303 lines
14 KiB
C
303 lines
14 KiB
C
//
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// Created by sph on 2024/1/21.
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//
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#include "auto_aim.h"
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#include "arm_math.h"
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/**
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* @brief 选择目标装甲板
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* @author SJQ
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* @param[in] trajectory_cal:弹道解算结构体
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* @retval 返回空
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*/
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int aim_armor_select(Aim_Select_Type_t *aim_sel, Trajectory_Type_t *trajectory_cal) {
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aim_sel->delay_time = trajectory_cal->fly_time + trajectory_cal->extra_delay_time;
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aim_sel->target_state.yaw += aim_sel->target_state.v_yaw * aim_sel->delay_time;
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//计算四块装甲板的位置
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int use_1 = 1;
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int i = 0;
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int idx = 0; // 选择的装甲板
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// 为平衡步兵
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if (aim_sel->target_state.armor_num == 2) {
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for (i = 0; i < 2; i++) {
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float tmp_yaw = aim_sel->target_state.yaw + i * PI;
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float r = aim_sel->target_state.r1;
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aim_sel->armor_pose[i].x = aim_sel->target_state.x - r * arm_cos_f32(tmp_yaw);
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aim_sel->armor_pose[i].y = aim_sel->target_state.y - r * arm_sin_f32(tmp_yaw);
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aim_sel->armor_pose[i].z = aim_sel->target_state.z;
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aim_sel->armor_pose[i].yaw = aim_sel->target_state.yaw + i * PI;
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}
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// float yaw_diff_min = fabsf(trajectory_cal->cmd_yaw - aim_sel->armor_pose[0].yaw);
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//
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// //因为是平衡步兵 只需判断两块装甲板即可
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// float temp_yaw_diff = fabsf(trajectory_cal->cmd_yaw - aim_sel->armor_pose[1].yaw);
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// if (temp_yaw_diff < yaw_diff_min) {
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// yaw_diff_min = temp_yaw_diff;
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// idx = 1;
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// }
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// 平衡步兵选择两块装甲板中较近的装甲板
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float distance_min = powf(aim_sel->armor_pose[0].x, 2) + powf(aim_sel->armor_pose[0].y, 2);
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float distance_temp = powf(aim_sel->armor_pose[1].x, 2) + powf(aim_sel->armor_pose[1].y, 2);
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if (distance_temp < distance_min) {
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distance_min = distance_temp;
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idx = 1;
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}
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} else if (aim_sel->target_state.armor_num == 3)//前哨站
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{
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for (i = 0; i < 3; i++) {
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float tmp_yaw;
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if (aim_sel->target_state.v_yaw <= 0)
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tmp_yaw = aim_sel->target_state.yaw + i * (2.0 * PI / 3.0);
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else
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tmp_yaw = aim_sel->target_state.yaw - i * (2.0 * PI / 3.0);
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float r = use_1 ? aim_sel->target_state.r1 : aim_sel->target_state.r2;
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aim_sel->armor_pose[i].x = aim_sel->target_state.x - r * cos(tmp_yaw);
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aim_sel->armor_pose[i].y = aim_sel->target_state.y - r * sin(tmp_yaw);
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aim_sel->armor_pose[i].z = use_1 ? aim_sel->target_state.z : aim_sel->target_state.z +
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aim_sel->target_state.dz;
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aim_sel->armor_pose[i].yaw = aim_sel->target_state.yaw + i * (2.0 * PI / 3.0);
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use_1 = !use_1;
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}
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// //计算枪管到目标装甲板yaw最小的那个装甲板
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// float yaw_diff_min = fabsf(trajectory_cal->cmd_yaw - aim_sel->armor_pose[0].yaw);
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// for (i = 1; i < 3; i++) {
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// float temp_yaw_diff = fabsf(trajectory_cal->cmd_yaw - aim_sel->armor_pose[i].yaw);
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// if (temp_yaw_diff < yaw_diff_min) {
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// yaw_diff_min = temp_yaw_diff;
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// idx = i;
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// }
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// }
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// 选择两块较近的装甲板，再选择两块装甲板与自身位置连线，同旋转中心自身位置连线，夹角较小的为目标装甲板
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// float distance_temp0 = powf(aim_sel->armor_pose[0].x, 2) + powf(aim_sel->armor_pose[0].y, 2);
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// float distance_temp1 = powf(aim_sel->armor_pose[1].x, 2) + powf(aim_sel->armor_pose[1].y, 2);
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// float distance_temp2 = powf(aim_sel->armor_pose[2].x, 2) + powf(aim_sel->armor_pose[2].y, 2);
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// int label_first = 0;
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// int label_second = 1;
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// if (distance_temp0 > distance_temp1) {
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// label_first = 1;
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// if (distance_temp0 > distance_temp2) {
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// label_second = 2;
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// } else label_second = 0;
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// } else {
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// label_first = 0;
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// if (distance_temp1 > distance_temp2) {
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// label_second = 2;
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// } else label_second = 1;
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// }
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// 选择两块较近的装甲板
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float distance[3];
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for (i = 0; i < 3; i++) {
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distance[i] = powf(aim_sel->armor_pose[i].x, 2) + powf(aim_sel->armor_pose[i].y, 2);
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}
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int label_first = 0;
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int label_second = 0;
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for (i = 1; i < 3; i++) {
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if (distance[i] < distance[label_first]) {
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label_second = label_first;
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label_first = i;
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} else if (distance[i] < distance[label_second] && distance[i] < distance[label_first]) {
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label_second = i;
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}else if (distance[i] < distance[label_second]) {
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label_second = i;
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}
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}
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//再选择两块装甲板与自身位置连线，同旋转中心自身位置连线，夹角较小的为目标装甲板
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float center_length = sqrtf(powf(aim_sel->target_state.x, 2) + powf(aim_sel->target_state.y, 2));
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float cos_theta_first = (aim_sel->armor_pose[label_first].x * aim_sel->target_state.x +
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aim_sel->armor_pose[label_first].y * aim_sel->target_state.y) /
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(sqrtf(powf(aim_sel->armor_pose[label_first].x, 2) +
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powf(aim_sel->armor_pose[label_first].y, 2)) * center_length);
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float cos_theta_second = (aim_sel->armor_pose[label_second].x * aim_sel->target_state.x +
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aim_sel->armor_pose[label_second].y * aim_sel->target_state.y) /
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(sqrtf(powf(aim_sel->armor_pose[label_second].x, 2) +
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powf(aim_sel->armor_pose[label_second].y, 2)) * center_length);
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if (cos_theta_first > cos_theta_second)
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idx = label_first;
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else
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idx = label_second;
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} else {
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for (i = 0; i < 4; i++) {
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float tmp_yaw = aim_sel->target_state.yaw + i * PI / 2.0;
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float r = use_1 ? aim_sel->target_state.r1 : aim_sel->target_state.r2;
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aim_sel->armor_pose[i].x = aim_sel->target_state.x - r * arm_cos_f32(tmp_yaw);
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aim_sel->armor_pose[i].y = aim_sel->target_state.y - r * arm_sin_f32(tmp_yaw);
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aim_sel->armor_pose[i].z = use_1 ? aim_sel->target_state.z : aim_sel->target_state.z +
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aim_sel->target_state.dz;
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aim_sel->armor_pose[i].yaw = tmp_yaw;
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use_1 = !use_1;
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}
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// //计算枪管到目标装甲板yaw最小的那个装甲板
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// float yaw_diff_min = fabsf(trajectory_cal->cmd_yaw - aim_sel->armor_pose[0].yaw);
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// for (i = 1; i < 4; i++) {
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// float temp_yaw_diff = fabsf(trajectory_cal->cmd_yaw - aim_sel->armor_pose[i].yaw);
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// if (temp_yaw_diff < yaw_diff_min) {
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// yaw_diff_min = temp_yaw_diff;
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// idx = i;
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// }
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// }
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// 选择两块较近的装甲板
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float distance[4];
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for (i = 0; i < 4; i++) {
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distance[i] = powf(aim_sel->armor_pose[i].x, 2) + powf(aim_sel->armor_pose[i].y, 2);
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}
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int label_first = 0;
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int label_second = 1;
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if(distance[label_first] > distance[label_second])
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{
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label_first = 1;
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label_second = 0;
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}
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if(distance[2]<distance[label_first]){
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label_second = label_first;
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label_first = 2;
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}
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else if(distance[2]<distance[label_second])
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label_second = 2;
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if(distance[3]<distance[label_first]){
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label_second = label_first;
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label_first = 3;
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}
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else if(distance[3]<distance[label_second])
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label_second = 3;
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//再选择两块装甲板与自身位置连线，同旋转中心自身位置连线，夹角较小的为目标装甲板
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float center_length = sqrtf(powf(aim_sel->target_state.x, 2) + powf(aim_sel->target_state.y, 2));
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float cos_theta_first = (aim_sel->armor_pose[label_first].x * aim_sel->target_state.x +
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aim_sel->armor_pose[label_first].y * aim_sel->target_state.y) /
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(sqrtf(powf(aim_sel->armor_pose[label_first].x, 2) +
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powf(aim_sel->armor_pose[label_first].y, 2)) * center_length);
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float cos_theta_second = (aim_sel->armor_pose[label_second].x * aim_sel->target_state.x +
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aim_sel->armor_pose[label_second].y * aim_sel->target_state.y) /
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(sqrtf(powf(aim_sel->armor_pose[label_second].x, 2) +
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powf(aim_sel->armor_pose[label_second].y, 2)) * center_length);
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if (cos_theta_first > cos_theta_second)
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idx = label_first;
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else
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idx = label_second;
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}
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aim_sel->aim_point[0] = aim_sel->armor_pose[idx].x + aim_sel->target_state.vx * aim_sel->delay_time;
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aim_sel->aim_point[1] = aim_sel->armor_pose[idx].y + aim_sel->target_state.vy * aim_sel->delay_time;
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aim_sel->aim_point[2] = aim_sel->armor_pose[idx].z + aim_sel->target_state.vz * aim_sel->delay_time;
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return idx;
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}
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/**
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* @brief 子弹飞行时间解算
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* @author SJQ
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* @param[in] x:瞄准时shooter_link下目标x坐标
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* @param[in] vx:瞄准时shooter_link下目标x速度
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* @param[in] v_x0:弹速水平分量
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* @retval 返回空
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*/
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const float k1 = 0.0761; //标准大气压25度下空气阻力系数
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float get_fly_time(float x, float vx, float v_x0) {
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float t = 0;
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float f_ti = 0, df_ti = 0;
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for (int i = 0; i < 5; i++) {
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f_ti = log(k1 * v_x0 * t + 1) / k1 - x - vx * t;
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df_ti = v_x0 / (k1 * v_x0 * t + 1) - vx;
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t = t - f_ti / df_ti;
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}
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return t;
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}
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/**
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* @brief 解算期望云台角度（考虑子弹飞行时间）
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* @author SJQ
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* @param[in] trajectory_cal:弹道解算结构体
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* @retval 返回空
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*/
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void get_cmd_angle(Trajectory_Type_t *trajectory_cal) {
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arm_power_f32(trajectory_cal->position_xy, 2, &trajectory_cal->dis2);
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arm_sqrt_f32(trajectory_cal->dis2, &trajectory_cal->dis);
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trajectory_cal->dis = trajectory_cal->dis - 0.20;
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trajectory_cal->theta_0 = atan2f(trajectory_cal->z, trajectory_cal->dis);
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trajectory_cal->alpha = atan2f(trajectory_cal->position_xy[1], trajectory_cal->position_xy[0]);
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//将目标的xyz速度转化为平行枪管与垂直枪管的速度
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trajectory_cal->vx = trajectory_cal->velocity[0] * arm_cos_f32(trajectory_cal->alpha)
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+ trajectory_cal->velocity[1] * arm_sin_f32(trajectory_cal->alpha);
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trajectory_cal->vy = -trajectory_cal->velocity[0] * arm_sin_f32(trajectory_cal->alpha)
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+ trajectory_cal->velocity[1] * arm_cos_f32(trajectory_cal->alpha);
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float v_x0 = trajectory_cal->v0 * arm_cos_f32(trajectory_cal->theta_0);//水平方向弹速
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float v_y0 = trajectory_cal->v0 * arm_sin_f32(trajectory_cal->theta_0);//竖直方向弹速
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trajectory_cal->fly_time = get_fly_time(trajectory_cal->dis, trajectory_cal->vx, v_x0);
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arm_power_f32(&trajectory_cal->fly_time, 1, &trajectory_cal->fly_time2);
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trajectory_cal->h_r = trajectory_cal->z + trajectory_cal->velocity[2] * trajectory_cal->fly_time;
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//开始迭代
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trajectory_cal->theta_k = trajectory_cal->theta_0;
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trajectory_cal->k = 0;
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while (trajectory_cal->k < 10) {
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v_y0 = trajectory_cal->v0 * arm_sin_f32(trajectory_cal->theta_k);//竖直方向弹速
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trajectory_cal->h_k = v_y0 * trajectory_cal->fly_time - 0.5 * 9.8 * trajectory_cal->fly_time2;
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trajectory_cal->err_k = trajectory_cal->h_r - trajectory_cal->h_k;
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trajectory_cal->theta_k += 0.1 * trajectory_cal->err_k;
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trajectory_cal->k++;
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if (trajectory_cal->err_k < 0.005) break;
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}
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trajectory_cal->cmd_yaw = atan2f(trajectory_cal->position_xy[1],
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trajectory_cal->position_xy[0]);
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trajectory_cal->cmd_pitch = trajectory_cal->theta_k;
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}
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int auto_aim(Aim_Select_Type_t *aim_sel, Trajectory_Type_t *trajectory_cal, RecievePacket_t *receive_packet) {
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trajectory_cal->extra_delay_time = 0.025;//0.025
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aim_sel->target_state.armor_type = receive_packet->id;
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aim_sel->target_state.armor_num = receive_packet->armors_num;
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aim_sel->target_state.x = receive_packet->x;
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aim_sel->target_state.y = receive_packet->y;
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aim_sel->target_state.z = receive_packet->z;
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aim_sel->target_state.vx = receive_packet->vx;
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aim_sel->target_state.vy = receive_packet->vy;
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aim_sel->target_state.vz = receive_packet->vz;
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aim_sel->target_state.yaw = receive_packet->yaw;
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aim_sel->target_state.v_yaw = receive_packet->v_yaw;
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aim_sel->target_state.r1 = receive_packet->r1;
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aim_sel->target_state.r2 = receive_packet->r2;
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aim_sel->target_state.dz = receive_packet->dz;
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int idx = aim_armor_select(aim_sel, trajectory_cal);
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trajectory_cal->position_xy[0] = aim_sel->aim_point[0];
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trajectory_cal->position_xy[1] = aim_sel->aim_point[1];
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trajectory_cal->z = aim_sel->aim_point[2];
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trajectory_cal->velocity[0] = aim_sel->target_state.vx;
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trajectory_cal->velocity[1] = aim_sel->target_state.vy;
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trajectory_cal->velocity[2] = aim_sel->target_state.vz;
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get_cmd_angle(trajectory_cal);
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return idx;
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}
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