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更新：1、数据处理增加版本号输出；

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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>
This commit is contained in:
waiwaylee
2026-10-08 16:01:53 +08:00
parent c3c7e668d2
commit b227ae1957
9 changed files with 290 additions and 105 deletions
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data_process_class_dll/data_process.cpp
+2 -37
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@@ -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
+2
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@@ -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
+2
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@@ -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
+19
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@@ -7,6 +7,25 @@
//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()
data_process_class_dll/rdp_record.cpp
+20 -5
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@@ -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
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);
//可靠航迹
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,
Track_Update_Flag,Extrapolate_round,point_flag,approach_flag,manual_delete_flag,manual_tracking_flag,
associate_point_number,primary_target_flag,Target_Type,Track_section_idx,
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
+156 -24
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@@ -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，
// TWS/TAS 共用一张表并用 track_mode 区分；每行取输出数组的 [i][0]
struct RdpRecTrackOut
// 可靠航迹
struct RdpRecTrustTrack
{
int64_t id; //自增主键（写入时固定填 0）
int track_index; //航迹号
int track_mode; //跟踪模式 TAS 1/TWS 0
int point_sum; //该行点数（起批输出为历史点数 L）
int flag_point; //1实点/0补点
int flag_direction; //1靠近/0远离
int64_t gnss_time_ms; //GNSS 时间（ms）
float track_time_s; //航迹时间（s）
float x; //x坐标（m）
float y; //y坐标（m）
float z; //z坐标（m）
float v_x; //x速度（m/s）
float v_y; //y速度（m/s）
float v_z; //z速度（m/s）
float range_m; //径向距离（m）
float azi_deg; //方位（度）
float elev_deg; //俯仰（度）
float range_v_mps; //速度（m/s，接口字段 Range_V）
float snr; //信噪比
float rcs; //RCS
};
RDP_RECORD_DECLARE(RdpRecTrackOut);
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 GNSS_time; //GNSS时间
int Track_Sum; //航迹总数
int Point_Index; //该航迹上的第几个点
int Track_Mode; //跟踪模式
int Track_Update_Flag; //航迹更新标志 1已更新/0未更新
int Extrapolate_round; //航迹持续外推时间
int point_flag; //是否实点 1实点 0外推
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 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
+34 -1
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@@ -39,8 +39,16 @@ 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
@@ -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
+37 -23
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@@ -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
{
double d1;
double d2;
double d3;
double d_min;
int point_index;
int track_index;
};
std::vector <asso_info> associated_info;
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++)
@@ -518,12 +519,7 @@ void Track_Asso:: model_filter(std::vector <Trust_Track> *trust_track,struct Ra
thd_r = 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;
struct Asso_Info associated_info_tmp;
associated_info_tmp.d1=d1;
associated_info_tmp.d2=d2;
associated_info_tmp.d3=d3;
@@ -535,11 +531,26 @@ void Track_Asso:: model_filter(std::vector <Trust_Track> *trust_track,struct Ra
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)
{
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;
// 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{
associated_info[min_index-1].min_d_flag=true;
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
+3
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@@ -553,6 +553,9 @@ void Track_Init::tmp_track_to_trust_track(std::vector<Trust_Track> *trust_tra
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;