diff --git a/CHANGELOG.md b/CHANGELOG.md index 1685e51..3a06429 100644 --- a/CHANGELOG.md +++ b/CHANGELOG.md @@ -15,6 +15,10 @@ - 毫米波跟踪和锁定阶段采用脉冲多普勒制导 - 命中概率和系统随机噪声 +## [1.1.21] - 2025-05-24 +- 增加了升力加速度的计算 +- 将发射、巡航、制导三个阶段汇聚到导弹基类中 + ## [1.1.20] - 2025-05-19 - 增加了SwerlingRCS回波模型 - 在毫米波制导中使用SwerlingRCS回波模型获取目标RCS diff --git a/ThreatSource/data/missiles/composite/cg_001.toml b/ThreatSource/data/missiles/composite/cg_001.toml index 5ef26e7..5ad1c49 100644 --- a/ThreatSource/data/missiles/composite/cg_001.toml +++ b/ThreatSource/data/missiles/composite/cg_001.toml @@ -14,7 +14,7 @@ MaxAcceleration = 100.0 ProportionalNavigationCoefficient = 4.0 LaunchAcceleration = 100.0 MaxEngineBurnTime = 2.5 -CruiseTime = 4.0 +CruiseTime = 3.5 Mass = 25.0 ExplosionRadius = 5.0 HitProbability = 0.9 @@ -34,7 +34,7 @@ ActivationTrigger = "OnLaunch" # 激活触发器：OnLaunch, AfterFligh ActivationValue = 0.0 # 触发器关联值 (例如：飞行时间秒数，距离米数) Priority = 0 # 优先级 (例如：0为最高) MaxTimeToAcquireGuidanceSeconds = 5.0 # 获取制导的最大时间 -MinTimeWithGuidanceBeforeSwitchSeconds = 0.2 # 稳定跟踪0.2秒后切换（因为毫米波跟踪不稳定） +MinTimeWithGuidanceBeforeSwitchSeconds = 0.0 # 稳定跟踪0.1秒后切换（因为毫米波跟踪不稳定） ContinueChainOnFailure = true # 失败后继续尝试下一个 # 第二个制导阶段：红外成像末制导 @@ -65,7 +65,7 @@ Wavelength = 3.0 # 波长 (微米) [MillimeterWaveGuidanceConfig] MaxDetectionRange = 5000.0 # 最大探测距离 (米) -FieldOfViewAngle = 45.0 # 视场角 (度) +FieldOfViewAngle = 15.0 # 视场角 (度) TargetRecognitionProbability = 0.95 # 目标识别概率 WaveFrequency = 9.4e10 # 波频率 (赫兹) PulseDuration = 1.0e-6 # 脉冲持续时间 (秒) diff --git a/ThreatSource/data/missiles/composite/cg_002.toml b/ThreatSource/data/missiles/composite/cg_002.toml index 88ca6d7..e8f33ef 100644 --- a/ThreatSource/data/missiles/composite/cg_002.toml +++ b/ThreatSource/data/missiles/composite/cg_002.toml @@ -14,7 +14,7 @@ MaxAcceleration = 100.0 ProportionalNavigationCoefficient = 4.0 LaunchAcceleration = 100.0 MaxEngineBurnTime = 2.5 -CruiseTime = 4.0 +CruiseTime = 3.5 Mass = 25.0 ExplosionRadius = 5.0 HitProbability = 0.9 @@ -34,7 +34,7 @@ ActivationTrigger = "OnLaunch" # 激活触发器：OnLaunch, AfterFligh ActivationValue = 0.0 # 触发器关联值 (例如：飞行时间秒数，距离米数) Priority = 0 # 优先级 (例如：0为最高) MaxTimeToAcquireGuidanceSeconds = 5.0 # 获取制导的最大时间 -MinTimeWithGuidanceBeforeSwitchSeconds = 0.2 # 稳定跟踪0.2秒后切换（因为毫米波跟踪不稳定） +MinTimeWithGuidanceBeforeSwitchSeconds = 0.3 # 稳定跟踪0.3秒后切换 ContinueChainOnFailure = true # 失败后继续尝试下一个 # 第二个制导阶段：红外成像末制导 diff --git a/ThreatSource/data/missiles/ir_command/irc_001.toml b/ThreatSource/data/missiles/ir_command/irc_001.toml index 0cd0ea8..ab048c9 100644 --- a/ThreatSource/data/missiles/ir_command/irc_001.toml +++ b/ThreatSource/data/missiles/ir_command/irc_001.toml @@ -12,9 +12,9 @@ MaxFlightTime = 60.0 # 最大飞行时间 (秒) MaxFlightDistance = 5000.0 # 最大飞行距离 (米) MaxAcceleration = 100.0 # 最大加速度 (米/秒^2) ProportionalNavigationCoefficient = 4.0 # 比例导引系数 -LaunchAcceleration = 100.0 # 发射加速度 (米/秒^2) -MaxEngineBurnTime = 3.0 # 最大发动机燃烧时间 (秒) -CruiseTime = 5.0 # 巡航时间 (秒) +LaunchAcceleration = 150.0 # 发射加速度 (米/秒^2) +MaxEngineBurnTime = 2.0 # 最大发动机燃烧时间 (秒) +CruiseTime = 2.0 # 巡航时间 (秒) Mass = 23.5 # 质量 (千克) ExplosionRadius = 5.0 # 爆炸半径 (米) HitProbability = 0.9 # 命中概率 diff --git a/ThreatSource/data/missiles/ir_imaging/itg_001.toml b/ThreatSource/data/missiles/ir_imaging/itg_001.toml index 009cc69..9d4c861 100644 --- a/ThreatSource/data/missiles/ir_imaging/itg_001.toml +++ b/ThreatSource/data/missiles/ir_imaging/itg_001.toml @@ -14,7 +14,7 @@ MaxAcceleration = 100.0 ProportionalNavigationCoefficient = 4.0 LaunchAcceleration = 100.0 MaxEngineBurnTime = 2.5 -CruiseTime = 4.0 +CruiseTime = 3.0 Mass = 25.0 ExplosionRadius = 5.0 HitProbability = 0.9 diff --git a/ThreatSource/data/missiles/laser_beam_rider/hj10.toml b/ThreatSource/data/missiles/laser_beam_rider/hj10.toml index fa5c728..5384760 100644 --- a/ThreatSource/data/missiles/laser_beam_rider/hj10.toml +++ b/ThreatSource/data/missiles/laser_beam_rider/hj10.toml @@ -14,7 +14,7 @@ MaxAcceleration = 100.0 # 最大加速度 (米/秒^2) ProportionalNavigationCoefficient = 3.0 # 比例导引系数 LaunchAcceleration = 100.0 # 发射加速度 (米/秒^2) MaxEngineBurnTime = 3.0 # 最大发动机燃烧时间 (秒) -CruiseTime = 5.0 # 巡航时间 (秒) +CruiseTime = 0.0 # 巡航时间 (秒) Mass = 24.5 # 质量 (千克) ExplosionRadius = 5.0 # 爆炸半径 (米) HitProbability = 0.9 # 命中概率 diff --git a/ThreatSource/data/missiles/laser_semi_active/lsgm_001.toml b/ThreatSource/data/missiles/laser_semi_active/lsgm_001.toml index d45a8d9..c3df2f0 100644 --- a/ThreatSource/data/missiles/laser_semi_active/lsgm_001.toml +++ b/ThreatSource/data/missiles/laser_semi_active/lsgm_001.toml @@ -12,10 +12,10 @@ MaxSpeed = 800.0 # 最大速度 (m/s) MaxFlightTime = 60.0 # 最大飞行时间 (秒) MaxFlightDistance = 20000.0 # 最大飞行距离 (米) MaxAcceleration = 50.0 # 最大横向加速度 (m/s^2) -ProportionalNavigationCoefficient = 2.0 # 比例导引系数 -LaunchAcceleration = 100.0 # 初始发射加速度 (m/s^2) -MaxEngineBurnTime = 0.1 # 发动机最大燃烧时间 (秒) -CruiseTime = 5.0 #巡航阶段时长 (秒) +ProportionalNavigationCoefficient = 3.0 # 比例导引系数 +LaunchAcceleration = 0.0 # 初始发射加速度 (m/s^2) +MaxEngineBurnTime = 0.0 # 发动机最大燃烧时间 (秒) +CruiseTime = 10.0 #巡航阶段时长 (秒) Mass = 22.0 # 导弹质量 (kg) ExplosionRadius = 5.0 # 爆炸半径 (米) HitProbability = 0.9 # 固有命中概率 (0.0 到 1.0) diff --git a/ThreatSource/data/missiles/mmw/mmw_001.toml b/ThreatSource/data/missiles/mmw/mmw_001.toml index f2352f3..1e33ff5 100644 --- a/ThreatSource/data/missiles/mmw/mmw_001.toml +++ b/ThreatSource/data/missiles/mmw/mmw_001.toml @@ -11,10 +11,10 @@ MaxSpeed = 250.0 # 最大速度 (米/秒) MaxFlightTime = 60.0 # 最大飞行时间 (秒) MaxFlightDistance = 8000.0 # 最大飞行距离 (米) MaxAcceleration = 100.0 # 最大加速度 (米/秒^2) -ProportionalNavigationCoefficient = 4.0 # 比例导引系数 +ProportionalNavigationCoefficient = 4.0 # 比例导引系数 LaunchAcceleration = 100.0 # 发射加速度 (米/秒^2) MaxEngineBurnTime = 2.5 # 最大发动机燃烧时间 (秒) -CruiseTime = 4.0 # 巡航时间 (秒) +CruiseTime = 3.5 # 巡航时间 (秒) Mass = 28.0 # 质量 (千克) ExplosionRadius = 5.0 # 爆炸半径 (米) HitProbability = 0.9 # 命中概率 @@ -24,7 +24,7 @@ UltravioletRadiationIntensity = 100.0 # 紫外辐射强度 (瓦特/球面度) [MillimeterWaveGuidanceConfig] MaxDetectionRange = 5000.0 # 最大探测距离 (米) -FieldOfViewAngle = 45.0 # 视场角 (度) +FieldOfViewAngle = 15.0 # 视场角 (度) TargetRecognitionProbability = 0.95 # 目标识别概率 WaveFrequency = 9.4e10 # 波频率 (赫兹, JSON中为94e9) PulseDuration = 1.0e-6 # 脉冲持续时间 (秒) diff --git a/ThreatSource/data/missiles/terminal_sensitive/tsm_001.toml b/ThreatSource/data/missiles/terminal_sensitive/tsm_001.toml index 6d6fd1c..8cfb1e6 100644 --- a/ThreatSource/data/missiles/terminal_sensitive/tsm_001.toml +++ b/ThreatSource/data/missiles/terminal_sensitive/tsm_001.toml @@ -13,8 +13,8 @@ MaxFlightTime = 100.0 # 最大飞行时间 (秒) MaxFlightDistance = 20000.0 # 最大飞行距离 (米) MaxAcceleration = 200.0 # 最大加速度 (米/秒^2) ProportionalNavigationCoefficient = 3.0 # 比例导引系数 -LaunchAcceleration = 100.0 # 发射加速度 (米/秒^2) -MaxEngineBurnTime = 0.1 # 最大发动机燃烧时间 (秒) +LaunchAcceleration = 0.0 # 发射加速度 (米/秒^2) +MaxEngineBurnTime = 0.0 # 最大发动机燃烧时间 (秒) CruiseTime = 5.0 # 巡航时间 (秒) Mass = 50.0 # 质量 (千克) ExplosionRadius = 5.0 # 爆炸半径 (米) @@ -26,8 +26,8 @@ MaxFlightTime = 60.0 # 最大飞行时间 (秒) MaxFlightDistance = 2000.0 # 最大飞行距离 (米) MaxAcceleration = 500.0 # 最大加速度 (米/秒^2) ProportionalNavigationCoefficient = 4.0 # 比例导引系数 -LaunchAcceleration = 10.0 # 发射加速度 (米/秒^2) -MaxEngineBurnTime = 0.1 # 最大发动机燃烧时间 (秒) +LaunchAcceleration = 0.0 # 发射加速度 (米/秒^2) +MaxEngineBurnTime = 0.0 # 最大发动机燃烧时间 (秒) Mass = 10.0 # 质量 (千克) ExplosionRadius = 8.0 # 爆炸半径 (米) HitProbability = 0.9 # 命中概率 @@ -38,11 +38,11 @@ SeparationSpeed = 600.0 # 分离速度 (米/秒) SeparationHeight = 1000.0 # 分离高度 (米) SeparationDistance = 1000.0 # 分离距离 (米) SubmunitionSeparationAngle = 35.0 # 子弹药分离角度 (度) -SeparationRange = 25.0 # 分离散布范围 (米) -DecelerationAcceleration = 155.0 # 减速加速度 (米/秒^2) +SeparationRange = 10.0 # 分离散布范围 (米) +DecelerationAcceleration = 150.0 # 减速加速度 (米/秒^2) DecelerationEndSpeed = 200.0 # 减速结束速度 (米/秒) ParachuteDeploymentHeight = 400.0 # 开伞高度 (米) -ParachuteDeceleration = 100.0 # 降落伞减速度 (米/秒^2) +ParachuteDeceleration = 95.0 # 降落伞减速度 (米/秒^2) StableScanHeight = 200.0 # 稳定扫描高度 (米) VerticalDeclineSpeed = 10.0 # 垂直下降速度 (米/秒) SpiralRotationSpeed = 25.13 # 螺旋旋转速度 (弧度/秒) diff --git a/ThreatSource/src/Guidance/InfraredImagingGuidanceSystem.cs b/ThreatSource/src/Guidance/InfraredImagingGuidanceSystem.cs index c0b57cc..7f0af82 100644 --- a/ThreatSource/src/Guidance/InfraredImagingGuidanceSystem.cs +++ b/ThreatSource/src/Guidance/InfraredImagingGuidanceSystem.cs @@ -115,7 +115,7 @@ namespace ThreatSource.Guidance /// /// 识别成功率阈值 (搜索切换和跟踪稳定性判断共用, 例如80%) /// - private const double COMMON_RECOGNITION_SUCCESS_RATE_THRESHOLD = 0.8; + private const double COMMON_RECOGNITION_SUCCESS_RATE_THRESHOLD = 0.7; /// /// 锁定模式下目标丢失计时器 diff --git a/ThreatSource/src/MIssile/BaseMissile.cs b/ThreatSource/src/MIssile/BaseMissile.cs index dc308de..3c689e9 100644 --- a/ThreatSource/src/MIssile/BaseMissile.cs +++ b/ThreatSource/src/MIssile/BaseMissile.cs @@ -100,10 +100,20 @@ namespace ThreatSource.Missile /// protected Vector3D ThrustAcceleration { get; set; } + /// + /// 获取或设置导弹的升力加速度 + /// + /// 三维加速度向量，单位：米/秒² + /// + /// 由升力产生的加速度 + /// 影响导弹的垂直运动 + /// + protected Vector3D LiftAcceleration { get; set; } + /// /// 重力加速度（北京标准值） /// - private static readonly Vector3D GravityAcceleration = new(0, -MotionAlgorithm.Gravity, 0); + private static readonly Vector3D GravityAcceleration = new(0, -PhysicalConstants.BeijingGravity, 0); /// /// 获取导弹的固定配置参数 @@ -115,6 +125,30 @@ namespace ThreatSource.Missile /// public readonly MissileProperties Properties; + /// + /// 标准导弹三段式飞行阶段 + /// + public enum MissileFlightStage + { + /// + /// 发射阶段 + /// + Launch, + /// + /// 巡航阶段 + /// + Cruise, + /// + /// 制导阶段 + /// + Guidance + } + + /// + /// 当前飞行阶段 + /// + protected MissileFlightStage currentStage = MissileFlightStage.Launch; + /// /// 初始化导弹基类的新实例 /// @@ -146,12 +180,26 @@ namespace ThreatSource.Missile IsActive = false; IsGuidance = false; GuidanceAcceleration = Vector3D.Zero; + LiftAcceleration = Vector3D.Zero; // 计算初始推力加速度 Vector3D launchDirection = kinematicState.Orientation.ToVector().Normalize(); ThrustAcceleration = launchDirection * properties.LaunchAcceleration; } + /// + /// 判断是否为末敏弹类型 + /// + protected bool IsTerminalSensitiveType() + { + return Properties.Type == MissileType.TerminalSensitiveSubmunition; + } + + /// + /// 供末敏弹等特殊导弹重写的自定义阶段更新方法 + /// + protected virtual void UpdateCustomStages(double deltaTime) { } + /// /// 更新导弹的状态 /// @@ -164,17 +212,82 @@ namespace ThreatSource.Missile /// public override void Update(double deltaTime) { - if (IsActive) - { - // 更新导弹运动状态 - UpdateMotionState(deltaTime); + if (!IsActive) return; - // 检查是否应该自毁 - if (ShouldSelfDestruct()) + // 末敏弹等特殊类型走自定义流程 + if (!IsTerminalSensitiveType()) + { + // 标准三段式流程 + switch (currentStage) { - SelfDestruct(); + case MissileFlightStage.Launch: + OnLaunchStage(deltaTime); + break; + case MissileFlightStage.Cruise: + OnCruiseStage(deltaTime); + break; + case MissileFlightStage.Guidance: + OnGuidanceStage(deltaTime); + break; } } + + // 公共运动学与生命周期管理 + UpdateMotionState(deltaTime); + if (ShouldSelfDestruct()) + { + SelfDestruct(); + } + } + + /// + /// 发射阶段默认实现 + /// + protected virtual void OnLaunchStage(double deltaTime) + { + // 发射阶段不使用制导 + GuidanceAcceleration = Vector3D.Zero; + + // 计算升力加速度。在发射阶段，升力加速度和攻角相关 + LiftAcceleration = LiftModel.CalculateLiftAcceleration(KState.Orientation.Pitch * 180 / Math.PI); + + // 发射阶段结束，进入巡航阶段 + if (FlightTime >= Properties.MaxEngineBurnTime) + { + currentStage = MissileFlightStage.Cruise; + } + } + + /// + /// 巡航阶段默认实现 + /// + protected virtual void OnCruiseStage(double deltaTime) + { + // 巡航阶段不使用制导 + GuidanceAcceleration = Vector3D.Zero; + + if(KState.Orientation.Pitch > 0) + { + KState.Orientation = new Orientation(KState.Orientation.Yaw, -0.01, KState.Orientation.Roll); + } + + // 计算升力加速度。在巡航阶段，升力加速度与重力加速度抵消 + LiftAcceleration = new Vector3D(0, PhysicalConstants.BeijingGravity, 0); + + // 巡航阶段结束，进入制导阶段 + if (FlightTime >= Properties.MaxEngineBurnTime + Properties.CruiseTime) + { + currentStage = MissileFlightStage.Guidance; + } + } + + /// + /// 制导阶段默认实现 + /// + protected virtual void OnGuidanceStage(double deltaTime) + { + // 计算升力加速度。在制导阶段，升力加速度和攻角相关； + LiftAcceleration = LiftModel.CalculateLiftAcceleration(KState.Orientation.Pitch * 180 / Math.PI); } /// @@ -218,6 +331,8 @@ namespace ThreatSource.Missile (KState.Position, KState.Velocity) = MotionAlgorithm.CalculateBallisticMotion(KState.Position, KState.Velocity, acceleration, deltaTime); } + KState.Orientation = Orientation.FromVector(KState.Velocity); + // 限制速度不超过最大速度 if (KState.Speed > Properties.MaxSpeed) { @@ -250,13 +365,13 @@ namespace ThreatSource.Missile Vector3D windVector = GetWindVectorFromWeather(); // 计算空气阻力加速度（考虑风的影响） - Vector3D dragAcceleration = MotionAlgorithm.CalculateDragAcceleration(velocity, windVector, Properties.Mass);; + Vector3D dragAcceleration = MotionAlgorithm.CalculateDragAcceleration(velocity, windVector, Properties.Mass); - // 合成总加速度（制导加速度 + 推力加速度 + 空气阻力加速度 + 重力加速度） - Vector3D totalAcceleration = GuidanceAcceleration + ThrustAcceleration + dragAcceleration + GravityAcceleration; + // 合成总加速度（制导加速度 + 推力加速度 + 空气阻力加速度 + 升力加速度 + 重力加速度） + Vector3D totalAcceleration = GuidanceAcceleration + ThrustAcceleration + dragAcceleration + LiftAcceleration + GravityAcceleration; Debug.WriteLine($"导弹 {Id} 的加速度: {totalAcceleration}, 制导: {GuidanceAcceleration}, " + - $"推力: {ThrustAcceleration}, 空阻(含风): {dragAcceleration}, 重力: {GravityAcceleration}"); + $"推力: {ThrustAcceleration}, 空阻(含风): {dragAcceleration}, 升力: {LiftAcceleration}, 重力: {GravityAcceleration}"); if (totalAcceleration.Magnitude() > Properties.MaxAcceleration) { @@ -480,6 +595,7 @@ namespace ThreatSource.Missile statusInfo.ExtendedProperties["FlightTime"] = FlightTime; statusInfo.ExtendedProperties["FlightDistance"] = FlightDistance; statusInfo.ExtendedProperties["EngineBurnTime"] = EngineBurnTime; + statusInfo.ExtendedProperties["CurrentStage"] = currentStage.ToString(); statusInfo.ExtendedProperties["IsGuidance"] = IsGuidance; statusInfo.ExtendedProperties["LostGuidanceTime"] = LostGuidanceTime; statusInfo.ExtendedProperties["GuidanceAcceleration"] = GuidanceAcceleration; diff --git a/ThreatSource/src/MIssile/CompositeGuidedMissile.cs b/ThreatSource/src/MIssile/CompositeGuidedMissile.cs index 4d469a9..daa8bbf 100644 --- a/ThreatSource/src/MIssile/CompositeGuidedMissile.cs +++ b/ThreatSource/src/MIssile/CompositeGuidedMissile.cs @@ -7,13 +7,6 @@ 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 - } - /// /// 复合制导导弹类，继承自 BaseMissile /// @@ -42,10 +35,6 @@ namespace ThreatSource.Missile /// 目标类型 /// private readonly EquipmentType targetType; - /// - /// 当前飞行阶段 - /// - private CompositeFlightStage currentFlightStage; /// /// 经过优先级排序的制导组件配置列表。 @@ -357,37 +346,22 @@ namespace ThreatSource.Missile /// public override void Update(double deltaTime) { - if (!IsActive) return; - - 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) + if (Properties.CompositeWorkMode == CompositeWorkType.Serial && currentStage == MissileFlightStage.Guidance) { UpdateGuidanceLogic(deltaTime); } if (currentActiveGuidance != null && currentActiveGuidance.HasGuidance) { - this.IsGuidance = true; - this.GuidanceAcceleration = currentActiveGuidance.GetGuidanceAcceleration(); + IsGuidance = true; + GuidanceAcceleration = currentActiveGuidance.GetGuidanceAcceleration(); } else { - this.IsGuidance = false; - this.GuidanceAcceleration = Vector3D.Zero; + IsGuidance = false; + GuidanceAcceleration = Vector3D.Zero; } base.Update(deltaTime); // 调用基类更新，处理运动学等 @@ -399,44 +373,27 @@ namespace ThreatSource.Missile public override void Fire() { base.Fire(); - currentFlightStage = CompositeFlightStage.Launch; // 重置制导链状态 InitializeGuidanceSuite(); 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."); } /// - /// 更新发射阶段，基于MaxEngineBurnTime转换到巡航阶段。 + /// 更新制导阶段状态 /// - protected virtual void UpdateLaunchStage(double deltaTime) + protected override void OnGuidanceStage(double deltaTime) { - if (FlightTime >= Properties.MaxEngineBurnTime) + if(currentActiveGuidance == null) { - currentFlightStage = CompositeFlightStage.Cruise; + KState.Orientation = new Orientation(KState.Orientation.Yaw, -0.02, KState.Orientation.Roll); + KState.Velocity = KState.Orientation.ToVector() * KState.Speed; } - } - /// - /// 更新巡航阶段，基于CruiseTime转换到末制导阶段。 - /// - protected virtual void UpdateCruiseStage(double deltaTime) - { - if (FlightTime >= Properties.CruiseTime + Properties.MaxEngineBurnTime) - { - currentFlightStage = CompositeFlightStage.Terminal; - } - } - - /// - /// 更新末制导阶段，调用UpdateGuidanceMode处理制导逻辑。 - /// - protected virtual void UpdateTerminalStage(double deltaTime) - { UpdateGuidanceLogic(deltaTime); + + base.OnGuidanceStage(deltaTime); } /// @@ -465,9 +422,8 @@ namespace ThreatSource.Missile public override ElementStatusInfo GetStatusInfo() { var statusInfo = base.GetStatusInfo(); - statusInfo.ExtendedProperties["CurrentFlightStage"] = currentFlightStage; // 已有 - statusInfo.ExtendedProperties["CompositeWorkMode"] = Properties.CompositeWorkMode?.ToString() ?? "None"; // 已有 - statusInfo.ExtendedProperties["ActiveGuidanceSystem"] = currentActiveGuidance?.GetType().Name ?? "None"; // 已有 + statusInfo.ExtendedProperties["CompositeWorkMode"] = Properties.CompositeWorkMode?.ToString() ?? "None"; + statusInfo.ExtendedProperties["ActiveGuidanceSystem"] = currentActiveGuidance?.GetType().Name ?? "None"; statusInfo.ExtendedProperties["ActiveGuidanceConfig"] = currentActiveConfig?.ComponentName ?? "None"; statusInfo.ExtendedProperties["CurrentGuidancePhaseIndex"] = currentGuidancePhaseIndex; statusInfo.ExtendedProperties["GuidanceChainHaltedOrCompleted"] = guidanceChainHaltedOrCompleted.ToString(); diff --git a/ThreatSource/src/MIssile/InfraredCommandGuidedMissile.cs b/ThreatSource/src/MIssile/InfraredCommandGuidedMissile.cs index 723bbe6..a864376 100644 --- a/ThreatSource/src/MIssile/InfraredCommandGuidedMissile.cs +++ b/ThreatSource/src/MIssile/InfraredCommandGuidedMissile.cs @@ -18,31 +18,6 @@ namespace ThreatSource.Missile /// public class InfraredCommandGuidedMissile : BaseMissile { - /// - /// 红外指令制导导弹阶段枚举 - /// - /// - /// 定义了导弹飞行的四个主要阶段： - /// - Launch：发射阶段，初始加速 - /// - Cruise：巡航阶段，执行制导 - /// - Explode：爆炸阶段，命中目标 - /// - SelfDestruct：自毁阶段，触发自毁 - /// - private enum ICGM_Stage - { - Launch, // 发射阶段 - Cruise // 巡航阶段 - } - - /// - /// 获取或设置当前飞行阶段 - /// - /// - /// 用于控制导弹在不同阶段的行为 - /// 影响导弹的运动和制导方式 - /// - private ICGM_Stage currentStage; - /// /// 获取或设置红外热源辐射功率 /// @@ -108,65 +83,20 @@ namespace ThreatSource.Missile } /// - /// 更新导弹运动状态 + /// 更新制导阶段状态 /// /// 时间步长，单位：秒 /// - /// 更新过程： - /// - 点亮红外热源 - /// - 根据当前阶段更新状态 - /// - 调用基类的运动更新 - /// - public override void Update(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; - } - - base.Update(deltaTime); - } - - /// - /// 更新发射阶段状态 - /// - /// 时间步长，单位：秒 - /// - /// 发射阶段处理： - /// - 清除制导加速度 - /// - 检查发射时间 - /// - 转换到巡航阶段 - /// - private void UpdateLaunchStage(double deltaTime) - { - // 发射阶段 - GuidanceAcceleration = Vector3D.Zero; - if (FlightTime >= Properties.MaxEngineBurnTime) - { - currentStage = ICGM_Stage.Cruise; - } - } - - /// - /// 更新巡航阶段状态 - /// - /// 时间步长，单位：秒 - /// - /// 巡航阶段处理： + /// 制导阶段处理： /// - 启用制导控制 /// - 更新制导系统 /// - 计算制导加速度 /// - private void UpdateCruiseStage(double deltaTime) + protected override void OnGuidanceStage(double deltaTime) { + // 点亮红外热源 + LightInfraredSource(); + // 更新制导系统 guidanceSystem.Update(deltaTime); GuidanceAcceleration = guidanceSystem.GetGuidanceAcceleration(); IsGuidance = guidanceSystem.HasGuidance; @@ -209,20 +139,6 @@ namespace ThreatSource.Missile SimulationManager.PublishEvent(new InfraredGuidanceMissileLightEvent { RadiationPower = RadiationPower, SenderId = Id }); } - /// - /// 发射导弹 - /// - /// - /// 发射过程： - /// - 调用基类发射方法 - /// - 设置当前阶段为发射阶段 - /// - public override void Fire() - { - base.Fire(); - currentStage = ICGM_Stage.Launch; - } - /// /// 熄灭红外热源 /// @@ -284,7 +200,6 @@ namespace ThreatSource.Missile public override ElementStatusInfo GetStatusInfo() { var statusInfo = base.GetStatusInfo(); - statusInfo.ExtendedProperties["CurrentStage"] = currentStage.ToString(); statusInfo.ExtendedProperties["GuidanceSystem"] = guidanceSystem.GetStatusInfo(); return statusInfo; } diff --git a/ThreatSource/src/MIssile/InfraredImagingTerminalGuidedMissile.cs b/ThreatSource/src/MIssile/InfraredImagingTerminalGuidedMissile.cs index 85e8be2..6784b24 100644 --- a/ThreatSource/src/MIssile/InfraredImagingTerminalGuidedMissile.cs +++ b/ThreatSource/src/MIssile/InfraredImagingTerminalGuidedMissile.cs @@ -24,33 +24,6 @@ namespace ThreatSource.Missile /// public class InfraredImagingTerminalGuidedMissile : BaseMissile { - /// - /// 红外成像末制导导弹的飞行阶段枚举 - /// - /// - /// 定义了导弹的工作阶段： - /// - Launch: 发射阶段，初始加速 - /// - Cruise: 巡航阶段，中程飞行 - /// - TerminalSearch: 末制导搜索阶段，大视场角搜索目标 - /// - TerminalTrack: 末制导跟踪阶段，小视场角精确跟踪 - /// - TerminalLock: 末制导锁定阶段，目标确认后的精确跟踪 - /// - private enum IRTG_Stage - { - Launch, // 发射阶段 - Cruise, // 巡航阶段 - Terminal // 末制导 - } - - /// - /// 导弹当前的飞行阶段 - /// - /// - /// 用于控制导弹的行为状态 - /// 在不同阶段执行不同的更新逻辑 - /// - private IRTG_Stage currentStage; - /// /// 红外成像制导系统实例 /// @@ -108,102 +81,31 @@ namespace ThreatSource.Missile } /// - /// 更新导弹的状态 + /// 更新制导阶段的状态 /// /// 时间步长，单位：秒 /// - /// 更新过程： - /// 1. 调用基类的更新方法 - /// 2. 根据当前阶段选择更新方法 - /// 3. 执行相应阶段的更新逻辑 - /// 4. 检查是否需要自毁 - /// - public override void Update(double deltaTime) - { - switch (currentStage) - { - case IRTG_Stage.Launch: - UpdateLaunchStage(deltaTime); - break; - case IRTG_Stage.Cruise: - UpdateCruiseStage(deltaTime); - break; - case IRTG_Stage.Terminal: - UpdateTerminalStage(deltaTime); - break; - } - base.Update(deltaTime); - } - - /// - /// 更新发射阶段的状态 - /// - /// 时间步长，单位：秒 - /// - /// 发射阶段特点： - /// - 不使用制导加速度 - /// - 仅依靠发动机推力 - /// - 持续时间为1秒 - /// - 结束后进入巡航阶段 - /// - private void UpdateLaunchStage(double deltaTime) - { - GuidanceAcceleration = Vector3D.Zero; - if (FlightTime > Properties.MaxEngineBurnTime) - { - currentStage = IRTG_Stage.Cruise; - } - } - - /// - /// 更新巡航阶段的状态 - /// - /// 时间步长，单位：秒 - /// - /// 巡航阶段特点： - /// - 保持稳定飞行 - /// - 不使用制导系统 - /// - 达到巡航时间后进入末制导搜索阶段 - /// - private void UpdateCruiseStage(double deltaTime) - { - // 如果巡航时间达到，切换到末制导搜索阶段 - if (FlightTime > Properties.CruiseTime + Properties.MaxEngineBurnTime) - { - currentStage = IRTG_Stage.Terminal; - guidanceSystem.Activate(); - } - } - - /// - /// 更新末制导搜索阶段的状态 - /// - /// 时间步长，单位：秒 - /// - /// 末制导阶段特点： + /// 制导阶段特点： /// - 完全依赖导航系统的工作模式 /// - 根据导航系统状态更新制导 /// - 持续到命中目标 /// - private void UpdateTerminalStage(double deltaTime) + protected override void OnGuidanceStage(double deltaTime) { + // 激活制导系统 + if(!guidanceSystem.IsActive) + { + guidanceSystem.Activate(); + KState.Orientation = new Orientation(KState.Orientation.Yaw, -0.1, KState.Orientation.Roll); + KState.Velocity = KState.Orientation.ToVector() * KState.Speed; + } + + // 更新制导系统 guidanceSystem.Update(deltaTime); GuidanceAcceleration = guidanceSystem.GetGuidanceAcceleration(); IsGuidance = guidanceSystem.HasGuidance; - } - /// - /// 发射导弹 - /// - /// - /// 发射过程： - /// - 调用基类发射方法 - /// - 设置当前阶段为发射阶段 - /// - public override void Fire() - { - base.Fire(); - currentStage = IRTG_Stage.Launch; + base.OnGuidanceStage(deltaTime); } /// @@ -217,7 +119,6 @@ namespace ThreatSource.Missile public override void Activate() { base.Activate(); - guidanceSystem.Activate(); } /// @@ -246,7 +147,6 @@ namespace ThreatSource.Missile public override ElementStatusInfo GetStatusInfo() { var statusInfo = base.GetStatusInfo(); - statusInfo.ExtendedProperties["CurrentStage"] = currentStage.ToString(); statusInfo.ExtendedProperties["GuidanceSystem"] = guidanceSystem.GetStatusInfo(); return statusInfo; } diff --git a/ThreatSource/src/MIssile/LaserBeamRiderMissile.cs b/ThreatSource/src/MIssile/LaserBeamRiderMissile.cs index fec38ce..82d8298 100644 --- a/ThreatSource/src/MIssile/LaserBeamRiderMissile.cs +++ b/ThreatSource/src/MIssile/LaserBeamRiderMissile.cs @@ -18,31 +18,6 @@ namespace ThreatSource.Missile /// public class LaserBeamRiderMissile : BaseMissile { - /// - /// 激光驾束制导导弹阶段枚举 - /// - /// - /// 定义了导弹飞行的四个主要阶段： - /// - Launch：发射阶段，初始加速 - /// - Cruise：巡航阶段，跟踪波束 - /// - Explode：爆炸阶段，命中目标 - /// - SelfDestruct：自毁阶段，触发自毁 - /// - private enum LBRM_Stage - { - Launch, // 发射阶段 - Cruise // 巡航阶段 - } - - /// - /// 获取或设置当前飞行阶段 - /// - /// - /// 用于控制导弹在不同阶段的行为 - /// 影响导弹的运动和制导方式 - /// - private LBRM_Stage currentStage; - /// /// 激光波束制导系统实例 /// @@ -65,7 +40,6 @@ namespace ThreatSource.Missile /// - 初始化基本属性 /// - 创建制导系统 /// - 配置制导参数 - /// - 设置初始飞行阶段 /// public LaserBeamRiderMissile( string missileId, @@ -85,81 +59,23 @@ namespace ThreatSource.Missile } /// - /// 更新导弹状态 - /// + /// 制导阶段默认实现 /// 时间步长，单位：秒 /// - /// 更新过程： - /// - 根据当前阶段更新状态 - /// - 处理阶段转换 - /// - 调用基类更新 - /// - public override void Update(double deltaTime) - { - switch (currentStage) - { - case LBRM_Stage.Launch: - UpdateLaunchStage(deltaTime); - break; - case LBRM_Stage.Cruise: - UpdateCruiseStage(deltaTime); - break; - } - - base.Update(deltaTime); - } - - /// - /// 更新发射阶段状态 - /// - /// 时间步长，单位：秒 - /// - /// 发射阶段处理： - /// - 清除制导加速度 - /// - 检查发射时间 - /// - 转换到巡航阶段 - /// - private void UpdateLaunchStage(double deltaTime) - { - // 发射阶段 - GuidanceAcceleration = Vector3D.Zero; - if (FlightTime >= Properties.MaxEngineBurnTime) - { - currentStage = LBRM_Stage.Cruise; - } - } - - /// - /// 更新巡航阶段状态 - /// - /// 时间步长，单位：秒 - /// - /// 巡航阶段处理： - /// - 启用波束跟踪 + /// 制导阶段处理： /// - 更新制导系统 - /// - 计算制导加速度 - /// - 检查自毁条件 + /// - 获取制导加速度 + /// - 设置制导状态 /// - private void UpdateCruiseStage(double deltaTime) - { - // 巡航阶段 - guidanceSystem.Update(deltaTime); - GuidanceAcceleration = guidanceSystem.GetGuidanceAcceleration(); - IsGuidance = guidanceSystem.HasGuidance; - } - - /// - /// 发射导弹 /// - /// - /// 发射过程： - /// - 调用基类发射方法 - /// - 设置当前阶段为发射阶段 - /// - public override void Fire() + protected override void OnGuidanceStage(double deltaTime) { - base.Fire(); - currentStage = LBRM_Stage.Launch; + // 更新制导系统 + guidanceSystem.Update(deltaTime); + // 获取制导加速度 + GuidanceAcceleration = guidanceSystem.GetGuidanceAcceleration(); + // 设置制导状态 + IsGuidance = guidanceSystem.HasGuidance; } /// @@ -201,12 +117,10 @@ namespace ThreatSource.Missile /// /// 返回信息包括： /// - 基本状态信息 - /// - 当前飞行阶段 /// public override ElementStatusInfo GetStatusInfo() { var statusInfo = base.GetStatusInfo(); - statusInfo.ExtendedProperties["CurrentStage"] = currentStage.ToString(); statusInfo.ExtendedProperties["GuidanceSystem"] = guidanceSystem.GetStatusInfo(); return statusInfo; } diff --git a/ThreatSource/src/MIssile/LaserSemiActiveGuidedMissile.cs b/ThreatSource/src/MIssile/LaserSemiActiveGuidedMissile.cs index af705db..0c5dff3 100644 --- a/ThreatSource/src/MIssile/LaserSemiActiveGuidedMissile.cs +++ b/ThreatSource/src/MIssile/LaserSemiActiveGuidedMissile.cs @@ -17,31 +17,6 @@ namespace ThreatSource.Missile /// public class LaserSemiActiveGuidedMissile : BaseMissile { - /// - /// 激光半主动制导导弹阶段枚举 - /// - /// - /// 定义了导弹飞行的四个主要阶段： - /// - Launch：发射阶段，初始加速 - /// - Cruise：巡航阶段，执行制导 - /// - Explode：爆炸阶段，命中目标 - /// - SelfDestruct：自毁阶段，触发自毁 - /// - private enum LSAGM_Stage - { - Launch, // 发射阶段 - Cruise // 巡航阶段 - } - - /// - /// 获取或设置当前飞行阶段 - /// - /// - /// 用于控制导弹在不同阶段的行为 - /// 影响导弹的运动和制导方式 - /// - private LSAGM_Stage currentStage; - /// /// 激光半主动制导系统实例 /// @@ -93,20 +68,6 @@ namespace ThreatSource.Missile manager); } - /// - /// 发射导弹 - /// - /// - /// 发射过程： - /// - 调用基类发射方法 - /// - 设置当前阶段为发射阶段 - /// - public override void Fire() - { - base.Fire(); - currentStage = LSAGM_Stage.Launch; - } - /// /// 激活导弹 /// @@ -117,8 +78,7 @@ namespace ThreatSource.Missile public override void Activate() { base.Activate(); - // 激活制导系统 - guidanceSystem.Activate(); + // 将制导系统注册到仿真管理器 SimulationManager.RegisterEntity(guidanceSystem.Id, guidanceSystem); } @@ -139,50 +99,6 @@ namespace ThreatSource.Missile SimulationManager.UnregisterEntity(guidanceSystem.Id); } - /// - /// 更新导弹状态 - /// - /// 时间步长，单位：秒 - /// - /// 更新过程： - /// - 根据当前阶段更新状态 - /// - 处理阶段转换 - /// - 调用基类更新 - /// - public override void Update(double deltaTime) - { - switch (currentStage) - { - case LSAGM_Stage.Launch: - UpdateLaunchStage(deltaTime); - break; - case LSAGM_Stage.Cruise: - UpdateCruiseStage(deltaTime); - break; - } - base.Update(deltaTime); - } - - /// - /// 更新发射阶段状态 - /// - /// 时间步长，单位：秒 - /// - /// 发射阶段处理： - /// - 清除制导加速度 - /// - 检查发射时间 - /// - 转换到巡航阶段 - /// - private void UpdateLaunchStage(double deltaTime) - { - // 发射阶段 - GuidanceAcceleration = Vector3D.Zero; - if (FlightTime >= Properties.MaxEngineBurnTime) - { - currentStage = LSAGM_Stage.Cruise; - } - } - /// /// 更新巡航阶段状态 /// @@ -194,13 +110,35 @@ namespace ThreatSource.Missile /// - 计算制导加速度 /// - 检查自毁条件 /// - private void UpdateCruiseStage(double deltaTime) + protected override void OnCruiseStage(double deltaTime) { + base.OnCruiseStage(deltaTime); + + LiftAcceleration = Vector3D.Zero; + } + + /// + /// 更新制导阶段状态 + /// + /// 时间步长，单位：秒 + /// + /// 制导阶段处理： + /// - 启用制导控制 + /// - 更新制导系统 + /// - 计算制导加速度 + /// - 检查自毁条件 + /// + protected override void OnGuidanceStage(double deltaTime) + { + // 激活制导系统 + if(!guidanceSystem.IsActive) + { + guidanceSystem.Activate(); + } + // 更新制导系统 guidanceSystem.Update(deltaTime); - // 获取制导加速度 GuidanceAcceleration = guidanceSystem.GetGuidanceAcceleration(); - // 设置制导状态 IsGuidance = guidanceSystem.HasGuidance; } diff --git a/ThreatSource/src/MIssile/MillimeterWaveTerminalGuidedMissile.cs b/ThreatSource/src/MIssile/MillimeterWaveTerminalGuidedMissile.cs index a1177b4..df9bb14 100644 --- a/ThreatSource/src/MIssile/MillimeterWaveTerminalGuidedMissile.cs +++ b/ThreatSource/src/MIssile/MillimeterWaveTerminalGuidedMissile.cs @@ -23,31 +23,6 @@ namespace ThreatSource.Missile /// public class MillimeterWaveTerminalGuidedMissile : BaseMissile { - /// - /// 毫米波末制导导弹的飞行阶段枚举 - /// - /// - /// 定义了导弹的三个工作阶段： - /// - Launch: 发射阶段，初始加速 - /// - Cruise: 巡航阶段，中程飞行 - /// - Terminal: 末制导阶段，毫米波制导 - /// - private enum MWTG_Stage - { - Launch, // 发射阶段 - Cruise, // 巡航阶段 - Terminal // 末制导阶段 - } - - /// - /// 导弹当前的飞行阶段 - /// - /// - /// 用于控制导弹的行为状态 - /// 在不同阶段执行不同的更新逻辑 - /// - private MWTG_Stage currentStage; - /// /// 毫米波制导系统实例 /// @@ -101,102 +76,31 @@ namespace ThreatSource.Missile } /// - /// 更新导弹的状态 + /// 更新制导阶段的状态 /// /// 时间步长，单位：秒 /// - /// 更新过程： - /// 1. 调用基类的更新方法 - /// 2. 根据当前阶段选择更新方法 - /// 3. 执行相应阶段的更新逻辑 - /// 4. 检查是否需要自毁 - /// - public override void Update(double deltaTime) - { - switch (currentStage) - { - case MWTG_Stage.Launch: - UpdateLaunchStage(deltaTime); - break; - case MWTG_Stage.Cruise: - UpdateCruiseStage(deltaTime); - break; - case MWTG_Stage.Terminal: - UpdateTerminalStage(deltaTime); - break; - } - base.Update(deltaTime); - } - - /// - /// 更新发射阶段的状态 - /// - /// 时间步长，单位：秒 - /// - /// 发射阶段特点： - /// - 不使用制导加速度 - /// - 仅依靠发动机推力 - /// - 持续时间为0.1秒 - /// - 结束后进入巡航阶段 - /// - private void UpdateLaunchStage(double deltaTime) - { - GuidanceAcceleration = Vector3D.Zero; - if (FlightTime > Properties.MaxEngineBurnTime) - { - currentStage = MWTG_Stage.Cruise; - } - } - - /// - /// 更新巡航阶段的状态 - /// - /// 时间步长，单位：秒 - /// - /// 巡航阶段特点： - /// - 保持稳定飞行 - /// - 不使用制导系统 - /// - 持续时间为3秒 - /// - 结束后进入末制导阶段 - /// - private void UpdateCruiseStage(double deltaTime) - { - if (FlightTime > Properties.CruiseTime + Properties.MaxEngineBurnTime) - { - currentStage = MWTG_Stage.Terminal; - guidanceSystem.Activate(); // 激活制导系统 - } - } - - /// - /// 更新末制导阶段的状态 - /// - /// 时间步长，单位：秒 - /// - /// 末制导阶段特点： + /// 制导阶段特点： /// - 完全依赖导航系统的工作模式 /// - 根据导航系统状态更新制导 /// - 持续到命中目标 /// - private void UpdateTerminalStage(double deltaTime) + protected override void OnGuidanceStage(double deltaTime) { + // 激活制导系统 + if(!guidanceSystem.IsActive) + { + guidanceSystem.Activate(); + KState.Orientation = new Orientation(KState.Orientation.Yaw, -0.02, KState.Orientation.Roll); + KState.Velocity = KState.Orientation.ToVector() * KState.Speed; + } + + // 更新制导系统 guidanceSystem.Update(deltaTime); GuidanceAcceleration = guidanceSystem.GetGuidanceAcceleration(); IsGuidance = guidanceSystem.HasGuidance; - } - /// - /// 发射导弹 - /// - /// - /// 发射过程： - /// - 调用基类发射方法 - /// - 设置当前阶段为发射阶段 - /// - public override void Fire() - { - base.Fire(); - currentStage = MWTG_Stage.Launch; + base.OnGuidanceStage(deltaTime); } /// @@ -210,7 +114,6 @@ namespace ThreatSource.Missile public override void Activate() { base.Activate(); - guidanceSystem.Activate(); } /// diff --git a/ThreatSource/src/MIssile/TerminalSensitiveMissile.cs b/ThreatSource/src/MIssile/TerminalSensitiveMissile.cs index 06c0bab..f240ec0 100644 --- a/ThreatSource/src/MIssile/TerminalSensitiveMissile.cs +++ b/ThreatSource/src/MIssile/TerminalSensitiveMissile.cs @@ -31,29 +31,6 @@ namespace ThreatSource.Missile /// private readonly TerminalSensitiveSubmunitionConfig submunitionConfig; - /// - /// 末敏弹的飞行阶段 - /// - /// - /// 枚举定义了末敏弹的飞行阶段 - /// 包括发射阶段、巡航阶段和分离阶段 - /// - private enum TSGM_Stage - { - Launch, // 发射阶段 - Cruise, // 巡航阶段 - Separation // 分离阶段 - } - - /// - /// 导弹当前的飞行阶段 - /// - /// - /// 用于控制导弹的行为状态 - /// 在不同阶段执行不同的更新逻辑 - /// - private TSGM_Stage currentStage; - /// /// 子弹的属性 /// @@ -175,75 +152,6 @@ namespace ThreatSource.Missile } } - /// - /// 发射导弹 - /// - /// - /// 发射过程： - /// - 调用基类发射方法 - /// - 设置当前阶段为发射阶段 - /// - public override void Fire() - { - base.Fire(); - currentStage = TSGM_Stage.Launch; - } - - /// - /// 更新导弹的状态 - /// - /// 时间步长，单位：秒 - /// - /// 更新过程： - /// 1. 检查导弹是否处于活动状态 - /// 2. 验证自毁条件（时间、距离、高度） - /// 3. 更新基本运动状态 - /// 4. 计算与分离点的距离 - /// 5. 记录状态信息 - /// 6. 必要时触发分离动作 - /// - /// 自毁条件： - /// - 超出最大飞行时间 - /// - 超出最大飞行距离 - /// - 高度低于地面 - /// - public override void Update(double deltaTime) - { - switch (currentStage) - { - case TSGM_Stage.Launch: - UpdateLaunchStage(deltaTime); - break; - case TSGM_Stage.Cruise: - UpdateCruiseStage(deltaTime); - break; - case TSGM_Stage.Separation: - UpdateSeparationStage(deltaTime); - break; - } - base.Update(deltaTime); - } - - /// - /// 更新发射阶段的状态 - /// - /// 时间步长，单位：秒 - /// - /// 发射阶段特点： - /// - 不使用制导加速度 - /// - 仅依靠发动机推力 - /// - 持续时间为0.1秒 - /// - 结束后进入巡航阶段 - /// - private void UpdateLaunchStage(double deltaTime) - { - GuidanceAcceleration = Vector3D.Zero; - if (FlightTime > Properties.MaxEngineBurnTime) - { - currentStage = TSGM_Stage.Cruise; - } - } - /// /// 更新巡航阶段的状态 /// @@ -254,13 +162,15 @@ namespace ThreatSource.Missile /// - 不使用制导系统 /// - 结束后进入分离阶段 /// - private void UpdateCruiseStage(double deltaTime) + protected override void OnCruiseStage(double deltaTime) { + LiftAcceleration = Vector3D.Zero; + double distanceToSeparationPoint = (separationPoint - KState.Position).Magnitude(); //距离分离点距离小于配置的分离范围，则分离 if (distanceToSeparationPoint <= submunitionConfig.SeparationRange) { - currentStage = TSGM_Stage.Separation; + currentStage = MissileFlightStage.Guidance; } } @@ -272,7 +182,7 @@ namespace ThreatSource.Missile /// 分离阶段特点： /// - 分离子弹药 /// - private void UpdateSeparationStage(double deltaTime) + protected override void OnGuidanceStage(double deltaTime) { PerformSeparation(); } diff --git a/ThreatSource/src/MIssile/TerminalSensitiveSubmunition.cs b/ThreatSource/src/MIssile/TerminalSensitiveSubmunition.cs index aff1cd6..d17bbc6 100644 --- a/ThreatSource/src/MIssile/TerminalSensitiveSubmunition.cs +++ b/ThreatSource/src/MIssile/TerminalSensitiveSubmunition.cs @@ -71,7 +71,7 @@ namespace ThreatSource.Missile /// 用于控制子弹在不同阶段的行为 /// 影响传感器工作模式和制导方式 /// - private SubmunitionStage currentStage; + private SubmunitionStage currentSubmunitionStage; /// /// 子弹配置参数 @@ -214,7 +214,7 @@ namespace ThreatSource.Missile public override void Fire() { base.Fire(); - currentStage = SubmunitionStage.Separation; + currentSubmunitionStage = SubmunitionStage.Separation; } /// @@ -236,7 +236,7 @@ namespace ThreatSource.Missile altimeter.Update(deltaTime); rangefinder.Update(deltaTime); - switch (currentStage) + switch (currentSubmunitionStage) { case SubmunitionStage.Separation: UpdateSeparationStage(deltaTime); @@ -274,7 +274,7 @@ namespace ThreatSource.Missile // 分离阶段只表示分离行为，不进行任何物理计算 // 分离阶段结束，进入减速阶段 - currentStage = SubmunitionStage.Deceleration; + currentSubmunitionStage = SubmunitionStage.Deceleration; } /// @@ -310,7 +310,7 @@ namespace ThreatSource.Missile if(altimeterData.IsValid && altimeterData.Altitude <= config.ParachuteDeploymentHeight) { // 如果是，则进入降落伞打开阶段 - currentStage = SubmunitionStage.ParachuteDeployment; + currentSubmunitionStage = SubmunitionStage.ParachuteDeployment; } } @@ -341,11 +341,11 @@ namespace ThreatSource.Missile if(altimeterData.IsValid && altimeterData.Altitude <= config.StableScanHeight) { // 如果是，则进入稳定扫描阶段 - currentStage = SubmunitionStage.StableScan; + currentSubmunitionStage = SubmunitionStage.StableScan; // 维持稳定的垂直下降速度 KState.Velocity = new Vector3D(0, -config.VerticalDeclineSpeed, 0); // 制导加速度抵消重力加速度，匀速下降 - GuidanceAcceleration = new Vector3D(0, MotionAlgorithm.Gravity, 0); + GuidanceAcceleration = new Vector3D(0, PhysicalConstants.BeijingGravity, 0); } } @@ -387,7 +387,7 @@ namespace ThreatSource.Missile RangefinderSensorData rangefinderData = (RangefinderSensorData)rangefinder.GetSensorData(); if (rangefinderData.IsValid && rangefinderData.Distance <= config.TargetDetectionDistance) { - currentStage = SubmunitionStage.Detection; + currentSubmunitionStage = SubmunitionStage.Detection; } } @@ -488,7 +488,7 @@ namespace ThreatSource.Missile // 二次确认成功，进入攻击阶段 Debug.WriteLine($"二次确认成功，进入攻击阶段，当前角度: {spiralAngle * 180 / Math.PI:F2}°"); IsGuidance = true; - currentStage = SubmunitionStage.Attack; + currentSubmunitionStage = SubmunitionStage.Attack; return; } else @@ -642,7 +642,7 @@ namespace ThreatSource.Missile SimulationElement target = SimulationManager.GetEntityById(TargetId) as SimulationElement ?? throw new Exception("目标不存在"); double distanceToTarget = (target.KState.Position - KState.Position).Magnitude(); - statusInfo.ExtendedProperties["CurrentStage"] = currentStage.ToString(); + statusInfo.ExtendedProperties["CurrentStage"] = currentSubmunitionStage.ToString(); statusInfo.ExtendedProperties["SpiralAngle"] = spiralAngle * 180 / Math.PI; statusInfo.ExtendedProperties["LastDetectionTime"] = lastDetectionTime?.ToString() ?? "null"; statusInfo.ExtendedProperties["FirstDetectionAngle"] = firstDetectionAngle?.ToString() ?? "null"; @@ -690,7 +690,7 @@ namespace ThreatSource.Missile private bool IsSensorsJammed() { // 根据当前阶段检查相应传感器的干扰状态 - switch (currentStage) + switch (currentSubmunitionStage) { case SubmunitionStage.Deceleration: // 减速阶段需要测高仪 diff --git a/ThreatSource/src/Utils/Common.cs b/ThreatSource/src/Utils/Common.cs index eec5423..ebe4c0c 100644 --- a/ThreatSource/src/Utils/Common.cs +++ b/ThreatSource/src/Utils/Common.cs @@ -34,4 +34,22 @@ namespace ThreatSource.Utils /// Band8 } + + /// + /// 存储通用的物理常量。 + /// + public static class PhysicalConstants + { + /// + /// 重力加速度值（北京标准值）。 + /// 单位：m/s² + /// + public static readonly double BeijingGravity = 9.8015; + + /// + /// 重力加速度（标准值）。 + /// 单位：m/s² + /// + public static readonly double StandardGravity = 9.80665; + } } \ No newline at end of file diff --git a/ThreatSource/src/Utils/LiftModel.cs b/ThreatSource/src/Utils/LiftModel.cs new file mode 100644 index 0000000..d939eb3 --- /dev/null +++ b/ThreatSource/src/Utils/LiftModel.cs @@ -0,0 +1,35 @@ +namespace ThreatSource.Utils +{ + /// + /// 提供计算导弹升力相关参数的静态方法。 + /// + public static class LiftModel + { + private const double MinEffectivePitchDegrees = -5.0; // 模型有效的最小俯仰角 (度) + private const double MaxEffectivePitchDegrees = 15.0; // 模型有效的最大俯仰角 (度) + private const double PitchOffsetDegrees = 5.0; // 升力和重力平衡点的俯仰角（攻角） (度) + private const double LiftCoefficientPerDegree = 1.0; // 每度俯仰角的升力系数 (m/s^2 / 度) + + /// + /// 根据给定的俯仰角（攻角）计算升力产生的垂直加速度。 + /// 此计算基于一个模型，该模型首先定义了一个"已合并重力效应"的加速度 (combined_vertical_acceleration)， + /// 然后通过 lift_acceleration = combined_vertical_acceleration + g 来得到纯升力加速度。 + /// 当俯仰角（攻角）超出预定有效范围时，此模型贡献的升力加速度为0。 + /// + /// 当前俯仰角（单位：度）。在此模型中作为攻角的代理。 + /// 升力产生的加速度矢量（单位：m/s²）。如果在有效俯仰角范围之外，则返回0。 + public static Vector3D CalculateLiftAcceleration(double pitchDegrees) + { + if (pitchDegrees < MinEffectivePitchDegrees || pitchDegrees > MaxEffectivePitchDegrees) + { + return Vector3D.Zero; + } + + double combinedVerticalAcceleration = (pitchDegrees - PitchOffsetDegrees) * LiftCoefficientPerDegree; + + double liftAcceleration = combinedVerticalAcceleration + PhysicalConstants.BeijingGravity; + + return new Vector3D(0, liftAcceleration, 0); + } + } +} \ No newline at end of file diff --git a/ThreatSource/src/Utils/MotionAlgorithm.cs b/ThreatSource/src/Utils/MotionAlgorithm.cs index 0f000d1..416ac54 100644 --- a/ThreatSource/src/Utils/MotionAlgorithm.cs +++ b/ThreatSource/src/Utils/MotionAlgorithm.cs @@ -15,11 +15,6 @@ namespace ThreatSource.Utils /// public static class MotionAlgorithm { - /// - /// 重力值（北京标准值） - /// - public static readonly double Gravity = 9.8015; - /// /// 计算抛物线弹道最佳发射方向（选择较小的仰角） /// @@ -78,7 +73,7 @@ namespace ThreatSource.Utils double v0_2 = v0 * v0; double v0_4 = v0_2 * v0_2; - double discriminant = v0_4 - Gravity * (Gravity * x * x + 2 * y * v0_2); + double discriminant = v0_4 - PhysicalConstants.BeijingGravity * (PhysicalConstants.BeijingGravity * x * x + 2 * y * v0_2); if (discriminant < 0) { @@ -86,8 +81,8 @@ namespace ThreatSource.Utils return null; } - double angle1 = Math.Atan((v0_2 + Math.Sqrt(discriminant)) / (Gravity * x)); - double angle2 = Math.Atan((v0_2 - Math.Sqrt(discriminant)) / (Gravity * x)); + double angle1 = Math.Atan((v0_2 + Math.Sqrt(discriminant)) / (PhysicalConstants.BeijingGravity * x)); + double angle2 = Math.Atan((v0_2 - Math.Sqrt(discriminant)) / (PhysicalConstants.BeijingGravity * x)); Debug.WriteLine($"计算得到的两个角度: {angle1 * 180 / Math.PI:F2}° 和 {angle2 * 180 / Math.PI:F2}°"); @@ -405,7 +400,7 @@ namespace ThreatSource.Utils // 使用阻力调整后的初始速度计算发射角度 // (这是一个简化模型，实际情况更复杂，可能需要迭代求解) Vector3D deltaPos = targetPos - startPos; - Vector3D gravityVector = new(0, -Gravity, 0); + Vector3D gravityVector = new(0, -PhysicalConstants.BeijingGravity, 0); Vector3D effectiveTotalAcceleration = gravityVector + dragAcceleration; double coeff_a = 0.25 * effectiveTotalAcceleration.MagnitudeSquared(); diff --git a/ThreatSource/src/Utils/ObscurationUtils.cs b/ThreatSource/src/Utils/ObscurationUtils.cs index 92917b7..38f0ddc 100644 --- a/ThreatSource/src/Utils/ObscurationUtils.cs +++ b/ThreatSource/src/Utils/ObscurationUtils.cs @@ -13,9 +13,9 @@ namespace ThreatSource.Utils { public double MinU, MinV, MaxU, MaxV; public double AverageDepth; // 新增：投影物体顶点的平均深度 - public double Width => MaxU - MinU; - public double Height => MaxV - MinV; - public bool IsValid => Width >= 0 && Height >= 0; + public readonly double Width => MaxU - MinU; + public readonly double Height => MaxV - MinV; + public readonly bool IsValid => Width >= 0 && Height >= 0; } /// diff --git a/VERSION b/VERSION index 0ee9c5d..a2a8e42 100644 --- a/VERSION +++ b/VERSION @@ -1 +1 @@ -1.1.20 \ No newline at end of file +1.1.21 \ No newline at end of file diff --git a/docs/project/develop_log.md b/docs/project/develop_log.md index 121c437..86aa264 100644 --- a/docs/project/develop_log.md +++ b/docs/project/develop_log.md @@ -7,6 +7,11 @@ - 事件描述 - 分析处理 +## 2025-05-24 增加了升力的影响 +- 增加了升力加速度的计算 +- 将发射、巡航、制导三个阶段汇聚到导弹基类中 +- 毫米波搜索稳定性很差，原来是 FOV 太大，使搜索速度变慢。从 45 度改为 15 度，稳定了。 + ## 2025-05-19 增加了SwerlingRCS回波模型 - 增加了SwerlingRCS回波模型 - 在毫米波制导中，用RCS特征矩阵取值 diff --git a/docs/project/tunning.md b/docs/project/tunning.md index cd50b55..157e4c2 100644 --- a/docs/project/tunning.md +++ b/docs/project/tunning.md @@ -488,3 +488,56 @@ - 使用SwerlingRCS回波模型获取到的目标RCS，起伏比较大，有一定概率出现几倍的误差。实际观察，从 60%到 200% 都有。 - 因为扫描周期较长（360度每秒），所以偏离较大的RCS，对跟踪和锁定有一定影响。 + +## 增加了升力加速度计算之后的实验记录 + +时间：2025-05-24 10:00:00 +版本：v1.1.21 + +### 实验结果 +1. 末敏弹 + - 爆炸半径：5 米 + - 分离散布范围：10米 + - 减速加速度：150 m/s² + - 降落伞减速度：95 m/s² + + - 发射加速度：0 m/s² + - 发动机最大燃烧时间：0 秒 +2. 激光驾束 + - 发射加速度：100 m/s² + - 发动机最大燃烧时间：3.0 秒 + - 巡航时间：0 秒 +3. 红外指令 + - 发射加速度：150 m/s² + - 发动机最大燃烧时间：2.0 秒 + - 巡航时间：2 秒 +4. 红外热成像 + - 发射加速度：100 m/s² + - 发动机最大燃烧时间：2.5 秒 + - 巡航时间：3.0 秒 + + - 发射角度：0.12 弧度（此时巡航高度 150 米，制导阶段起始角度-0.01弧度） +5. 毫米波末制导 + - 发射加速度：100 m/s² + - 发动机最大燃烧时间：2.5 秒 + - 巡航时间：3.0 秒 + + - 发射角度：0.05 弧度（此时巡航高度 15 米，制导阶段起始角度-0.02弧度，搜索视场角 15 度） + +6. 激光半主动 + - 比例引导系数：3 + - 发射加速度：0.0 m/s² + - 发动机最大燃烧时间：0.0 秒 + - 巡航时间：10.0 秒 + + - 发射距离：10000 m + - 发射速度：700 m/s + - 发射角度：Math.PI/20（大约 3 度） +7. 复合制导 + - 发射加速度：100 m/s² + - 发动机最大燃烧时间：2.5 秒 + - 巡航时间：3.0 秒 + + - 发射角度：0.05 弧度（此时巡航高度 15 米，制导阶段起始角度-0.02弧度，毫米波搜索视场角 15 度） + + diff --git a/missile_lift_model.md b/missile_lift_model.md new file mode 100644 index 0000000..22aa878 --- /dev/null +++ b/missile_lift_model.md @@ -0,0 +1,76 @@ +# 上下文 +文件名：[missile_lift_model.md] +创建于：[2024-05-23T10:00:00Z] +创建者：[AI] + +# 任务描述 +用户请求设计并实现导弹的升力加速度模型。 +升力加速度az =（功角a - 5 度）* 1 米每秒的平方。 +功角 a 的范围是大于等于负 5 度且小于等于 15 度。在其他情况下，az=0。 +功角 a 定义为导弹速度矢量与XY平面（水平面）的夹角。 +升力加速度作用在导弹的垂直方向（垂直于速度矢量，并在由速度矢量和世界Y轴定义的平面内）。 + +# 项目概述 +项目为一个导弹仿真系统，需要修改导弹基类及其运动算法来集成新的升力模型。 + +--- +*以下部分由 AI 在协议执行过程中维护* +--- + +# 分析 (由 RESEARCH 模式填充) +- 升力计算的核心位置在 `BaseMissile.cs` 的 `CalculateAcceleration` 方法。 +- 攻角 (alpha) 用户定义为速度矢量与水平面 (XZ平面，假设Y为垂直轴) 的夹角。 +- 升力方向垂直于速度矢量，并位于由速度矢量和世界Y轴（`Vector3D.UnitY`）定义的平面内。 +- `MotionAlgorithm.cs` 是存放运动相关计算的工具类。 + +# 提议的解决方案 (由 INNOVATE 模式填充) +方案：在 `MotionAlgorithm.cs` 中增加计算攻角和升力矢量的方法。在 `BaseMissile.cs` 中调用这些方法并将升力加入总加速度。 + +# 实施计划 (由 PLAN 模式生成) +见下方实施检查清单。 + +实施检查清单： +1. **在 `ThreatSource/src/Utils/MotionAlgorithm.cs` 中**： + 1. 创建 `public static double CalculateAngleOfAttackFromHorizontal(Vector3D velocity)` 方法。 + * 输入: `Vector3D velocity`。 + * 计算水平速度大小 `horizontalMagnitude = Math.Sqrt(velocity.X * velocity.X + velocity.Z * velocity.Z)`。 + * 处理 `horizontalMagnitude < 1e-6` 的情况： + * If `velocity.Y > 0`, return `Math.PI / 2`. + * If `velocity.Y < 0`, return `-Math.PI / 2`. + * Else, return `0.0`. + * 否则，计算 `alpha_rad = Math.Atan2(velocity.Y, horizontalMagnitude)`。 + * Return `alpha_rad`. +2. **在 `ThreatSource/src/Utils/MotionAlgorithm.cs` 中**： + 1. 创建 `public static Vector3D CalculateLiftAccelerationVector(Vector3D velocity, double angleOfAttackDegrees)` 方法。 + * 输入: `Vector3D velocity`, `double angleOfAttackDegrees`. + * 定义常量: `MIN_AOA_DEG = -5.0`, `MAX_AOA_DEG = 15.0`, `AOA_OFFSET_DEG = 5.0`. + * 计算 `az_magnitude`: + * If `angleOfAttackDegrees >= MIN_AOA_DEG && angleOfAttackDegrees <= MAX_AOA_DEG`: + * `az_magnitude = (angleOfAttackDegrees - AOA_OFFSET_DEG) * 1.0`. + * Else: + * `az_magnitude = 0.0`. + * If `Math.Abs(az_magnitude) < 1e-6 || velocity.MagnitudeSquared() < 1e-9`, return `Vector3D.Zero`. + * 定义 `WorldUp = Vector3D.UnitY`. + * `velocityNormalized = velocity.Normalize()`. + * `RightVec = Vector3D.CrossProduct(velocityNormalized, WorldUp)`. + * If `RightVec.MagnitudeSquared() < 1e-9`, return `Vector3D.Zero` (处理垂直飞行情况). + * `LiftDir = Vector3D.CrossProduct(RightVec, velocityNormalized).Normalize()`. + * `liftAcceleration = LiftDir * az_magnitude`. + * Return `liftAcceleration`. +3. **在 `ThreatSource/src/Missile/BaseMissile.cs` 的 `CalculateAcceleration(Vector3D velocity)` 方法中**： + 1. 在计算 `totalAcceleration` 之前，获取当前速度 `currentMissileVelocity = velocity` (或直接用 `velocity` 参数)。 + 2. 计算攻角（度）: `double currentAoARad = MotionAlgorithm.CalculateAngleOfAttackFromHorizontal(currentMissileVelocity);` + 3. `double currentAoADegrees = currentAoARad * 180.0 / Math.PI;` + 4. 计算升力加速度矢量: `Vector3D liftAcceleration = MotionAlgorithm.CalculateLiftAccelerationVector(currentMissileVelocity, currentAoADegrees);` + 5. 修改 `totalAcceleration` 的计算公式，加入 `liftAcceleration`: + `Vector3D totalAcceleration = GuidanceAcceleration + ThrustAcceleration + dragAcceleration + GravityAcceleration + liftAcceleration;` + 6. 更新 `Debug.WriteLine` 语句，包含 `liftAcceleration` 的值。例如，在原有的基础上追加 `$", 升力: {liftAcceleration}"`。 + +# 当前执行步骤 (由 EXECUTE 模式在开始执行某步骤时更新) +> 正在执行: "1. 在 `ThreatSource/src/Utils/MotionAlgorithm.cs` 中：1. 创建 `public static double CalculateAngleOfAttackFromHorizontal(Vector3D velocity)` 方法。" + +# 任务进度 (由 EXECUTE 模式在每步完成后追加) +* [待填写] + +# 最终审查 (由 REVIEW 模式填充) +[待填写] \ No newline at end of file diff --git a/tools/ComprehensiveMissileSimulator.cs b/tools/ComprehensiveMissileSimulator.cs index 62aeef5..33db8e4 100644 --- a/tools/ComprehensiveMissileSimulator.cs +++ b/tools/ComprehensiveMissileSimulator.cs @@ -119,62 +119,63 @@ namespace ThreatSource.Tools.MissileSimulation /// private void InitializeMissileJammingMap() { - missileJammingMap = new Dictionary>(); - - // 激光驾束导弹 - missileJammingMap["LBRM_1"] = + missileJammingMap = new Dictionary> + { + // 激光驾束导弹 + ["LBRM_1"] = [ (JammingType.Laser, "激光干扰", "LaserJammer_Designator", "阻塞", "驾束仪"), (JammingType.SmokeGrenade, "烟幕弹", "SG_1", "遮蔽", "驾束仪") - ]; - - // 激光半主动制导导弹 - missileJammingMap["LSGM_1"] = + ], + + // 激光半主动制导导弹 + ["LSGM_1"] = [ (JammingType.Laser, "激光干扰(指示器)", "LaserJammer_Designator", "阻塞", "指示器"), (JammingType.Laser, "激光干扰(导弹)", "LaserJammer_Missile", "阻塞", "导弹"), (JammingType.LaserDecoy, "激光诱偏目标", "LDY_1", "欺骗", "导弹"), (JammingType.SmokeGrenade, "烟幕弹", "SG_1", "遮蔽", "两者") - ]; - - // 红外指令制导导弹 - missileJammingMap["ICGM_1"] = + ], + + // 红外指令制导导弹 + ["ICGM_1"] = [ (JammingType.Infrared, "红外干扰", "InfraredJammer_Designator", "阻塞", "指示器"), (JammingType.SmokeGrenade, "烟幕弹", "SG_2", "遮蔽", "指示器") - ]; - - // 红外成像末制导导弹 - missileJammingMap["ITGM_1"] = + ], + + // 红外成像末制导导弹 + ["ITGM_1"] = [ (JammingType.Infrared, "红外干扰", "InfraredJammer_Missile", "阻塞", "导弹"), (JammingType.SmokeGrenade, "红外烟幕弹", "SG_2", "遮蔽", "导弹") - ]; - - // 毫米波末制导导弹 - missileJammingMap["MMWG_1"] = + ], + + // 毫米波末制导导弹 + ["MMWG_1"] = [ (JammingType.MillimeterWave, "毫米波干扰", "MillimeterWaveJammer_Missile", "阻塞", "导弹"), (JammingType.SmokeGrenade, "烟幕弹", "SG_3", "遮蔽", "导弹") - ]; - - // 末敏子弹药 - missileJammingMap["TSM_1"] = + ], + + // 末敏子弹药 + ["TSM_1"] = [ (JammingType.Laser, "激光干扰", "LaserJammer_Submunition", "阻塞", "子弹药"), (JammingType.Infrared, "红外干扰", "InfraredJammer_Submunition", "阻塞", "子弹药"), (JammingType.MillimeterWave, "毫米波干扰", "MillimeterWaveJammer_Submunition", "阻塞", "子弹药"), (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"] = + // 复合制导导弹 + ["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") - ]; + ] + }; } /// @@ -233,7 +234,7 @@ namespace ThreatSource.Tools.MissileSimulation { Position = new Vector3D(0, 1.2, 0), Orientation = new Orientation(0.0, 0.0, 0.0), - Speed = 1.0 + Speed = 2.0 }; string targetId = "Tank_1"; var target = _threatSourceFactory.CreateEquipment(targetId, "mbt_001", motionParameters); @@ -323,8 +324,8 @@ namespace ThreatSource.Tools.MissileSimulation { var motionParameters = new KinematicState { - Position = new Vector3D(10000, 10, 10), - Orientation = new Orientation(Math.PI/2, Math.PI/18, 0), + Position = new Vector3D(10000, 1, 10), + Orientation = new Orientation(Math.PI/2, Math.PI/20, 0), Speed = 700 }; string missileId = "LSGM_1"; @@ -342,7 +343,7 @@ namespace ThreatSource.Tools.MissileSimulation var motionParameters = new KinematicState { Position = new Vector3D(2000, 1, 10), - Orientation = new Orientation(Math.PI/2, 0.1, 0.0), + Orientation = new Orientation(Math.PI/2, 0.04, 0.0), Speed = 10 }; string missileId = "LBRM_1"; @@ -359,7 +360,7 @@ namespace ThreatSource.Tools.MissileSimulation { var motionParameters = new KinematicState { - Position = new Vector3D(3000, 0, 20), + Position = new Vector3D(3000, 1, 20), Orientation = new Orientation(Math.PI/2, 0.0, 0.0), Speed = 700 }; @@ -380,7 +381,7 @@ namespace ThreatSource.Tools.MissileSimulation var motionParameters = new KinematicState { Position = new Vector3D(2000, 1, 20), - Orientation = new Orientation(Math.PI/2, 0.15, 0), + Orientation = new Orientation(Math.PI/2, 0.05, 0), Speed = 10 }; @@ -399,7 +400,7 @@ namespace ThreatSource.Tools.MissileSimulation var motionParameters = new KinematicState { Position = new Vector3D(2000, 1, 0), - Orientation = new Orientation(Math.PI/2, 0.2, 0), + Orientation = new Orientation(Math.PI/2, 0.12, 0), Speed = 10 }; string missileId = "ITGM_1"; @@ -417,7 +418,7 @@ namespace ThreatSource.Tools.MissileSimulation var motionParameters = new KinematicState { Position = new Vector3D(2000, 1, 20), - Orientation = new Orientation(Math.PI/2, 0.2, 0), + Orientation = new Orientation(Math.PI/2, 0.05, 0), Speed = 10 }; string missileId = "MMWG_1"; @@ -435,7 +436,7 @@ namespace ThreatSource.Tools.MissileSimulation var motionParameters = new KinematicState { Position = new Vector3D(2000, 1, 20), - Orientation = new Orientation(Math.PI/2, 0.2, 0), + Orientation = new Orientation(Math.PI/2, 0.05, 0), Speed = 10 }; string missileId = "CGGM_1"; @@ -484,7 +485,7 @@ namespace ThreatSource.Tools.MissileSimulation Orientation = new Orientation(Math.PI/2, 0, 0), Speed = 0 }; - var infraredTracker = _threatSourceFactory.CreateIndicator(infraredTrackerId, "ir_001", "Tank_1", "ITGM_1", infraredTrackerLaunchParams); + var infraredTracker = _threatSourceFactory.CreateIndicator(infraredTrackerId, "ir_001", "Tank_1", "ICGM_1", infraredTrackerLaunchParams); indicators[infraredTrackerId] = (SimulationElement)infraredTracker; simulationManager.RegisterEntity(infraredTrackerId, infraredTracker); Console.WriteLine($"注册红外测角仪 {infraredTrackerId}"); @@ -1313,7 +1314,7 @@ namespace ThreatSource.Tools.MissileSimulation Console.WriteLine($"未知组件 ({entity.GetType().Name})"); } } - Console.WriteLine($"总计: {allEntities.Count()} 个组件"); + Console.WriteLine($"总计: {allEntities.Count} 个组件"); } ///