586 lines
25 KiB
C#
586 lines
25 KiB
C#
using ThreatSource.Simulation;
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using ThreatSource.Equipment;
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using ThreatSource.Utils;
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using ThreatSource.Jammer;
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using System.Diagnostics;
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namespace ThreatSource.Guidance
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{
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/// <summary>
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/// 红外成像引导系统类，实现了基于红外图像的目标探测和跟踪功能
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/// </summary>
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/// <remarks>
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/// 该类提供了红外成像制导系统的核心功能：
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/// - 目标自动探测
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/// - 图像识别处理
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/// - 信噪比计算
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/// - 比例导引控制
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/// 用于实现自主寻的制导
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/// </remarks>
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public class InfraredImagingGuidanceSystem : BaseGuidanceSystem
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{
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/// <summary>
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/// 工作模式枚举
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/// </summary>
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/// <remarks>
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/// 定义了制导系统的三种工作模式：
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/// - Search: 搜索模式，大视场角搜索目标
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/// - Track: 跟踪模式，小视场角精确跟踪，同时进行目标识别
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/// - Lock: 锁定模式，已确认目标类型，只进行跟踪
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/// </remarks>
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private enum WorkMode
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{
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Search, // 搜索模式
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Track, // 跟踪模式
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Lock // 锁定模式
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}
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/// <summary>
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/// 当前工作模式
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/// </summary>
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private WorkMode currentMode = WorkMode.Search;
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/// <summary>
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/// 获取设备支持的阻塞干扰类型
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/// </summary>
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public override IEnumerable<JammingType> SupportedBlockingJammingTypes => [JammingType.Infrared];
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/// <summary>
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/// 获取设备支持的干扰类型
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/// </summary>
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public override IEnumerable<JammingType> SupportedJammingTypes => [JammingType.Infrared, JammingType.SmokeGrenade];
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/// <summary>
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/// 是否已探测到目标
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/// </summary>
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public bool HasTarget { get; private set; }
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/// <summary>
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/// 当前是否处于锁定模式
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/// </summary>
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public bool IsInLockMode => currentMode == WorkMode.Lock;
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/// <summary>
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/// 上一次探测到的目标位置 (使用可空类型)
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/// </summary>
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/// <remarks>
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/// 记录目标的历史位置
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/// 用于计算目标速度
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/// </remarks>
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private Vector3D? LastTargetPosition { get; set; } // Changed to nullable Vector3D?
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/// <summary>
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/// 红外图像生成器
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/// </summary>
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private InfraredImageGenerator imageGenerator;
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/// <summary>
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/// 目标识别器
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/// </summary>
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private readonly InfraredTargetRecognizer targetRecognizer;
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/// <summary>
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/// 要攻击的目标类型
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/// </summary>
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private readonly EquipmentType targetType;
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/// <summary>
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/// 红外成像制导系统配置
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/// </summary>
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private readonly InfraredImagingGuidanceConfig config;
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/// <summary>
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/// 目标丢失计时器
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/// </summary>
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private double targetLostTimer = 0;
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/// <summary>
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/// 锁定确认计时器
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/// </summary>
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private double lockConfirmationTimer = 0;
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/// <summary>
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/// 初始化红外成像制导系统的新实例
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/// </summary>
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/// <param name="id">系统标识</param>
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/// <param name="missileId">导弹ID</param>
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/// <param name="guidanceConfig">红外成像制导系统配置</param>
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/// <param name="targetType">要攻击的目标类型</param>
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/// <param name="maxAcceleration">最大加速度，单位：米/平方秒</param>
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/// <param name="proportionalNavigationCoefficient">比例导引系数</param>
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/// <param name="simulationManager">仿真管理器实例</param>
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/// <remarks>
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/// 构造过程：
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/// - 初始化基类参数
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/// - 设置仿真管理器
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/// - 初始化目标位置
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/// - 初始化红外图像生成器和目标识别器
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/// </remarks>
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public InfraredImagingGuidanceSystem(
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string id,
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string missileId,
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InfraredImagingGuidanceConfig guidanceConfig,
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EquipmentType targetType,
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double maxAcceleration,
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double proportionalNavigationCoefficient,
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ISimulationManager simulationManager
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)
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: base(id, missileId, maxAcceleration, proportionalNavigationCoefficient, simulationManager)
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{
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this.targetType = targetType;
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config = guidanceConfig;
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targetRecognizer = new InfraredTargetRecognizer();
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// 首先创建图像生成器
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imageGenerator = new InfraredImageGenerator(
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imageWidth: guidanceConfig.ImageWidth,
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imageHeight: guidanceConfig.ImageHeight,
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fieldOfView: guidanceConfig.SearchFieldOfView,
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backgroundIntensity: guidanceConfig.BackgroundIntensity,
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wavelength: guidanceConfig.Wavelength
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);
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InitializeJamming(guidanceConfig.JammingResistanceThreshold, SupportedJammingTypes, SupportedBlockingJammingTypes);
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SwitchToSearchMode(); // 初始化为搜索模式
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}
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/// <summary>
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/// 处理系统被干扰的事件
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/// </summary>
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/// <param name="parameters">干扰参数</param>
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protected override void HandleJammingApplied(JammingParameters parameters)
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{
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base.HandleJammingApplied(parameters);
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if (parameters.Type == JammingType.Infrared)
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{
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Debug.WriteLine($"红外引导系统受到红外干扰，功率：{parameters.Power}瓦特");
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if (currentMode != WorkMode.Search)
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{
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SwitchToSearchMode();
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}
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}
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else if (parameters.Type == JammingType.SmokeGrenade)
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{
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Debug.WriteLine($"[IR IMAGING] 烟幕干扰事件 {parameters.JammerId} 应用。", "Jamming");
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}
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}
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/// <summary>
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/// 处理系统干扰被清除的事件
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/// </summary>
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/// <param name="parameters">干扰参数</param>
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protected override void HandleJammingCleared(JammingParameters parameters)
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{
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base.HandleJammingCleared(parameters);
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if (parameters.Type == JammingType.Infrared)
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{
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Debug.WriteLine("红外引导系统干扰已清除");
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// 干扰清除后的恢复逻辑
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}
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else if (parameters.Type == JammingType.SmokeGrenade)
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{
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Debug.WriteLine($"[IR IMAGING] 烟幕干扰事件 {parameters.JammerId} 清除。", "Jamming");
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}
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}
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/// <summary>
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/// 激活引导系统
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/// </summary>
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public override void Activate()
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{
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base.Activate();
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}
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/// <summary>
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/// 停用引导系统
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/// </summary>
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public override void Deactivate()
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{
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base.Deactivate();
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LastTargetPosition = null; // Add reset to null
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HasTarget = false;
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HasGuidance = false;
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GuidanceAcceleration = Vector3D.Zero;
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}
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/// <summary>
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/// 更新引导系统的状态和计算结果
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/// </summary>
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/// <param name="deltaTime">自上次更新以来的时间间隔，单位：秒</param>
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/// <remarks>
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/// 更新过程：
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/// - 探测目标位置
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/// - 计算目标速度
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/// - 生成制导指令
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/// - 限制最大加速度
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/// </remarks>
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public override void Update(double deltaTime)
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{
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base.Update(deltaTime);
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if (!IsBlockingJammed)
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{
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if (TryDetectAndIdentifyTarget(KState.Position, KState.Velocity, deltaTime, out Vector3D currentTargetPosition))
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{
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targetLostTimer = 0; // 重置丢失计时器
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Vector3D? currentTargetVelocity = null; // Initialize as nullable
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if(LastTargetPosition != null && deltaTime > 0)
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{
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currentTargetVelocity = (currentTargetPosition - LastTargetPosition) / deltaTime;
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}
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LastTargetPosition = currentTargetPosition;
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GuidanceAcceleration = MotionAlgorithm.CalculateProportionalNavigation(
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ProportionalNavigationCoefficient,
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KState.Position,
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KState.Velocity,
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currentTargetPosition, // Non-nullable from out parameter
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currentTargetVelocity ?? Vector3D.Zero // Provide default if null
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);
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// 限制最大加速度
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if (GuidanceAcceleration.Magnitude() > MaxAcceleration)
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{
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GuidanceAcceleration = GuidanceAcceleration.Normalize() * MaxAcceleration;
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}
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HasGuidance = true;
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}
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else
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{
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// 在跟踪或锁定模式下，增加丢失计时器
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if (currentMode != WorkMode.Search)
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{
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targetLostTimer += deltaTime;
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// 只有当超过容忍时间才认为真正丢失目标
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if (targetLostTimer >= config.TargetLostTolerance)
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{
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HasGuidance = false;
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// 切换回搜索模式
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Debug.WriteLine($"目标丢失 {targetLostTimer:F3}s, 切换回搜索模式");
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SwitchToSearchMode();
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}
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}
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else
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{
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HasGuidance = false;
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}
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}
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}
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else
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{
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GuidanceAcceleration = Vector3D.Zero;
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HasGuidance = false;
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}
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}
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/// <summary>
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/// 切换到搜索模式
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/// </summary>
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/// <remarks>
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/// 切换过程：
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/// - 设置大视场角
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/// - 重置目标状态
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/// - 更新图像生成器参数
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/// </remarks>
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public void SwitchToSearchMode()
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{
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currentMode = WorkMode.Search;
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HasTarget = false;
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targetLostTimer = 0; // 重置丢失计时器
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LastTargetPosition = null; // Add reset to null
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// 创建图像生成器
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imageGenerator = new InfraredImageGenerator(
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imageWidth: config.ImageWidth,
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imageHeight: config.ImageHeight,
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fieldOfView: config.SearchFieldOfView,
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backgroundIntensity: config.BackgroundIntensity,
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wavelength: config.Wavelength
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);
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Debug.WriteLine($"切换到搜索模式, 视场角: {config.SearchFieldOfView * 180 / Math.PI} 度");
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}
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/// <summary>
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/// 切换到跟踪模式
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/// </summary>
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/// <remarks>
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/// 切换过程：
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/// - 设置小视场角
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/// - 更新图像生成器参数
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/// - 提高目标识别概率要求
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/// </remarks>
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public void SwitchToTrackMode()
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{
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currentMode = WorkMode.Track;
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lockConfirmationTimer = 0; // 重置锁定确认计时器
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// 创建图像生成器
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imageGenerator = new InfraredImageGenerator(
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imageWidth: config.ImageWidth,
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imageHeight: config.ImageHeight,
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fieldOfView: config.TrackFieldOfView,
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backgroundIntensity: config.BackgroundIntensity,
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wavelength: config.Wavelength
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);
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Debug.WriteLine($"切换到跟踪模式, 视场角: {config.TrackFieldOfView * 180 / Math.PI} 度");
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}
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/// <summary>
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/// 切换到锁定模式
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/// </summary>
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/// <remarks>
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/// 切换过程：
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/// - 设置锁定状态
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/// - 保持当前图像生成器参数
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/// - 不再进行目标类型识别
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/// </remarks>
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public void SwitchToLockMode()
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{
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currentMode = WorkMode.Lock;
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Debug.WriteLine("切换到锁定模式 - 目标类型确认");
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}
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/// <summary>
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/// 尝试探测和识别目标
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/// </summary>
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/// <param name="missilePosition">导弹当前位置</param>
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/// <param name="missileVelocity">导弹当前速度</param>
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/// <param name="deltaTime">时间间隔，单位：秒</param>
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/// <param name="targetPosition">输出目标位置</param>
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/// <returns>是否成功探测到指定类型的目标</returns>
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/// <remarks>
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/// 探测和识别过程：
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/// 1. 遍历场景中的目标
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/// 2. 检查目标是否在探测范围内
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/// 3. 生成目标红外图像
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/// 4. 识别目标类型
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/// 5. 判断是否是要攻击的目标类型
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/// </remarks>
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private bool TryDetectAndIdentifyTarget(Vector3D missilePosition, Vector3D missileVelocity, double deltaTime, out Vector3D targetPosition)
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{
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targetPosition = Vector3D.Zero;
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double minDistance = double.MaxValue;
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bool foundTarget = false;
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// 根据当前模式选择视场角和识别策略
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double currentFov = currentMode == WorkMode.Search ? config.SearchFieldOfView : config.TrackFieldOfView;
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foreach (var element in SimulationManager.GetEntitiesByType<SimulationElement>())
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{
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if (element is BaseEquipment target)
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{
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Vector3D toTarget = target.KState.Position - missilePosition;
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double distance = toTarget.Magnitude();
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// 检查距离条件
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if (distance <= config.MaxDetectionRange)
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{
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// 检查视线角条件
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double angle = Math.Acos(Vector3D.DotProduct(toTarget.Normalize(), missileVelocity.Normalize()));
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if (angle <= currentFov / 2)
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{
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// 在生成红外图像前，检查目标是否被烟幕几何遮挡
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bool isTargetGeometricallyObscured = CheckIfTargetObscuredBySmoke(missilePosition, target);
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if (isTargetGeometricallyObscured)
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{
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Debug.WriteLine($"[红外成像制导系统] 目标 {target.Id} 被烟幕几何遮挡，跳过图像生成");
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continue; // 如果目标被完全遮挡，跳过此目标
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}
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// 实时计算当前目标到导弹之间的烟幕透过率
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double liveSmokeTransmittance = CalculateLiveSmokeTransmittance(missilePosition, target.KState.Position);
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// 生成红外图像
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var image = imageGenerator.GenerateImage(target, missilePosition, liveSmokeTransmittance, SimulationManager);
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switch (currentMode)
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{
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case WorkMode.Search:
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// 搜索模式：使用较低阈值进行目标识别
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var searchResult = targetRecognizer.RecognizeTarget(image, target);
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if (searchResult.Type == targetType && searchResult.Confidence >= config.SearchRecognitionProbability)
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{
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if (distance < minDistance)
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{
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targetPosition = target.KState.Position;
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minDistance = distance;
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foundTarget = true;
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// 切换到跟踪模式
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SwitchToTrackMode();
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}
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}
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break;
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case WorkMode.Track:
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// 跟踪模式：使用较高阈值确认目标
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var trackResult = targetRecognizer.RecognizeTarget(image, target);
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if (trackResult.Type == targetType && trackResult.Confidence >= config.TrackRecognitionProbability)
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{
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if (distance < minDistance)
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{
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targetPosition = target.KState.Position;
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minDistance = distance;
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foundTarget = true;
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// 增加锁定确认时间
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lockConfirmationTimer += deltaTime;
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if (lockConfirmationTimer >= config.LockConfirmationTime)
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{
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// 持续高置信度跟踪足够时间后，切换到锁定模式
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SwitchToLockMode();
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}
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}
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}
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else if (trackResult.Type == targetType && trackResult.Confidence >= config.SearchRecognitionProbability)
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{
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// 如果置信度达到搜索阈值但未达到跟踪阈值，重置锁定计时器
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lockConfirmationTimer = 0;
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if (distance < minDistance)
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{
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targetPosition = target.KState.Position;
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minDistance = distance;
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foundTarget = true;
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}
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}
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else
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{
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// 目标置信度不足，重置锁定计时器
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lockConfirmationTimer = 0;
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}
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break;
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case WorkMode.Lock:
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// 锁定模式：只进行位置跟踪，不做类型识别
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if (distance < minDistance)
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{
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targetPosition = target.KState.Position;
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minDistance = distance;
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foundTarget = true;
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}
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break;
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}
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}
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}
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}
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}
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HasTarget = foundTarget;
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return foundTarget;
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}
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/// <summary>
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/// 检查目标是否被烟幕完全遮挡
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/// </summary>
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/// <param name="observerPosition">观察者位置（导弹）</param>
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/// <param name="target">目标</param>
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/// <returns>如果目标被烟幕遮挡超过阈值，返回true</returns>
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private bool CheckIfTargetObscuredBySmoke(Vector3D observerPosition, BaseEquipment target)
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{
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// 获取所有活动的烟幕弹
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var smokeGrenades = SimulationManager.GetEntitiesByType<SmokeGrenade>()
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.Where(sg => sg.IsActive && sg.config != null)
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.ToList();
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if (smokeGrenades.Count == 0)
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||
{
|
||
return false; // 没有活动的烟幕
|
||
}
|
||
|
||
const double ObscurationThreshold = 0.8; // 80%遮挡视为完全遮挡
|
||
Vector3D targetCenter = target.KState.Position;
|
||
Orientation targetOrient = target.KState.Orientation;
|
||
Vector3D targetDims = new(target.Properties.Width, target.Properties.Height, target.Properties.Length);
|
||
|
||
foreach (var smoke in smokeGrenades)
|
||
{
|
||
try
|
||
{
|
||
// 对于墙状烟幕，定义其尺寸和方向
|
||
Vector3D smokeDims;
|
||
if (smoke.config.SmokeType == SmokeScreenType.Cloud)
|
||
{
|
||
smokeDims = new Vector3D(smoke.config.CloudDiameter, smoke.config.Thickness, smoke.config.CloudDiameter);
|
||
}
|
||
else // Wall
|
||
{
|
||
smokeDims = new Vector3D(smoke.config.Thickness, smoke.config.WallHeight, smoke.config.WallWidth);
|
||
}
|
||
|
||
// 使用ObscurationUtils计算烟幕对目标的遮挡比例
|
||
double overlapRatio = ObscurationUtils.CalculateProjectedOverlapRatio(
|
||
observerPosition, // 观察者位置（导弹）
|
||
smoke.KState.Position, smokeDims, smoke.KState.Orientation, // 烟幕数据（前景）
|
||
targetCenter, targetDims, targetOrient // 目标数据（背景）
|
||
);
|
||
|
||
Debug.WriteLine($"[红外成像制导系统] 目标 {target.Id} 被烟幕 {smoke.Id} 遮挡比例: {overlapRatio:P2}");
|
||
|
||
// 如果任何一个烟幕的遮挡比例超过阈值，则认为目标被遮挡
|
||
if (overlapRatio >= ObscurationThreshold)
|
||
{
|
||
Debug.WriteLine($"[红外成像制导系统] 目标 {target.Id} 被烟幕 {smoke.Id} 遮挡超过阈值 {ObscurationThreshold:P0}，视为完全遮挡");
|
||
return true;
|
||
}
|
||
}
|
||
catch (Exception ex)
|
||
{
|
||
Debug.WriteLine($"[红外成像制导系统] 计算烟幕遮挡时出错: {ex.Message}");
|
||
}
|
||
}
|
||
|
||
return false; // 没有烟幕能有效遮挡目标
|
||
}
|
||
|
||
/// <summary>
|
||
/// 计算给定观察点和目标点之间的总烟幕透过率
|
||
/// </summary>
|
||
/// <param name="observerPosition">观察者位置</param>
|
||
/// <param name="targetEndPosition">目标位置</param>
|
||
/// <returns>总透过率 (0.0 到 1.0)</returns>
|
||
private double CalculateLiveSmokeTransmittance(Vector3D observerPosition, Vector3D targetEndPosition)
|
||
{
|
||
double totalTransmittance = 1.0;
|
||
var activeSmokeGrenades = SimulationManager.GetEntitiesByType<SmokeGrenade>()
|
||
.Where(sg => sg.IsActive && sg.config != null && sg.IsJamming) // 确保烟幕弹已激活并正在干扰
|
||
.ToList();
|
||
|
||
if (!activeSmokeGrenades.Any())
|
||
{
|
||
return 1.0; // 没有活动的、正在干扰的烟幕，无衰减
|
||
}
|
||
|
||
foreach (var smokeGrenade in activeSmokeGrenades)
|
||
{
|
||
// 调用 SmokeGrenade 实例的方法来计算其对视线的透过率
|
||
double transmittanceForThisSmoke = smokeGrenade.GetSmokeTransmittanceOnLine(observerPosition, targetEndPosition, config.Wavelength);
|
||
totalTransmittance *= transmittanceForThisSmoke; // 叠加衰减效应（透过率相乘）
|
||
|
||
// 如果透过率已经很低，可以提前退出以优化
|
||
if (totalTransmittance < 0.001)
|
||
{
|
||
return 0.0;
|
||
}
|
||
}
|
||
return Math.Max(0.0, totalTransmittance); //确保不为负
|
||
}
|
||
|
||
/// <summary>
|
||
/// 获取红外图像制导系统的详细状态信息
|
||
/// </summary>
|
||
/// <returns>包含完整状态参数的字符串</returns>
|
||
/// <remarks>
|
||
/// 特有的返回信息：
|
||
/// - 上次发现的目标位置
|
||
/// </remarks>
|
||
public override ElementStatusInfo GetStatusInfo()
|
||
{
|
||
var statusInfo = base.GetStatusInfo();
|
||
string lastPosStr = LastTargetPosition.HasValue ? LastTargetPosition.Value.ToString() : "null";
|
||
statusInfo.ExtendedProperties["lastPosStr"] = lastPosStr;
|
||
return statusInfo;
|
||
}
|
||
}
|
||
}
|