ActiveProtect/Models/LaserSemiActiveGuidanceSystem.cs

using System;

namespace ActiveProtect.Models
{
    public class LaserSemiActiveGuidanceSystem : BasicGuidanceSystem
    {
        private const double FieldOfViewAngle = Math.PI / 6; // 30度视场角
        private const double DetectorDiameter = 0.1; // 探测器直径（米）
        private const double FocusedSpotDiameter = 0.003; // 聚焦后光斑直径（米）
        private const double ReflectionCoefficient = 0.2; // 反射系数
        private const double LockThreshold = 1e-12; // 锁定阈值（瓦特）
        private const double TargetReflectiveArea = 1.0; // 目标有效反射面积（平方米）
        private Vector3D TargetPosition { get; set; }
        private Vector3D TargetVelocity { get; set; }
        private Vector3D LaserDesignatorPosition { get; set; }
        private double LaserPower { get; set; }
        private double LaserDivergenceAngle { get; set; }
        public LaserSemiActiveGuidanceSystem(double proportionalNavigationCoefficient, Vector3D initialMissilePosition, Vector3D initialTargetPosition, Vector3D initialTargetVelocity) 
            : base(proportionalNavigationCoefficient)
        {
            Position = initialMissilePosition;
            TargetPosition = initialTargetPosition;
            TargetVelocity = initialTargetVelocity;
            LaserDesignatorPosition = Vector3D.Zero;
            LaserPower = 0;
        }

        public void ActivateLaserDesignator(Vector3D sourcePosition, Vector3D targetPosition, Vector3D targetVelocity, double laserPower, double laserDivergenceAngle)
        {
            HasGuidance = true;
            LaserDesignatorPosition = sourcePosition;
            TargetPosition = targetPosition;
            TargetVelocity = targetVelocity;
            LaserPower = laserPower;
            LaserDivergenceAngle = laserDivergenceAngle;
        }

        public void UpdateLaserDesignator(Vector3D sourcePosition, Vector3D targetPosition, Vector3D targetVelocity, double laserPower, double laserDivergenceAngle)
        {
            LaserDesignatorPosition = sourcePosition;
            TargetPosition = targetPosition;
            TargetVelocity = targetVelocity;
            LaserPower = laserPower;
            LaserDivergenceAngle = laserDivergenceAngle;
        }

        public void DeactivateLaserDesignator()
        {
            HasGuidance = false;
            LaserDesignatorPosition = Vector3D.Zero;
            TargetPosition = Vector3D.Zero;
            TargetVelocity = Vector3D.Zero;
            LaserPower = 0;
            LaserDivergenceAngle = 0;
        }

        public override void Update(double deltaTime, Vector3D missilePosition, Vector3D missileVelocity)
        {
            base.Update(deltaTime, missilePosition, missileVelocity);
            
            HasGuidance = CalculateReceivedLaserPower() > LockThreshold;
            if (HasGuidance)
            {
                CalculateGuidanceCommand(deltaTime);
            }
            else
            {
                GuidanceCommand = Vector3D.Zero;
            }

            PrintGuidanceInfo();
        }

        private double CalculateReceivedLaserPower()
        {
            double distanceToTarget = (TargetPosition - LaserDesignatorPosition).Magnitude();
            double distanceToMissile = (Position - TargetPosition).Magnitude();

            // 计算目标处的光斑面积
                double spotAreaAtTarget = Math.PI * Math.Pow(distanceToTarget * Math.Tan(LaserDivergenceAngle), 2);
    
            // 计算目标处的激光功率密度
            double powerDensityAtTarget = LaserPower / spotAreaAtTarget;
    
            // 计算从目标反射的总功率
            double reflectedPower = powerDensityAtTarget * TargetReflectiveArea * ReflectionCoefficient;
    
            // 计算反射光在导弹处的扩散面积（假设漫反射）
            double reflectedSpotArea = 2 * Math.PI * Math.Pow(distanceToMissile, 2);
    
            // 计算导弹接收到的功率
            double receivedPower = reflectedPower / reflectedSpotArea;

            // 计算探测器接收到的功率比例
            double detectorArea = Math.PI * Math.Pow(DetectorDiameter / 2, 2);
            double illuminatedArea = Math.PI * Math.Pow(distanceToMissile * Math.Tan(FieldOfViewAngle / 2), 2);
            double powerRatio = Math.Min(1, detectorArea / illuminatedArea);

            // 计算聚焦后的功率密度增加
            double focusedArea = Math.PI * Math.Pow(FocusedSpotDiameter / 2, 2);
            double focusingFactor = detectorArea / focusedArea;

            // 计算最终接收到的功率
            double finalReceivedPower = receivedPower * powerRatio * focusingFactor;

            return finalReceivedPower;
        }

        protected override void CalculateGuidanceCommand(double deltaTime)
        {
            if (!HasGuidance)
            {
                GuidanceCommand = Vector3D.Zero;
                return;
            }

            // 计算比例导引加速度
            GuidanceCommand = CalculateProportionalNavigation(Position, Velocity, TargetPosition, TargetVelocity);

            // 限制最大加速度
            double maxAcceleration = 100; // 根据实际情况调整
            if (GuidanceCommand.Magnitude() > maxAcceleration)
            {
                GuidanceCommand = GuidanceCommand.Normalize() * maxAcceleration;
            }
        }

        private void PrintGuidanceInfo()
        {
            Console.WriteLine($"激光半主动导弹引导信息:");
            Console.WriteLine($"  位置: {Position}");
            Console.WriteLine($"  速度: {Velocity}");
            Console.WriteLine($"  速度大小: {Velocity.Magnitude():F2} m/s");
            Console.WriteLine($"  是否有引导: {HasGuidance}");
            Console.WriteLine($"  目标位置: {TargetPosition}");
            Console.WriteLine($"  制导指令: {GuidanceCommand}");
            Console.WriteLine($"  接收到的激光功率: {CalculateReceivedLaserPower():E} W");
            Console.WriteLine($"  锁定阈值: {LockThreshold:E} W");
            Console.WriteLine();
        }
    }
}