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

ThreatSource/data/missiles/ir_command/irc_001.json

@@ -17,20 +17,8 @@
     "explosionRadius": 5.0,
     "hitProbability": 0.9,
     "selfDestructHeight": 0.0,
-    "irSeekerConfig": {
+    "trackerSensitivity": null,
-      "spectralBand": {
+    "commandLatency": null,
-        "min": 3.0,
+    "irSignature": null
-        "max": 5.0
-      },
-      "fieldOfView": 2.0,
-      "sensitivity": -60.0,
-      "trackingRate": 10.0
-    },
-    "commandLink": {
-      "frequency": 10.0,
-      "bandwidth": 1.0,
-      "modulationType": "FSK",
-      "updateRate": 100
-    }
   }
 } 

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
   }
 } 

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)

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
+                // 跟踪/锁定模式使用单脉冲测角
-                double angle = Math.Acos(Vector3D.DotProduct(baseDirection, toTarget.Normalize()));
+                var (azError, elError) = ProcessMonopulse(toTarget.Normalize(), missileVelocity);
-                
+                Console.WriteLine($"[单脉冲测角] 方位误差: {azError * 180/Math.PI:F3}度, 俯仰误差: {elError * 180/Math.PI:F3}度");
-                string mode = currentMode == WorkMode.Track ? "跟踪" : "锁定";
+                Console.WriteLine($"[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");
-                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 Math.Sqrt(azError*azError + elError*elError) < currentBeamWidth;
-
-                return angle <= 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);
+                    targetVelocity
+                );
 
+                // 限制最大加速度
                 if (GuidanceAcceleration.Magnitude() > MaxAcceleration)
                 {
                     GuidanceAcceleration = GuidanceAcceleration.Normalize() * MaxAcceleration;
                 }
 
+                Console.WriteLine($"制导加速度: {GuidanceAcceleration}");
                 HasGuidance = true;
             }
             else
@@ -451,13 +490,26 @@ namespace ThreatSource.Guidance
                         }
                         else if (currentMode == WorkMode.Track || currentMode == WorkMode.Lock)
                         {
-                            // 在跟踪和锁定模式下直接使用搜索阶段的目标位置
+                            // 波束内判断
-                            if (Vector3D.Distance(target.Position, lastTargetPosition) < 100.0) // 目标识别容差
+                            if (IsTargetInBeam(missileVelocity, toTarget) && 
+                                Vector3D.Distance(target.Position, lastTargetPosition) < 100.0)
                             {
-                                targetPosition = target.Position;
+                                // 在跟踪模式下，SNR至少要达到识别阈值
-                                foundTarget = true;
+                                double requiredSNR = (currentMode == WorkMode.Track) ? 
-                                currentSNR = snr;
+                                    config.RecognitionSNRThreshold : config.LockSNRThreshold;
-                                break;
+                                    
+                                if (snr >= requiredSNR)
+                                {
+                                    targetPosition = target.Position;
+                                    foundTarget = true;
+                                    currentSNR = snr;
+                                    Console.WriteLine($"[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");
+                                }
                             }
                         }
                     }

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;
+    }
 }

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>