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更新：1、增加航迹清空功能，解决重连时大量航迹乱窜的问题；

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2、修改TAS时航迹外推逻辑，时间间隔按波束时间计算；
3、增加1km以内航迹起始限制，SNR低于20dB的航迹不起批；减少近距离航迹；

Signed-off-by: waiwaylee <waiwaylee@foxmail.com>
This commit is contained in:
waiwaylee
2026-08-13 17:14:17 +08:00
parent 8636179bdf
commit d101fe92a4
7 changed files with 144 additions and 15 deletions
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data_process_class_dll/data_process.cpp
+6 -2
View File
@@ -45,8 +45,6 @@ int Data_Process::data_preprocess(struct DataRev Data_Input[150])
std::memcpy(Data_buffer_temp.range_dim, Data_Input[i].range_dim, sizeof(Data_buffer_temp.range_dim));
Data_buffer.push_back(Data_buffer_temp);
//qDebug() << "AZI: " <<Data_Input[i].Azimuth << "Encoder_value: " <<Data_Input[i].Encoder_value;
}
if(Data_Input[0].Beam_index_aiz < last_beam_num) //TWS
{
@@ -228,6 +226,12 @@ int Data_Process::track_process_parameters_modify(struct RadarPara Radar_Paramet
int Data_Process::track_clear_all(void)
{
//清空可靠航迹
Data_buffer.clear();
Data_buffer_tas.clear();
point_recv.clear();
point_recv_tas.clear();
trust_track.clear();
temp_track.clear();
return 0;
}
data_process_class_dll/data_process_class_dll.pro.user
+111 -3
View File
@@ -1,6 +1,6 @@
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data_process_class_dll/dot_coh.cpp
+10 -2
View File
@@ -119,11 +119,21 @@ int Dot_Coh::dot_coh_process_buff( QVector <PointRecv> *data_input,
data_tmp[data_tmp.size()-1].point_section_asso = 1;
}
for (int i=0;i<data_input->size();i++)
{
data_tmp.push_back((*data_input)[i]);
data_tmp[data_tmp.size()-1].point_section_asso = 2;
}
// //去除点迹中，1km以内，SNR小于20dB的点
// for (int i=0;i<data_input->size();i++)
// {
// if((*data_input)[i].Range > 1000 || (*data_input)[i].snr >= 20){
// data_tmp.push_back((*data_input)[i]);
// data_tmp[data_tmp.size()-1].point_section_asso = 2;
// }
// }
//1.2 把data_input、data_input_buff清空
@@ -188,8 +198,6 @@ int Dot_Coh::dot_coh_process_buff( QVector <PointRecv> *data_input,
data_tmp[i].Use_Flag=1;
}
}
}
}
data_process_class_dll/parameters.h
+1 -4
View File
@@ -28,7 +28,7 @@
#define FREQ20 16.8
//#define MECHANICAL_SCANNING
#define PHASE_SCANNING
//#define PHASE_SCANNING
#ifdef MECHANICAL_SCANNING
/******************************数据处理参数**************************************/
@@ -68,8 +68,6 @@
#define TAS_QUEUE_LENGTH 1 //Tas调用的cpi数
#define MAX_TAS_NUM 1
#define T_TAS_PRED DATA_RATE_TAS
#define UNCONF_TARGET 0
#define DIRECT_TRACKING_QUEUE_LENGTH 10
@@ -116,7 +114,6 @@
#define TAS_QUEUE_LENGTH 4 //Tas调用的cpi数
#define MAX_TAS_NUM 4
#define T_TAS_PRED 0.7
#define UNCONF_TARGET 0
data_process_class_dll/tas_ctrl.cpp
+2
View File
@@ -305,6 +305,8 @@ void TAS_Ctrl::tas_beam_output(QVector<Trust_Track> *trust_track,
//跟踪波束开关开启
Tracking_beam->open_flag=1;
qDebug() << "TAS: range: " <<Tracking_beam->Range << "azi: " <<Tracking_beam->Azi <<"pit: " <<Tracking_beam->Elev;
}
else
{
data_process_class_dll/track_asso_tas.cpp
+1 -1
View File
@@ -502,7 +502,7 @@ void Track_Asso_Tas::model_filter( QVector<Trust_Track> *trust
for(int i=0;i<trust_track->size();i++)
if((*trust_track)[i].Track_Index == tas_track_idx)
{
double delta_T = DATA_RATE_TAS;
double delta_T = (point_process[0].CPI_Time - T_track)/1000.0;
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);
data_process_class_dll/track_init.cpp
+12 -2
View File
@@ -542,14 +542,24 @@ void Track_Init::tmp_track_to_trust_track(QVector<Trust_Track> *trust_track,
int L=(*Iter).size();
double range=(*Iter)[L-1].r;
double azi=(*Iter)[L-1].azi/PI*180;
if( ( L==Work_Parameter.track_start_point_num)&& track_init_prohibit(range,azi,Work_Parameter)==0) //按长度查找TRUST_TRACK_POINT
//1km以内，SNR小于20dB的临时航迹不转为可靠航迹
bool snr_flag = true;
for(int p_idx = 0; p_idx < L; p_idx++){
if((*Iter)[p_idx].r < 1000 && (*Iter)[p_idx].snr < 20){
snr_flag = false;
break;
}
}
if( ( L==Work_Parameter.track_start_point_num)&& track_init_prohibit(range,azi,Work_Parameter)==0 && snr_flag) //按长度查找TRUST_TRACK_POINT
{
//加入Track_to_start中
Track_to_start.push_back(QVector <Temp_track> ());
for (int i = 0; i<L; i++)
{
Track_to_start[Track_to_start.size()-1].push_back((*Iter)[i]);
}
temp_track->erase(Iter);
Iter=temp_track->begin();