新增多模制导导弹，支持毫米波/红外双模制导，提供了多模制导框架（需要增加相关配置文件并验证）
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@ -12,8 +12,13 @@
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- 支持与 Simulink 模型的数据交互
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- 实现实时仿真数据同步
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- 处理不同时间步长的协调
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- 毫米波跟踪和锁定阶段采用脉冲多普勒制导、目标 RCS 特征矩阵
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- 双模、多模制导
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- 毫米波跟踪和锁定阶段采用脉冲多普勒制导
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- 命中概率和系统随机噪声
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## [1.1.19] - 2025-05-18
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- 增加了装备的RCS特征矩阵
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- 在毫米波末制导中，用RCS特征矩阵取值
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- 新增多模制导导弹，实现了毫米波/红外双模制导，也支持多模制导（需要增加相关配置文件并验证）
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## [1.1.18] - 2025-05-14
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- 修改了版本号格式（0.2.18 -> 1.1.18）
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97
ThreatSource/data/missiles/composite/cg_001.toml
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97
ThreatSource/data/missiles/composite/cg_001.toml
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@ -0,0 +1,97 @@
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# 毫米波-红外成像末制导导弹-001 配置
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Type = "CompositeGuidance"
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[Name]
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Zh = "毫米波-红外成像末制导导弹-001"
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En = "Millimeter Wave-IR Imaging Terminal Guided Missile-001"
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[Properties]
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Type = "CompositeGuidance"
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MaxSpeed = 250.0
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MaxFlightTime = 60.0
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MaxFlightDistance = 5000.0
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MaxAcceleration = 100.0
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ProportionalNavigationCoefficient = 3.0
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LaunchAcceleration = 100.0
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MaxEngineBurnTime = 2.5
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CruiseTime = 5.0 # 假设这是第一阶段（MMW）的巡航时间或总巡航时间的一部分
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Mass = 25.0
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ExplosionRadius = 5.5
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HitProbability = 0.9
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SelfDestructHeight = 0.0
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# --- 复合制导特定属性 ---
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CompositeWorkMode = "Serial" # 工作模式：Serial (串行) 或 Parallel (并行)
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# FusionStrategy = "UseHighestPriority" # 仅在并行模式下相关
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# --- 制导组件套件 (GuidanceSuite) ---
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# 第一个制导阶段：毫米波
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[[Properties.GuidanceSuite]]
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ComponentName = "MMW_Phase1_Cruise"
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GuidanceSystemType = "MillimeterWaveTerminalGuidance" # 必须与C#工厂中的类型字符串匹配
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ActivationTrigger = "OnLaunch" # 激活触发器：OnLaunch, AfterFlightTime, DistanceToTargetThreshold, PreviousStageComplete
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ActivationValue = 0.0 # 触发器关联值 (例如：飞行时间秒数，距离米数)
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Priority = 0 # 优先级 (例如：0为最高)
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MaxTimeToAcquireGuidanceSeconds = 5.0 # 新增：获取制导的最大时间
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MinTimeWithGuidanceBeforeSwitchSeconds = 0.2 # 新增：稳定跟踪0.2秒后切换（因为毫米波跟踪不稳定）
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ContinueChainOnFailure = true # 新增：失败后继续尝试下一个
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# 第二个制导阶段：红外成像末制导
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[[Properties.GuidanceSuite]]
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ComponentName = "IR_Phase2_Terminal"
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GuidanceSystemType = "InfraredImagingTerminalGuidance" # 必须与C#工厂中的类型字符串匹配
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ActivationTrigger = "PreviousStageComplete" # 例如：在飞行一段时间后切换 (或者 PreviousStageComplete)
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ActivationValue = 10.0 # 例如：飞行10秒后激活红外阶段 (如果 CruiseTime 是 5s，这里可能需要调整)
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Priority = 1 # 优先级低于毫米波
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MaxTimeToAcquireGuidanceSeconds = 5.0 # 新增：获取制导的最大时间
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MinTimeWithGuidanceBeforeSwitchSeconds = 60.0 # 新增：设置为MaxFlightTime，使其持续制导
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ContinueChainOnFailure = false # 新增：这是最后一个，失败也无需继续
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# --- 各制导模式的详细配置 ---
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[InfraredImagingGuidanceConfig]
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MaxDetectionRange = 1000.0 # 最大探测距离 (米), JSON中为1000，对应C#默认为1000.0
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SearchFieldOfView = 0.209 # 搜索视场角 (弧度), JSON中为0.209, C#默认为 PI/15 ≈ 0.2094
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TrackFieldOfView = 0.052 # 跟踪视场角 (弧度), JSON中为0.052, C#默认为 PI/60 ≈ 0.0523
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ImageWidth = 640 # 图像宽度 (像素)
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ImageHeight = 512 # 图像高度 (像素)
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BackgroundIntensity = 1.0e-4 # 背景辐射强度 (瓦特/球面度), JSON中为1e-4, C#默认为0.01
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SearchRecognitionProbability = 0.6 # 搜索模式目标识别概率阈值
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TrackRecognitionProbability = 0.8 # 跟踪模式目标识别概率阈值
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TargetLostTolerance = 0.2 # 目标丢失容忍时间 (秒)
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LockConfirmationTime = 0.3 # 锁定确认时间 (秒)
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JammingResistanceThreshold = 1.0e-5 # 干扰抗性阈值 (瓦特)
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Wavelength = 3.0 # 波长 (微米), C#中属性名为Wavelength, JSON中为waveLength
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[MillimeterWaveGuidanceConfig]
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MaxDetectionRange = 5000.0 # 最大探测距离 (米)
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FieldOfViewAngle = 45.0 # 视场角 (度)
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TargetRecognitionProbability = 0.95 # 目标识别概率
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WaveFrequency = 9.4e10 # 波频率 (赫兹, JSON中为94e9)
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PulseDuration = 1.0e-6 # 脉冲持续时间 (秒)
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SearchBeamWidth = 5.0 # 搜索波束宽度 (度)
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TrackBeamWidth = 2.5 # 跟踪波束宽度 (度)
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LockBeamWidth = 1.0 # 锁定波束宽度 (度)
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ScanAngularSpeedDeg = 360.0 # 扫描角速度 (度/秒)
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ScanRadiusGrowthRateDeg = 22.5 # 扫描半径增长率 (度)
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RecognitionSNRThreshold = -25.0 # 识别信噪比阈值 (分贝)
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LockSNRThreshold = -10.0 # 锁定信噪比阈值 (分贝)
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TargetLostTolerance = 0.2 # 目标丢失容忍时间 (秒)
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LockConfirmationTime = 0.3 # 锁定确认时间 (秒)
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PulseRepetitionFrequency = 1.0e-4 # 脉冲重复频率 (秒, JSON中为1e-4，通常PRT单位是秒，PRF是Hz。这里JSON的注释可能不准确，按数值和C#模型属性名推断，这里应为PulseRepetitionTime，即脉冲重复间隔)
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TransmitPower = 0.3 # 发射功率 (瓦特)
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DopplerVelocityResolution = 1.0 # 多普勒速度分辨率 (米/秒)
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MaxMeasurableVelocity = 1000.0 # 最大可测量速度 (米/秒)
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AntennaGainDB = 23.0 # 天线增益 (分贝)
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NoiseFigureDB = 7.0 # 噪声系数 (分贝)
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SystemLossDB = 6.0 # 系统损耗 (分贝)
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MonopulseSensitivity = 1.0 # 单脉冲灵敏度 (单位取决于具体实现，JSON中为1)
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YawControlEffectiveness = 120.0 # 偏航控制有效性 (度/秒^2 或类似单位)
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PitchControlEffectiveness = 150.0 # 俯仰控制有效性 (度/秒^2 或类似单位)
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JammingResistanceThreshold = 1.0e-5 # 干扰抗性阈值 (瓦特)
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@ -50,7 +50,7 @@ namespace ThreatSource.Data
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{
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LoadMissiles(Path.Combine(path, "missiles"));
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LoadIndicators(Path.Combine(path, "indicators"));
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LoadSensors(Path.Combine(path, "sensors"));
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LoadWarners(Path.Combine(path, "warners"));
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LoadTargets(Path.Combine(path, "equipments"));
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LoadWeathers(Path.Combine(path, "weathers"));
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LoadJammers(Path.Combine(path, "jammers"));
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@ -75,12 +75,81 @@ namespace ThreatSource.Data
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var data = Toml.ToModel<MissileData>(tomlContent, options: _tomlOptions); // Pass options
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if (data != null)
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{
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if (data.Properties?.GuidanceSuite != null && data.Properties.GuidanceSuite.Count > 0)
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{
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Debug.WriteLine($"[ThreatSourceDataManager] Post-processing GuidanceSuite for missile file: {Path.GetFileName(file)} with {data.Properties.GuidanceSuite.Count} component(s).");
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foreach (var componentConfig in data.Properties.GuidanceSuite)
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{
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if (componentConfig == null)
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{
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Debug.WriteLine($"[ThreatSourceDataManager] Warning: Encountered a null componentConfig in GuidanceSuite for {Path.GetFileName(file)}.");
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continue;
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}
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string? typeKey = componentConfig.GuidanceSystemType?.ToLowerInvariant();
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object? assignedConfig = null; // Will hold the config object from MissileData
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string? topLevelConfigName = "UnknownPropertyInMissileData"; // For logging
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switch (typeKey)
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{
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case "millimeterwave": // Alias
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case "millimeterwaveterminalguidance":
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assignedConfig = data.MillimeterWaveGuidanceConfig;
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componentConfig.SpecificConfig = data.MillimeterWaveGuidanceConfig;
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topLevelConfigName = nameof(data.MillimeterWaveGuidanceConfig);
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break;
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case "infraredimagingterminalguidance":
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assignedConfig = data.InfraredImagingGuidanceConfig;
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componentConfig.SpecificConfig = data.InfraredImagingGuidanceConfig;
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topLevelConfigName = nameof(data.InfraredImagingGuidanceConfig);
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break;
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case "lasers semiactiveguidance":
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assignedConfig = data.LaserSemiActiveGuidanceConfig;
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componentConfig.SpecificConfig = data.LaserSemiActiveGuidanceConfig;
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topLevelConfigName = nameof(data.LaserSemiActiveGuidanceConfig);
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break;
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case "laserbeamriderguidance":
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assignedConfig = data.LaserBeamRiderGuidanceConfig;
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componentConfig.SpecificConfig = data.LaserBeamRiderGuidanceConfig;
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topLevelConfigName = nameof(data.LaserBeamRiderGuidanceConfig);
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break;
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case "infraredcommandguidance":
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assignedConfig = data.InfraredCommandGuidanceConfig;
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componentConfig.SpecificConfig = data.InfraredCommandGuidanceConfig;
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topLevelConfigName = nameof(data.InfraredCommandGuidanceConfig);
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break;
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default:
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Debug.WriteLine($"[ThreatSourceDataManager] Info: Component '{componentConfig.ComponentName}' (GuidanceSystemType: '{componentConfig.GuidanceSystemType}') has no explicit top-level config association logic in the current switch statement.");
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break;
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}
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if (componentConfig.SpecificConfig != null) // Check if SpecificConfig was successfully assigned
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{
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Debug.WriteLine($"[ThreatSourceDataManager] Successfully associated SpecificConfig for component '{componentConfig.ComponentName}' (Type: {componentConfig.GuidanceSystemType}) with data.{topLevelConfigName} (Actual Type: {componentConfig.SpecificConfig.GetType().FullName}).");
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}
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else // SpecificConfig is still null
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{
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if (assignedConfig == null &&
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(typeKey == "millimeterwaveterminalguidance" || typeKey == "millimeterwave" ||
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typeKey == "infraredimagingterminalguidance" || typeKey == "lasers semiactiveguidance" ||
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typeKey == "laserbeamriderguidance" || typeKey == "infraredcommandguidance"))
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{
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Debug.WriteLine($"[ThreatSourceDataManager] Error: SpecificConfig for component '{componentConfig.ComponentName}' (Type: {componentConfig.GuidanceSystemType}) remains NULL. The corresponding top-level config 'data.{topLevelConfigName}' was likely missing or null in the TOML file '{Path.GetFileName(file)}'.");
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}
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else
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{
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Debug.WriteLine($"[ThreatSourceDataManager] Info: SpecificConfig for component '{componentConfig.ComponentName}' (Type: {componentConfig.GuidanceSystemType}) is still null after processing. This implies no matching top-level config was found/assigned or the type is unhandled by the switch for top-level association.");
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}
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}
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}
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}
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else if (data.Properties?.GuidanceSuite != null && data.Properties.GuidanceSuite.Count == 0 && data.Type == ThreatSource.Missile.MissileType.CompositeGuidance)
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{
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Debug.WriteLine($"[ThreatSourceDataManager] Warning: Missile file {Path.GetFileName(file)} is of type CompositeGuidance but its GuidanceSuite is empty or null.");
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}
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string model = Path.GetFileNameWithoutExtension(file);
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_missiles[model] = data;
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if (data.MillimeterWaveGuidanceConfig != null)
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{
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var config = data.MillimeterWaveGuidanceConfig;
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}
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}
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}
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catch (Exception ex)
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@ -123,13 +192,13 @@ namespace ThreatSource.Data
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}
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/// <summary>
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/// 加载传感器数据
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/// 加载告警器数据
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/// </summary>
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private void LoadSensors(string path)
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private void LoadWarners(string path)
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{
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if (!Directory.Exists(path))
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{
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Trace.TraceError($"传感器数据目录不存在：{path}");
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Trace.TraceError($"告警器数据目录不存在：{path}");
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return;
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}
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@ -147,7 +216,7 @@ namespace ThreatSource.Data
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}
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catch (Exception ex)
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{
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Trace.TraceError($"加载传感器数据文件失败：{file}，错误：{ex.Message}");
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Trace.TraceError($"加载告警器数据文件失败：{file}，错误：{ex.Message}");
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Trace.TraceError($"异常堆栈：{ex.StackTrace}");
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}
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}
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@ -118,6 +118,15 @@ namespace ThreatSource.Data
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_simulationManager
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);
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case MissileType.CompositeGuidance:
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return new CompositeGuidedMissile(
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missileId,
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data.Properties,
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launchParams,
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_simulationManager,
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EquipmentType.Tank
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);
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default:
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throw new ArgumentException($"Unsupported missile type: {data.Type}");
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}
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@ -67,7 +67,7 @@ namespace ThreatSource.Guidance
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/// 记录目标的历史位置
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/// 用于计算目标速度
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/// </remarks>
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private Vector3D? lastTargetPosition { get; set; } // Changed to nullable Vector3D?
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private Vector3D? LastTargetPosition { get; set; } // Changed to nullable Vector3D?
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/// <summary>
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/// 红外图像生成器
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@ -199,7 +199,7 @@ namespace ThreatSource.Guidance
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public override void Deactivate()
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{
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base.Deactivate();
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lastTargetPosition = null; // Add reset to null
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LastTargetPosition = null; // Add reset to null
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HasTarget = false;
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HasGuidance = false;
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GuidanceAcceleration = Vector3D.Zero;
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@ -225,12 +225,12 @@ namespace ThreatSource.Guidance
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{
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targetLostTimer = 0; // 重置丢失计时器
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Vector3D? currentTargetVelocity = null; // Initialize as nullable
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if(lastTargetPosition != null && deltaTime > 0)
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if(LastTargetPosition != null && deltaTime > 0)
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{
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currentTargetVelocity = (currentTargetPosition - lastTargetPosition) / deltaTime;
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currentTargetVelocity = (currentTargetPosition - LastTargetPosition) / deltaTime;
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}
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lastTargetPosition = currentTargetPosition;
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LastTargetPosition = currentTargetPosition;
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GuidanceAcceleration = MotionAlgorithm.CalculateProportionalNavigation(
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ProportionalNavigationCoefficient,
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@ -289,7 +289,7 @@ namespace ThreatSource.Guidance
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currentMode = WorkMode.Search;
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HasTarget = false;
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targetLostTimer = 0; // 重置丢失计时器
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lastTargetPosition = null; // Add reset to null
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LastTargetPosition = null; // Add reset to null
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// 创建图像生成器
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imageGenerator = new InfraredImageGenerator(
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@ -577,7 +577,7 @@ namespace ThreatSource.Guidance
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public override ElementStatusInfo GetStatusInfo()
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{
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var statusInfo = base.GetStatusInfo();
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string lastPosStr = lastTargetPosition.HasValue ? lastTargetPosition.Value.ToString() : "null";
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string lastPosStr = LastTargetPosition.HasValue ? LastTargetPosition.Value.ToString() : "null";
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statusInfo.ExtendedProperties["lastPosStr"] = lastPosStr;
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return statusInfo;
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}
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@ -16,7 +16,6 @@ namespace ThreatSource.Guidance
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/// - 信噪比计算
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/// - 抗干扰处理
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/// - 比例导引控制
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/// 用于实现全天候制导打击
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/// </remarks>
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public class MillimeterWaveGuidanceSystem : BaseGuidanceSystem
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{
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@ -427,15 +426,15 @@ namespace ThreatSource.Guidance
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Debug.WriteLine($"目标夹角: {angle * 180/Math.PI:F2}度");
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Debug.WriteLine($"波束宽度: {currentBeamWidth * 180/Math.PI:F2}度，SNR阈值: {config.RecognitionSNRThreshold}dB");
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return angle <= currentBeamWidth;
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return angle <= (currentBeamWidth / 2.0);
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}
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else
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{
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// 跟踪/锁定模式使用单脉冲测角
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var (azError, elError) = ProcessMonopulse(toTarget.Normalize(), missileVelocity);
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Debug.WriteLine($"[单脉冲测角] 方位误差: {azError * 180/Math.PI:F3}度, 俯仰误差: {elError * 180/Math.PI:F3}度");
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Debug.WriteLine($"[波束宽度检查] 当前阈值: {currentBeamWidth * 180/Math.PI:F3}度，实际误差: {Math.Sqrt(azError*azError + elError*elError) * 180/Math.PI:F3}度");
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return Math.Sqrt(azError*azError + elError*elError) < currentBeamWidth;
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Debug.WriteLine($"[波束宽度检查] 当前波束宽度的一半: {(currentBeamWidth / 2.0) * 180/Math.PI:F3}度，实际误差合成: {Math.Sqrt(azError*azError + elError*elError) * 180/Math.PI:F3}度");
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return Math.Sqrt(azError*azError + elError*elError) <= (currentBeamWidth / 2.0);
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}
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}
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504
ThreatSource/src/MIssile/CompositeGuidedMissile.cs
Normal file
504
ThreatSource/src/MIssile/CompositeGuidedMissile.cs
Normal file
@ -0,0 +1,504 @@
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using System.Diagnostics;
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using ThreatSource.Simulation;
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using ThreatSource.Utils;
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using ThreatSource.Guidance;
|
||||
using ThreatSource.Equipment;
|
||||
using ThreatSource.Jammable;
|
||||
|
||||
namespace ThreatSource.Missile
|
||||
{
|
||||
internal enum CompositeFlightStage
|
||||
{
|
||||
Launch, // 发射阶段
|
||||
Cruise, // 巡航阶段
|
||||
Terminal // 末制导阶段
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
/// 复合制导导弹类，继承自 BaseMissile
|
||||
/// </summary>
|
||||
/// <remarks>
|
||||
/// 该类实现了复合制导导弹的制导系统管理、状态更新和自毁逻辑
|
||||
/// </remarks>
|
||||
public class CompositeGuidedMissile : BaseMissile
|
||||
{
|
||||
/// <summary>
|
||||
/// 制导系统列表
|
||||
/// </summary>
|
||||
protected List<IGuidanceSystem> guidanceSystems = [];
|
||||
/// <summary>
|
||||
/// 当前活动制导系统
|
||||
/// </summary>
|
||||
protected IGuidanceSystem? currentActiveGuidance;
|
||||
/// <summary>
|
||||
/// 当前活动制导系统索引
|
||||
/// </summary>
|
||||
protected int currentActiveGuidanceIndex = -1;
|
||||
/// <summary>
|
||||
/// 所有制导阶段是否已尝试
|
||||
/// </summary>
|
||||
protected bool allGuidancePhasesAttempted = false;
|
||||
/// <summary>
|
||||
/// 目标类型
|
||||
/// </summary>
|
||||
private readonly EquipmentType targetType;
|
||||
/// <summary>
|
||||
/// 当前飞行阶段
|
||||
/// </summary>
|
||||
private CompositeFlightStage currentFlightStage;
|
||||
|
||||
/// <summary>
|
||||
/// 经过优先级排序的制导组件配置列表。
|
||||
/// </summary>
|
||||
private List<GuidanceComponentConfig> sortedGuidanceConfigs = new List<GuidanceComponentConfig>();
|
||||
|
||||
/// <summary>
|
||||
/// 经过优先级排序的制导系统实例列表，与 sortedGuidanceConfigs 一一对应。
|
||||
/// </summary>
|
||||
private List<IGuidanceSystem> sortedGuidanceSystems = new List<IGuidanceSystem>();
|
||||
|
||||
/// <summary>
|
||||
/// 当前活动的制导组件配置。
|
||||
/// </summary>
|
||||
private GuidanceComponentConfig? currentActiveConfig;
|
||||
|
||||
/// <summary>
|
||||
/// sortedGuidanceSystems 列表中当前活动或下一个待激活系统的索引。
|
||||
/// 初始化为 -1 表示制导链尚未开始。
|
||||
/// </summary>
|
||||
private int currentGuidancePhaseIndex = -1;
|
||||
|
||||
/// <summary>
|
||||
/// 标记整个制导链是否已中止或所有阶段已成功完成。
|
||||
/// </summary>
|
||||
private bool guidanceChainHaltedOrCompleted = false;
|
||||
|
||||
/// <summary>
|
||||
/// 当前活动制导阶段开始激活的仿真时间（秒）。
|
||||
/// </summary>
|
||||
private double currentPhaseActivationTime = -1.0;
|
||||
|
||||
/// <summary>
|
||||
/// 当前活动制导阶段首次获得稳定制导的仿真时间（秒）。
|
||||
/// 用于 MinTimeWithGuidanceBeforeSwitchSeconds 判断。
|
||||
/// </summary>
|
||||
private double currentPhaseStableGuidanceTime = -1.0;
|
||||
|
||||
/// <summary>
|
||||
/// 复合制导导弹构造函数
|
||||
/// </summary>
|
||||
public CompositeGuidedMissile(string missileId, MissileProperties properties, KinematicState kinematicState, ISimulationManager manager, EquipmentType primaryTargetType)
|
||||
: base(missileId, properties, kinematicState, manager)
|
||||
{
|
||||
targetType = primaryTargetType;
|
||||
InitializeGuidanceSuite();
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
/// 初始化制导系统套件，并按优先级排序。
|
||||
/// </summary>
|
||||
protected void InitializeGuidanceSuite()
|
||||
{
|
||||
this.sortedGuidanceSystems.Clear();
|
||||
this.sortedGuidanceConfigs.Clear();
|
||||
this.guidanceChainHaltedOrCompleted = false;
|
||||
this.currentGuidancePhaseIndex = -1; // 重置索引，表示从头开始
|
||||
this.currentActiveGuidance = null;
|
||||
this.currentActiveConfig = null;
|
||||
|
||||
if (Properties.GuidanceSuite != null && Properties.GuidanceSuite.Count > 0)
|
||||
{
|
||||
var tempGuidanceList = new List<Tuple<GuidanceComponentConfig, IGuidanceSystem>>();
|
||||
|
||||
foreach (var componentConfig in Properties.GuidanceSuite)
|
||||
{
|
||||
IGuidanceSystem? newGuidanceSystem = CreateGuidanceSystemFromConfig(componentConfig);
|
||||
if (newGuidanceSystem != null)
|
||||
{
|
||||
tempGuidanceList.Add(new Tuple<GuidanceComponentConfig, IGuidanceSystem>(componentConfig, newGuidanceSystem));
|
||||
}
|
||||
else
|
||||
{
|
||||
Debug.WriteLine($"[CompositeGuidance.Initialize] 创建制导系统 '{componentConfig.ComponentName}' (类型: {componentConfig.GuidanceSystemType}) 失败。");
|
||||
}
|
||||
}
|
||||
|
||||
// 按优先级排序 (数值越小，优先级越高)
|
||||
tempGuidanceList.Sort((item1, item2) => item1.Item1.Priority.CompareTo(item2.Item1.Priority));
|
||||
|
||||
foreach (var tuple in tempGuidanceList)
|
||||
{
|
||||
this.sortedGuidanceConfigs.Add(tuple.Item1);
|
||||
this.sortedGuidanceSystems.Add(tuple.Item2);
|
||||
}
|
||||
|
||||
if (this.sortedGuidanceSystems.Count > 0)
|
||||
{
|
||||
this.currentGuidancePhaseIndex = -1; // 设置为-1，以便TryActivateNextGuidanceSystem能正确激活第一个
|
||||
}
|
||||
else
|
||||
{
|
||||
this.guidanceChainHaltedOrCompleted = true; // 没有可用的制导系统
|
||||
Debug.WriteLine("[CompositeGuidance.Initialize] 未配置或未能创建任何有效的制导系统。");
|
||||
}
|
||||
}
|
||||
else
|
||||
{
|
||||
this.guidanceChainHaltedOrCompleted = true;
|
||||
Debug.WriteLine("[CompositeGuidance.Initialize] GuidanceSuite 为空。");
|
||||
}
|
||||
Debug.WriteLine($"[CompositeGuidance.Initialize] 初始化完成。排序后的制导系统数量: {sortedGuidanceSystems.Count}");
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
/// 从配置创建制导系统
|
||||
/// </summary>
|
||||
private IGuidanceSystem? CreateGuidanceSystemFromConfig(GuidanceComponentConfig config)
|
||||
{
|
||||
switch (config.GuidanceSystemType?.ToLowerInvariant())
|
||||
{
|
||||
case "millimeterwaveterminalguidance":
|
||||
if (config.SpecificConfig is MillimeterWaveGuidanceConfig mmwConfig)
|
||||
{
|
||||
return new MillimeterWaveGuidanceSystem(config.ComponentName, Id, Properties.MaxAcceleration, Properties.ProportionalNavigationCoefficient, mmwConfig, SimulationManager);
|
||||
}
|
||||
else
|
||||
{
|
||||
return null;
|
||||
}
|
||||
case "infraredimagingterminalguidance":
|
||||
if (config.SpecificConfig is InfraredImagingGuidanceConfig irConfig)
|
||||
{
|
||||
return new InfraredImagingGuidanceSystem(config.ComponentName, Id, irConfig, targetType, Properties.MaxAcceleration, Properties.ProportionalNavigationCoefficient, SimulationManager);
|
||||
}
|
||||
else
|
||||
{
|
||||
return null;
|
||||
}
|
||||
default:
|
||||
return null;
|
||||
}
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
/// 更新复合制导逻辑，负责制导系统的激活、切换和状态管理。
|
||||
/// </summary>
|
||||
/// <param name="deltaTime">时间步长。</param>
|
||||
protected virtual void UpdateGuidanceLogic(double deltaTime)
|
||||
{
|
||||
if (guidanceChainHaltedOrCompleted)
|
||||
{
|
||||
return;
|
||||
}
|
||||
|
||||
if (currentActiveGuidance == null)
|
||||
{
|
||||
TryActivateNextGuidanceSystem();
|
||||
return;
|
||||
}
|
||||
|
||||
if (currentActiveGuidance is SimulationElement se)
|
||||
{
|
||||
se.Update(deltaTime); // Assuming Update is part of SimulationElement or BaseGuidanceSystem which inherits it
|
||||
}
|
||||
else
|
||||
{
|
||||
// Fallback or error if it's not a SimulationElement but Update is needed.
|
||||
// For now, we assume all IGuidanceSystem are also SimulationElement for Update.
|
||||
}
|
||||
|
||||
if (currentActiveConfig == null)
|
||||
{
|
||||
Debug.WriteLine("[CompositeGuidance.Logic] 错误：currentActiveGuidance 不为null，但 currentActiveConfig 为null。");
|
||||
HandleCurrentPhaseFailure(true);
|
||||
return;
|
||||
}
|
||||
|
||||
// 1. 成功切换条件: 获得稳定制导
|
||||
if (currentActiveGuidance.HasGuidance)
|
||||
{
|
||||
if (currentPhaseStableGuidanceTime < 0) // 本帧首次获得制导
|
||||
{
|
||||
currentPhaseStableGuidanceTime = FlightTime;
|
||||
Debug.WriteLine($"[CompositeGuidance.Logic] 模块 {currentActiveConfig.ComponentName} 在 {FlightTime:F2}s 首次获得制导。");
|
||||
}
|
||||
|
||||
// 检查是否达到稳定制导时间
|
||||
if (currentActiveConfig.MinTimeWithGuidanceBeforeSwitchSeconds <= 0 ||
|
||||
(FlightTime - currentPhaseStableGuidanceTime) >= currentActiveConfig.MinTimeWithGuidanceBeforeSwitchSeconds)
|
||||
{
|
||||
// 满足稳定时间要求
|
||||
if (currentGuidancePhaseIndex < sortedGuidanceSystems.Count - 1)
|
||||
{
|
||||
// 如果不是最后一个制导阶段，则尝试切换到下一个
|
||||
Debug.WriteLine($"[CompositeGuidance.Logic] 模块 {currentActiveConfig.ComponentName} 完成任务 (稳定制导持续达标)，切换到下一阶段。");
|
||||
TryActivateNextGuidanceSystem(deactivatePrevious: true);
|
||||
return; // 切换后立即返回，避免同一帧内处理新激活的模块
|
||||
}
|
||||
else
|
||||
{
|
||||
// 如果是最后一个制导阶段，并且已满足稳定条件，则让它继续工作。
|
||||
// 标记制导链"执行完毕"，但当前制导继续。
|
||||
if (!guidanceChainHaltedOrCompleted) // 避免重复打印
|
||||
{
|
||||
Debug.WriteLine($"[CompositeGuidance.Logic] 最后一个制导模块 {currentActiveConfig.ComponentName} 已满足稳定条件并将持续工作。");
|
||||
guidanceChainHaltedOrCompleted = true; // 标记配置的切换链已完成
|
||||
}
|
||||
// 不返回，允许后续的超时和干扰检查继续作用于这个最后一个阶段
|
||||
}
|
||||
}
|
||||
}
|
||||
else // 当前帧无制导
|
||||
{
|
||||
currentPhaseStableGuidanceTime = -1.0; // 重置稳定制导开始时间
|
||||
}
|
||||
|
||||
// 2. 失效条件 - 超时 (在未成功切换的前提下检查)
|
||||
if (currentActiveConfig.MaxTimeToAcquireGuidanceSeconds > 0 &&
|
||||
(FlightTime - currentPhaseActivationTime) >= currentActiveConfig.MaxTimeToAcquireGuidanceSeconds)
|
||||
{
|
||||
Debug.WriteLine($"[CompositeGuidance.Logic] 模块 {currentActiveConfig.ComponentName} 超时 ({currentActiveConfig.MaxTimeToAcquireGuidanceSeconds}s) 未能获得并维持稳定制导。");
|
||||
HandleCurrentPhaseFailure();
|
||||
return;
|
||||
}
|
||||
|
||||
bool isJammed = false;
|
||||
if (currentActiveGuidance is IJammable jammableSystem)
|
||||
{
|
||||
isJammed = jammableSystem.IsBlockingJammed;
|
||||
}
|
||||
|
||||
if (isJammed && !currentActiveGuidance.HasGuidance)
|
||||
{
|
||||
Debug.WriteLine($"[CompositeGuidance.Logic] 模块 {currentActiveConfig.ComponentName} 受到阻塞性干扰且无制导。");
|
||||
HandleCurrentPhaseFailure();
|
||||
return;
|
||||
}
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
/// 尝试激活制导链中的下一个制导系统。
|
||||
/// </summary>
|
||||
/// <param name="deactivatePrevious">是否应停用当前活动的制导系统（如果存在）。</param>
|
||||
private void TryActivateNextGuidanceSystem(bool deactivatePrevious = false)
|
||||
{
|
||||
if (deactivatePrevious && currentActiveGuidance != null)
|
||||
{
|
||||
Debug.WriteLine($"[CompositeGuidance.ActivateNext] 停用先前模块: {currentActiveConfig?.ComponentName ?? "Unknown"}");
|
||||
if (currentActiveGuidance is BaseGuidanceSystem prevBaseGs)
|
||||
{
|
||||
prevBaseGs.Deactivate();
|
||||
}
|
||||
}
|
||||
|
||||
currentGuidancePhaseIndex++;
|
||||
|
||||
if (currentGuidancePhaseIndex >= sortedGuidanceSystems.Count)
|
||||
{
|
||||
Debug.WriteLine("[CompositeGuidance.ActivateNext] 所有制导阶段已尝试完毕。");
|
||||
guidanceChainHaltedOrCompleted = true;
|
||||
currentActiveGuidance = null;
|
||||
currentActiveConfig = null;
|
||||
return;
|
||||
}
|
||||
|
||||
currentActiveGuidance = sortedGuidanceSystems[currentGuidancePhaseIndex];
|
||||
currentActiveConfig = sortedGuidanceConfigs[currentGuidancePhaseIndex];
|
||||
|
||||
Debug.WriteLine($"[CompositeGuidance.ActivateNext] 尝试激活模块: {currentActiveConfig.ComponentName} (类型: {currentActiveConfig.GuidanceSystemType})");
|
||||
if (currentActiveGuidance is BaseGuidanceSystem currentBaseGs)
|
||||
{
|
||||
currentBaseGs.Activate();
|
||||
}
|
||||
|
||||
currentPhaseActivationTime = FlightTime;
|
||||
currentPhaseStableGuidanceTime = -1.0; // 重置稳定制导计时器
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
/// 处理当前活动制导阶段的失败。
|
||||
/// </summary>
|
||||
/// <param name="forceContinueOnConfigError">内部错误时是否强制尝试继续</param>
|
||||
private void HandleCurrentPhaseFailure(bool forceContinueOnConfigError = false)
|
||||
{
|
||||
string failedComponentName = currentActiveConfig?.ComponentName ?? currentActiveGuidance?.GetType().Name ?? "Unknown";
|
||||
Debug.WriteLine($"[CompositeGuidance.Failure] 制导模块 {failedComponentName} 已失败。");
|
||||
|
||||
bool continueChain = forceContinueOnConfigError || (currentActiveConfig?.ContinueChainOnFailure ?? true);
|
||||
|
||||
if (currentActiveGuidance != null)
|
||||
{
|
||||
if (currentActiveGuidance is BaseGuidanceSystem baseGsToDeactivate)
|
||||
{
|
||||
baseGsToDeactivate.Deactivate();
|
||||
}
|
||||
}
|
||||
|
||||
currentActiveGuidance = null;
|
||||
currentActiveConfig = null;
|
||||
|
||||
if (continueChain)
|
||||
{
|
||||
Debug.WriteLine($"[CompositeGuidance.Failure] 配置允许，尝试下一个制导模块。");
|
||||
TryActivateNextGuidanceSystem(deactivatePrevious: false); // deactivatePrevious 为 false，因为已经停用了
|
||||
}
|
||||
else
|
||||
{
|
||||
Debug.WriteLine($"[CompositeGuidance.Failure] 制导链因模块 {failedComponentName} 失败且配置为不继续而中止。");
|
||||
guidanceChainHaltedOrCompleted = true;
|
||||
}
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
/// 更新导弹状态
|
||||
/// </summary>
|
||||
public override void Update(double deltaTime)
|
||||
{
|
||||
if (!IsActive) return;
|
||||
|
||||
// 更新飞行阶段 (Launch, Cruise, Terminal)
|
||||
// 这部分逻辑保持不变，因为它控制导弹的物理飞行状态和阶段转换
|
||||
switch (currentFlightStage)
|
||||
{
|
||||
case CompositeFlightStage.Launch:
|
||||
UpdateLaunchStage(deltaTime);
|
||||
break;
|
||||
case CompositeFlightStage.Cruise:
|
||||
UpdateCruiseStage(deltaTime);
|
||||
break;
|
||||
case CompositeFlightStage.Terminal:
|
||||
UpdateTerminalStage(deltaTime); // UpdateTerminalStage 内部可以决定是否调用 UpdateGuidanceLogic
|
||||
break;
|
||||
}
|
||||
|
||||
// 具体的制导模式切换和活动制导系统更新由 UpdateGuidanceLogic 处理
|
||||
// 只在特定条件下（例如，串行模式且处于末制导）调用 UpdateGuidanceLogic
|
||||
if (Properties.CompositeWorkMode == CompositeWorkType.Serial && currentFlightStage == CompositeFlightStage.Terminal)
|
||||
{
|
||||
UpdateGuidanceLogic(deltaTime);
|
||||
}
|
||||
// else if (Properties.CompositeWorkMode == CompositeWorkType.Parallel) { /* 未来可扩展并行逻辑 */ }
|
||||
|
||||
|
||||
// 在所有逻辑更新后，统一设置导弹的制导状态和加速度
|
||||
if (currentActiveGuidance != null && currentActiveGuidance.HasGuidance)
|
||||
{
|
||||
this.IsGuidance = true;
|
||||
this.GuidanceAcceleration = currentActiveGuidance.GetGuidanceAcceleration();
|
||||
}
|
||||
else
|
||||
{
|
||||
this.IsGuidance = false;
|
||||
this.GuidanceAcceleration = Vector3D.Zero;
|
||||
}
|
||||
|
||||
base.Update(deltaTime); // 调用基类更新，处理运动学等
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
/// 发射导弹，并初始化飞行阶段及制导链状态。
|
||||
/// </summary>
|
||||
public override void Fire()
|
||||
{
|
||||
base.Fire();
|
||||
currentFlightStage = CompositeFlightStage.Launch;
|
||||
|
||||
// 重置制导链状态
|
||||
InitializeGuidanceSuite(); // 重新初始化以获取最新的排序和重置内部状态
|
||||
// currentGuidancePhaseIndex = -1; // InitializeGuidanceSuite 内部会处理
|
||||
// guidanceChainHaltedOrCompleted = false; // InitializeGuidanceSuite 内部会处理
|
||||
// currentActiveGuidance = null; // InitializeGuidanceSuite 内部会处理
|
||||
// currentActiveConfig = null; // InitializeGuidanceSuite 内部会处理
|
||||
currentPhaseActivationTime = -1.0;
|
||||
currentPhaseStableGuidanceTime = -1.0;
|
||||
|
||||
Debug.WriteLine($"[CompositeGuidedMissile.Fire] 导弹 {Id} 发射. 初始阶段: {currentFlightStage}. 制导链已重置.");
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
/// 更新发射阶段，基于MaxEngineBurnTime转换到巡航阶段。
|
||||
/// </summary>
|
||||
protected virtual void UpdateLaunchStage(double deltaTime)
|
||||
{
|
||||
if (FlightTime >= Properties.MaxEngineBurnTime)
|
||||
{
|
||||
currentFlightStage = CompositeFlightStage.Cruise;
|
||||
}
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
/// 更新巡航阶段，基于CruiseTime转换到末制导阶段。
|
||||
/// </summary>
|
||||
protected virtual void UpdateCruiseStage(double deltaTime)
|
||||
{
|
||||
if (FlightTime >= Properties.CruiseTime)
|
||||
{
|
||||
currentFlightStage = CompositeFlightStage.Terminal;
|
||||
}
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
/// 更新末制导阶段，调用UpdateGuidanceMode处理制导逻辑。
|
||||
/// </summary>
|
||||
protected virtual void UpdateTerminalStage(double deltaTime)
|
||||
{
|
||||
UpdateGuidanceLogic(deltaTime);
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
/// 停用导弹，并清理制导系统状态。
|
||||
/// </summary>
|
||||
public override void Deactivate()
|
||||
{
|
||||
Debug.WriteLine($"[CompositeGuidedMissile.Deactivate] 开始停用导弹 {Id}.");
|
||||
base.Deactivate();
|
||||
if (currentActiveGuidance != null)
|
||||
{
|
||||
if (currentActiveGuidance is BaseGuidanceSystem activeBaseGs)
|
||||
{
|
||||
activeBaseGs.Deactivate();
|
||||
}
|
||||
currentActiveGuidance = null;
|
||||
}
|
||||
// sortedGuidanceSystems 中的其他已创建但未活动的系统，如果它们有需要清理的状态，也应考虑
|
||||
// 但通常 Deactivate 是针对活动组件的。InitializeGuidanceSuite 会在下次 Fire 时重建。
|
||||
|
||||
guidanceChainHaltedOrCompleted = true; // 标记为不再活动
|
||||
currentActiveConfig = null;
|
||||
Debug.WriteLine($"[CompositeGuidedMissile.Deactivate] 导弹 {Id} 已停用. 活动制导系统已处理.");
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
/// 获取导弹状态信息，包括复合制导的特定状态。
|
||||
/// </summary>
|
||||
public override ElementStatusInfo GetStatusInfo()
|
||||
{
|
||||
var statusInfo = base.GetStatusInfo();
|
||||
statusInfo.ExtendedProperties["CurrentFlightStage"] = currentFlightStage.ToString(); // 已有
|
||||
statusInfo.ExtendedProperties["CompositeWorkMode"] = Properties.CompositeWorkMode.ToString(); // 已有
|
||||
statusInfo.ExtendedProperties["ActiveGuidanceSystem"] = currentActiveGuidance?.GetType().Name ?? "None"; // 已有
|
||||
statusInfo.ExtendedProperties["ActiveGuidanceConfig"] = currentActiveConfig?.ComponentName ?? "None";
|
||||
statusInfo.ExtendedProperties["CurrentGuidancePhaseIndex"] = currentGuidancePhaseIndex.ToString();
|
||||
statusInfo.ExtendedProperties["GuidanceChainHaltedOrCompleted"] = guidanceChainHaltedOrCompleted.ToString();
|
||||
statusInfo.ExtendedProperties["ConfiguredGuidanceSystemsCount"] = sortedGuidanceSystems.Count.ToString(); // 改用排序后的列表计数
|
||||
|
||||
for (int i = 0; i < sortedGuidanceSystems.Count; i++)
|
||||
{
|
||||
var guidanceSystem = sortedGuidanceSystems[i];
|
||||
if (guidanceSystem is SimulationElement simElement) // 检查并转换
|
||||
{
|
||||
string statusString = simElement.GetStatusInfo().ToString();
|
||||
string keyName = $"SubGuidanceSystem_Status_{i}";
|
||||
statusInfo.ExtendedProperties[keyName] = statusString;
|
||||
}
|
||||
else if (guidanceSystem != null) // 如果不是SimulationElement但非null，记录一个警告或默认值
|
||||
{
|
||||
string keyName = $"SubGuidanceSystem_Status_{i}";
|
||||
statusInfo.ExtendedProperties[keyName] = "Error: Guidance system is not a SimulationElement or is null.";
|
||||
Debug.WriteLine($"[CompositeGuidedMissile.GetStatusInfo] Warning: Guidance system at index {i} (type: {guidanceSystem.GetType().Name}) is not a SimulationElement or is null.");
|
||||
}
|
||||
}
|
||||
return statusInfo;
|
||||
}
|
||||
}
|
||||
}
|
||||
@ -1,4 +1,6 @@
|
||||
using ThreatSource.Simulation;
|
||||
using System.Collections.Generic; // Required for List<T>
|
||||
using ThreatSource.Equipment; // 添加此 using 指令以识别 EquipmentType
|
||||
|
||||
namespace ThreatSource.Missile
|
||||
{
|
||||
@ -48,7 +50,151 @@ namespace ThreatSource.Missile
|
||||
/// <summary>
|
||||
/// 末敏弹子弹
|
||||
/// </summary>
|
||||
TerminalSensitiveSubmunition
|
||||
TerminalSensitiveSubmunition,
|
||||
/// <summary>
|
||||
/// 复合制导导弹，使用 GuidanceSuite 配置。
|
||||
/// </summary>
|
||||
CompositeGuidance
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
/// 定义制导组件激活的触发条件类型
|
||||
/// </summary>
|
||||
public enum GuidanceActivationTriggerType
|
||||
{
|
||||
/// <summary>
|
||||
/// 在发射时激活
|
||||
/// </summary>
|
||||
OnLaunch,
|
||||
/// <summary>
|
||||
/// 在飞行一段时间后激活
|
||||
/// </summary>
|
||||
AfterFlightTime,
|
||||
/// <summary>
|
||||
/// 在距离目标一定距离时激活
|
||||
/// </summary>
|
||||
DistanceToTargetThreshold,
|
||||
/// <summary>
|
||||
/// 在上一阶段完成时激活
|
||||
/// </summary>
|
||||
PreviousStageComplete,
|
||||
/// <summary>
|
||||
/// 根据命令或逻辑激活
|
||||
/// </summary>
|
||||
CommandOrLogic,
|
||||
/// <summary>
|
||||
/// 手动或备用激活
|
||||
/// </summary>
|
||||
ManualOrBackup
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
/// 定义复合制导中多个制导系统的工作方式
|
||||
/// </summary>
|
||||
public enum CompositeWorkType
|
||||
{
|
||||
/// <summary>
|
||||
/// 串行工作：任何时候只有一个制导系统处于活动状态并提供指令。
|
||||
/// </summary>
|
||||
Serial,
|
||||
/// <summary>
|
||||
/// 并行工作：多个制导系统可以同时活动，可能需要指令融合。
|
||||
/// </summary>
|
||||
Parallel
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
/// 定义并行工作模式下的指令融合策略
|
||||
/// </summary>
|
||||
public enum CommandFusionStrategy
|
||||
{
|
||||
/// <summary>
|
||||
/// 使用当前活动且优先级最高的制导系统的指令。
|
||||
/// </summary>
|
||||
UseHighestPriority,
|
||||
/// <summary>
|
||||
/// (未来扩展) 加权平均融合来自多个活动制导系统的指令。
|
||||
/// </summary>
|
||||
WeightedAverage,
|
||||
/// <summary>
|
||||
/// (未来扩展) 使用自定义的融合逻辑。
|
||||
/// </summary>
|
||||
CustomLogic
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
/// 单个制导组件的配置
|
||||
/// </summary>
|
||||
public class GuidanceComponentConfig
|
||||
{
|
||||
/// <summary>
|
||||
/// 制导组件名称
|
||||
/// </summary>
|
||||
public string ComponentName { get; set; } = "DefaultGuidanceComponent";
|
||||
/// <summary>
|
||||
/// 制导系统类型
|
||||
/// </summary>
|
||||
public string GuidanceSystemType { get; set; } = "Inertial";
|
||||
/// <summary>
|
||||
/// 特定配置
|
||||
/// </summary>
|
||||
public object? SpecificConfig { get; set; }
|
||||
/// <summary>
|
||||
/// 激活触发类型
|
||||
/// </summary>
|
||||
public GuidanceActivationTriggerType ActivationTrigger { get; set; } = GuidanceActivationTriggerType.OnLaunch;
|
||||
/// <summary>
|
||||
/// 激活值
|
||||
/// </summary>
|
||||
public double ActivationValue { get; set; } = 0;
|
||||
/// <summary>
|
||||
/// 优先级，用于决定串行模式下的执行顺序。数值越小，优先级越高。
|
||||
/// </summary>
|
||||
public int Priority { get; set; } = 0;
|
||||
|
||||
/// <summary>
|
||||
/// (可选) 从激活开始，允许该模块尝试获取有效制导(HasGuidance == true)的最大时间（秒）。
|
||||
/// 设为0或负数表示不使用此超时。
|
||||
/// </summary>
|
||||
public double MaxTimeToAcquireGuidanceSeconds { get; set; } = 5.0;
|
||||
|
||||
/// <summary>
|
||||
/// (可选) 当获得稳定制导(HasGuidance == true)后，在切换到下一阶段之前需要保持制导的最短持续时间（秒）。
|
||||
/// 默认为0表示一旦获得制导即满足切换条件（如果其他条件也满足）。
|
||||
/// </summary>
|
||||
public double MinTimeWithGuidanceBeforeSwitchSeconds { get; set; } = 0.0;
|
||||
|
||||
/// <summary>
|
||||
/// (可选) 如果此制导阶段失败（例如超时、受干扰等），是否继续尝试激活序列中的下一个制导系统。
|
||||
/// 默认为 true。
|
||||
/// </summary>
|
||||
public bool ContinueChainOnFailure { get; set; } = true;
|
||||
|
||||
/// <summary>
|
||||
/// 默认构造函数
|
||||
/// </summary>
|
||||
public GuidanceComponentConfig() { }
|
||||
|
||||
/// <summary>
|
||||
/// 带参数的构造函数
|
||||
/// </summary>
|
||||
public GuidanceComponentConfig(string name, string type, object? specificConfig = null,
|
||||
GuidanceActivationTriggerType trigger = GuidanceActivationTriggerType.OnLaunch,
|
||||
double triggerValue = 0, int priority = 0,
|
||||
double maxTimeToAcquireGuidance = 5.0,
|
||||
double minTimeWithGuidanceBeforeSwitch = 0.0,
|
||||
bool continueOnFailure = true)
|
||||
{
|
||||
ComponentName = name;
|
||||
GuidanceSystemType = type;
|
||||
SpecificConfig = specificConfig;
|
||||
ActivationTrigger = trigger;
|
||||
ActivationValue = triggerValue;
|
||||
Priority = priority;
|
||||
MaxTimeToAcquireGuidanceSeconds = maxTimeToAcquireGuidance;
|
||||
MinTimeWithGuidanceBeforeSwitchSeconds = minTimeWithGuidanceBeforeSwitch;
|
||||
ContinueChainOnFailure = continueOnFailure;
|
||||
}
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
@ -201,6 +347,24 @@ namespace ThreatSource.Missile
|
||||
/// </remarks>
|
||||
public double CruiseTime { get; set; }
|
||||
|
||||
/// <summary>
|
||||
/// 制导组件套件。仅当 Type 为 CompositeGuidance 时有效。
|
||||
/// 列表中的顺序可能也暗示了串行模式下的默认阶段顺序，除非 ActivationTrigger 另有复杂规定，并结合Priority。
|
||||
/// </summary>
|
||||
public List<GuidanceComponentConfig> GuidanceSuite { get; set; }
|
||||
|
||||
/// <summary>
|
||||
/// 复合制导模式下，多个制导系统的工作方式。默认为串行。
|
||||
/// 仅当 Type 为 CompositeGuidance 时有效。
|
||||
/// </summary>
|
||||
public CompositeWorkType CompositeWorkMode { get; set; } = CompositeWorkType.Serial;
|
||||
|
||||
/// <summary>
|
||||
/// 并行工作模式下的指令融合策略。默认为使用最高优先级的指令。
|
||||
/// 仅当 Type 为 CompositeGuidance 且 CompositeWorkMode 为 Parallel 时有效。
|
||||
/// </summary>
|
||||
public CommandFusionStrategy FusionStrategy { get; set; } = CommandFusionStrategy.UseHighestPriority;
|
||||
|
||||
/// <summary>
|
||||
/// 初始化导弹配置类的新实例
|
||||
/// </summary>
|
||||
@ -215,6 +379,7 @@ namespace ThreatSource.Missile
|
||||
SetDefaultValues();
|
||||
Type = MissileType.StandardMissile;
|
||||
LaserCodeConfig = new LaserCodeConfig();
|
||||
GuidanceSuite = [];
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
@ -242,6 +407,11 @@ namespace ThreatSource.Missile
|
||||
ExplosionRadius = 5;
|
||||
HitProbability = 0.9;
|
||||
SelfDestructHeight = 0;
|
||||
|
||||
// 重置复合制导相关属性的默认值
|
||||
CompositeWorkMode = CompositeWorkType.Serial;
|
||||
FusionStrategy = CommandFusionStrategy.UseHighestPriority;
|
||||
if (GuidanceSuite != null) GuidanceSuite.Clear(); else GuidanceSuite = new List<GuidanceComponentConfig>();
|
||||
}
|
||||
}
|
||||
}
|
||||
@ -7,6 +7,10 @@
|
||||
- 事件描述
|
||||
- 分析处理
|
||||
|
||||
## 2025-05-18 增加了装备的RCS特征矩阵
|
||||
- 增加了装备的RCS特征矩阵
|
||||
- 在毫米波末制导中，用RCS特征矩阵取值
|
||||
|
||||
## 2025-05-15 完善了末敏弹的发射角度计算逻辑
|
||||
- 完善了末敏弹的发射角度计算逻辑，增加目标速度、空气阻力的影响
|
||||
- 完善了末敏子弹各阶段的控制参数
|
||||
|
||||
@ -444,6 +444,36 @@
|
||||
2. 对目标位置进行预测后，发射距离不再重要。
|
||||
3. 目标速度不能太大，比如超过10米/秒，导弹会飞出范围。（在 10 米/秒以下，也有概率不能命中）
|
||||
|
||||
## 复合制导导弹实验记录（v1.1.19）
|
||||
|
||||
时间：2025-05-18 10:00:00
|
||||
版本：v1.1.19
|
||||
|
||||
### 合理发射参数（与红外和毫米波一样）
|
||||
- 发射高度：1米
|
||||
- 发射角度：0.2
|
||||
- 导弹初速度：10米/秒
|
||||
|
||||
### 合理配置参数
|
||||
|
||||
多模制导：
|
||||
（毫米波）
|
||||
- MinTimeWithGuidanceBeforeSwitchSeconds：0.2秒（因为毫米波跟踪不稳定，不能设置过大）
|
||||
- MaxTimeToAcquireGuidanceSeconds：5秒
|
||||
- ContinueChainOnFailure：true
|
||||
（红外）
|
||||
- MinTimeWithGuidanceBeforeSwitchSeconds：60秒（这是最后一个制导的持续时间）
|
||||
- MaxTimeToAcquireGuidanceSeconds：5秒
|
||||
- ContinueChainOnFailure：false
|
||||
|
||||
毫米波制导系统参数：
|
||||
- SearchBeamWidth：5.0度
|
||||
- TrackBeamWidth：2.5度
|
||||
- LockBeamWidth：1.0度
|
||||
|
||||
### 实验结果
|
||||
- 毫米波跟踪不稳定，适当加大搜索和跟踪波束宽度，可以提高跟踪稳定性。
|
||||
- 将MinTimeWithGuidanceBeforeSwitchSeconds设置为0.2秒，可以稳定切换到红外制导。
|
||||
|
||||
|
||||
|
||||
|
||||
@ -54,6 +54,7 @@ namespace ThreatSource.Tools.MissileSimulation
|
||||
"ICGM_1" => "红外指令制导导弹",
|
||||
"ITGM_1" => "红外成像末制导导弹",
|
||||
"MMWG_1" => "毫米波末制导导弹",
|
||||
"CGGM_1" => "复合制导导弹",
|
||||
_ => "未知导弹",
|
||||
};
|
||||
}
|
||||
@ -166,6 +167,14 @@ namespace ThreatSource.Tools.MissileSimulation
|
||||
(JammingType.MillimeterWave, "毫米波假信号", "MillimeterWaveCompensationJammer_Submunition", "欺骗", "子弹药"),
|
||||
(JammingType.SmokeGrenade, "烟幕弹", "SG_4", "遮蔽", "子弹药")
|
||||
];
|
||||
|
||||
// 复合制导导弹
|
||||
missileJammingMap["CGGM_1"] =
|
||||
[
|
||||
(JammingType.MillimeterWave, "毫米波干扰", "MillimeterWaveJammer_Missile", "阻塞", "导弹"),
|
||||
(JammingType.Infrared, "红外干扰", "InfraredJammer_Missile", "阻塞", "导弹"),
|
||||
(JammingType.SmokeGrenade, "烟幕弹", "SG_1", "遮蔽", "导弹")
|
||||
];
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
@ -186,6 +195,7 @@ namespace ThreatSource.Tools.MissileSimulation
|
||||
AddInfraredCommandMissile();
|
||||
AddInfraredImagingMissile();
|
||||
AddMillimeterWaveMissile();
|
||||
AddCompositeGuidanceMissile();
|
||||
|
||||
// 添加各种传感器和指示器
|
||||
AddIndicators();
|
||||
@ -223,7 +233,7 @@ namespace ThreatSource.Tools.MissileSimulation
|
||||
{
|
||||
Position = new Vector3D(0, 1.2, 0),
|
||||
Orientation = new Orientation(0.0, 0.0, 0.0),
|
||||
Speed = 2.0
|
||||
Speed = 0.0
|
||||
};
|
||||
string targetId = "Tank_1";
|
||||
var target = _threatSourceFactory.CreateEquipment(targetId, "mbt_001", motionParameters);
|
||||
@ -417,6 +427,24 @@ namespace ThreatSource.Tools.MissileSimulation
|
||||
Console.WriteLine($"注册毫米波末制导导弹 {missileId}");
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
/// 添加复合制导导弹
|
||||
/// </summary>
|
||||
private void AddCompositeGuidanceMissile()
|
||||
{
|
||||
var motionParameters = new KinematicState
|
||||
{
|
||||
Position = new Vector3D(2000, 1, 20),
|
||||
Orientation = new Orientation(Math.PI/2, 0.2, 0),
|
||||
Speed = 10
|
||||
};
|
||||
string missileId = "CGGM_1";
|
||||
var missile = _threatSourceFactory.CreateMissile(missileId, "cg_001", "Tank_1", motionParameters);
|
||||
missiles[missileId] = missile;
|
||||
simulationManager.RegisterEntity(missileId, missile);
|
||||
Console.WriteLine($"注册复合制导导弹 {missileId}");
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
/// 添加传感器和指示器
|
||||
/// </summary>
|
||||
@ -679,22 +707,22 @@ namespace ThreatSource.Tools.MissileSimulation
|
||||
switch (missileId)
|
||||
{
|
||||
case "LSGM_1": // 激光半主动制导导弹
|
||||
if (indicators.ContainsKey("LD_1"))
|
||||
if (indicators.TryGetValue("LD_1", out SimulationElement? value1))
|
||||
{
|
||||
indicators["LD_1"].Activate();
|
||||
value1.Activate();
|
||||
}
|
||||
Console.WriteLine($"干扰器数量 {jammers.Count}");
|
||||
break;
|
||||
case "LBRM_1": // 激光驾束制导导弹
|
||||
if (indicators.ContainsKey("LBR_1"))
|
||||
if (indicators.TryGetValue("LBR_1", out SimulationElement? value2))
|
||||
{
|
||||
indicators["LBR_1"].Activate();
|
||||
value2.Activate();
|
||||
}
|
||||
break;
|
||||
case "ICGM_1": // 红外指令制导导弹
|
||||
if (indicators.ContainsKey("IT_1"))
|
||||
if (indicators.TryGetValue("IT_1", out SimulationElement? value3))
|
||||
{
|
||||
indicators["IT_1"].Activate();
|
||||
value3.Activate();
|
||||
}
|
||||
break;
|
||||
}
|
||||
@ -707,7 +735,7 @@ namespace ThreatSource.Tools.MissileSimulation
|
||||
{
|
||||
if (string.IsNullOrEmpty(SelectedMissileId) || !missileJammingMap.ContainsKey(SelectedMissileId))
|
||||
{
|
||||
return Array.Empty<(JammingType, string, string, string, string)>();
|
||||
return [];
|
||||
}
|
||||
|
||||
return missileJammingMap[SelectedMissileId].ToArray();
|
||||
|
||||
@ -9,7 +9,7 @@ namespace ThreatSource.Tools.MissileSimulation
|
||||
Console.WriteLine("综合导弹模拟程序启动...");
|
||||
var simulator = new ComprehensiveMissileSimulator();
|
||||
// 如果需要，可以在启动时设置默认日志级别，或依赖Simulator的默认值
|
||||
// simulator.SetLogLevel(SourceLevels.Information);
|
||||
simulator.SetLogLevel(SourceLevels.Verbose);
|
||||
ApplicationHostLoop(simulator);
|
||||
Console.WriteLine("\n程序已退出。");
|
||||
}
|
||||
@ -192,7 +192,8 @@ namespace ThreatSource.Tools.MissileSimulation
|
||||
("TSM_1", "末敏弹"),
|
||||
("ICGM_1", "红外指令制导导弹"),
|
||||
("ITGM_1", "红外成像末制导导弹"),
|
||||
("MMWG_1", "毫米波末制导导弹")
|
||||
("MMWG_1", "毫米波末制导导弹"),
|
||||
("CGGM_1", "复合制导导弹")
|
||||
};
|
||||
|
||||
while (true)
|
||||
|
||||
Loading…
Reference in New Issue
Block a user