Major Changes
- Improved Filtering Performance
- Improved Tracking Performance
- Improved Stabilizer Performance
- TRD1 Standard Support
- Omission of Merge Count
Features
- 1-Merge FCS
- 8km Radar Range
- 4 New Basic Radars
- Ext. Kalman Filter Filtering
- Position, Velocity, and Acceleration Tracking and Output
- High-Precision Stabilizer
- Laser Aiming Function
- Compatible with ELI2/TRD1 Output
- Compatible with SRD3 Output
Description
I have created an FCS that combines long range, high precision, and high tracking capabilities. By incorporating an extended Kalman filter to track acceleration, even maneuvering targets can be tracked with near-perfect accuracy. For output, I have newly formulated TRD1, which adds acceleration to ELI2. There is no problem connecting it to an existing ELI2 input (although accuracy will be reduced).
Terminal description
ELI2 output terminal
Number
Contents
1
X coordinate
2
Y coordinate
3
Z coordinate (altitude)
4
X speed[m/tick]
5
Y speed[m/tick]
6
Z speed[m/tick]
Boolean
Contents
1
Target detection
TRD1 output terminal
Number
Contents
1
X coordinate
2
Y coordinate
3
Z coordinate (altitude)
4
X speed[ m/tick]
5
Y speed[m/tick]
6
Z speed[m/tick]
7
X acceleration[m/tick^2]
8
Y acceleration[m/tick^2]
9
Z acceleration[m/tick^2]
Boolean
Contents
1
Target detection
SRD3 output terminal
Number
Contents
1
X coordinate
2
Y coordinate
3
Z coordinate (altitude)
4
Target ID(0<ID<1000)
5~24
Repeat
4: Regarding IDs,
When no targets are being output: ID = 0
Identification ID for each target: 1-999
When locked on to a target: ID = ID + 2*10^3
Example: When locked on to target with identification ID = 3
SRD2's ID = 3 + 2*10^3 = 0002003
ELI3 input terminal
Number
Contents
1
X coordinate
2
Y coordinate
3
Z coordinate (altitude)
Boolean
Contents
1
Target input (1 tick pulse)
Property Supplement
Property Name
Description
Zoom speed gain[m]
Zoom sensitivity.
Cam min fov [rad]
Enter the camera's FOV at maximum zoom.
Cam max fov [rad]
Enter the camera's FOV at minimum zoom.
Cam control gain
Sensitivity of pivot rotation speed.
Body phys. offset X
X distance (left/right) from the physics sensor to the center of the laser projector.
Body phys. offset Y
Y distance (front/back) from the physics sensor to the center of the laser projector.
Body phys. offset Z
Z distance (up/down) from the physics sensor to the center of the laser projector.
Vehicle radius [m]
Objects within this distance will not be detected.
Radar FOV
The radar FOV used to draw the rectangle.
