   X1;
+	std::string   X2;
+	std::string   X3;
+	std::string	  P2;
+	std::string   P3;
+	std::string   u;
+
+	RdpRecTrustTrack(){
+		id = 0;
+	}
+
+	RdpRecTrustTrack(Trust_Track& p){
+		id = 0;
+		track_id = p.track_id;
+		point_id = p.point_id;
+		circle_id = p.circle_id;
+		Track_Index = p.Track_Index;
+		Range = p.Range;
+		Azimuth = p.Azimuth;
+		Elevation = p.Elevation;
+		Velocity = p.Velocity;
+		Amplitude = p.Amplitude;
+		Height = p.Height;
+		T_track = p.T_track;
+		GNSS_time = p.GNSS_time;
+		Track_Sum = p.Track_Sum;
+		Point_Index = p.Point_Index;
+		Track_Mode = p.Track_Mode;
+		Track_Update_Flag = p.Track_Update_Flag;
+		Extrapolate_round = p.Extrapolate_round;
+		point_flag = p.point_flag;
+		approach_flag = p.approach_flag;
+		manual_delete_flag = p.manual_delete_flag;
+		manual_tracking_flag = p.manual_tracking_flag;
+		associate_point_number = p.associate_point_number;
+		primary_target_flag = p.primary_target_flag;
+		Target_Type = p.Target_Type;                            //目标类型  搜索目标   低空目标  地面目标
+		Track_section_idx = p.Track_section_idx;                      //航迹区号
+		range_point = p.range_point;                            //关联上的点信息（距离、方位、俯仰）
+		azi_point = p.azi_point;
+		elev_point = p.elev_point;
+		vr_point = p.vr_point;
+		prf_point = p.prf_point;
+		point_type = p.point_type;                             //TWS TAS
+		snr_point = p.snr_point;                              //信噪比
+		amp_asv_point = p.amp_asv_point;							//关联上的点迹信息（归一化幅度）
+		prn_fftn_point = p.prn_fftn_point;							//点迹速度维FFT点数
+		RCS = p.RCS;
+		pitch_num = p.pitch_num;              // 俯仰波位号
+
+		X = arrayToString(p.X);   //IMM
+		P = arrayToString(p.P);
+
+		X1 = arrayToString(p.X1);
+		X2 = arrayToString(p.X2);
+		X3 = arrayToString(p.X3);
+		P2 = arrayToString(p.P2);
+		P3 = arrayToString(p.P3);
+		u = arrayToString(p.u);
+	}
+};
+RDP_RECORD_DECLARE(RdpRecTrustTrack);
+
+// 关联信息
+struct RdpRecAssoInfo
+{
+	int64_t id;                 //自增主键（写入时固定填 0）
+	long long point_id;
+	long long track_id;
+	long long circle_id;
+
+	double d1;
+	double d2;
+	double d3;
+	double d_min;
+	int point_index;
+	int track_index;
+
+	double delta_T;
+	double delta_h;
+	double R;
+	double VT;
+
+	bool thd_d;
+	bool thd_h;
+	bool thd_r;
+
+	bool min_d_flag;
+
+	RdpRecAssoInfo(){
+		id = 0;
+	}
+
+	RdpRecAssoInfo(Asso_Info& p){
+		id = 0;
+		point_id = p.point_id;
+		track_id = p.track_id;
+		circle_id = p.circle_id;
+		d1 = p.d1;
+		d2 = p.d2;
+		d3 = p.d3;
+		d_min = p.d_min;
+		point_index = p.point_index;
+		track_index = p.track_index;
+		delta_T = p.delta_T;
+		delta_h = p.delta_h;
+		R = p.R;
+		VT = p.VT;
+		thd_d = p.thd_d;
+		thd_h = p.thd_h;
+		thd_r = p.thd_r;
+		min_d_flag = p.min_d_flag;
+	}
+};
+RDP_RECORD_DECLARE(RdpRecAssoInfo);
 
 // ============================ 数组转换函数 ============================
 

data_process_class_dll/struct.h

@@ -39,13 +39,21 @@ struct  PointRecv
 // 可靠航迹数据结构
 struct  Trust_Track
 {
+	long long track_id;						//航迹ID
+	long long point_id;							//关联上的点迹ID
+	long long circle_id;						//处理圈数ID
+
 	int     Track_Index;                        //航迹号
 
+	double  Range;						  //距离
+	double Azimuth;                        //方位
+	double Elevation;                      //俯仰
+	double  Velocity;                          //航向速度
 	double  Amplitude;                          //幅度
 	double  Height;                             //高度
 
-	long long  T_track;                                //航迹时间
+	long long  T_track;                         //航迹时间
-	long long	GNSS_time;							//GNSS时间
+	long long	GNSS_time;						//GNSS时间
 
 	int     Track_Sum;                          //航迹总数
 	int     Point_Index;                        //该航迹上的第几个点
@@ -58,8 +66,8 @@ struct  Trust_Track
 	int     approach_flag;                      //接近标志 1接近 0远离
 
 	int     manual_delete_flag;                 //手动航迹删除
-	int     manual_tracking_flag;             //手动TAS
+	int     manual_tracking_flag;             	//手动TAS
-	int     associate_point_number;         //关联的点数
+	int     associate_point_number;         	//关联的点数
 
 	int		primary_target_flag;				//重点目标标记
 
@@ -95,7 +103,6 @@ struct  Trust_Track
 	double   P2[6][6];
 	double   P3[6][6];
 	double   u[3];
-
 };
 
 //临时航迹结构体
@@ -131,6 +138,32 @@ struct Temp_track
 	float   range_dim[8];           // 目标的十字星数据,目标点距离维8个点
 };
 
+//存储关联信息
+struct Asso_Info
+{
+	long long point_id;
+	long long track_id;
+	long long circle_id;
+
+	double d1;
+	double d2;
+	double d3;
+	double d_min;
+	int point_index;
+	int track_index;
+
+	double delta_T;
+	double delta_h;
+	double R;
+	double VT;
+
+	bool thd_d;
+	bool thd_h;
+	bool thd_r;
+
+	bool min_d_flag;
+};
+
 // TAS跟踪目标结构体
 struct Tracking_Target
 {

data_process_class_dll/track_asso.cpp

@@ -6,6 +6,10 @@
 #include <cstring>
 #include <vector>
 #include <Eigen/Dense>
+
+#include "rdp_record.h"
+#include "rdp_record_entity.h"
+
 using namespace Eigen;
 using namespace std;
 
@@ -101,6 +105,11 @@ int Track_Asso:: track_asso_process(std::vector<PointRecv>               *point_
 			if(Direction_Angle<0){Direction_Angle=Direction_Angle+2*PI;}
 			Trust_Track_Output[*Trust_track_num_Output-1][0].Direction_Angle=static_cast<float>(Direction_Angle/PI*180);
 
+			(*trust_track)[i].Range = Trust_Track_Output[*Trust_track_num_Output-1][0].Range;
+			(*trust_track)[i].Azimuth = Trust_Track_Output[*Trust_track_num_Output-1][0].Azimuth;
+			(*trust_track)[i].Elevation = Trust_Track_Output[*Trust_track_num_Output-1][0].Elevation;
+			(*trust_track)[i].Velocity = Trust_Track_Output[*Trust_track_num_Output-1][0].Range_V;
+
 			//关联点信息
 			Trust_Track_Output[*Trust_track_num_Output-1][0].range_point=static_cast<float>((*trust_track)[i].range_point);
 			Trust_Track_Output[*Trust_track_num_Output-1][0].azi_point=static_cast<float>((*trust_track)[i].azi_point);
@@ -143,12 +152,13 @@ int Track_Asso:: track_asso_process(std::vector<PointRecv>               *point_
 				Trust_Track_Output[*Trust_track_num_Output-1][0].Flag_Direction=0;
 			}
 
-
 			Trust_Track_Output[*Trust_track_num_Output-1][0].track_rcs = static_cast<float>((*trust_track)[i].RCS);
 			Trust_Track_Output[*Trust_track_num_Output-1][0].pitch_num = (*trust_track)[i].pitch_num;
 
 			std::memcpy(Trust_Track_Output[*Trust_track_num_Output-1][0].speed_dim, (*trust_track)[i].speed_dim, sizeof(Trust_Track_Output[*Trust_track_num_Output-1][0].speed_dim));
 			std::memcpy(Trust_Track_Output[*Trust_track_num_Output-1][0].range_dim, (*trust_track)[i].range_dim, sizeof(Trust_Track_Output[*Trust_track_num_Output-1][0].range_dim));
+
+			RDP_RECORD(RdpRecTrustTrack((*trust_track)[i]));
        	}
 	}
 
@@ -422,17 +432,8 @@ void Track_Asso::IMM_d_cal(double v_track,
 void Track_Asso:: model_filter(std::vector <Trust_Track> *trust_track,struct  RadarPara Work_Parameter)
 {
 
-	//存储关联信息
+	
-	struct asso_info
+	std::vector <Asso_Info> associated_info;
-	{
-		double d1;
-		double d2;
-		double d3;
-		double d_min;
-		int point_index;
-		int track_index;
-	};
-	std::vector <asso_info> associated_info;
 
 	//遍历所有点迹航迹  计算点迹和航迹的统计距离
 	for (size_t loop_of_track = 0; loop_of_track<trust_track->size();loop_of_track++)
@@ -518,28 +519,38 @@ void Track_Asso:: model_filter(std::vector <Trust_Track> *trust_track,struct  Ra
 				thd_r = false;
 			}
 
+			struct Asso_Info associated_info_tmp;
+			associated_info_tmp.d1=d1;
+			associated_info_tmp.d2=d2;
+			associated_info_tmp.d3=d3;
+			associated_info_tmp.point_index=static_cast<int>(loop_of_point)+1;
+			associated_info_tmp.track_index=static_cast<int>(loop_of_track)+1;
+			if(d1<=d2&&d1<=d3)
+				associated_info_tmp.d_min=d1;
+			else if(d2<=d1&& d2<=d3)
+				associated_info_tmp.d_min=d2;
+			else
+				associated_info_tmp.d_min=d3;
+			associated_info_tmp.point_id=point_process[loop_of_point].point_id;
+			associated_info_tmp.track_id=(*trust_track)[loop_of_track].track_id;
+			associated_info_tmp.circle_id=point_process[loop_of_point].circle_id;
+			associated_info_tmp.delta_T=delta_T;
+			associated_info_tmp.delta_h=delta_h;
+			associated_info_tmp.R=R;
+			associated_info_tmp.VT=VT;
+			associated_info_tmp.thd_d=thd_d;
+			associated_info_tmp.thd_h=thd_h;
+			associated_info_tmp.thd_r=thd_r;
+			associated_info_tmp.min_d_flag=false;
+
 			//小于关联门限  保存关联信息
 			if(thd_d && thd_h && thd_r)
 			{
-					//std::cout << "asooooooooooo";
-
-				struct asso_info associated_info_tmp;
-				associated_info_tmp.d1=d1;
-				associated_info_tmp.d2=d2;
-				associated_info_tmp.d3=d3;
-				associated_info_tmp.point_index=static_cast<int>(loop_of_point)+1;
-				associated_info_tmp.track_index=static_cast<int>(loop_of_track)+1;
-				if(d1<=d2&&d1<=d3)
-					associated_info_tmp.d_min=d1;
-				else if(d2<=d1&& d2<=d3)
-					associated_info_tmp.d_min=d2;
-				else
-					associated_info_tmp.d_min=d3;
-
 				associated_info.push_back(associated_info_tmp);
+			}else{
+				RDP_RECORD(RdpRecAssoInfo(associated_info_tmp));
 			}
 		}
-//        }
 	}
 
 	//最近邻法关联
@@ -582,11 +593,10 @@ void Track_Asso:: model_filter(std::vector <Trust_Track> *trust_track,struct  Ra
 			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);
 
-			if (delta_T <= 0)
+			if (delta_T > 0)
 			{
-				// RDP_LOG<<"delta_T <= 0, track_index: "<<track_index<<", point_index: "<<point_index<<", delta_T: "<<delta_T<<std::endl;
+				associated_info[min_index-1].min_d_flag=true;
-				// 乱序/重复时间戳：不作为有效关联，不标记点迹已使用、不刷新航迹新鲜度
+
-			}else{
 				double X1_filter[6],X2_filter[6],X3_filter[6],P1_filter[6][6],P2_filter[6][6],P3_filter[6][6];
 				double S1[3][3] = {{0}},S2[3][3] = {{0}},S3[3][3] = {{0}};
 				kalman Kalman;
@@ -649,6 +659,8 @@ void Track_Asso:: model_filter(std::vector <Trust_Track> *trust_track,struct  Ra
 				(*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].point_id = point_process[point_index-1].point_id;
+				(*trust_track)[track_index-1].circle_id = point_process[point_index-1].circle_id;
 				(*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;
@@ -681,6 +693,7 @@ void Track_Asso:: model_filter(std::vector <Trust_Track> *trust_track,struct  Ra
 			{
 				if(associated_info[ii].track_index==track_index)
 				{
+					RDP_RECORD(RdpRecAssoInfo(associated_info[ii]));
 					associated_info.erase(associated_info.begin()+ii);
 					associated_num=static_cast<int>(associated_info.size());
 				}
@@ -692,6 +705,7 @@ void Track_Asso:: model_filter(std::vector <Trust_Track> *trust_track,struct  Ra
 			{
 				if(associated_info[ii].point_index==point_index)
 				{
+					RDP_RECORD(RdpRecAssoInfo(associated_info[ii]));
 					associated_info.erase(associated_info.begin()+ii);
 					associated_num=static_cast<int>(associated_info.size());
 				}

data_process_class_dll/track_init.cpp

@@ -552,7 +552,10 @@ void Track_Init::tmp_track_to_trust_track(std::vector<Trust_Track>    *trust_tra
 				Trust_Track trust_track_tmp = {};
 				memcpy(trust_track_tmp.X, X, 6*sizeof(double));
 				memcpy(trust_track_tmp.P, P, 6*6*sizeof(double));
-
+				
+				trust_track_tmp.track_id = Track_to_start[i][L-1].temp_track_id;
+				trust_track_tmp.point_id = Track_to_start[i][L-1].point_id;
+				trust_track_tmp.circle_id = Track_to_start[i][L-1].circle_id;
 				trust_track_tmp.Amplitude=Track_to_start[i][L-1].amplitude;
 				trust_track_tmp.snr_point = Track_to_start[i][L-1].SNR;
 				trust_track_tmp.RCS = Track_to_start[i][L-1].RCS;