毫米波制导在跟踪和锁定时，使用单脉冲测角，并进行波束宽度检查

2025-03-13 14:15:10 +08:00 · 2025-03-13 14:15:10 +08:00 · 8a27dd5077
commit 8a27dd5077
parent ea54c35d42
6 changed files with 166 additions and 50 deletions
--- a/ThreatSource/data/missiles/ir_command/irc_001.json
+++ b/ThreatSource/data/missiles/ir_command/irc_001.json
@ -17,20 +17,8 @@
    "explosionRadius": 5.0,
    "hitProbability": 0.9,
    "selfDestructHeight": 0.0,
-    "irSeekerConfig": {
-      "spectralBand": {
-        "min": 3.0,
-        "max": 5.0
-      },
-      "fieldOfView": 2.0,
-      "sensitivity": -60.0,
-      "trackingRate": 10.0
-    },
-    "commandLink": {
-      "frequency": 10.0,
-      "bandwidth": 1.0,
-      "modulationType": "FSK",
-      "updateRate": 100
-    }
+    "trackerSensitivity": null,
+    "commandLatency": null,
+    "irSignature": null
  }
 } 
--- a/ThreatSource/data/missiles/mmw/mmw_001.json
+++ b/ThreatSource/data/missiles/mmw/mmw_001.json
@ -18,7 +18,7 @@
    "hitProbability": 0.9,
    "selfDestructHeight": 0.0
  },
-  "MillimeterWaveGuidanceConfig": {
+  "millimeterWaveGuidanceConfig": {
    "maxDetectionRange": 5000.0,
    "fieldOfViewAngle": 45.0,
    "targetRecognitionProbability": 0.95,
@ -46,6 +46,10 @@

    "antennaGainDB": 23.0,
    "noiseFigureDB": 7.0,
-    "systemLossDB": 6.0
+    "systemLossDB": 6.0,
+    "monopulseSensitivity": 1,
+
+    "yawControlEffectiveness": 120.0,
+    "pitchControlEffectiveness": 150.0
  }
 } 
--- a/ThreatSource/src/Data/ThreatSourceDataManager.cs
+++ b/ThreatSource/src/Data/ThreatSourceDataManager.cs
@ -27,7 +27,6 @@ namespace ThreatSource.Data
        {
            PropertyNameCaseInsensitive = true,
            WriteIndented = true,
-            PropertyNamingPolicy = JsonNamingPolicy.CamelCase,
            Converters = 
            {
                new JsonStringEnumConverter(JsonNamingPolicy.CamelCase)
@ -79,6 +78,10 @@ namespace ThreatSource.Data
                {
                    var jsonContent = File.ReadAllText(file);
                    Console.WriteLine($"读取导弹文件内容：{jsonContent}");
+                    Console.WriteLine($"序列化选项：");
+                    Console.WriteLine($"- PropertyNameCaseInsensitive: {_jsonOptions.PropertyNameCaseInsensitive}");
+                    Console.WriteLine($"- WriteIndented: {_jsonOptions.WriteIndented}");
+                    Console.WriteLine($"- PropertyNamingPolicy: {_jsonOptions.PropertyNamingPolicy}");
                    
                    var data = JsonSerializer.Deserialize<MissileData>(jsonContent, _jsonOptions);
                    if (data != null)
@ -86,7 +89,16 @@ namespace ThreatSource.Data
                        string model = Path.GetFileNameWithoutExtension(file);
                        _missiles[model] = data;
                        Console.WriteLine($"已加载导弹数据：{model}");
-                        Console.WriteLine($"读取到的数据：{JsonSerializer.Serialize(data, _jsonOptions)}");
+                        Console.WriteLine($"导弹类型：{data.Type}");
+                        Console.WriteLine($"毫米波导引配置：{(data.MillimeterWaveGuidanceConfig != null ? "已加载" : "未加载")}");
+                        if (data.MillimeterWaveGuidanceConfig != null)
+                        {
+                            var config = data.MillimeterWaveGuidanceConfig;
+                            Console.WriteLine($"- 最大探测范围：{config.MaxDetectionRange}");
+                            Console.WriteLine($"- 视场角：{config.FieldOfViewAngle}");
+                            Console.WriteLine($"- 目标识别概率：{config.TargetRecognitionProbability}");
+                        }
+                        //Console.WriteLine($"读取到的完整数据：{JsonSerializer.Serialize(data, new JsonSerializerOptions { WriteIndented = true })}");
                    }
                }
                catch (Exception ex)
@ -113,7 +125,7 @@ namespace ThreatSource.Data
                try 
                {
                    var jsonContent = File.ReadAllText(file);
-                    Console.WriteLine($"读取指示器文件内容：{jsonContent}");
+                    //Console.WriteLine($"读取指示器文件内容：{jsonContent}");
                    
                    var data = JsonSerializer.Deserialize<IndicatorData>(jsonContent, _jsonOptions);
                    if (data != null)
@ -121,7 +133,7 @@ namespace ThreatSource.Data
                        string model = Path.GetFileNameWithoutExtension(file);
                        _indicators[model] = data;
                        Console.WriteLine($"已加载指示器数据：{model}");
-                        Console.WriteLine($"读取到的数据：{JsonSerializer.Serialize(data, _jsonOptions)}");
+                        //Console.WriteLine($"读取到的数据：{JsonSerializer.Serialize(data, _jsonOptions)}");
                    }
                }
                catch (Exception ex)
@ -148,7 +160,7 @@ namespace ThreatSource.Data
                try 
                {
                    var jsonContent = File.ReadAllText(file);
-                    Console.WriteLine($"读取传感器文件内容：{jsonContent}");
+                    //Console.WriteLine($"读取传感器文件内容：{jsonContent}");
                    
                    var data = JsonSerializer.Deserialize<SensorData>(jsonContent, _jsonOptions);
                    if (data != null)
@ -156,7 +168,7 @@ namespace ThreatSource.Data
                        string model = Path.GetFileNameWithoutExtension(file);
                        _sensors[model] = data;
                        Console.WriteLine($"已加载传感器数据：{model}");
-                        Console.WriteLine($"读取到的数据：{JsonSerializer.Serialize(data, _jsonOptions)}");
+                        //Console.WriteLine($"读取到的数据：{JsonSerializer.Serialize(data, _jsonOptions)}");
                    }
                }
                catch (Exception ex)
@ -183,7 +195,7 @@ namespace ThreatSource.Data
                try 
                {
                    var jsonContent = File.ReadAllText(file);
-                    Console.WriteLine($"读取目标文件内容：{jsonContent}");
+                    //Console.WriteLine($"读取目标文件内容：{jsonContent}");
                    
                    var data = JsonSerializer.Deserialize<TargetData>(jsonContent, _jsonOptions);
                    if (data != null)
@ -191,7 +203,7 @@ namespace ThreatSource.Data
                        string model = Path.GetFileNameWithoutExtension(file);
                        _targets[model] = data;
                        Console.WriteLine($"正在加载目标数据：{file}");
-                        Console.WriteLine($"读取到的数据：{JsonSerializer.Serialize(data, _jsonOptions)}");
+                        //Console.WriteLine($"读取到的数据：{JsonSerializer.Serialize(data, _jsonOptions)}");
                    }
                }
                catch (Exception ex)
--- a/ThreatSource/src/Guidance/MillimeterWaveGuidanceSystem.cs
+++ b/ThreatSource/src/Guidance/MillimeterWaveGuidanceSystem.cs
@ -260,14 +260,51 @@ namespace ThreatSource.Guidance
            }
        }

+        /// <summary>
+        /// 单脉冲和差测角处理（仅用于跟踪/锁定模式）
+        /// </summary>
+        /// <param name="toTarget">弹目视线方向向量</param>
+        /// <param name="missileVelocity">导弹速度向量</param>
+        /// <returns>(方位误差弧度, 俯仰误差弧度)</returns>
+        private (double azimuthError, double elevationError) ProcessMonopulse(Vector3D toTarget, Vector3D missileVelocity)
+        {
+            // 建立弹体坐标系（X轴为导弹速度方向）
+            Vector3D xAxis = missileVelocity.Normalize();
+            // 使用地面垂直方向作为参考
+            Vector3D up = Vector3D.UnitY;
+            // 计算水平方向
+            Vector3D yAxis = Vector3D.CrossProduct(up, xAxis).Normalize();
+            if (yAxis.Magnitude() < 1e-6)
+            {
+                // 如果导弹垂直飞行，使用北向作为参考
+                yAxis = Vector3D.CrossProduct(Vector3D.UnitZ, xAxis).Normalize();
+            }
+            // 计算垂直方向
+            Vector3D zAxis = Vector3D.CrossProduct(xAxis, yAxis).Normalize();
+
+            // 将目标向量转换到弹体坐标系
+            Vector3D targetBodyFrame = new(
+                Vector3D.DotProduct(toTarget, xAxis),
+                Vector3D.DotProduct(toTarget, yAxis),
+                Vector3D.DotProduct(toTarget, zAxis)
+            );
+
+            // 计算方位角和俯仰角
+            double azimuthError = Math.Atan2(targetBodyFrame.Y, targetBodyFrame.X);
+            double elevationError = Math.Atan2(targetBodyFrame.Z, Math.Sqrt(targetBodyFrame.X * targetBodyFrame.X + targetBodyFrame.Y * targetBodyFrame.Y));
+
+            // 应用灵敏度系数
+            return (
+                azimuthError * config.MonopulseSensitivity,
+                elevationError * config.MonopulseSensitivity
+            );
+        }
+
        /// <summary>
        /// 计算目标是否在当前扫描波束内
        /// </summary>
        private bool IsTargetInBeam(Vector3D missileVelocity, Vector3D toTarget)
-        {
-            // 使用导弹速度方向作为X轴（前进方向）
-            Vector3D baseDirection = missileVelocity.Normalize();
-            
+        {            
            // 根据当前模式选择波束宽度
            double currentBeamWidth = currentMode switch
            {
@ -279,8 +316,9 @@ namespace ThreatSource.Guidance

            if (currentMode == WorkMode.Search)
            {
+                // 搜索模式使用圆锥扫描               
                // 建立以前进方向为X轴的右手坐标系
-                Vector3D xAxis = baseDirection;
+                Vector3D xAxis = missileVelocity.Normalize();
                Vector3D yAxis;
                Vector3D referenceAxis = Vector3D.UnitY;  // 优先使用垂直轴作为参考

@ -309,7 +347,7 @@ namespace ThreatSource.Guidance
                ).Normalize();

                // 调试输出
-                Console.WriteLine($"导弹前进方向: {baseDirection}");
+                Console.WriteLine($"导弹前进方向: {xAxis}");
                Console.WriteLine($"目标方向: {toTarget.Normalize()}");
                Console.WriteLine($"扫描方向: {scanDirection}");

@ -322,13 +360,11 @@ namespace ThreatSource.Guidance
            }
            else
            {
-                // 跟踪和锁定模式：直接使用基准方向
-                double angle = Math.Acos(Vector3D.DotProduct(baseDirection, toTarget.Normalize()));
-                
-                string mode = currentMode == WorkMode.Track ? "跟踪" : "锁定";
-                Console.WriteLine($"{mode}模式 - 目标夹角: {angle * 180.0 / Math.PI:F2}度, 波束宽度: {currentBeamWidth * 180.0 / Math.PI:F2}度");
-
-                return angle <= currentBeamWidth;
+                // 跟踪/锁定模式使用单脉冲测角
+                var (azError, elError) = ProcessMonopulse(toTarget.Normalize(), missileVelocity);
+                Console.WriteLine($"[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");
+                Console.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");
+                return Math.Sqrt(azError*azError + elError*elError) < currentBeamWidth;
            }
        }

@ -359,19 +395,22 @@ namespace ThreatSource.Guidance
                lastTargetPosition = targetPosition;
                lastTargetVelocity = targetVelocity;

-                // 使用比例导引控制算法
+                // 使用比例导引计算制导加速度
                GuidanceAcceleration = MotionAlgorithm.CalculateProportionalNavigation(
-                    ProportionalNavigationCoefficient, 
-                    missilePosition, 
-                    missileVelocity, 
-                    targetPosition, 
-                    targetVelocity);
+                    ProportionalNavigationCoefficient,
+                    missilePosition,
+                    missileVelocity,
+                    targetPosition,
+                    targetVelocity
+                );

+                // 限制最大加速度
                if (GuidanceAcceleration.Magnitude() > MaxAcceleration)
                {
                    GuidanceAcceleration = GuidanceAcceleration.Normalize() * MaxAcceleration;
                }

+                Console.WriteLine($"制导加速度: {GuidanceAcceleration}");
                HasGuidance = true;
            }
            else
@ -451,13 +490,26 @@ namespace ThreatSource.Guidance
                        }
                        else if (currentMode == WorkMode.Track || currentMode == WorkMode.Lock)
                        {
-                            // 在跟踪和锁定模式下直接使用搜索阶段的目标位置
-                            if (Vector3D.Distance(target.Position, lastTargetPosition) < 100.0) // 目标识别容差
+                            // 波束内判断
+                            if (IsTargetInBeam(missileVelocity, toTarget) && 
+                                Vector3D.Distance(target.Position, lastTargetPosition) < 100.0)
                            {
-                                targetPosition = target.Position;
-                                foundTarget = true;
-                                currentSNR = snr;
-                                break;
+                                // 在跟踪模式下，SNR至少要达到识别阈值
+                                double requiredSNR = (currentMode == WorkMode.Track) ? 
+                                    config.RecognitionSNRThreshold : config.LockSNRThreshold;
+                                    
+                                if (snr >= requiredSNR)
+                                {
+                                    targetPosition = target.Position;
+                                    foundTarget = true;
+                                    currentSNR = snr;
+                                    Console.WriteLine($"[目标跟踪] 距离: {distance:F1}米, SNR: {snr:F2}dB, 要求SNR: {requiredSNR:F2}dB");
+                                    break;
+                                }
+                                else
+                                {
+                                    Console.WriteLine($"[目标丢失] 距离: {distance:F1}米, SNR: {snr:F2}dB, 要求SNR: {requiredSNR:F2}dB");
+                                }
                            }
                        }
                    }
--- a/ThreatSource/src/Simulation/SimulationConfig.cs
+++ b/ThreatSource/src/Simulation/SimulationConfig.cs
@ -1347,6 +1347,25 @@ namespace ThreatSource.Simulation
        /// </remarks>
        public double SystemLossDB { get; set; } = 6.0;

+        /// <summary>
+        /// 单脉冲灵敏度（弧度/误差单位）
+        /// </summary>
+        public double MonopulseSensitivity { get; set; } = 0.005;
+
+        /// <summary>
+        /// 偏航舵效 (m/s² per rad/s)
+        /// </summary>
+        public double YawControlEffectiveness { get; set; } = 120.0;
+
+        /// <summary>
+        /// 俯仰舵效 (m/s² per rad/s)
+        /// </summary>
+        public double PitchControlEffectiveness { get; set; } = 150.0;
+
+        /// <summary>
+        /// 单脉冲跟踪滤波器参数
+        /// </summary>
+        public KalmanFilterParams TrackFilterParams { get; set; } = new();

        /// <summary>
        /// 初始化毫米波末制导导引系统配置的新实例
@ -1372,10 +1391,35 @@ namespace ThreatSource.Simulation
        /// - 天线增益：23dB
        /// - 噪声系数：7dB
        /// - 系统损耗：6dB
+        /// - 单脉冲灵敏度：0.002弧度/误差单位
+        /// - 偏航通道控制增益：1.2
+        /// - 俯仰通道控制增益：1.0
+        /// - 单脉冲跟踪滤波器参数：ProcessNoise=0.1, MeasurementNoise=0.01, InitialEstimateError=1.0
        /// </remarks>
        public MillimeterWaveGuidanceConfig()
        {
            // 使用属性初始化器设置的默认值
        }
    }
+
+    /// <summary>
+    /// 卡尔曼滤波器参数类
+    /// </summary>
+    public class KalmanFilterParams
+    {
+        /// <summary>
+        /// 过程噪声
+        /// </summary>
+        public double ProcessNoise { get; set; } = 0.1;
+
+        /// <summary>
+        /// 测量噪声
+        /// </summary>
+        public double MeasurementNoise { get; set; } = 0.01;
+
+        /// <summary>
+        /// 初始估计误差
+        /// </summary>
+        public double InitialEstimateError { get; set; } = 1.0;
+    }
 }
--- a/ThreatSource/src/Utils/MotionAlgorithm.cs
+++ b/ThreatSource/src/Utils/MotionAlgorithm.cs
@ -229,6 +229,22 @@ namespace ThreatSource.Utils
            return acceleration;
        }

+        /// <summary>
+        /// 将角速度转换为加速度
+        /// </summary>
+        /// <param name="angularRate">角速度</param>
+        /// <param name="yawEffectiveness">偏航舵效</param>
+        /// <param name="pitchEffectiveness">俯仰舵效</param>
+        /// <returns>加速度</returns>
+        public static Vector3D ConvertAngularRateToAcceleration(Vector3D angularRate, double yawEffectiveness, double pitchEffectiveness)
+        {
+            return new Vector3D(
+               0,
+               angularRate.Y * yawEffectiveness,
+               angularRate.Z * pitchEffectiveness
+           );
+        }
+
        /// <summary>
        /// 为向量添加高斯噪声
        /// </summary>