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更新：1、修复航迹手动转TAS时，输出航迹更新信息时没有完整更新航迹信息的问题；

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Signed-off-by: waiwaylee <waiwaylee@foxmail.com>
This commit is contained in:
waiwaylee
2026-10-29 14:43:35 +08:00
parent 0f3da9994c
commit eb9f30c273
1 changed files with 70 additions and 12 deletions
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data_process_class_dll/tas_ctrl.cpp
+70 -12
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@@ -86,22 +86,80 @@ void TAS_Ctrl::tas_target_add(std::vector<Trust_Track> *trust_track,
//目标跟踪状态发生改变 对外输出航迹更新信息
*Trust_track_num_Output= *Trust_track_num_Output+1;
double r_output,azmi_output;
coor_trans Coor_trans;
Coor_trans.cart2polar((*trust_track)[i].X[0],(*trust_track)[i].X[3],&r_output,&azmi_output);
Trust_Track_Output[*Trust_track_num_Output-1][0].Point_Sum=1;
Trust_Track_Output[*Trust_track_num_Output-1][0].Range=static_cast<float>(r_output);
Trust_Track_Output[*Trust_track_num_Output-1][0].Azimuth=static_cast<float>(azmi_output/PI*180);
Trust_Track_Output[*Trust_track_num_Output-1][0].Track_Index=(*trust_track)[i].Track_Index; //航迹号
Trust_Track_Output[*Trust_track_num_Output-1][0].Range_V=
static_cast<float>(sqrt((*trust_track)[i].X[1]*(*trust_track)[i].X[1]+(*trust_track)[i].X[4]*(*trust_track)[i].X[4]));
Trust_Track_Output[*Trust_track_num_Output-1][0].Amplitude=static_cast<float>((*trust_track)[i].Amplitude);
Trust_Track_Output[*Trust_track_num_Output-1][0].Flag_Point=(*trust_track)[i].point_flag;
double x,y;
x=(*trust_track)[i].X[0]+(*trust_track)[i].X[1]*rdp_parameter.radar_system_delay;
y=(*trust_track)[i].X[3]+(*trust_track)[i].X[4]*rdp_parameter.radar_system_delay;
coor_trans Coor_trans;
double r, azi;
Coor_trans.cart2polar(x, y, &r, &azi);
Trust_Track_Output[*Trust_track_num_Output-1][0].Range=static_cast<float>(r);
Trust_Track_Output[*Trust_track_num_Output-1][0].Azimuth=static_cast<float>(azi/PI*180);
if((*trust_track)[i].Height<r)
Trust_Track_Output[*Trust_track_num_Output-1][0].Elevation = static_cast<float>(asin((*trust_track)[i].Height/r)/PI*180);
else
Trust_Track_Output[*Trust_track_num_Output-1][0].Elevation = static_cast<float>((*trust_track)[i].elev_point);
Trust_Track_Output[*Trust_track_num_Output-1][0].Track_Index=(*trust_track)[i].Track_Index;
Trust_Track_Output[*Trust_track_num_Output-1][0].Range_V = static_cast<float>(sqrt((*trust_track)[i].X[1]*(*trust_track)[i].X[1]+(*trust_track)[i].X[4]*(*trust_track)[i].X[4]));
Trust_Track_Output[*Trust_track_num_Output-1][0].Amplitude = static_cast<float>((*trust_track)[i].Amplitude);
Trust_Track_Output[*Trust_track_num_Output-1][0].Track_Mode=(*trust_track)[i].Track_Mode;
Trust_Track_Output[*Trust_track_num_Output-1][0].Elevation=static_cast<float>(asin((*trust_track)[i].Height/r_output)/PI*180);
Trust_Track_Output[*Trust_track_num_Output-1][0].track_time=static_cast<float>((*trust_track)[i].T_track/1000.0);
Trust_Track_Output[*Trust_track_num_Output-1][0].GNSS_time=(*trust_track)[i].GNSS_time;
Trust_Track_Output[*Trust_track_num_Output-1][0].Flag_Point = (*trust_track)[i].point_flag;
Trust_Track_Output[*Trust_track_num_Output-1][0].z=static_cast<float>((*trust_track)[i].Height+rdp_parameter.radar_height);
Trust_Track_Output[*Trust_track_num_Output-1][0].Target_Type=(*trust_track)[i].Target_Type;
Trust_Track_Output[*Trust_track_num_Output-1][0].Quality = static_cast<float>((*trust_track)[i].Quality * rdp_parameter.track_quality_max);
double Direction_Angle;
Direction_Angle=atan2((*trust_track)[i].X[4], (*trust_track)[i].X[1]);
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);
//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);
Trust_Track_Output[*Trust_track_num_Output-1][0].elev_point=static_cast<float>((*trust_track)[i].elev_point);
Trust_Track_Output[*Trust_track_num_Output-1][0].vr_point=static_cast<float>((*trust_track)[i].vr_point);
Trust_Track_Output[*Trust_track_num_Output-1][0].point_type=0;
Trust_Track_Output[*Trust_track_num_Output-1][0].prf_point = static_cast<float>((*trust_track)[i].prf_point);
Trust_Track_Output[*Trust_track_num_Output-1][0].track_snr = static_cast<float>((*trust_track)[i].snr_point);
Trust_Track_Output[*Trust_track_num_Output-1][0].amp_asv_point = static_cast<float>((*trust_track)[i].amp_asv_point);
Trust_Track_Output[*Trust_track_num_Output-1][0].prn_fftn_point = static_cast<float>((*trust_track)[i].prn_fftn_point);
//输出平滑后的高度
Trust_Track_Output[*Trust_track_num_Output-1][0].z = static_cast<float>((*trust_track)[i].Height+rdp_parameter.radar_height);
Trust_Track_Output[*Trust_track_num_Output-1][0].x=static_cast<float>((*trust_track)[i].X[0]);
Trust_Track_Output[*Trust_track_num_Output-1][0].y=static_cast<float>((*trust_track)[i].X[3]);
Trust_Track_Output[*Trust_track_num_Output-1][0].v_x=static_cast<float>((*trust_track)[i].X[1]);
Trust_Track_Output[*Trust_track_num_Output-1][0].v_y=static_cast<float>((*trust_track)[i].X[4]);
if(acos((-x * cos(Direction_Angle) - y * sin(Direction_Angle)) / r ) < PI / 2)
{
Trust_Track_Output[*Trust_track_num_Output-1][0].Flag_Direction=1;
// if(r*abs(sin(azi - Direction_Angle))<500)
// {
// Trust_Track_Output[*Trust_track_num_Output-1][0].Flag_Direction=1;
// }
// else
// {
// Trust_Track_Output[*Trust_track_num_Output-1][0].Flag_Direction=0;
// }
}
else
{
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));
break;
}