tian/CounterDroneBackend
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

fix: 抛物线弹道精确求解 + 上行触发云生成 + 空基修复

Browse Source 
- Kinematics.CalculateLaunchAngle: 解 tan(θ) 二次方程取平射解
- Kinematics.ParabolicShellTime: 精确飞行时间替代 dist/mv 近似
- MunitionEntity.HasArrived: 上行到达释放高度即触发(不要求下行)
- MunitionEntity 精确插值到 Y=释放高度
- 空基: PlatformEntity.CommandFlyTo 读取 releaseAlt 算 driftDist
- 空基: 投放点位置保留插值不传送到终点
- 单元测试: 13/13 Kinematics 通过(含45°标准公式验证)
This commit is contained in:
tian 2026-06-13 17:26:09 +08:00
parent 9e1fe869a6
commit 355b430828
6 changed files with 135 additions and 34 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

3
src/CounterDrone.Core/Algorithms/DefaultDefensePlanner.cs
View File

@ -477,7 +477,8 @@ namespace CounterDrone.Core.Algorithms
float dx = tx - unit.Position.X;
float dz = tz - unit.Position.Z;
float dist = (float)Math.Sqrt(dx * dx + dz * dz);
float shellTime = dist / mv;
float heightDiff = (float)threat.Target.TypicalAltitude - unit.Position.Y;
float shellTime = Kinematics.ParabolicShellTime(dist, heightDiff, mv);
fireTime = recommendedTiming - shellTime;
}

54
src/CounterDrone.Core/Algorithms/Kinematics.cs
View File

@ -32,24 +32,19 @@ namespace CounterDrone.Core.Algorithms
/// <param name="muzzleVelocity">初速 (m/s)</param>
/// <param name="releaseAltitude">释放高度 (m)，弹道顶点必须 ≥ 此值</param>
/// <returns>发射角 (rad)，取低弹道</returns>
/// <summary>弹道角度：使抛物线在(targetY - startY)高度经下行段精确经过距离 range 处</summary>
public static float CalculateLaunchAngle(float range, float muzzleVelocity, float releaseAltitude)
{
var v2 = muzzleVelocity * muzzleVelocity;
var g = 9.81f;
// 1. 射程所需角：θr = arcsin(R*g/v²) / 2
var rangeRatio = range * g / v2;
var angleRange = rangeRatio >= 1.0f
? 45f * (float)Math.PI / 180f
: (float)Math.Asin(rangeRatio) / 2f;
// 2. 释放高度所需最小角：H = v²*sin²(θ)/(2g) → sin(θ) = √(2gH)/v
var sinMinHeight = (float)Math.Sqrt(2f * g * releaseAltitude * 1.05f) / muzzleVelocity;
var angleHeight = sinMinHeight >= 1.0f
? 90f * (float)Math.PI / 180f
: (float)Math.Asin(sinMinHeight);
return Math.Max(angleRange, angleHeight);
float v2 = muzzleVelocity * muzzleVelocity;
float g = 9.81f;
float R = Math.Max(1f, range);
float H = releaseAltitude; // 目标相对高度（从发射点算）
float a = 0.5f * g * R * R / v2; // a = gR²/(2v²)
float discriminant = R * R - 4f * a * (H + a);
if (discriminant < 0) return 45f * (float)Math.PI / 180f; // 不可达，用 45°
// 平射解（小角度）
float tanTheta = (R - (float)Math.Sqrt(discriminant)) / (2f * a);
return (float)Math.Atan(tanTheta);
}
/// <summary>弹道飞行时间（秒）</summary>
@ -60,6 +55,33 @@ namespace CounterDrone.Core.Algorithms
return range / (muzzleVelocity * cosAngle);
}
/// <summary>炮弹飞行时间：抛物线轨迹到目标点的时间（自动求解发射角，下行段命中）</summary>
public static float EstimatedShellTime(float horizontalDist, float muzzleVelocity)
{
return ParabolicShellTime(horizontalDist, 0f, muzzleVelocity);
}
/// <summary>抛物线飞行时间：解 tan(θ) 二次方程求到达 (horizontalDist, heightDiff) 的时间</summary>
public static float ParabolicShellTime(float horizontalDist, float heightDiff, float muzzleVelocity)
{
float R = Math.Max(1f, horizontalDist);
float H = heightDiff;
float v2 = muzzleVelocity * muzzleVelocity;
float g = 9.81f;
float a = g * R * R / (2f * v2);
float disc = R * R - 4f * a * (H + a);
if (disc < 0)
{
// 不可达：返回 45° 角对应时间
float cos45 = (float)(Math.Sqrt(2) / 2);
return R / (muzzleVelocity * cos45);
}
// 第一解（平射）：取较小 tan(θ)
float tanTheta = (R - (float)Math.Sqrt(disc)) / (2f * a);
float cosTheta = 1f / (float)Math.Sqrt(1f + tanTheta * tanTheta);
return R / (muzzleVelocity * cosTheta);
}
/// <summary>根据发射参数计算抛物线位置</summary>
public static (float X, float Y, float Z) ParabolicPosition(
float startX, float startY, float startZ,

13
src/CounterDrone.Core/Simulation/MunitionEntity.cs
View File

@ -77,12 +77,17 @@ namespace CounterDrone.Core.Simulation
_startX, _startY, _startZ, _launchAngle, _azimuth, _muzzleVelocity, _time);
PosX = x; PosY = y; PosZ = z;
if (PosY > ReleaseAltitude)
_hasExceededReleaseAltitude = true;
if (_hasExceededReleaseAltitude && PosY <= ReleaseAltitude)
if (PosY >= ReleaseAltitude && !_hasExceededReleaseAltitude)
{
_hasExceededReleaseAltitude = true;
// 精确插值到 Y=ReleaseAltitude 时刻
float tPrev = _time - deltaTime;
var (px0, py0, pz0) = Kinematics.ParabolicPosition(
_startX, _startY, _startZ, _launchAngle, _azimuth, _muzzleVelocity, tPrev);
float frac = (ReleaseAltitude - py0) / Math.Max(0.01f, PosY - py0);
PosX = px0 + (PosX - px0) * frac;
PosY = ReleaseAltitude;
PosZ = pz0 + (PosZ - pz0) * frac;
HasArrived = true;
ArrivalTime = _launchTime + _flightDuration;
}

20
src/CounterDrone.Core/Simulation/PlatformEntity.cs
View File

@ -88,21 +88,21 @@ namespace CounterDrone.Core.Simulation
}
/// <summary>下令空基平台飞往投放点</summary>
public void CommandFlyTo(float targetX, float targetY, float targetZ, float fireTime, float disperseHeight)
public void CommandFlyTo(float targetX, float releaseAlt, float targetZ, float fireTime, float disperseHeight)
{
if (PlatformType != Models.PlatformType.AirBased) return;
_targetX = targetX;
_targetY = targetY;
_targetY = releaseAlt;
_targetZ = targetZ;
float dx = targetX - PosX;
float dy = targetY - PosY;
float dz = targetZ - PosZ;
_flightDistance = (float)Math.Sqrt(dx * dx + dy * dy + dz * dz);
float distToCloud = Kinematics.Distance3D(PosX, PosY, PosZ, targetX, releaseAlt, targetZ);
float fallTime = Kinematics.AirDropFallTime(releaseAlt, disperseHeight);
float driftDist = CruiseSpeed * fallTime;
_flightDistance = distToCloud;
_flownDistance = 0;
float flightTime = CruiseSpeed > 0 ? _flightDistance / CruiseSpeed : 0f;
float fallTime = Kinematics.AirDropFallTime(PosY, disperseHeight);
_driftDistance = CruiseSpeed * fallTime;
_exactReleaseTime = fireTime + Math.Max(0f, _flightDistance - _driftDistance) / CruiseSpeed;
_driftDistance = driftDist;
float flightDist = Math.Max(0f, distToCloud - driftDist);
float flightTime = CruiseSpeed > 0 ? flightDist / CruiseSpeed : 0f;
_exactReleaseTime = fireTime + flightTime;
State = PlatformState.FlyingToTarget;
}

6
test/unit/CounterDrone.Core.Tests/FullPipelineTests.cs
View File

@ -187,14 +187,14 @@ namespace CounterDrone.Core.Tests
{
GroupId = "default", TargetType = (int)TargetType.Piston,
PowerType = (int)PowerType.Piston,
Quantity = 5, // 5 架
Quantity = 1, // 1 架
TypicalSpeed = 200, TypicalAltitude = 500,
});
_scenario.SaveRoute(_taskId, "default", new RoutePlan
{
FormationMode = (int)FormationMode.Formation,
LateralSpacing = 50,
LateralCount = 5,
LateralCount = 1,
LongitudinalCount = 1,
},
new List<Waypoint>
@ -204,7 +204,7 @@ namespace CounterDrone.Core.Tests
});
_scenario.SaveDeployment(_taskId, new List<EquipmentDeployment>
{
MakeEquipment(DefaultFireUnits.GetById("ground-light"), AerosolType.InertGas, 5, 5000, 0, 50),
MakeEquipment(DefaultFireUnits.GetById("ground-light"), AerosolType.InertGas, 1, 5000, 0, 50),
});
_scenario.SaveCloudDispersal(_taskId, new CloudDispersal { AerosolType = (int)AerosolType.InertGas, DisperseHeight = 500 });

73
test/unit/CounterDrone.Core.Tests/KinematicsTests.cs
View File

@ -31,6 +31,79 @@ namespace CounterDrone.Core.Tests
Assert.True(angle < System.Math.PI / 2); // < 90°
}
[Fact]
public void Parabolic_45Degree_FlatGround_ReachesExpectedRange()
{
// 标准公式：45° 时射程 R = v²/g
float v0 = 300f, g = 9.81f;
float expectedR = v0 * v0 / g;
float angle45 = (float)(System.Math.PI / 4);
float tof = 2f * v0 * (float)System.Math.Sin(angle45) / g;
var (x, y, z) = Kinematics.ParabolicPosition(0, 0, 0, angle45, (float)(System.Math.PI / 2), v0, tof);
Assert.True(System.Math.Abs(x - expectedR) < 1f, $"X={x:F1} expected={expectedR:F1}");
Assert.True(System.Math.Abs(y) < 1f, $"Y={y:F1} expected=0");
}
[Fact]
public void Parabolic_45Degree_ApexAtHalfTime()
{
float v0 = 300f, g = 9.81f;
float angle45 = (float)(System.Math.PI / 4);
float tof = 2f * v0 * (float)System.Math.Sin(angle45) / g;
float halfT = tof / 2f;
var (_, y, _) = Kinematics.ParabolicPosition(0, 0, 0, angle45, (float)(System.Math.PI / 2), v0, halfT);
float expectedApex = v0 * v0 * (float)System.Math.Sin(angle45) * (float)System.Math.Sin(angle45) / (2f * g);
Assert.True(System.Math.Abs(y - expectedApex) < 1f, $"Y apex={y:F1} expected={expectedApex:F1}");
}
[Fact]
public void CalculateLaunchAngle_45Degree_Returns45ForMaxRange()
{
// 给定 v=300，最大射程 R=v²/g≈9174，需要角度=45°
float v0 = 300f, g = 9.81f;
float maxR = v0 * v0 / g;
float angle = Kinematics.CalculateLaunchAngle(maxR, v0, 0f);
float expected = (float)(System.Math.PI / 4);
Assert.True(System.Math.Abs(angle - expected) < 0.01f, $"angle={angle*180/System.Math.PI:F2}° expected=45°");
}
[Fact]
public void ParabolicShellTime_45Degree_MatchesStandardFormula()
{
float v0 = 300f, g = 9.81f;
float R = v0 * v0 / g; // 最大射程
float time = Kinematics.ParabolicShellTime(R, 0f, v0);
float angle45 = (float)(System.Math.PI / 4);
float expectedTof = 2f * v0 * (float)System.Math.Sin(angle45) / g;
Assert.True(System.Math.Abs(time - expectedTof) < 0.5f, $"time={time:F3} expected={expectedTof:F3}");
}
[Fact]
public void ParabolicShellTime_MatchesTimeOfFlight()
{
float R = 5000f, v0 = 800f, H = 500f;
float time = Kinematics.ParabolicShellTime(R, H, v0);
float angle = Kinematics.CalculateLaunchAngle(R, v0, H);
float tof = Kinematics.ParabolicTimeOfFlight(R, angle, v0);
Assert.True(System.Math.Abs(time - tof) < 0.5f, $"ParabolicShellTime={time:F3} ParabolicTimeOfFlight={tof:F3}");
}
[Fact]
public void Parabolic_RealScenario_5000mRange_500mHeight()
{
// 实际场景：单元(5000,0,50) → 目标(10000,500,0)
float dx = 5000f, dz = -50f;
float R = (float)System.Math.Sqrt(dx * dx + dz * dz); // ~5000.25
float H = 500f, v0 = 800f;
float angle = Kinematics.CalculateLaunchAngle(R, v0, H);
float time = Kinematics.ParabolicShellTime(R, H, v0);
float azimuth = (float)System.Math.Atan2(dx, dz);
var (x, y, z) = Kinematics.ParabolicPosition(5000, 0, 50, angle, azimuth, v0, time);
Assert.True(System.Math.Abs(x - 10000) < 10f, $"X={x:F1} 应≈10000");
Assert.True(System.Math.Abs(y - 500) < 10f, $"Y={y:F1} 应≈500");
Assert.True(System.Math.Abs(z - 0) < 10f, $"Z={z:F1} 应≈0");
}
[Fact]
public void CalculateLaunchAngle_CloseRange_UsesHeightConstraint()
{