waiwaylee/radar_data_process
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Merge branch 'feature'

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waiwaylee
2026-10-13 14:50:10 +08:00
parent e98280409e b4aed8a37b
commit c01185bf9c
2 changed files with 22 additions and 24 deletions
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data_process_class_dll/parameters.h
+1 -1
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@@ -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
data_process_class_dll/track_asso.cpp
+21 -23
View File
@@ -730,29 +730,27 @@ void Track_Asso:: model_filter(std::vector <Trust_Track> *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);