修改末敏弹的减速阶段参数和开伞段的逻辑，修改末敏弹的发射速度和分离速度，增大末敏弹的视场角到3度

2025-05-30 09:10:30 +08:00 · 2025-05-30 09:10:30 +08:00 · 95efe158d6
commit 95efe158d6
parent 0dcdcdcfd6
6 changed files with 68 additions and 187 deletions
--- a/ThreatSource/data/missiles/terminal_sensitive/tsm_001.toml
+++ b/ThreatSource/data/missiles/terminal_sensitive/tsm_001.toml
@ -22,10 +22,10 @@ SelfDestructHeight = 0.0                # 自毁高度 (米)

 [SubmunitionProperties] # 子弹药属性
 Type = "TerminalSensitiveSubmunition"   # 属性中的类型
-MaxSpeed = 2000.0                       # 最大速度 (米/秒)
+MaxSpeed = 3000.0                       # 最大速度 (米/秒)
 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)
+MaxAcceleration = 2000.0                 # 最大加速度 (米/秒^2)
 ProportionalNavigationCoefficient = 4.0  # 比例导引系数
 LaunchAcceleration = 0.0                # 发射加速度 (米/秒^2)
 MaxEngineBurnTime = 0.0                 # 最大发动机燃烧时间 (秒)
@ -35,20 +35,21 @@ HitProbability = 0.9                    # 命中概率
 SelfDestructHeight = 20.0               # 自毁高度 (米)

 [SubmunitionConfig] # 子弹药配置
-SeparationSpeed = 600.0                 # 分离速度 (米/秒)
+SeparationSpeed = 750.0                # 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 = 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 = 110.0           # 降落伞减速度 (米/秒^2)
-StableScanHeight = 200.0                # 稳定扫描高度 (米)
+DecelerationHeight = 400.0              # 减速高度 (米)
+DecelerationAcceleration = 1500.0        # 减速加速度 (米/秒^2)
+DecelerationEndSpeed = 50.0             # 减速结束速度 (米/秒)
+ParachuteDeploymentHeight = 200.0       # 开伞高度 (米)
+ParachuteDeceleration = 40.0           # 降落伞减速度 (米/秒^2)
+StableScanHeight = 173.2                # 稳定扫描高度 (米)，斜距 200 米
 VerticalDeclineSpeed = 10.0             # 垂直下降速度 (米/秒)
 SpiralRotationSpeed = 1440.0            # 螺旋旋转速度 (度/秒)
 ScanAngle = 30.0                        # 扫描角度 (度)
-TargetDetectionDistance = 150.0         # 目标探测距离 (米)
+TargetDetectionDistance = 130.0         # 目标探测距离 (米)，斜距 150 米
 SelfDestructHeight = 20.0               # (子弹药)自毁高度 (米)
 AttackSpeed = 1000.0                    # 攻击速度 (米/秒)
 TotalProcessingTime = 15.0              # 整体处理时间 (秒)，用于目标位置预测
@ -56,14 +57,14 @@ TotalProcessingTime = 15.0              # 整体处理时间 (秒)，用于目
 [SubmunitionConfig.InfraredDetectorConfig] # 子弹药红外探测器配置
 MaxDetectionRange = 1000.0              # 最大探测距离 (米)
 Band = "Medium"                         # 工作波段 (例如: "Short", "Medium", "Long")
-FieldOfView = 2.0                       # 视场角 (度)
+FieldOfView = 3.0                       # 视场角 (度)
 DetectionRadiationIntensityThreshold = 50.0 # 探测辐射强度阈值 (瓦特/球面度)
 JammingResistanceThreshold = 1.0e-4     # 干扰抗性阈值 (瓦特)

 [SubmunitionConfig.RadiometerConfig] # 子弹药辐射计配置
 MaxDetectionRange = 1000.0              # 最大探测距离 (米)
 Band = "Band8"                          # 工作波段 (例如: "Band3", "Band8", "Band35", "Band94")
-ScanFieldOfView = 2.0                   # 扫描视场角 (度)
+ScanFieldOfView = 3.0                   # 扫描视场角 (度)
 JammingResistanceThreshold = 1.0e-4     # 干扰抗性阈值 (瓦特)

 [SubmunitionConfig.AltimeterConfig] # 子弹药高度计配置
--- a/ThreatSource/src/MIssile/TerminalSensitiveMissile.cs
+++ b/ThreatSource/src/MIssile/TerminalSensitiveMissile.cs
@ -202,15 +202,6 @@ namespace ThreatSource.Missile
        /// </remarks>
        private void PerformSeparation()
        {            
-            // 获取母弹当前的方向向量
-            Vector3D currentDirection = KState.Orientation.ToVector();
-            
-            // 计算水平方向（保持母弹的水平方向分量）
-            Vector3D horizontalDirection = new Vector3D(currentDirection.X, 0, currentDirection.Z).Normalize();
-
-            // 计算分离角度（弧度）
-            double separationAngleRad = submunitionConfig.SubmunitionSeparationAngle * Math.PI / 180.0;
-
            // 获取风速
            Vector3D windVec = Vector3D.Zero;
            var weather = SimulationManager.CurrentWeather;
--- a/ThreatSource/src/MIssile/TerminalSensitiveSubmunition.cs
+++ b/ThreatSource/src/MIssile/TerminalSensitiveSubmunition.cs
@ -279,15 +279,27 @@ namespace ThreatSource.Missile
        /// <param name="deltaTime">时间步长，单位：秒</param>
        /// <remarks>
        /// 分离阶段处理：
-        /// - 只表示分离动作，不进行任何物理计算
-        /// - 分离阶段结束，进入减速阶段
+        /// - 激活毫米波测高雷达
+        /// - 检查高度计数据有效，且高度是否小于等于减速高度
+        /// - 如果是，则进入减速阶段
+        /// - 否则，继续惯性飞行
        /// </remarks>
        private void UpdateSeparationStage(double deltaTime)
        {
-            // 分离阶段只表示分离行为，不进行任何物理计算
+            if(!altimeter.IsActive)
+            {
+                // 激活毫米波测高雷达
+                altimeter.Activate();
+                altimeter.Update(deltaTime);
+            }

-            // 分离阶段结束，进入减速阶段
-            currentSubmunitionStage = SubmunitionStage.Deceleration;
+            // 检查高度计数据有效，且高度是否小于等于减速高度
+            AltimeterSensorData altimeterData = (AltimeterSensorData)altimeter.GetSensorData(); 
+            if(altimeterData.IsValid && altimeterData.Altitude <= config.DecelerationHeight)
+            {
+                // 如果是，则进入减速阶段
+                currentSubmunitionStage = SubmunitionStage.Deceleration;
+            }
        }

        /// <summary>
@ -304,13 +316,6 @@ namespace ThreatSource.Missile
        /// </remarks>
        private void UpdateDecelerationStage(double deltaTime)
        {
-            if(!altimeter.IsActive)
-            {
-                // 激活毫米波测高雷达
-                altimeter.Activate();
-                altimeter.Update(deltaTime);
-            }
-
            if (KState.Speed > config.DecelerationEndSpeed)
            {
                // 减速减旋，速度减小
@ -324,7 +329,7 @@ namespace ThreatSource.Missile
            {
                // 如果是，则进入降落伞打开阶段
                currentSubmunitionStage = SubmunitionStage.ParachuteDeployment;
-            }  
+            }
        }

        /// <summary>   
@ -342,12 +347,17 @@ namespace ThreatSource.Missile
        /// </remarks>
        private void UpdateParachuteDeploymentStage(double deltaTime)
        {
-            // 如果速度大于降落伞减速速度，则降落伞减速
-            if (KState.Speed > config.VerticalDeclineSpeed)
+            // 如果垂直速度分量大于垂直下降速度，则降落伞减速
+            if (Math.Abs(KState.Velocity.Y) > config.VerticalDeclineSpeed)
            {
                Vector3D deceleration = -KState.Velocity.Normalize() * config.ParachuteDeceleration;
                KState.Velocity += deceleration * deltaTime;
            }
+            else
+            {
+                // 如果垂直速度分量小于等于垂直下降速度，则改为匀速垂直下降
+                KState.Velocity = new Vector3D(0, -config.VerticalDeclineSpeed, 0);
+            }

            AltimeterSensorData altimeterData = (AltimeterSensorData)altimeter.GetSensorData(); 
            // 检查高度计数据有效，且高度是否小于等于稳定扫描高度
--- a/ThreatSource/src/Simulation/SimulationConfig.cs
+++ b/ThreatSource/src/Simulation/SimulationConfig.cs
@ -830,6 +830,16 @@ namespace ThreatSource.Simulation
        #endregion

        #region 减速阶段参数
+
+        /// <summary>
+        /// 减速阶段减速高度，单位：米
+        /// </summary>
+        /// <remarks>
+        /// 定义了减速阶段的减速高度
+        /// 默认值为400米
+        /// </remarks>
+        public double DecelerationHeight { get; set; } = 400.0;
+        
        /// <summary>
        /// 减速阶段的减速加速度，单位：米/秒²
        /// </summary>
--- a/docs/project/theory.md
+++ b/docs/project/theory.md
@ -323,7 +323,7 @@ iii. coeff_c = DeltaPos.MagnitudeSquared()



-## 坦克、装甲车和直升机的RCS统计模型选择与其运动特性、结构复杂度及雷达观测条件密切相关，以下是具体分析：
+# 坦克、装甲车和直升机的RCS统计模型选择与其运动特性、结构复杂度及雷达观测条件密切相关，以下是具体分析：
 一、坦克与装甲车
 适用模型：Swerling I/III型或对数正态分布
 运动特性
@ -361,3 +361,22 @@ Swerling II/IV、混合分布
 坦克的倾斜装甲可能引发极化敏感性，需结合交叉极化模型修正。直升机旋翼的谐振效应在低频段（L波段）可能增强RCS起伏幅度。
 通过结合目标运动特性与散射机理，可更精准地选择RCS统计模型，为雷达探测算法设计提供理论支撑。

+# 末敏弹子弹各阶段切换参数
+子弹运动状态随机：10%，因为伞的影响
+
+1. 分离阶段
+   分离速度=母弹速度（1000m/s）
+2. 减速阶段
+   减速高度：400 米
+   减速时间：
+   末端速度：30~50m/s
+3. 伞降阶段
+   起始高度：
+   减速时间：1秒
+   末端速度：10m/s
+4. 稳态扫描
+   起始高度：30 度角斜距 200 米
+   下降速度：10m/s
+5. 攻击阶段
+   起始高度：30 度角斜距 120 米
+   攻击速度：2000~3000m/s
--- a/tools/ComprehensiveMissileSimulator.cs
+++ b/tools/ComprehensiveMissileSimulator.cs
@ -342,7 +342,7 @@ namespace ThreatSource.Tools.MissileSimulation
            {
                Position = new Vector3D(3000, 1, 20),
                Orientation = new Orientation(Math.PI/2, 0.0, 0.0),
-                Speed = 700
+                Speed = 950
            };

            string missileId = "TSM_1";
@ -490,156 +490,6 @@ namespace ThreatSource.Tools.MissileSimulation
            Console.WriteLine($"注册红外测角仪 {infraredTrackerId}");
        }

-        /// <summary>
-        /// 添加各类型干扰器
-        /// </summary>
-        private void AddJammers()
-        {
-            // 添加激光干扰器 - 指向指示器
-            var laserJammerParams = new KinematicState
-            {
-                Position = new Vector3D(0, 0, 0),
-                Orientation = CalculateOrientationToEntity(indicators["LD_1"]), // 朝向激光指示器
-                Speed = 0.0
-            };
-            string laserJammerId = "LaserJammer_Designator";
-            var laserJammer = _threatSourceFactory.CreateJammer(laserJammerId, "laser_blocking", laserJammerParams, "Tank_1");
-            if (laserJammer is BaseJammer jammer4)
-            {
-                simulationManager.RegisterEntity(laserJammerId, laserJammer);
-                jammers[laserJammerId] = jammer4;
-                Console.WriteLine($"注册激光干扰器(指向指示器) {laserJammerId}");
-            }
-
-            // 添加激光干扰器 - 指向导弹
-            laserJammerParams = new KinematicState
-            {
-                Position = new Vector3D(0, 0, 0),
-                Orientation = CalculateOrientationToEntity(missiles["LSGM_1"]), // 朝向激光半主动导弹
-                Speed = 0.0
-            };
-            laserJammerId = "LaserJammer_Missile";
-            laserJammer = _threatSourceFactory.CreateJammer(laserJammerId, "laser_blocking", laserJammerParams, "Tank_1");
-            if (laserJammer is BaseJammer jammer5)
-            {
-                simulationManager.RegisterEntity(laserJammerId, laserJammer);
-                jammers[laserJammerId] = jammer5;
-                Console.WriteLine($"注册激光干扰器(指向导弹) {laserJammerId}");
-            }
-
-            // 添加红外干扰器 - 指向指示器
-            var irJammerParams = new KinematicState
-            {
-                Position = new Vector3D(0, 0, 0),
-                Orientation = CalculateOrientationToEntity(indicators["IT_1"]), // 朝向红外指示器
-                Speed = 0.0
-            };
-            string irJammerId = "InfraredJammer_Designator";
-            var irJammer = _threatSourceFactory.CreateJammer(irJammerId, "infrared_blocking", irJammerParams, "Tank_1");
-            if (irJammer is BaseJammer jammer6)
-            {
-                simulationManager.RegisterEntity(irJammerId, irJammer);
-                jammers[irJammerId] = jammer6;
-                Console.WriteLine($"注册红外干扰器(指向指示器) {irJammerId}");
-            }
-
-            // 添加红外干扰器 - 指向导弹
-            irJammerParams = new KinematicState
-            {
-                Position = new Vector3D(0, 0, 0),
-                Orientation = CalculateOrientationToEntity(missiles["ITGM_1"]), // 朝向红外成像导弹
-                Speed = 0.0
-            };
-            irJammerId = "InfraredJammer_Missile";
-            irJammer = _threatSourceFactory.CreateJammer(irJammerId, "infrared_blocking", irJammerParams, "Tank_1");
-            if (irJammer is BaseJammer jammer7)
-            {
-                simulationManager.RegisterEntity(irJammerId, irJammer);
-                jammers[irJammerId] = jammer7;
-                Console.WriteLine($"注册红外干扰器(指向导弹) {irJammerId}");
-            }
-
-            // 添加毫米波干扰器 - 指向导弹
-            var mmwJammerParams = new KinematicState
-            {
-                Position = new Vector3D(0, 0, 0),
-                Orientation = CalculateOrientationToEntity(missiles["MMWG_1"]), // 朝向毫米波导弹
-                Speed = 0.0
-            };
-            string mmwJammerId = "MillimeterWaveJammer_Missile";
-            var mmwJammer = _threatSourceFactory.CreateJammer(mmwJammerId, "mmw_blocking", mmwJammerParams, "Tank_1");
-            if (mmwJammer is BaseJammer jammer8)
-            {
-                simulationManager.RegisterEntity(mmwJammerId, mmwJammer);
-                jammers[mmwJammerId] = jammer8;
-                Console.WriteLine($"注册毫米波干扰器(指向导弹) {mmwJammerId}");
-            }
-
-            // 添加激光干扰器 - 指向子弹药
-            laserJammerParams = new KinematicState
-            {
-                Position = new Vector3D(0, 0, 0),
-                Orientation = new Orientation(0, Math.PI/2, 0), // 朝向垂直向上
-                Speed = 0.0
-            };
-            laserJammerId = "LaserJammer_Submunition";
-            laserJammer = _threatSourceFactory.CreateJammer(laserJammerId, "laser_top_blocking", laserJammerParams, "Tank_1");
-            if (laserJammer is BaseJammer jammer9)
-            {
-                simulationManager.RegisterEntity(laserJammerId, laserJammer);
-                jammers[laserJammerId] = jammer9;
-                Console.WriteLine($"注册激光干扰器(垂直向上) {laserJammerId}");
-            }
-
-            // 添加红外干扰器 - 指向子弹药
-            irJammerParams = new KinematicState
-            {
-                Position = new Vector3D(0, 0, 0),
-                Orientation = new Orientation(0, Math.PI/2, 0), // 朝向垂直向上
-                Speed = 0.0
-            };
-            irJammerId = "InfraredJammer_Submunition";
-            irJammer = _threatSourceFactory.CreateJammer(irJammerId, "infrared_top_blocking", irJammerParams, "Tank_1");
-            if (irJammer is BaseJammer jammer10)
-            {
-                simulationManager.RegisterEntity(irJammerId, irJammer);
-                jammers[irJammerId] = jammer10;
-                Console.WriteLine($"注册红外干扰器(垂直向上) {irJammerId}");
-            }
-
-            // 添加毫米波干扰器 - 指向子弹药
-            mmwJammerParams = new KinematicState
-            {
-                Position = new Vector3D(0, 0, 0),
-                Orientation = new Orientation(0, Math.PI/2, 0), // 朝向垂直向上
-                Speed = 0.0
-            };
-            mmwJammerId = "MillimeterWaveJammer_Submunition";
-            mmwJammer = _threatSourceFactory.CreateJammer(mmwJammerId, "mmw_top_blocking", mmwJammerParams, "Tank_1");
-            if (mmwJammer is BaseJammer jammer11)
-            {
-                simulationManager.RegisterEntity(mmwJammerId, mmwJammer);
-                jammers[mmwJammerId] = jammer11;
-                Console.WriteLine($"注册毫米波干扰器(垂直向上) {mmwJammerId}");
-            }
-
-            // 添加毫米波补偿干扰器 - 指向导弹
-            mmwJammerParams = new KinematicState
-            {
-                Position = new Vector3D(0, 0, 0),
-                Orientation = new Orientation(0, Math.PI/2, 0), // 朝向垂直向上
-                Speed = 0.0
-            };
-            string mmwCompensationJammerId = "MillimeterWaveCompensationJammer_Submunition";
-            var mmwCompensationJammer = _threatSourceFactory.CreateJammer(mmwCompensationJammerId, "mmw_compensation", mmwJammerParams, "Tank_1");
-            if (mmwCompensationJammer is BaseJammer jammer12)
-            {
-                simulationManager.RegisterEntity(mmwCompensationJammerId, mmwCompensationJammer);
-                jammers[mmwCompensationJammerId] = jammer12;
-                Console.WriteLine($"注册毫米波补偿干扰器(垂直向上) {mmwCompensationJammerId}");
-            }
-        }
-
        /// <summary>
        /// 计算朝向实体的方向
        /// </summary>