From b4aed8a37bee9fa3d62ecd855fb3026863389050 Mon Sep 17 00:00:00 2001 From: waiwaylee Date: Tue, 13 Oct 2026 14:49:48 +0800 Subject: [PATCH] =?UTF-8?q?=E6=9B=B4=E6=96=B0=EF=BC=9A1=E3=80=81=E5=9B=9E?= =?UTF-8?q?=E8=B0=83TWS=E5=A4=96=E6=8E=A8=E6=97=B6=E9=97=B4=E5=B7=AE?= =?UTF-8?q?=E8=AE=A1=E7=AE=97=E6=96=B9=E6=B3=95=EF=BC=8C=E9=81=BF=E5=85=8D?= =?UTF-8?q?TAS=E6=97=B6=E5=90=8C=E6=AD=A5=E5=87=BA=E7=8E=B0TWS=E8=88=AA?= =?UTF-8?q?=E8=BF=B9=E7=9A=84=E9=97=AE=E9=A2=98=EF=BC=9B?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Signed-off-by: waiwaylee --- data_process_class_dll/parameters.h | 2 +- data_process_class_dll/track_asso.cpp | 44 +++++++++++++-------------- 2 files changed, 22 insertions(+), 24 deletions(-) diff --git a/data_process_class_dll/parameters.h b/data_process_class_dll/parameters.h index 1c9b815..b6e56a7 100644 --- a/data_process_class_dll/parameters.h +++ b/data_process_class_dll/parameters.h @@ -10,7 +10,7 @@ /**********************************版本信息*************************************************/ #define MAJOR_VERSION 1 #define MINOR_VERSION 5 -#define PATCH_VERSION 6 +#define PATCH_VERSION 7 #ifdef PHASE_SCANNING #define VERSION_INFO "PS" #else diff --git a/data_process_class_dll/track_asso.cpp b/data_process_class_dll/track_asso.cpp index 84efb65..2deab69 100644 --- a/data_process_class_dll/track_asso.cpp +++ b/data_process_class_dll/track_asso.cpp @@ -730,29 +730,27 @@ void Track_Asso:: model_filter(std::vector *trust_track,struct Ra if((*trust_track)[i].Extrapolate_round <= MAX_EXTRAPOLATE_NUM) { double v_track = sqrt(pow((*trust_track)[i].X[1],2)+pow((*trust_track)[i].X[4],2)); - - double delta_T = (latest_timestamp - (*trust_track)[i].T_track)/1000.0; - if (delta_T <= 0) - continue; - - // - // - // if(Work_Parameter.work_mode == 0) - // { - // delta_T = Work_Parameter.DATA_RATE_SHORT; - // } - // else if(Work_Parameter.work_mode == 1) - // { - // delta_T = Work_Parameter.DATA_RATE_MIDDLE; - // } - // else if(Work_Parameter.work_mode == 2) - // { - // delta_T = Work_Parameter.DATA_RATE_FAR; - // } - // else - // { - // delta_T = Work_Parameter.DATA_RATE_SHORT; - // } + double delta_T = 0; + // double delta_T = (latest_timestamp - (*trust_track)[i].T_track)/1000.0; + // if (delta_T <= 0) + // continue; + + if(Work_Parameter.work_mode == 0) + { + delta_T = Work_Parameter.DATA_RATE_SHORT; + } + else if(Work_Parameter.work_mode == 1) + { + delta_T = Work_Parameter.DATA_RATE_MIDDLE; + } + else if(Work_Parameter.work_mode == 2) + { + delta_T = Work_Parameter.DATA_RATE_FAR; + } + else + { + delta_T = Work_Parameter.DATA_RATE_SHORT; + } 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);