Work in progress on TestTracker updates

This commit is contained in:
30hours 2024-01-11 09:11:49 +00:00
parent addb8c49dd
commit 69eef1a5f2
5 changed files with 90 additions and 25 deletions

View file

@ -19,6 +19,9 @@ find_package(Catch2 CONFIG REQUIRED)
SET (PROJECT_ROOT "${PROJECT_SOURCE_DIR}")
SET (CMAKE_RUNTIME_OUTPUT_DIRECTORY "${PROJECT_ROOT}/bin")
SET (PROJECT_BINARY_TEST_DIR "${PROJECT_ROOT}/bin/test")
SET (PROJECT_BINARY_TEST_UNIT_DIR "${PROJECT_BINARY_TEST_DIR}/unit")
SET (PROJECT_BINARY_TEST_UNIT_DIR "${PROJECT_BINARY_TEST_DIR}/functional")
SET (PROJECT_BINARY_TEST_UNIT_DIR "${PROJECT_BINARY_TEST_DIR}/comparison")
MESSAGE ("Binary path: ${PROJECT_BINARY_DIR}")
MESSAGE ("Binary test path: ${PROJECT_BINARY_TEST_DIR}")

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@ -186,14 +186,15 @@ int main(int argc, char **argv)
// setup process tracker
uint8_t m, n, nDelete;
double maxAcc, rangeRes;
double maxAcc, rangeRes, lambda;
std::string smooth;
tree["process"]["tracker"]["initiate"]["M"] >> m;
tree["process"]["tracker"]["initiate"]["N"] >> n;
tree["process"]["tracker"]["delete"] >> nDelete;
tree["process"]["tracker"]["initiate"]["maxAcc"] >> maxAcc;
rangeRes = 299792458.0/fs;
Tracker *tracker = new Tracker(m, n, nDelete, tCpi, maxAcc, rangeRes);
rangeRes = 299792458.0/fs;
lambda = 299792458.0/fc;
Tracker *tracker = new Tracker(m, n, nDelete, ambiguity->cpi_length_seconds(), maxAcc, rangeRes, lambda);
// setup process spectrum analyser
double spectrumBandwidth = 2000;

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@ -2,7 +2,8 @@
#include <iostream>
// constructor
Tracker::Tracker(uint32_t _m, uint32_t _n, uint32_t _nDelete, double _cpi, double _maxAccInit, double _rangeRes)
Tracker::Tracker(uint32_t _m, uint32_t _n, uint32_t _nDelete,
double _cpi, double _maxAccInit, double _rangeRes, double _lambda)
{
m = _m;
n = _n;
@ -11,6 +12,7 @@ Tracker::Tracker(uint32_t _m, uint32_t _n, uint32_t _nDelete, double _cpi, doubl
maxAccInit = _maxAccInit;
timestamp = 0;
rangeRes = _rangeRes;
lambda = _lambda;
double resolutionAcc = 1/(cpi*cpi);
uint16_t nAcc = (int)maxAccInit/resolutionAcc;
@ -67,12 +69,8 @@ void Tracker::update(Detection *detection, uint64_t current)
{
// predict next position
Detection detectionCurrent = track.get_current(i);
double delayTrack = detectionCurrent.get_delay().front();
double dopplerTrack = detectionCurrent.get_doppler().front();
acc = track.get_acceleration(i);
delayPredict = delayTrack+((dopplerTrack*T)+(0.5*acc*T*T))/rangeRes;
dopplerPredict = dopplerTrack+(acc*T);
Detection prediction(delayPredict, dopplerPredict, 0);
Detection prediction = predict(detectionCurrent, acc, T);
// loop over detections to associate
for (size_t j = 0; j < detection->get_nDetections(); j++)
@ -85,7 +83,7 @@ void Tracker::update(Detection *detection, uint64_t current)
{
Detection associated(delay[j], doppler[j], snr[j]);
track.set_current(i, associated);
track.set_acceleration(i, (doppler[j]-dopplerTrack)/T);
track.set_acceleration(i, (doppler[j]-detectionCurrent.get_doppler().front())/T);
track.set_nInactive(i, 0);
doNotInitiate[j] = true;
state = "ASSOCIATED";
@ -123,6 +121,17 @@ void Tracker::update(Detection *detection, uint64_t current)
}
}
Detection Tracker::predict(Detection current, double acc, double T)
{
double delayTrack = current.get_delay().front();
double dopplerTrack = current.get_doppler().front();
double delayPredict = delayTrack+((dopplerTrack*T*lambda)+
(0.5*acc*T*T))/rangeRes;
double dopplerPredict = dopplerTrack+(acc*T);
Detection prediction(delayPredict, dopplerPredict, 0);
return prediction;
}
void Tracker::initiate(Detection *detection)
{
std::vector<double> delay = detection->get_delay();

View file

@ -6,6 +6,7 @@
/// @author 30hours
/// @todo Add smoothing capability.
/// @todo Fix units up.
/// @todo I don't think I callback the true CPI time from ambiguity.
#ifndef TRACKER_H
#define TRACKER_H
@ -35,6 +36,9 @@ private:
/// @brief Range resolution for kinematics equations (m).
double rangeRes;
/// @brief Wavelength for kinematics equations (m).
double lambda;
/// @brief Acceleration values to initiate track (Hz/s).
std::vector<double> accInit;
@ -49,11 +53,16 @@ private:
public:
/// @brief Constructor.
/// @param delayMin Minimum clutter filter delay (bins).
/// @param delayMax Maximum clutter filter delay (bins).
/// @param nSamples Number of samples per CPI.
/// @param m Track initiation constant for M of N detections.
/// @param n Track initiation constant for M of N detections.
/// @param nDelete Number of missed predictions to delete a tentative track.
/// @param cpi True CPI time for acceleration resolution(s).
/// @param maxAccInit Maximum acceleration to initiate track (Hz/s).
/// @param rangeRes Range resolution for kinematics equations (m).
/// @param lambda Wavelength for kinematics equations (m).
/// @return The object.
Tracker(uint32_t m, uint32_t n, uint32_t nDelete, double cpi, double maxAccInit, double rangeRes);
Tracker(uint32_t m, uint32_t n, uint32_t nDelete, double cpi,
double maxAccInit, double rangeRes, double lambda);
/// @brief Destructor.
/// @return Void.
@ -71,6 +80,13 @@ public:
/// @return Void.
void update(Detection *detection, uint64_t timestamp);
/// @brief Predict next bistatic position using kinematics equations.
/// @param current Current position of track.
/// @param acc Acceleration hypothesis of track.
/// @param T Time elapsed from previous CPI.
/// @return Predicted position of track.
Detection predict(Detection current, double acc, double T);
/// @brief Initiate new tentative tracks from detections.
/// @param detection Detection data for last CPI.
/// @return Void.

View file

@ -3,6 +3,7 @@
/// @author 30hours
#include <catch2/catch_test_macros.hpp>
#include <catch2/matchers/catch_matchers_floating_point.hpp>
#include "data/Detection.h"
#include "data/Track.h"
@ -17,13 +18,17 @@
/// @details Check constructor parameters created correctly.
TEST_CASE("Constructor", "[constructor]")
{
uint32_t m = 3;
uint32_t n = 5;
uint32_t nDelete = 5;
double cpi = 0.5;
double maxAccInit = 10;
double rangeRes = 100;
Tracker tracker = Tracker(m, n, nDelete, cpi, maxAccInit, rangeRes);
uint32_t m = 3;
uint32_t n = 5;
uint32_t nDelete = 5;
double cpi = 1;
double maxAccInit = 10;
double fs = 2000000;
double rangeRes = 299792458.0/fs;
double fc = 204640000;
double lambda = 299792458.0/fc;
Tracker tracker = Tracker(m, n, nDelete,
cpi, maxAccInit, rangeRes, lambda);
}
/// @brief Test process for an ACTIVE track.
@ -32,16 +37,47 @@ TEST_CASE("Process ACTIVE track constant acc", "[process]")
uint32_t m = 3;
uint32_t n = 5;
uint32_t nDelete = 5;
double cpi = 0.5;
double cpi = 1;
double maxAccInit = 10;
double rangeRes = 100;
double fs = 2000000;
double rangeRes = 299792458.0/fs;
double fc = 204640000;
double lambda = 299792458.0/fc;
Tracker tracker = Tracker(m, n, nDelete,
cpi, maxAccInit, rangeRes);
cpi, maxAccInit, rangeRes, lambda);
// create detections with constant acc 5 Hz/s
std::vector<uint64_t> timestamp = {0,1,2,3,4,5,6,7,8,9,10};
std::vector<double> delay = {10};
std::vector<double> doppler = {-20};
std::vector<double> doppler = {-20,-15,-10,-5,0,5,10,15,20,25};
std::string state = "ACTIVE";
}
/// @brief Test predict for kinematics equations.
TEST_CASE("Test predict", "[predict]")
{
uint32_t m = 3;
uint32_t n = 5;
uint32_t nDelete = 5;
double cpi = 1;
double maxAccInit = 10;
double fs = 2000000;
double rangeRes = 299792458.0/fs;
double fc = 204640000;
double lambda = 299792458.0/fc;
Tracker tracker = Tracker(m, n, nDelete,
cpi, maxAccInit, rangeRes, lambda);
Detection input = Detection(10, -20, 0);
double acc = 5;
double T = 1;
Detection prediction = tracker.predict(input, acc, T);
Detection prediction_truth = Detection(9.821, -15, 0);
CHECK_THAT(prediction.get_delay().front(),
Catch::Matchers::WithinAbs(prediction_truth.get_delay().front(), 0.01));
CHECK_THAT(prediction.get_doppler().front(),
Catch::Matchers::WithinAbs(prediction_truth.get_doppler().front(), 0.01));
}