714 lines
26 KiB
C#
714 lines
26 KiB
C#
using ThreatSource.Utils;
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using ThreatSource.Simulation;
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using System.Diagnostics;
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using ThreatSource.Jamming;
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using AirTransmission;
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namespace ThreatSource.Guidance
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{
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/// <summary>
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/// 激光驾束制导系统类，实现了基于激光束跟踪的制导功能
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/// </summary>
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/// <remarks>
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/// 该类提供了激光驾束制导系统的核心功能：
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/// - 激光束生成和控制
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/// - 偏差检测和计算
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/// - PID控制器
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/// - 非线性增益控制
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/// 用于实现高精度的制导控制
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/// </remarks>
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public class LaserBeamRiderGuidanceSystem : BasicGuidanceSystem
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{
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/// <summary>
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/// 获取或设置激光源位置
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/// </summary>
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/// <remarks>
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/// 记录激光发射源的三维位置
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/// 用于计算导弹与激光束的相对位置
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/// </remarks>
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private Vector3D LaserSourcePosition { get; set; }
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/// <summary>
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/// 获取或设置激光方向
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/// </summary>
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/// <remarks>
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/// 记录激光束的传播方向
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/// 用于计算导弹与激光束的偏差
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/// </remarks>
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private Vector3D LaserDirection { get; set; }
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/// <summary>
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/// 获取或设置激光指示器激光功率，单位：瓦特
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/// </summary>
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/// <remarks>
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/// 记录激光指示器的发射功率
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/// 影响系统的探测距离和可靠性
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/// </remarks>
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public double LaserPower { get; set; }
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/// <summary>
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/// 最小可探测功率，单位：瓦特
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/// </summary>
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/// <remarks>
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/// 定义了探测器的灵敏度阈值
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/// 低于此值时无法有效探测
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/// 典型值为1e-10瓦
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/// </remarks>
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private const double MinDetectablePower = 1e-10;
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/// <summary>
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/// 探测器直径，单位：米
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/// </summary>
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/// <remarks>
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/// 定义了探测器的物理尺寸
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/// 影响系统的接收能力
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/// 典型值为0.03米
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/// </remarks>
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private const double DetectorDiameter = 0.03;
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/// <summary>
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/// 控制场直径，单位：米
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/// </summary>
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/// <remarks>
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/// 定义了有效制导范围
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/// 超出此范围将失去制导
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/// 典型值为6米
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/// </remarks>
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private const double ControlFieldDiameter = 6.0;
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/// <summary>
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/// 上一次的误差向量
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/// </summary>
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/// <remarks>
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/// 记录PID控制器的历史误差
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/// 用于计算微分项
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/// </remarks>
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private Vector3D LastError = Vector3D.Zero;
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/// <summary>
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/// 获取上一次的制导加速度
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/// </summary>
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/// <remarks>
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/// 记录历史制导指令
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/// 用于实现低通滤波
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/// </remarks>
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public Vector3D LastGuidanceAcceleration { get; private set; }
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/// <summary>
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/// 偏航角偏差
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/// </summary>
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public double YawAngleOffset { get; private set; }
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/// <summary>
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/// 俯仰角偏差
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/// </summary>
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public double PitchAngleOffset { get; private set; }
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/// <summary>
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/// 积分误差向量
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/// </summary>
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/// <remarks>
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/// 记录PID控制器的积分项
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/// 用于消除稳态误差
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/// </remarks>
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private Vector3D IntegralError = Vector3D.Zero;
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/// <summary>
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/// 获取或设置激光照射状态
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/// </summary>
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/// <remarks>
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/// 指示当前是否有激光照射
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/// 影响系统的工作状态
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/// </remarks>
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private bool LaserIlluminationOn { get; set; }
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/// <summary>
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/// 获取或设置期望的激光编码配置
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/// </summary>
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/// <remarks>
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/// 导弹期望接收的编码信息
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/// 用于验证接收到的激光信号
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/// </remarks>
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private LaserCodeConfig? InternalLaserCodeConfig { get; set; }
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/// <summary>
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/// 获取或设置支持的编码类型列表
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/// </summary>
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/// <remarks>
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/// 定义导弹支持的编码类型
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/// 默认支持PRF、PPM和PWM编码
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/// </remarks>
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private List<LaserCodeType> supportedCodeTypes = new List<LaserCodeType>
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{
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LaserCodeType.PRF,
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LaserCodeType.PPM,
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LaserCodeType.PWM
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};
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/// <summary>
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/// 系统配置参数
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/// </summary>
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private readonly LaserBeamRiderGuidanceSystemConfig config;
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/// <summary>
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/// 初始化激光驾束制导系统的新实例
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/// </summary>
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/// <param name="id">制导系统ID</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="guidanceCoefficient">制导系数</param>
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/// <param name="laserCodeConfig">激光编码配置，可选</param>
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/// <param name="guidanceConfig">制导系统配置参数</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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/// - 初始化激光参数
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/// - 初始化控制参数
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/// </remarks>
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public LaserBeamRiderGuidanceSystem(
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string id,
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double maxAcceleration,
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double guidanceCoefficient,
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LaserCodeConfig? laserCodeConfig,
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LaserBeamRiderGuidanceSystemConfig guidanceConfig,
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ISimulationManager simulationManager)
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: base(id, maxAcceleration, guidanceCoefficient, simulationManager)
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{
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config = guidanceConfig;
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LaserSourcePosition = Vector3D.Zero;
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LaserDirection = Vector3D.Zero;
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LaserPower = 0;
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LaserIlluminationOn = false;
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LastError = Vector3D.Zero;
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IntegralError = Vector3D.Zero;
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LastGuidanceAcceleration = Vector3D.Zero;
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// 如果没有提供编码配置，创建默认配置
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InternalLaserCodeConfig = laserCodeConfig ?? new LaserCodeConfig
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{
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Code = new LaserCode
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{
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CodeType = LaserCodeType.PPM,
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CodeValue = 1234
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},
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IsCodeEnabled = true,
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IsCodeMatchRequired = true
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};
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InitializeJamming(guidanceConfig.JammingResistanceThreshold, [JammingType.Laser]);
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}
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/// <summary>
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/// 激活制导系统
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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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// 在这里订阅事件，确保只订阅一次
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SimulationManager.SubscribeToEvent<LaserJammingEvent>(OnLaserJamming);
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SimulationManager.SubscribeToEvent<LaserBeamStartEvent>(OnLaserBeamStart);
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SimulationManager.SubscribeToEvent<LaserBeamStopEvent>(OnLaserBeamStop);
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}
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/// <summary>
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/// 停用制导系统
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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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// 取消订阅事件
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SimulationManager.UnsubscribeFromEvent<LaserJammingEvent>(OnLaserJamming);
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SimulationManager.UnsubscribeFromEvent<LaserBeamStartEvent>(OnLaserBeamStart);
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SimulationManager.UnsubscribeFromEvent<LaserBeamStopEvent>(OnLaserBeamStop);
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}
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/// <summary>
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/// 设置期望的激光编码
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/// </summary>
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/// <param name="codeType">编码类型</param>
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/// <param name="codeValue">编码值</param>
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/// <remarks>
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/// 设置过程：
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/// - 检查编码类型是否支持
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/// - 创建新的编码对象
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/// - 设置编码类型和值
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/// </remarks>
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public void SetExpectedLaserCode(LaserCodeType codeType, int codeValue)
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{
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if (supportedCodeTypes.Contains(codeType))
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{
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InternalLaserCodeConfig = new LaserCodeConfig
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{
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Code = new LaserCode { CodeType = codeType, CodeValue = codeValue }
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};
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Debug.WriteLine($"激光驾束制导系统设置期望编码：类型={codeType}，值={codeValue}");
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}
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else
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{
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Debug.WriteLine($"激光驾束制导系统不支持编码类型：{codeType}");
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}
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}
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/// <summary>
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/// 添加期望编码参数
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/// </summary>
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/// <param name="key">参数名称</param>
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/// <param name="value">参数值</param>
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/// <remarks>
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/// 添加特定编码类型的额外参数
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/// 如PPM编码的脉冲位置模式、PWM编码的脉冲宽度等
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/// </remarks>
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public void AddExpectedCodeParameter(string key, object value)
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{
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if (InternalLaserCodeConfig != null)
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{
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InternalLaserCodeConfig.Code.Parameters[key] = value;
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Debug.WriteLine($"激光驾束制导系统添加期望编码参数：{key}={value}");
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}
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}
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/// <summary>
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/// 设置是否要求编码匹配
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/// </summary>
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/// <param name="required">是否要求匹配</param>
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/// <remarks>
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/// 设置导弹是否严格要求激光编码匹配
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/// true表示必须匹配，false表示不要求匹配
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/// </remarks>
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public void SetCodeMatchRequired(bool required)
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{
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if (InternalLaserCodeConfig != null)
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{
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InternalLaserCodeConfig.IsCodeMatchRequired = required;
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Debug.WriteLine($"激光驾束制导系统设置编码匹配要求：{required}");
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}
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}
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/// <summary>
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/// 检查激光编码是否匹配
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/// </summary>
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/// <param name="receivedConfig">接收到的激光编码配置</param>
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/// <returns>如果匹配返回true，否则返回false</returns>
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/// <remarks>
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/// 检查过程：
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/// - 验证编码类型
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/// - 验证编码值
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/// - 验证额外参数
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/// </remarks>
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private bool CheckLaserCode(LaserCodeConfig? receivedConfig)
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{
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return InternalLaserCodeConfig?.CheckCodeMatch(receivedConfig) ?? false;
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}
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/// <summary>
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/// 发布编码匹配事件
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/// </summary>
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/// <param name="designatorId">激光定位器ID</param>
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/// <param name="matchedCodeConfig">匹配的编码配置</param>
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private void PublishCodeMatchEvent(string? designatorId, LaserCodeConfig? matchedCodeConfig)
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{
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var matchEvent = new LaserCodeMatchEvent
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{
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MissileId = ParentId,
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DesignatorId = designatorId,
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MatchedCodeConfig = matchedCodeConfig
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};
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PublishEvent(matchEvent);
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}
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/// <summary>
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/// 发布编码不匹配事件
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/// </summary>
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/// <param name="designatorId">激光定位器ID</param>
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/// <param name="receivedCodeConfig">接收到的编码配置</param>
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private void PublishCodeMismatchEvent(string? designatorId, LaserCodeConfig? receivedCodeConfig)
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{
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var mismatchEvent = new LaserCodeMismatchEvent
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{
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MissileId = ParentId,
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DesignatorId = designatorId,
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ExpectedCodeConfig = InternalLaserCodeConfig,
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ReceivedCodeConfig = receivedCodeConfig
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};
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PublishEvent(mismatchEvent);
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}
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/// <summary>
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/// 更新激光驾束仪参数
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/// </summary>
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/// <param name="sourcePosition">激光源位置，单位：米</param>
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/// <param name="direction">激光方向向量</param>
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/// <param name="laserPower">激光功率，单位：瓦特</param>
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/// <remarks>
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/// 更新过程：
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/// - 激活激光照射
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/// - 更新位置信息
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/// - 更新方向信息
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/// - 更新功率参数
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/// </remarks>
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public void UpdateLaserBeamRider(Vector3D sourcePosition, Vector3D direction, double laserPower)
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{
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LaserIlluminationOn = true;
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LaserSourcePosition = sourcePosition;
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LaserDirection = direction.Normalize();
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LaserPower = laserPower;
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}
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/// <summary>
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/// 关闭激光照射系统
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/// </summary>
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/// <remarks>
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/// 关闭过程：
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/// - 清除位置信息
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/// - 清除方向信息
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/// - 清除功率参数
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/// - 停止制导
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/// </remarks>
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public void DeactivateLaserBeam()
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{
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LaserSourcePosition = Vector3D.Zero;
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LaserDirection = Vector3D.Zero;
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LaserPower = 0;
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HasGuidance = false;
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}
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/// <summary>
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/// 更新制导系统的状态和计算结果
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/// </summary>
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/// <param name="deltaTime">时间步长，单位：秒</param>
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/// <param name="missilePosition">导弹位置，单位：米</param>
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/// <param name="missileVelocity">导弹速度，单位：米/秒</param>
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/// <remarks>
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/// 更新过程：
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/// - 检查激光照射状态
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/// - 更新制导状态
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/// - 计算制导指令
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/// - 更新输出参数
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/// </remarks>
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public override void Update(double deltaTime, Vector3D missilePosition, Vector3D missileVelocity)
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{
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base.Update(deltaTime, missilePosition, missileVelocity);
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if (!IsJammed)
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{
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if (LaserIlluminationOn)
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{
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UpdateGuidanceStatus();
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if (HasGuidance)
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{
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CalculateGuidanceAcceleration(deltaTime);
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}
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else
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{
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GuidanceAcceleration = Vector3D.Zero;
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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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GuidanceAcceleration = Vector3D.Zero;
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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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GuidanceAcceleration = Vector3D.Zero;
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}
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}
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/// <summary>
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/// 更新制导系统状态
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/// </summary>
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/// <remarks>
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/// 更新过程：
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/// - 计算与激光束的距离
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/// - 检查是否在控制场内
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/// - 计算接收功率
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/// - 判断是否满足制导条件
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/// </remarks>
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private void UpdateGuidanceStatus()
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{
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// 计算导弹到激光束的最短距离
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Vector3D shortestDistanceVector = CalculateShortestDistanceToLaserBeam();
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double shortestDistance = shortestDistanceVector.Magnitude();
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// 检查导弹是否在控制场内
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if (shortestDistance > config.ControlFieldDiameter / 2)
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{
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HasGuidance = false;
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Trace.WriteLine($"激光驾束引导系统: 失去引导, 原因: 超出控制场范围, 距离: {shortestDistance}");
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return;
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}
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Debug.WriteLine($"激光驾束引导系统: 在控制场内, 距离: {shortestDistance}");
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// 计算导弹到激光源的距离
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Vector3D missileToSource = LaserSourcePosition - Position;
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double distance = missileToSource.Magnitude();
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// 计算接收到的激光功率
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double receivedPower = CalculateReceivedLaserPower(distance);
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Debug.WriteLine($"激光驾束引导系统: 接收到的激光功率: {receivedPower:E} W");
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if(receivedPower >= config.MinDetectablePower)
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{
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HasGuidance = true;
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}
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else
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{
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HasGuidance = false;
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Trace.WriteLine($"激光驾束引导系统: 失去引导, 原因: 接收到的激光功率低于最小可探测功率,{LaserPower:E} W/{receivedPower:E} W");
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}
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}
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/// <summary>
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/// 计算接收到的激光功率
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/// </summary>
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/// <param name="distance">传播距离，单位：米</param>
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/// <returns>接收到的激光功率，单位：瓦特</returns>
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/// <remarks>
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/// 计算过程：
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/// - 使用距离球面公式计算功率密度
|
||
/// - 考虑探测器的有效接收面积
|
||
/// - 可选：考虑大气衰减
|
||
/// </remarks>
|
||
private double CalculateReceivedLaserPower(double distance)
|
||
{
|
||
// 使用距离球面公式计算功率密度
|
||
double powerDensity = LaserPower / (4 * Math.PI * Math.Pow(distance, 2));
|
||
|
||
// 计算探测器的有效接收面积
|
||
double detectorArea = Math.PI * Math.Pow(config.DetectorDiameter / 2, 2);
|
||
|
||
// 计算接收功率
|
||
double receivedPower = powerDensity * detectorArea;
|
||
|
||
// 考虑大气衰减（可选）
|
||
// 计算大气透过率，如果当前天气为null，则认为大气透过率为1.0
|
||
double atmosphericTransmittance = 1.0;
|
||
|
||
if(SimulationManager.CurrentWeather != null)
|
||
{
|
||
atmosphericTransmittance = AtmosphereDllWrapper.CalculateTransmittance(
|
||
distance,
|
||
RadiationType.Laser,
|
||
config.LaserWavelength,
|
||
SimulationManager.CurrentWeather);
|
||
}
|
||
|
||
receivedPower *= atmosphericTransmittance;
|
||
|
||
return receivedPower;
|
||
}
|
||
|
||
/// <summary>
|
||
/// 计算制导加速度
|
||
/// </summary>
|
||
/// <param name="deltaTime">时间步长，单位：秒</param>
|
||
/// <remarks>
|
||
/// 计算过程：
|
||
/// - 计算偏差向量
|
||
/// - 执行PID控制
|
||
/// - 应用非线性增益
|
||
/// - 计算横向加速度
|
||
/// - 计算前向加速度
|
||
/// - 合成最终制导指令
|
||
/// - 应用低通滤波
|
||
/// </remarks>
|
||
protected void CalculateGuidanceAcceleration(double deltaTime)
|
||
{
|
||
// 计算导弹到激光束的最短距离
|
||
Vector3D shortestDistanceVector = CalculateShortestDistanceToLaserBeam();
|
||
|
||
// PID控制
|
||
Vector3D error = shortestDistanceVector;
|
||
|
||
// 积分项
|
||
IntegralError += error * deltaTime;
|
||
|
||
// 微分项
|
||
Vector3D derivativeError = (error - LastError) / deltaTime;
|
||
|
||
// 计算PID输出
|
||
Vector3D pidOutput = error * config.ProportionalGain +
|
||
IntegralError * config.IntegralGain +
|
||
derivativeError * config.DerivativeGain;
|
||
|
||
// 非线性增益
|
||
double distance = shortestDistanceVector.Magnitude();
|
||
double nonLinearGain = Math.Tanh(distance / config.NonlinearGain);
|
||
|
||
// 计算横向加速度
|
||
Vector3D lateralAcceleration = pidOutput * nonLinearGain;
|
||
|
||
// 限制最大加速度
|
||
if (lateralAcceleration.Magnitude() > config.MaxGuidanceAcceleration)
|
||
{
|
||
lateralAcceleration = lateralAcceleration.Normalize() * config.MaxGuidanceAcceleration;
|
||
}
|
||
|
||
// 计算前向加速度
|
||
Vector3D forwardDirection = LaserDirection;
|
||
Vector3D currentDirection = Velocity.Normalize();
|
||
Vector3D rotationAxis = Vector3D.CrossProduct(currentDirection, forwardDirection);
|
||
double rotationAngle = Math.Acos(Vector3D.DotProduct(currentDirection, forwardDirection));
|
||
Vector3D forwardAcceleration = Vector3D.CrossProduct(rotationAxis, Velocity) * rotationAngle * ProportionalNavigationCoefficient;
|
||
|
||
// 合并横向和前向加速度
|
||
GuidanceAcceleration = lateralAcceleration + forwardAcceleration;
|
||
|
||
// 低通滤波
|
||
GuidanceAcceleration = GuidanceAcceleration * config.LowPassFilterCoefficient +
|
||
LastGuidanceAcceleration * (1 - config.LowPassFilterCoefficient);
|
||
|
||
// 更新上一次的误差和制导加速度
|
||
LastError = error;
|
||
LastGuidanceAcceleration = GuidanceAcceleration;
|
||
}
|
||
|
||
/// <summary>
|
||
/// 处理激光干扰事件
|
||
/// </summary>
|
||
/// <param name="evt">激光干扰事件</param>
|
||
private void OnLaserJamming(LaserJammingEvent evt)
|
||
{
|
||
// 创建干扰参数
|
||
var parameters = new JammingParameters
|
||
{
|
||
Type = JammingType.Laser,
|
||
Power = evt.JammingPower,
|
||
Direction = evt.JammingDirection,
|
||
SourcePosition = evt.JammingSourcePosition,
|
||
AngleRange = evt.JammingAngleRange,
|
||
Mode = evt.JammingMode,
|
||
Duration = evt.Duration
|
||
};
|
||
|
||
// 使用JammableComponent进行干扰判断
|
||
ApplyJamming(parameters);
|
||
Debug.WriteLine($"激光驾束制导系统干扰状态 - IsJammed: {IsJammed}, 干扰功率: {evt.JammingPower}W, 抗性阈值: {config.JammingResistanceThreshold}W");
|
||
}
|
||
|
||
|
||
/// <summary>
|
||
/// 处理系统被干扰的事件
|
||
/// </summary>
|
||
/// <param name="parameters">干扰参数</param>
|
||
protected override void HandleJammingApplied(JammingParameters parameters)
|
||
{
|
||
if (parameters.Type == JammingType.Laser)
|
||
{
|
||
Debug.WriteLine($"激光驾束制导系统受到激光干扰，功率：{parameters.Power}瓦特");
|
||
// 确保基类的处理逻辑被调用，设置HasGuidance = false
|
||
base.HandleJammingApplied(parameters);
|
||
|
||
// 在强干扰下切换到搜索模式
|
||
if (LaserIlluminationOn)
|
||
{
|
||
LaserIlluminationOn = false;
|
||
HasGuidance = false;
|
||
}
|
||
}
|
||
}
|
||
|
||
/// <summary>
|
||
/// 处理系统干扰被清除的事件
|
||
/// </summary>
|
||
/// <param name="type">被清除的干扰类型</param>
|
||
protected override void HandleJammingCleared(JammingType type)
|
||
{
|
||
if (type == JammingType.Laser)
|
||
{
|
||
Debug.WriteLine("激光驾束制导系统干扰已清除");
|
||
// 确保基类的处理逻辑被调用
|
||
base.HandleJammingCleared(type);
|
||
}
|
||
}
|
||
|
||
/// <summary>
|
||
/// 获取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>
|
||
/// 返回信息：
|
||
/// - 基本状态信息
|
||
/// - 制导参数
|
||
/// - 控制状态
|
||
/// 用于系统监控和调试
|
||
/// </remarks>
|
||
public override string GetStatus()
|
||
{
|
||
return base.GetStatus() + $"激光指示器功率: {LaserPower:E} W," + $" 激光照射状态: {LaserIlluminationOn}";
|
||
}
|
||
|
||
/// <summary>
|
||
/// 计算导弹到激光束的最短距离向量
|
||
/// </summary>
|
||
/// <returns>最短距离向量，单位：米</returns>
|
||
/// <remarks>
|
||
/// 计算过程：
|
||
/// - 计算导弹到激光源的向量
|
||
/// - 计算在激光方向上的投影
|
||
/// - 计算最近点位置
|
||
/// - 计算最短距离向量
|
||
/// </remarks>
|
||
private Vector3D CalculateShortestDistanceToLaserBeam()
|
||
{
|
||
// 计算导弹到激光源的向量
|
||
Vector3D missileToSource = LaserSourcePosition - Position;
|
||
|
||
// 计算导弹在激光方向上的投影长度
|
||
double projectionLength = Vector3D.DotProduct(missileToSource, LaserDirection);
|
||
|
||
// 计算激光束上最接近导弹的点
|
||
Vector3D closestPointOnBeam = LaserSourcePosition - LaserDirection * projectionLength;
|
||
|
||
// 计算导弹到激光束最近点的向量（即最短距离向量）
|
||
Vector3D shortestDistanceVector = closestPointOnBeam - Position;
|
||
|
||
return shortestDistanceVector;
|
||
}
|
||
|
||
/// <summary>
|
||
/// 处理激光波束开始事件
|
||
/// </summary>
|
||
/// <param name="evt">激光波束开始事件</param>
|
||
private void OnLaserBeamStart(LaserBeamStartEvent evt)
|
||
{
|
||
if (evt?.LaserBeamRiderId != null)
|
||
{
|
||
// 检查编码是否匹配
|
||
bool codeMatched = CheckLaserCode(evt.LaserCodeConfig);
|
||
|
||
if (!codeMatched)
|
||
{
|
||
// 发布编码不匹配事件
|
||
PublishCodeMismatchEvent(evt.LaserBeamRiderId, evt.LaserCodeConfig);
|
||
Debug.WriteLine("激光驾束制导系统接收到不匹配的激光编码，忽略信号");
|
||
HasGuidance = false;
|
||
LaserIlluminationOn = false;
|
||
return;
|
||
}
|
||
|
||
// 如果编码匹配，发布匹配事件
|
||
PublishCodeMatchEvent(evt.LaserBeamRiderId, evt.LaserCodeConfig);
|
||
|
||
// 更新激光波束参数
|
||
LaserPower = evt.BeamPower;
|
||
LaserIlluminationOn = true;
|
||
HasGuidance = true;
|
||
}
|
||
}
|
||
|
||
/// <summary>
|
||
/// 处理激光波束停止事件
|
||
/// </summary>
|
||
/// <param name="evt">激光波束停止事件</param>
|
||
private void OnLaserBeamStop(LaserBeamStopEvent evt)
|
||
{
|
||
LaserIlluminationOn = false;
|
||
HasGuidance = false;
|
||
}
|
||
}
|
||
}
|