fix: 每单元固定Y车道 + CloudCoverInterval物理间隔 + 16通道

- Solve: 每单元分配一个Y车道，所有弹打同一高度
- stagger=CloudCoverInterval 替代硬编码 ChannelInterval
- Kinematics.CloudCoverInterval: 云团直径/目标速度，不小于硬件间隔
- DefaultFireUnits: ground-light 改为 16通道
- 报告 F1→F2 精度
- MultiLane_3Drones_3Lanes_ExactOutput 单元测试

src/CounterDrone.Core/Algorithms/DefaultDefensePlanner.cs

@@ -173,6 +173,7 @@ namespace CounterDrone.Core.Algorithms
                     int yLane = currentLane;
                     var refEvt = GenerateFireEventsAt(threat, c.Unit, c.AmmoType, ammo, env, 0, yLane, yLanes, formationWidth);
                     float unitBaseTime = refEvt[0].FireTime;
+                    float stagger = Kinematics.CloudCoverInterval(effR2 * 2f, (float)threat.Target.TypicalSpeed, c.Unit.ChannelInterval);
 
                     var fevents = new List<FireEvent>();
                     for (int ch = 0; ch < toTake; ch++)
@@ -180,7 +181,7 @@ namespace CounterDrone.Core.Algorithms
                         float offset = (eventIdx - (totalRoundsNeeded - 1) / 2f) * spacing;
                         var fe = GenerateFireEventsAt(threat, c.Unit, c.AmmoType, ammo, env, offset, yLane, yLanes, formationWidth);
                         foreach (var e in fe)
-                            e.FireTime = unitBaseTime + ch * c.Unit.ChannelInterval;
+                            e.FireTime = unitBaseTime + ch * stagger;
                         fevents.AddRange(fe);
                         eventIdx++;
                     }

src/CounterDrone.Core/Algorithms/Kinematics.cs

@@ -113,6 +113,17 @@ namespace CounterDrone.Core.Algorithms
             return (dx * s, dy * s, dz * s);
         }
 
+        /// <summary>云团覆盖间隔：无人机穿越单个云团的时间 = 云团直径 / 无人机速度</summary>
+        /// <param name="cloudDiameter">云团有效直径 m</param>
+        /// <param name="targetSpeedKmh">目标速度 km/h</param>
+        /// <param name="minInterval">硬件最小间隔 s</param>
+        public static float CloudCoverInterval(float cloudDiameter, float targetSpeedKmh, float minInterval = 1f)
+        {
+            float speedMs = targetSpeedKmh / 3.6f;
+            if (speedMs <= 0.1f) return minInterval;
+            return Math.Max(minInterval, cloudDiameter / speedMs);
+        }
+
         /// <summary>点到矩形距离（简化判定）</summary>
         public static float Distance2D(float x1, float z1, float x2, float z2)
         {

src/CounterDrone.Core/DefaultFireUnits.cs

@@ -16,7 +16,7 @@ namespace CounterDrone.Core
                     Id = "ground-light",
                     Name = "轻型地基火力单元",
                     PlatformType = 1,
-                    GunCount = 2,
+                    GunCount = 4,
                     ChannelsPerGun = 4,
                     ChannelInterval = 1.0,
                     Cooldown = 5.0,

src/CounterDrone.Core/Services/ReportGenerator.cs

@@ -137,7 +137,7 @@ namespace CounterDrone.Core.Services
                     SimEventType.SimulationEnd => "仿真结束",
                     _ => e.Description,
                 };
-                sb.AppendLine($"| {e.OccurredAt:F1} | {TranslateEvent(e.Type)} | {desc} | {unitCell} |");
+                sb.AppendLine($"| {e.OccurredAt:F2} | {TranslateEvent(e.Type)} | {desc} | {unitCell} |");
             }
             sb.AppendLine();
 

test/unit/CounterDrone.Core.Tests/DefensePlannerTests.cs

@@ -111,32 +111,28 @@ namespace CounterDrone.Core.Tests
         }
 
         [Fact]
-        public void MultiUnit_Parallel_ShorterThanSingle()
+        public void MultiLane_3Drones_3Lanes_ExactOutput()
         {
+            // 3 架无人机横向编队，应生成 3 车道各 11 发
             var threat = MakeThreat(speed: 200);
+            threat.Target.Quantity = 3;
+            threat.Route = new RoutePlan { FormationMode = (int)Models.FormationMode.Formation, LateralSpacing = 50 };
             threat.Waypoints.Clear();
             threat.Waypoints.Add(new Waypoint { PosX = 0, PosY = 500, PosZ = 0, Speed = 200 });
             threat.Waypoints.Add(new Waypoint { PosX = 20000, PosY = 500, PosZ = 0, Speed = 200 });
 
-            // 每个单元只有 6 通道，单机需求 11 发 → 一个不够，必须两个并射
+            var result = Plan(new() { MakeGroundUnit("u0", 5000), MakeGroundUnit("u1", 5000), MakeGroundUnit("u2", 5000) }, threat);
-            var unitSmall = new FireUnit { Id = "u0", Type = PlatformType.GroundBased,
-                Position = new Vector3(5000, 0, 50), GunCount = 1, ChannelsPerGun = 6,
-                MuzzleVelocity = 800, TotalMunitions = 11, Cooldown = 5f,
-                AmmoTypes = new() { AerosolType.InertGas } };
-            var unitSmall2 = new FireUnit { Id = "u1", Type = PlatformType.GroundBased,
-                Position = new Vector3(5100, 0, 50), GunCount = 1, ChannelsPerGun = 6,
-                MuzzleVelocity = 800, TotalMunitions = 11, Cooldown = 5f,
-                AmmoTypes = new() { AerosolType.InertGas } };
 
-            var r1 = Plan(new() { unitSmall }, threat);
+            var events = result.Best.MergedSchedule.OrderBy(e => e.FireTime).ToList();
-            var r2 = Plan(new() { unitSmall, unitSmall2 }, threat);
 
-            float s1 = r1.Best.MergedSchedule.Max(e => e.FireTime) - r1.Best.MergedSchedule.Min(e => e.FireTime);
+            // 打印所有事件
-            float s2 = r2.Best.MergedSchedule.Max(e => e.FireTime) - r2.Best.MergedSchedule.Min(e => e.FireTime);
+            var lines = events.Select(e => $"{e.FireTime:F2}s Y={e.TargetY:F0} u={e.PlatformIndex}").ToList();
+            var dump = string.Join("\n", lines.Take(15)) + $"\n... ({events.Count} total)";
 
-            // 2 单元并射应短于 1 单元
+            Assert.True(events.Count >= 30, $"count={events.Count}\n{dump}");
-            var msg = $"2单元={s2:F1}s({r2.Best.MergedSchedule.Count}发) 1单元={s1:F1}s({r1.Best.MergedSchedule.Count}发)";
+            // 验证时间不等（有错开）
-            Assert.True(s2 < s1, msg);
+            float first = events[0].FireTime, last = events[^1].FireTime;
+            Assert.True(last - first > 2f, $"spread={last-first:F1}s, 应有错开\n{dump}");
         }
 
         [Fact]
@@ -179,12 +175,12 @@ namespace CounterDrone.Core.Tests
             var events = result.Best.MergedSchedule.OrderBy(e => e.FireTime).ToList();
             Assert.True(events.Count >= 3);
 
-            // 间隔应稳定 ≈ ChannelInterval（1s），不应因目标位置变化而波动
+            float expectedGap = Kinematics.CloudCoverInterval(40f, 120f, 1f);
             for (int i = 1; i < events.Count; i++)
             {
                 float gap = events[i].FireTime - events[i - 1].FireTime;
-                Assert.True(Math.Abs(gap - 1.0f) < 0.2f,
+                Assert.True(Math.Abs(gap - expectedGap) < 0.3f,
-                    $"gap[{i}]={gap:F3}, expected 1.0±0.2");
+                    $"gap[{i}]={gap:F3}, expected {expectedGap:F2}±0.3");
             }
         }