Share_Li/generate_radar_data.py

import random

def generate_comparison_data(num_points=10):
    # ================= 1. 初始状态与运动趋势 (真值配置) =================
    # 距离 (km): 模拟目标从 12.5km 处靠近 (参考文件中远距离测试)
    start_dist = 12.500 
    dist_speed = -0.020  # 负数表示靠近 (每点移动20米)
    
    # 方位 (度): 模拟目标在 145度 方向缓慢右移
    start_az = 145.20
    az_speed = 0.05      # 缓慢变化
    
    # 俯仰 (度): 模拟低空飞行，角度很小
    start_el = 0.45
    el_speed = 0.002     # 几乎平飞

    # ================= 2. 雷达测量误差 (噪声配置) =================
    # 参考依据：文件中的RMS指标 (方位<=0.3度, 距离<=15m)
    # 这里的 sigma 是标准差，决定了测量值的抖动幅度
    sigma_az = 0.12      # 方位抖动 (度)
    sigma_el = 0.15      # 俯仰抖动 (度)
    sigma_dist = 0.008   # 距离抖动 (km), 0.008km = 8米

    # ================= 生成逻辑 =================
    
    # 容器
    truth_az, truth_el, truth_dist = [], [], []
    meas_az, meas_el, meas_dist = [], [], []

    current_d = start_dist
    current_a = start_az
    current_e = start_el

    for _ in range(num_points):
        # --- A. 生成真值 (平滑运动 + 极微小物理抖动) ---
        t_d = current_d + random.gauss(0, 0.001) 
        t_a = current_a + random.gauss(0, 0.01)
        t_e = current_e + random.gauss(0, 0.005)
        
        # 存入真值列表 (保留格式)
        truth_dist.append(f"{t_d:.3f}")
        truth_az.append(f"{t_a:.2f}")
        truth_el.append(f"{t_e:.2f}")

        # --- B. 生成测量值 (真值 + 传感器噪声) ---
        m_d = t_d + random.gauss(0, sigma_dist)
        m_a = t_a + random.gauss(0, sigma_az)
        m_e = t_e + random.gauss(0, sigma_el)

        # 存入测量值列表
        meas_dist.append(f"{m_d:.3f}")
        meas_az.append(f"{m_a:.2f}")
        meas_el.append(f"{m_e:.2f}")

        # 更新下一步的基准位置
        current_d += dist_speed
        current_a += az_speed
        current_e += el_speed

    # ================= 3. 格式化输出 (方便复制) =================
    print("\n" + "="*40)
    print("【第一部分：真值数据 (Truth)】")
    print("="*40)
    print("方位(°)\t" + "\t".join(truth_az))
    print("俯仰(°)\t" + "\t".join(truth_el))
    print("距离(km)\t" + "\t".join(truth_dist))

    print("\n" + "="*40)
    print("【第二部分：测量结果 (Measured)】")
    print("="*40)
    print("方位(°)\t" + "\t".join(meas_az))
    print("俯仰(°)\t" + "\t".join(meas_el))
    print("距离(km)\t" + "\t".join(meas_dist))
    print("="*40 + "\n")

if __name__ == "__main__":
    generate_comparison_data()