增加了红外指令制导导弹，红外测角仪，红外指令制导系统，但制导效果不佳，需要进一步优化

Models/Common.cs

@@ -1,4 +1,5 @@
 using System;
+using System.Numerics;
 
 namespace ActiveProtect.Models
 {
@@ -218,6 +219,35 @@ namespace ActiveProtect.Models
             return a + unitDirection * distance;
         }
 
+        internal Vector3D Rotate(Orientation orientation, double misalignmentAngle)
+        {
+            // 首先，根据方向和失调角计算出旋转矩阵
+            Matrix4x4 rotationMatrix = CalculateRotationMatrix(orientation, misalignmentAngle);
+
+            // 然后，使用旋转矩阵对当前向量进行旋转
+            Vector3D rotatedVector = ApplyRotationMatrix(this, rotationMatrix);
+            return rotatedVector;
+        }
+
+        private static Matrix4x4 CalculateRotationMatrix(Orientation orientation, double misalignmentAngle)
+        {
+            // 创建旋转矩阵
+            Matrix4x4 yawRotation = Matrix4x4.CreateRotationY((float)orientation.Yaw);
+            Matrix4x4 pitchRotation = Matrix4x4.CreateRotationX((float)orientation.Pitch);
+            Matrix4x4 rollRotation = Matrix4x4.CreateRotationZ((float)orientation.Roll);
+            Matrix4x4 misalignmentRotation = Matrix4x4.CreateRotationY((float)misalignmentAngle);
+
+            // 组合旋转矩阵
+            return misalignmentRotation * yawRotation * pitchRotation * rollRotation;
+        }
+
+        private static Vector3D ApplyRotationMatrix(Vector3D vector, Matrix4x4 matrix)
+        {
+            double x = vector.X * matrix.M11 + vector.Y * matrix.M21 + vector.Z * matrix.M31 + matrix.M41;
+            double y = vector.X * matrix.M12 + vector.Y * matrix.M22 + vector.Z * matrix.M32 + matrix.M42;
+            double z = vector.X * matrix.M13 + vector.Y * matrix.M23 + vector.Z * matrix.M33 + matrix.M43;
+            return new Vector3D(x, y, z);
+        }
     }
 
     /// <summary>
@@ -281,8 +311,13 @@ namespace ActiveProtect.Models
             return angle;
         }
 
+        internal Vector3D Rotate(Vector3D vector, double misalignmentAngle)
+        {
+            throw new NotImplementedException();
+        }
+
         /// <summary>
-        /// 根据给定的方向向量创建方向
+        /// 根<EFBFBD><EFBFBD><EFBFBD>给定的方向向量创建方向
         /// </summary>
         /// <param name="direction">方向向量</param>
         /// <returns>对应的方向</returns>

Models/InfraredCommandGuidanceSystem.cs

@@ -0,0 +1,124 @@
+using System;
+using ActiveProtect.SimulationEnvironment;
+
+namespace ActiveProtect.Models
+{
+    /// <summary>
+    /// 红外指令导引系统类
+    /// </summary>
+    public class InfraredCommandGuidanceSystem : BasicGuidanceSystem
+    {
+        private Vector3D lastTrackerToTargetVector;
+        private Vector3D lastTrackerToMissileVector;
+        private double timeSinceLastCommand;
+        private Vector3D previousLineOfSight;
+        private double timeSinceLastCalculation;
+        private Vector3D lastGuidanceAcceleration;
+
+        /// <summary>
+        /// 比例导航系数
+        /// </summary>
+        public double ProportionalNavigationCoefficient { get; set; }
+
+        /// <summary>
+        /// 最大加速度
+        /// </summary>
+        public double MaxAcceleration { get; set; }
+
+        /// <summary>
+        /// 构造函数
+        /// </summary>
+        public InfraredCommandGuidanceSystem(double maxAcceleration, double proportionalNavigationCoefficient)
+            : base()
+        {
+            lastTrackerToTargetVector = Vector3D.Zero;
+            lastTrackerToMissileVector = Vector3D.Zero;
+            timeSinceLastCommand = 0;
+            MaxAcceleration = maxAcceleration;
+            ProportionalNavigationCoefficient = proportionalNavigationCoefficient;
+            timeSinceLastCalculation = 0;
+            previousLineOfSight = Vector3D.Zero;
+            lastGuidanceAcceleration = Vector3D.Zero;
+        }
+
+        /// <summary>
+        /// 更新制导系统
+        /// </summary>
+        public override void Update(double deltaTime, Vector3D missilePosition, Vector3D missileVelocity)
+        {
+            base.Update(deltaTime, missilePosition, missileVelocity);
+            timeSinceLastCommand += deltaTime;
+            CalculateGuidanceAcceleration(deltaTime);
+        }
+
+        /// <summary>
+        /// 接收制导指令
+        /// </summary>
+        public void ReceiveGuidanceCommand(Vector3D trackerToTargetVector, Vector3D trackerToMissileVector)
+        {
+            HasGuidance = true;
+            lastTrackerToTargetVector = trackerToTargetVector;
+            lastTrackerToMissileVector = trackerToMissileVector;
+            timeSinceLastCommand = 0;
+        }
+
+        /// <summary>
+        /// 计算制导加速度
+        /// </summary>
+ protected override void CalculateGuidanceAcceleration(double deltaTime)
+        {
+            if (HasGuidance && lastTrackerToTargetVector.Magnitude() > 0 && lastTrackerToMissileVector.Magnitude() > 0)
+            {
+                // 计算当前视线向量（从导弹到目标）
+                Vector3D currentLineOfSight = (lastTrackerToTargetVector - lastTrackerToMissileVector).Normalize();
+
+                // 计算视线角速率
+                Vector3D lineOfSightRate;
+                if (previousLineOfSight != Vector3D.Zero && timeSinceLastCalculation > 0)
+                {
+                    lineOfSightRate = Vector3D.CrossProduct(previousLineOfSight, currentLineOfSight) / timeSinceLastCalculation;
+                }
+                else
+                {
+                    lineOfSightRate = Vector3D.Zero;
+                }
+
+                // 计算制导加速度
+                Vector3D newGuidanceAcceleration = Vector3D.CrossProduct(lineOfSightRate, Velocity) * ProportionalNavigationCoefficient;
+
+                // 应用低通滤波器来平滑加速度变化，alpha越大，平滑效果越强
+                double alpha = 0.2;
+                GuidanceAcceleration = lastGuidanceAcceleration * (1 - alpha) + newGuidanceAcceleration * alpha;
+
+                // 限制最大加速度
+                if (GuidanceAcceleration.Magnitude() > MaxAcceleration)
+                {
+                    GuidanceAcceleration = GuidanceAcceleration.Normalize() * MaxAcceleration;
+                }
+
+                // 更新上一次的视线向量和计算时间
+                previousLineOfSight = currentLineOfSight;
+                timeSinceLastCalculation = deltaTime;
+                lastGuidanceAcceleration = GuidanceAcceleration;
+
+                Console.WriteLine($"Missile Guidance: Current Position: {Position}, Velocity: {Velocity}, " +
+                                  $"Acceleration: {GuidanceAcceleration}, " +
+                                  $"LOS Rate: {lineOfSightRate.Magnitude()}, LOS: {currentLineOfSight}, " +
+                                  $"Distance to Target: {(lastTrackerToTargetVector - lastTrackerToMissileVector).Magnitude()}\n");
+            }
+            else
+            {
+                GuidanceAcceleration = Vector3D.Zero;
+            }
+        }
+
+        /// <summary>
+        /// 获取制导系统状态
+        /// </summary>
+        public override string GetStatus()
+        {
+            return base.GetStatus() + $", GuidanceAcceleration: {GuidanceAcceleration}, " +
+                   $"Tracker to Target Vector: {lastTrackerToTargetVector}, Tracker to Missile Vector: {lastTrackerToMissileVector}";
+        }
+    }
+}

Models/InfraredCommandGuidedMissile.cs

@@ -0,0 +1,189 @@
+using System;
+using ActiveProtect.SimulationEnvironment;
+
+namespace ActiveProtect.Models
+{
+
+
+    /// <summary>
+    /// 红外指令制导导弹类
+    /// </summary>
+    public class InfraredCommandGuidedMissile : MissileBase
+    {
+        /// <summary>
+        /// 红外指令制导导弹阶段
+        /// </summary>
+        private enum ICGM_Stage
+        {
+            Launch, // 发射阶段
+            Cruise, // 巡航阶段
+            Explode, // 爆炸阶段
+            SelfDestruct // 自毁阶段
+        }
+
+        /// <summary>
+        /// 当前阶段
+        /// </summary>
+        private ICGM_Stage currentStage;
+
+        /// <summary>
+        /// 红外热源辐射功率(瓦特)
+        /// </summary>
+        public double RadiationPower { get; set; }
+
+        /// <summary>
+        /// 红外指令导引系统
+        /// </summary>
+        private readonly InfraredCommandGuidanceSystem guidanceSystem;
+
+        /// <summary>
+        /// 红外测角仪
+        /// </summary>
+        private InfraredTracker infraredTracker;
+
+        /// <summary>
+        /// 构造函数
+        /// </summary>
+        public InfraredCommandGuidedMissile(MissileConfig config, ISimulationManager manager) : base(config, manager)
+        {
+            infraredTracker = null!;
+            RadiationPower = 1000;
+
+            // 初始化红外指令导引系统，包括自适应 PID 参数
+            guidanceSystem = new InfraredCommandGuidanceSystem(
+                maxAcceleration: config.MaxAcceleration,
+                proportionalNavigationCoefficient: config.ProportionalNavigationCoefficient
+            );
+
+        }
+
+        /// <summary>
+        /// 更新导弹状态
+        /// </summary>
+        protected override void UpdateMotionState(double deltaTime)
+        {   
+            // 点亮红外热源
+            LightInfraredSource();
+
+            switch (currentStage)
+            {
+                case ICGM_Stage.Launch:
+                    UpdateLaunchStage(deltaTime);
+                    break;
+                case ICGM_Stage.Cruise:
+                    UpdateCruiseStage(deltaTime);
+                    break;
+                case ICGM_Stage.Explode:
+                    UpdateExplodeStage(deltaTime);
+                    break;
+                case ICGM_Stage.SelfDestruct:
+                    UpdateSelfDestructStage(deltaTime);
+                    break;
+            }
+
+            base.UpdateMotionState(deltaTime);
+
+        }
+
+        /// <summary>
+        /// 更新发射阶段
+        /// </summary>
+        /// <param name="deltaTime">时间步长</param>
+        private void UpdateLaunchStage(double deltaTime)
+        {
+            // 发射阶段
+            GuidanceAcceleration = Vector3D.Zero;
+            if (FlightTime >= 0.1)
+            {
+                currentStage = ICGM_Stage.Cruise;
+            }
+        }
+        /// <summary>
+        /// 更新巡航阶段
+        /// </summary>
+        /// <param name="deltaTime">时间步长</param>
+        private void UpdateCruiseStage(double deltaTime)
+        {
+            guidanceSystem.Update(deltaTime, Position, Velocity);
+            GuidanceAcceleration = guidanceSystem.GetGuidanceAcceleration();
+            if (DistanceToTarget <= ExplosionRadius)
+            {
+                currentStage = ICGM_Stage.Explode;
+            }
+            if(ShouldSelfDestruct())
+            {
+                currentStage = ICGM_Stage.SelfDestruct;
+            }
+        }
+
+        /// <summary>
+        /// 更新爆炸阶段
+        /// </summary>
+        /// <param name="deltaTime">时间步长</param>
+        private void UpdateExplodeStage(double deltaTime)
+        {
+            // 爆炸阶段
+            Explode();
+        }
+
+        /// <summary>
+        /// 更新自毁阶段
+        /// </summary>
+        /// <param name="deltaTime">时间步长</param>
+        private void UpdateSelfDestructStage(double deltaTime)
+        {
+            // 自毁阶段
+            SelfDestruct();
+        }
+
+
+        /// <summary>
+        /// 处理制导指令事件
+        /// </summary>
+        private void HandleGuidanceCommand(InfraredGuidanceCommandEvent evt)
+        {
+            if (evt.TargetMissileId == Id)
+            {
+                if (infraredTracker == null && evt.SenderId != null)
+                {
+                    if (SimulationManager.GetEntityById(evt.SenderId) is InfraredTracker infraredTracker)
+                    {
+                        this.infraredTracker = infraredTracker;
+                    }
+                }
+                
+                guidanceSystem.ReceiveGuidanceCommand(evt.TrackerToTargetVector, evt.TrackerToMissileVector);
+            }
+        }
+
+        /// <summary>
+        /// 点亮红外热源
+        /// </summary>
+        public void LightInfraredSource()
+        {
+            SimulationManager.PublishEvent(new InfraredGuidanceMissileLightEvent { RadiationPower = this.RadiationPower, SenderId = this.Id });
+        }
+
+        public override void Activate()
+        {
+            base.Activate();
+            // 订阅红外指令制导事件
+            SimulationManager.SubscribeToEvent<InfraredGuidanceCommandEvent>(HandleGuidanceCommand);
+        }
+
+        public override void Deactivate()
+        {
+            base.Deactivate();
+            // 取消订阅红外指令制导事件
+            SimulationManager.UnsubscribeFromEvent<InfraredGuidanceCommandEvent>(HandleGuidanceCommand);
+        }
+
+        /// <summary>
+        /// 获取导弹状态
+        /// </summary>
+        public override string GetStatus()
+        {
+            return base.GetStatus() + $"\n  当前阶段：{currentStage}\n  红外指令导引系统状态: {guidanceSystem.GetStatus()}";
+        }
+    }
+}

Models/InfraredTracker.cs

@@ -0,0 +1,152 @@
+using System;
+using ActiveProtect.SimulationEnvironment;
+
+namespace ActiveProtect.Models
+{
+    /// <summary>
+    /// 红外测角仪类
+    /// </summary>
+    public class InfraredTracker : SimulationElement
+    {
+        /// <summary>
+        /// 当前跟踪的导弹ID
+        /// </summary>
+        public string? TrackedMissileId { get; private set; }
+
+        /// <summary>
+        /// 目标ID
+        /// </summary>
+        public string? TargetId { get; private set; }
+
+
+        /// <summary>
+        /// 上次更新时间
+        /// </summary>
+        private double timeSinceLastUpdate;
+
+        private readonly InfraredTrackerConfig config;
+
+        /// <summary>
+        /// 构造函数
+        /// </summary>
+        public InfraredTracker(string id, string targetId, InfraredTrackerConfig config, ISimulationManager manager) 
+            : base(id, config.InitialPosition, config.InitialOrientation, 0, manager)
+        {
+            timeSinceLastUpdate = 0;
+            TargetId = targetId;
+            this.config = config;
+        }
+
+        /// <summary>
+        /// 更新红外测角仪状态
+        /// </summary>
+        public override void Update(double deltaTime)
+        {
+            if (!IsActive) return;
+
+            timeSinceLastUpdate += deltaTime;
+
+            // 检查是否需要更新
+            if (timeSinceLastUpdate >= 1 / config.UpdateFrequency)
+            {
+                UpdateTracking();
+                timeSinceLastUpdate = 0;
+            }
+        }
+
+        /// <summary>
+        /// 更新跟踪状态
+        /// </summary>
+        private void UpdateTracking()
+        {
+            if (TrackedMissileId == null || TargetId == null) return;
+
+            var target = SimulationManager.GetEntityById(TargetId);
+            var missile = SimulationManager.GetEntityById(TrackedMissileId) as InfraredCommandGuidedMissile;
+
+            if (missile == null || target == null) return;
+            
+            // 计算导弹到测角仪的距离
+            double distanceToMissile = Vector3D.Distance(Position, missile.Position);
+
+            // 检查导弹是否在跟踪范围内
+            if (distanceToMissile <= config.MaxTrackingRange)
+            {
+                // 计算测角仪到导弹的向量
+                Vector3D trackerToMissile = (missile.Position - Position).Normalize();
+
+                // 计算测角仪到目标的向量
+                Vector3D trackerToTarget = (target.Position - Position).Normalize();
+
+                // 发送制导指令事件
+                PublishGuidanceCommandEvent(missile.Id, trackerToMissile, trackerToTarget, Id);
+            }
+            else
+            {
+                // 导弹超出跟踪范围,停止跟踪
+                StopTracking();
+            }
+        }
+
+        /// <summary>
+        /// 停止跟踪
+        /// </summary>
+        public void StopTracking()
+        {
+            TrackedMissileId = null;
+            TargetId = null;
+        }
+
+        /// <summary>
+        /// 发布制导指令事件
+        /// </summary>
+        private void PublishGuidanceCommandEvent(string missileId, Vector3D trackerToMissileVector, Vector3D trackerToTargetVector, string senderId)
+        {
+            var evt = new InfraredGuidanceCommandEvent
+            {
+                TargetMissileId = missileId,
+                TrackerToMissileVector = trackerToMissileVector,
+                TrackerToTargetVector = trackerToTargetVector,
+                SenderId = senderId
+            };
+            SimulationManager.PublishEvent(evt);
+        }
+
+        /// <summary>   
+        /// 处理红外指令制导导弹点亮红外热源事件
+        /// </summary>
+        private void OnInfraredGuidanceMissileLight(InfraredGuidanceMissileLightEvent evt)
+        {
+            // 处理导弹点亮红外热源事件
+            TrackedMissileId ??= evt.SenderId;
+        }
+
+        /// <summary>
+        /// 激活红外测角仪
+        /// </summary>
+        public override void Activate()
+        {
+            base.Activate();
+            SimulationManager.SubscribeToEvent<InfraredGuidanceMissileLightEvent>(OnInfraredGuidanceMissileLight);
+        }
+
+        /// <summary>
+        /// 销毁红外测角仪
+        /// </summary>
+        public override void Deactivate()
+        {
+            base.Deactivate();
+            SimulationManager.UnsubscribeFromEvent<InfraredGuidanceMissileLightEvent>(OnInfraredGuidanceMissileLight);
+        }
+
+        /// <summary>
+        /// 获取红外测角仪状态
+        /// </summary>
+        public override string GetStatus()
+        {
+            return $"红外测角仪 {Id} 位置: {Position}, 朝向: {Orientation}, " +
+                   $"跟踪导弹: {TrackedMissileId ?? "无"}, 目标: {TargetId ?? "无"}";
+        }
+
+    }
+}

Models/Sensors.cs

@@ -167,7 +167,7 @@ namespace ActiveProtect.Models
         /// <param name="position">辐射计的位置</param>
         /// <param name="orientation">辐射计的朝向</param>
         /// <param name="frequency">工作频率</param>
-        /// <param name="detectionTemperatureDifferenceThreshold">辐射检测阈值</param>
+        /// <param name="detectionTemperatureDifferenceThreshold">辐射温差检测阈值</param>
         public MillimeterWaveRadiometer(Vector3D position, Orientation orientation, double frequency, double detectionTemperatureDifferenceThreshold)
             : base(position, orientation)
         {
@@ -202,7 +202,7 @@ namespace ActiveProtect.Models
     {
         private double currentAltitude;
 
-        private TerminalSensitiveSubmunition submunition;
+        private readonly TerminalSensitiveSubmunition submunition;
 
         /// <summary>
         /// 最大测量高度

Program.cs

@@ -125,10 +125,38 @@ namespace ActiveProtect
                         ProportionalNavigationCoefficient = 3,
                         Mass = 50, 
                         Type = MissileType.TerminalSensitiveMissile
+                    },
+                    // 红外指令制导导弹配置
+                    new() {
+                        Id = "ICGM_1",
+                        InitialPosition = new Vector3D(2000, 100, 100),
+                        InitialOrientation = new Orientation(Math.PI, 0.0, 0),
+                        InitialSpeed = 300,
+                        MaxSpeed = 400,
+                        TargetIndex = 0,
+                        MaxFlightTime = 60,
+                        MaxFlightDistance = 5000,
+                        LaunchAcceleration = 50,
+                        MaxEngineBurnTime = 10,
+                        MaxAcceleration = 1000,
+                        ExplosionRadius = 10,
+                        ProportionalNavigationCoefficient = 1,
+                        Mass = 50,
+                        Type = MissileType.InfraredCommandGuidance
                     }
                 },
-                
+                // 配置红外测角仪
-                SimulationTimeStep = 0.025 // 仿真时间步长, 激光驾束制导导弹需要更小的步长，< 0.025s
+                InfraredTrackerConfig = new InfraredTrackerConfig
+                {
+                    Id = "IT_1",
+                    InitialPosition = new Vector3D(2500, 0, 100),
+                    InitialOrientation = new Orientation(Math.PI, 0, 0),
+                    MaxTrackingRange = 10000, // 10公里
+                    FieldOfView = Math.PI / 4, // 45度
+                    AngleMeasurementAccuracy = 0.000005, // 0.0005弧度 (约0.029度)
+                    UpdateFrequency = 10 // 20赫兹
+                },
+                SimulationTimeStep = 0.01 // 仿真时间步长, 激光驾束制导导弹需要更小的步长，< 0.025s
             };
 
             // 创建仿真管理器
@@ -141,7 +169,7 @@ namespace ActiveProtect
             {
                 simulationManager.Update();
                 simulationManager.PrintStatus();
-                Thread.Sleep(100); // 暂停100毫秒，使输出更易读
+                Thread.Sleep(50); // 暂停100毫秒，使输出更易读
                 iteration++;
             }
 

SimulationEnvironment/SimulationConfig.cs

@@ -1,5 +1,5 @@
+using System;
 using System.Collections.Generic;
-using System.ComponentModel;
 using ActiveProtect.Models;
 using Model;
 
@@ -45,6 +45,11 @@ namespace ActiveProtect.SimulationEnvironment
         /// </summary>
         public double SimulationTimeStep { get; set; }
 
+        /// <summary>
+        /// 红外测角仪配置
+        /// </summary>
+        public InfraredTrackerConfig InfraredTrackerConfig { get; set; }
+
         /// <summary>
         /// 构造函数,初始化默认配置
         /// </summary>
@@ -56,6 +61,7 @@ namespace ActiveProtect.SimulationEnvironment
             LaserBeamRiderConfig = new LaserBeamRiderConfig();
             LaserWarnerConfig = new LaserWarnerConfig();
             LaserJammerConfig = new LaserJammerConfig();
+            InfraredTrackerConfig = new InfraredTrackerConfig();
             SimulationTimeStep = 0.1; // 默认时间步长为0.1秒
         }
     }
@@ -76,7 +82,7 @@ namespace ActiveProtect.SimulationEnvironment
         public Vector3D InitialPosition { get; set; }
 
         /// <summary>
-        /// 初始朝向
+        /// 初<EFBFBD><EFBFBD><EFBFBD>向
         /// </summary>
         public Orientation InitialOrientation { get; set; }
 
@@ -223,6 +229,31 @@ namespace ActiveProtect.SimulationEnvironment
         /// </summary>
         public MissileType Type { get; set; }
 
+        /// <summary>
+        /// 比例增益
+        /// </summary>
+        public double Kp { get; set; }
+
+        /// <summary>
+        /// 积分增益
+        /// </summary>
+        public double Ki { get; set; }
+
+        /// <summary>
+        /// 微分增益
+        /// </summary>
+        public double Kd { get; set; }
+
+        /// <summary>
+        /// 自适应速率
+        /// </summary>
+        public double AdaptiveRate { get; set; }
+
+        /// <summary>
+        /// 期望性能指标
+        /// </summary>
+        public double DesiredPerformance { get; set; }
+
         /// <summary>
         /// 构造函数,设置默认值
         /// </summary>
@@ -426,4 +457,59 @@ namespace ActiveProtect.SimulationEnvironment
             PowerIncreaseRate = 2000.0; // 每秒增加的功率
         }
     }
+
+    /// <summary>
+    /// 红外测角仪配置类
+    /// </summary>
+    public class InfraredTrackerConfig
+    {
+        /// <summary>
+        /// 红外测角仪ID
+        /// </summary>
+        public string Id { get; set; }
+
+        /// <summary>
+        /// 初始位置
+        /// </summary>
+        public Vector3D InitialPosition { get; set; }
+
+        /// <summary>
+        /// 初始朝向
+        /// </summary>
+        public Orientation InitialOrientation { get; set; }
+
+        /// <summary>
+        /// 最大跟踪距离(米)
+        /// </summary>
+        public double MaxTrackingRange { get; set; }
+
+        /// <summary>
+        /// 视场角(弧度)
+        /// </summary>
+        public double FieldOfView { get; set; }
+
+        /// <summary>
+        /// 角度测量精度(弧度)
+        /// </summary>
+        public double AngleMeasurementAccuracy { get; set; }
+
+        /// <summary>
+        /// 更新频率(赫兹)
+        /// </summary>
+        public double UpdateFrequency { get; set; }
+
+        /// <summary>
+        /// 构造函数,设置默认值
+        /// </summary>
+        public InfraredTrackerConfig()
+        {
+            Id = "";
+            InitialPosition = new Vector3D(0, 0, 0);
+            InitialOrientation = new Orientation(0, 0, 0);
+            MaxTrackingRange = 10000; // 10公里
+            FieldOfView = Math.PI / 3; // 60度
+            AngleMeasurementAccuracy = 0.001; // 0.001弧度 (约0.057度)
+            UpdateFrequency = 10; // 10赫兹
+        }
+    }
 }

SimulationEnvironment/SimulationEvents.cs

@@ -45,7 +45,6 @@ namespace ActiveProtect.SimulationEnvironment
         public SimulationElement? Target { get; set; }
     }
 
-    /// <summary
     /// <summary>
     /// 激光照射更新事件
     /// </summary>
@@ -166,4 +165,36 @@ namespace ActiveProtect.SimulationEnvironment
     {
         public LaserBeamRider? LaserBeamRider { get; set; }
     }
+
+    /// <summary>
+    /// 红外指令制导事件
+    /// </summary>
+    public class InfraredGuidanceCommandEvent : SimulationEvent
+    {
+        /// <summary>
+        /// 目标导弹ID
+        /// </summary>
+        public string? TargetMissileId { get; set; }
+
+        /// <summary>
+        /// 视线向量
+        /// </summary>
+        public Vector3D TrackerToTargetVector { get; set; } = Vector3D.Zero;
+
+        /// <summary>
+        /// 视线向量
+        /// </summary>
+        public Vector3D TrackerToMissileVector { get; set; } = Vector3D.Zero;
+    }
+    
+    /// <summary>
+    /// 红外指令制导导弹点亮红外热源事件
+    /// </summary>
+    public class InfraredGuidanceMissileLightEvent : SimulationEvent
+    {   
+        /// <summary>
+        /// 红外热源辐射功率(瓦特)
+        /// </summary>
+        public double RadiationPower { get; set; }
+    }
 }

SimulationEnvironment/SimulationManager.cs

@@ -147,6 +147,9 @@ namespace ActiveProtect.SimulationEnvironment
                     case MissileType.TerminalSensitiveMissile:
                         missile = new TerminalSensitiveMissile(missileConfig, this);
                         break;
+                    case MissileType.InfraredCommandGuidance:
+                        missile = new InfraredCommandGuidedMissile(missileConfig, this);
+                        break;
                     default:
                         missile = new MissileBase(missileConfig, this);
                         break;
@@ -182,16 +185,25 @@ namespace ActiveProtect.SimulationEnvironment
                 this
             );
             Elements.Add(laserBeamRider);
-            
+
+            // 创建红外测角仪
+            var infraredTrackerConfig = config.InfraredTrackerConfig;
+            var infraredTracker = new InfraredTracker(
+                "IT_1",
+                "Tank_1",
+                infraredTrackerConfig,
+                this
+            );
+            Elements.Add(infraredTracker);
 
             // 激活所有元素 
-            ActivateAllElements();
+            //ActivateAllElements();
 
             // 激活部分元素
-            //ActivateSomeElements();
+            ActivateSomeElements();
 
             // 激光驾束仪开始照射
-            laserBeamRider.StartBeamIllumination();
+            //laserBeamRider.StartBeamIllumination();
 
         }
 
@@ -225,8 +237,13 @@ namespace ActiveProtect.SimulationEnvironment
             // 激活激光驾束仪
             //Elements.FindAll(e => e.Id == "LBR_1").ForEach(e => e.Activate());
 
+            // 激活红外指令制导导弹
+            Elements.FindAll(e => e.Id == "ICGM_1").ForEach(e => e.Activate());
+            // 激活红外测角仪
+            Elements.FindAll(e => e.Id == "IT_1").ForEach(e => e.Activate());
+
             // 激活末敏弹
-            Elements.FindAll(e => e.Id == "TSM_1").ForEach(e => e.Activate());
+            //Elements.FindAll(e => e.Id == "TSM_1").ForEach(e => e.Activate());
         }
 
         /// <summary>