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更新：1、优化调整临时航迹质量评估逻辑；

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2、航迹起始时增加航迹质量门限；

Signed-off-by: waiwaylee <waiwaylee@foxmail.com>
This commit is contained in:
waiwaylee
2026-10-19 16:09:37 +08:00
parent 1ae0cf2512
commit d9a7bd0ee1
2 changed files with 89 additions and 19 deletions
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data_process_class_dll/parameters.h
+5 -1
View File
@@ -60,7 +60,11 @@
#define TRACK_QUALITY_DECREASE_COEFF 0.01 #define TRACK_QUALITY_DECREASE_COEFF 0.01
//航迹起批质量条件 //航迹起批质量条件
#define TRACK_START_QUALITY 0.5 #define TRACK_START_QUALITY_L3 0.7
#define TRACK_START_QUALITY_L4 0.6
#define TRACK_START_QUALITY_L5 0.5
#define TRACK_START_QUALITY_L6 0.4
#define TRACK_START_QUALITY_L7 0.3
#ifdef MECHANICAL_SCANNING #ifdef MECHANICAL_SCANNING
/******************************机扫数据处理参数**************************************/ /******************************机扫数据处理参数**************************************/
data_process_class_dll/track_init.cpp
+84 -18
View File
@@ -254,6 +254,40 @@ void Track_Init::point_temp_track_asso(std::vector <std::vector<Temp_track>>
memcpy(asso_track_info_tmp.X, X, 4*sizeof(double)); memcpy(asso_track_info_tmp.X, X, 4*sizeof(double));
memcpy(asso_track_info_tmp.P, P, 4*4*sizeof(double)); memcpy(asso_track_info_tmp.P, P, 4*4*sizeof(double));
(*temp_track)[(*temp_track).size()-1].push_back(asso_track_info_tmp); (*temp_track)[(*temp_track).size()-1].push_back(asso_track_info_tmp);
//计算航迹质量
auto& temp_track_ref = (*temp_track)[(*temp_track).size()-1];
L = static_cast<int>(temp_track_ref.size());
double snr_tmp = 0;
double d_tmp = 0;
double quality_tmp = 0;
d_tmp = exp(-temp_track_ref[L-1].d);
if(L == 3){
double average_snr = 0;
for(int i=0;i<L;i++)
{
average_snr += temp_track_ref[i].SNR;
}
average_snr /= L;
snr_tmp = 1/(1+exp(-(average_snr - 16) / 1.2));
}else{
snr_tmp = 1/(1+exp(-(temp_track_ref.back().SNR - 16) / 1.2));
}
quality_tmp = d_tmp * TRACK_QUALITY_D_WEIGHT + snr_tmp * TRACK_QUALITY_SNR_WEIGHT;
quality_tmp /= (TRACK_QUALITY_D_WEIGHT + TRACK_QUALITY_SNR_WEIGHT);
if(L == 3){
for(int i=0;i<L;i++)
{
temp_track_ref[i].quality = quality_tmp;
}
}else{
temp_track_ref[L-1].quality = temp_track_ref[L-2].quality * TRACK_QUALITY_ITER_COEFF + quality_tmp * (1 - TRACK_QUALITY_ITER_COEFF);
}
} }
//temp_track中删除关联上的临时航迹 //temp_track中删除关联上的临时航迹
@@ -451,23 +485,24 @@ void Track_Init::tmp_track_to_trust_track(std::vector<Trust_Track> *trust_tra
int L=static_cast<int>((*Iter).size()); int L=static_cast<int>((*Iter).size());
double range=(*Iter)[L-1].r; double range=(*Iter)[L-1].r;
double azi=(*Iter)[L-1].azi/PI*180; double azi=(*Iter)[L-1].azi/PI*180;
double quality = (*Iter)[L-1].quality;
//计算航迹初始质量 // //计算航迹初始质量
double average_snr = 0; // double average_snr = 0;
for(int i=0;i<L;i++) // for(int i=0;i<L;i++)
{ // {
average_snr += (*Iter)[i].SNR; // average_snr += (*Iter)[i].SNR;
} // }
average_snr /= L; // average_snr /= L;
double snr_tmp = 1/(1+exp(-(average_snr - 16) / 1.2)); // double snr_tmp = 1/(1+exp(-(average_snr - 16) / 1.2));
double &d = (*Iter)[L-1].d; // double &d = (*Iter)[L-1].d;
double d_tmp = exp(-d); // double d_tmp = exp(-d);
double quality_tmp = d_tmp * TRACK_QUALITY_D_WEIGHT + snr_tmp * TRACK_QUALITY_SNR_WEIGHT; // double quality_tmp = d_tmp * TRACK_QUALITY_D_WEIGHT + snr_tmp * TRACK_QUALITY_SNR_WEIGHT;
quality_tmp /= (TRACK_QUALITY_D_WEIGHT + TRACK_QUALITY_SNR_WEIGHT); // quality_tmp /= (TRACK_QUALITY_D_WEIGHT + TRACK_QUALITY_SNR_WEIGHT);
for(int i=0;i<L;i++) // for(int i=0;i<L;i++)
{ // {
(*Iter)[i].quality = quality_tmp; // (*Iter)[i].quality = quality_tmp;
} // }
//航迹起批条件判断 //航迹起批条件判断
bool track_init_flag = true; bool track_init_flag = true;
@@ -488,8 +523,39 @@ void Track_Init::tmp_track_to_trust_track(std::vector<Trust_Track> *trust_tra
track_init_flag = false; track_init_flag = false;
} }
//TODO: 航迹质量起批条件判断 //航迹质量起批条件判断
switch(L){
case 3:
if(quality < TRACK_START_QUALITY_L3){
track_init_flag = false;
}
break;
case 4:
if(quality < TRACK_START_QUALITY_L4){
track_init_flag = false;
}
break;
case 5:
if(quality < TRACK_START_QUALITY_L5){
track_init_flag = false;
}
break;
case 6:
if(quality < TRACK_START_QUALITY_L6){
track_init_flag = false;
}
break;
case 7:
if(quality < TRACK_START_QUALITY_L7){
track_init_flag = false;
}
break;
default:
if(quality < TRACK_START_QUALITY_L7){
track_init_flag = false;
}
break;
}
//TODO: 杂波密度判断 //TODO: 杂波密度判断