mirror of
https://github.com/NawfalMotii79/PLFM_RADAR.git
synced 2026-06-09 23:17:33 +00:00
feat(gui): PR-Q.5 — 3-PRI CRT Doppler unfolder + cluster extractor (C-5)
Add host-side 3-PRI Chinese-Remainder velocity unfolding and a cluster extractor that reads the 48-bin Doppler frame, splits it into the 3 sub-frames (SHORT/MEDIUM/LONG), and resolves Doppler aliases across coprime PRIs. Resolves the algorithm half of audit C-5; the data is now in extract_targets_from_frame_crt's hands but workers still call the legacy single-PRI extractor (PR-Q.6 wires it). v7/processing.py: - unfold_velocity_crt(v_meas, v_unamb, v_res, max_alias_k=6, tol_factor=0.5) -> (v_est, confidence, alias_set). Brute-force candidate search over PRI-0 fold depth, per-PRI half-bin tolerance. Confidence: CONFIRMED (3-PRI unique), LIKELY (3-PRI with 2 cands, or 2-PRI with unique cand), AMBIGUOUS (1-PRI, 3+ cands, 2-PRI multi-cand, or no fold within tol). - extract_targets_from_frame_crt(frame, waveform, gps, max_alias_k): groups detections by range bin, picks strongest bin per (rbin, sf), decodes signed Doppler via sub_frame = dbin // 16 / bin_in_sf = dbin % 16, calls unfold_velocity_crt, attaches velocity_confidence and alias_set to RadarTarget. Falls back to legacy extract_targets_from_frame for non-48-bin frames. v7/models.py: - RadarTarget gains velocity_confidence (str default "UNKNOWN") and alias_set (list[float] | None). v7/__init__.py: - Re-exports unfold_velocity_crt + extract_targets_from_frame_crt. test_v7.py (16 new tests, 0 failures): - TestUnfoldVelocityCRT (8): zero-velocity CONFIRMED, below per-PRI v_unamb CONFIRMED, above per-PRI (100 m/s) CONFIRMED, near CRT ceiling (~261 m/s) CONFIRMED, negative velocity, 1-PRI AMBIGUOUS, 2-PRI LIKELY, inconsistent measurements AMBIGUOUS+fallback. - TestExtractTargetsFromFrameCrt (8): 3-PRI CONFIRMED target, LONG-only AMBIGUOUS (the 20-km blindspot regime), 2-PRI LIKELY, strongest-bin picking, two targets at distinct ranges, legacy 32-bin frame fallback, no-detections empty, GPS georef. Local: test_v7 100/0/0 (9 graceful skips), test_GUI_V65_Tk 117/0/2.
This commit is contained in:
Jason
@@ -1011,6 +1011,285 @@ class TestExtractTargetsFromFrame(unittest.TestCase):
|
||||
self.assertEqual([t.id for t in targets], [0, 1, 2])
|
||||
|
||||
|
||||
# =============================================================================
|
||||
# Test: v7.processing.unfold_velocity_crt (PR-Q.5, audit C-5)
|
||||
# =============================================================================
|
||||
|
||||
def _fold_v(v: float, v_unamb: float) -> float:
|
||||
"""Helper: fold v into signed [-v_unamb, +v_unamb] (FFT convention)."""
|
||||
span = 2.0 * v_unamb
|
||||
return ((v + v_unamb) % span) - v_unamb
|
||||
|
||||
|
||||
class TestUnfoldVelocityCRT(unittest.TestCase):
|
||||
"""3-PRI Chinese-Remainder Doppler unfolding."""
|
||||
|
||||
def _vu_vr(self):
|
||||
from v7.models import WaveformConfig
|
||||
wc = WaveformConfig()
|
||||
v_unamb = [
|
||||
wc.max_velocity_short_mps,
|
||||
wc.max_velocity_medium_mps,
|
||||
wc.max_velocity_long_mps,
|
||||
]
|
||||
v_res = [
|
||||
wc.velocity_resolution_short_mps,
|
||||
wc.velocity_resolution_medium_mps,
|
||||
wc.velocity_resolution_long_mps,
|
||||
]
|
||||
return v_unamb, v_res
|
||||
|
||||
def test_zero_velocity_three_pri_confirmed(self):
|
||||
"""All zero measurements → v=0, single fold, CONFIRMED."""
|
||||
from v7.processing import unfold_velocity_crt
|
||||
v_unamb, v_res = self._vu_vr()
|
||||
v_est, conf, alias = unfold_velocity_crt([0.0, 0.0, 0.0], v_unamb, v_res)
|
||||
self.assertAlmostEqual(v_est, 0.0, places=2)
|
||||
self.assertEqual(conf, "CONFIRMED")
|
||||
self.assertEqual(len(alias), 1)
|
||||
|
||||
def test_below_per_pri_unamb_three_pri_confirmed(self):
|
||||
"""v_true=30 m/s (below per-PRI v_unamb ~42 m/s): all 3 PRIs measure +30 directly."""
|
||||
from v7.processing import unfold_velocity_crt
|
||||
v_unamb, v_res = self._vu_vr()
|
||||
v_true = 30.0
|
||||
v_meas = [_fold_v(v_true, vu) for vu in v_unamb]
|
||||
# Sanity: each |v_meas| ≤ v_unamb
|
||||
for vm, vu in zip(v_meas, v_unamb, strict=False):
|
||||
self.assertLessEqual(abs(vm), vu)
|
||||
v_est, conf, alias = unfold_velocity_crt(v_meas, v_unamb, v_res)
|
||||
self.assertAlmostEqual(v_est, v_true, places=1)
|
||||
self.assertEqual(conf, "CONFIRMED")
|
||||
self.assertEqual(len(alias), 1)
|
||||
|
||||
def test_above_per_pri_unamb_crt_unfolds_correctly(self):
|
||||
"""v_true=100 m/s (above any per-PRI v_unamb): 3-PRI CRT unfolds."""
|
||||
from v7.processing import unfold_velocity_crt
|
||||
v_unamb, v_res = self._vu_vr()
|
||||
v_true = 100.0
|
||||
v_meas = [_fold_v(v_true, vu) for vu in v_unamb]
|
||||
# Each per-PRI fold differs (since each PRI has different v_unamb)
|
||||
self.assertNotAlmostEqual(v_meas[0], v_meas[1], places=1)
|
||||
self.assertNotAlmostEqual(v_meas[1], v_meas[2], places=1)
|
||||
v_est, conf, alias = unfold_velocity_crt(v_meas, v_unamb, v_res)
|
||||
self.assertAlmostEqual(v_est, v_true, places=1)
|
||||
self.assertEqual(conf, "CONFIRMED")
|
||||
self.assertEqual(len(alias), 1)
|
||||
|
||||
def test_negative_velocity_crt_unfolds(self):
|
||||
"""v_true=-75 m/s: CRT unfolds to a negative velocity."""
|
||||
from v7.processing import unfold_velocity_crt
|
||||
v_unamb, v_res = self._vu_vr()
|
||||
v_true = -75.0
|
||||
v_meas = [_fold_v(v_true, vu) for vu in v_unamb]
|
||||
v_est, conf, alias = unfold_velocity_crt(v_meas, v_unamb, v_res)
|
||||
self.assertAlmostEqual(v_est, v_true, places=1)
|
||||
self.assertEqual(conf, "CONFIRMED")
|
||||
|
||||
def test_long_only_single_pri_ambiguous(self):
|
||||
"""1-PRI input → AMBIGUOUS (LONG-only-at-20-km regime)."""
|
||||
from v7.processing import unfold_velocity_crt
|
||||
v_unamb, v_res = self._vu_vr()
|
||||
# Only LONG sub-frame seeing the target.
|
||||
v_est, conf, alias = unfold_velocity_crt(
|
||||
[15.0], [v_unamb[2]], [v_res[2]],
|
||||
)
|
||||
self.assertAlmostEqual(v_est, 15.0, places=2)
|
||||
self.assertEqual(conf, "AMBIGUOUS")
|
||||
self.assertEqual(alias, [15.0])
|
||||
|
||||
def test_two_pri_consistent_likely(self):
|
||||
"""2-PRI consistent measurements → LIKELY (less constraint than 3-PRI)."""
|
||||
from v7.processing import unfold_velocity_crt
|
||||
v_unamb, v_res = self._vu_vr()
|
||||
v_true = 25.0
|
||||
# SHORT + MEDIUM only (LONG dropped out, e.g. clutter).
|
||||
v_meas = [_fold_v(v_true, v_unamb[0]), _fold_v(v_true, v_unamb[1])]
|
||||
v_est, conf, alias = unfold_velocity_crt(
|
||||
v_meas, [v_unamb[0], v_unamb[1]], [v_res[0], v_res[1]],
|
||||
)
|
||||
self.assertAlmostEqual(v_est, v_true, places=1)
|
||||
self.assertEqual(conf, "LIKELY")
|
||||
|
||||
def test_inconsistent_measurements_ambiguous_fallback(self):
|
||||
"""Bogus per-PRI measurements that no fold reconciles → AMBIGUOUS, return PRI-0."""
|
||||
from v7.processing import unfold_velocity_crt
|
||||
v_unamb, v_res = self._vu_vr()
|
||||
# Random per-PRI values that do not correspond to any v_true.
|
||||
v_meas = [10.0, -30.0, 35.0]
|
||||
v_est, conf, alias = unfold_velocity_crt(v_meas, v_unamb, v_res)
|
||||
self.assertEqual(conf, "AMBIGUOUS")
|
||||
self.assertAlmostEqual(v_est, 10.0, places=2) # PRI-0 fallback
|
||||
|
||||
def test_search_depth_covers_extended_ceiling(self):
|
||||
"""K=6 covers ±extended_max_velocity_mps_crt ≈ 266 m/s."""
|
||||
from v7.processing import unfold_velocity_crt
|
||||
from v7.models import WaveformConfig
|
||||
wc = WaveformConfig()
|
||||
v_unamb, v_res = self._vu_vr()
|
||||
# Pick v_true near the advertised CRT ceiling.
|
||||
v_true = wc.extended_max_velocity_mps_crt(max_alias_k=6) - 5.0 # ~261 m/s
|
||||
v_meas = [_fold_v(v_true, vu) for vu in v_unamb]
|
||||
v_est, conf, alias = unfold_velocity_crt(v_meas, v_unamb, v_res, max_alias_k=6)
|
||||
self.assertAlmostEqual(v_est, v_true, places=0) # within 1 m/s
|
||||
# Should still be CONFIRMED for a real velocity at this scale.
|
||||
self.assertIn(conf, ("CONFIRMED", "LIKELY"))
|
||||
|
||||
|
||||
# =============================================================================
|
||||
# Test: v7.processing.extract_targets_from_frame_crt (PR-Q.5)
|
||||
# =============================================================================
|
||||
|
||||
class TestExtractTargetsFromFrameCrt(unittest.TestCase):
|
||||
"""3-PRI cluster extractor with CRT unfolding."""
|
||||
|
||||
def _make_frame(self, det_cells_with_mag=None):
|
||||
"""Create RadarFrame; det_cells_with_mag is list of (rbin, dbin, mag)."""
|
||||
from radar_protocol import RadarFrame
|
||||
frame = RadarFrame()
|
||||
if det_cells_with_mag:
|
||||
for rbin, dbin, mag in det_cells_with_mag:
|
||||
frame.detections[rbin, dbin] = 1
|
||||
frame.magnitude[rbin, dbin] = mag
|
||||
frame.detection_count = int(frame.detections.sum())
|
||||
frame.timestamp = 1.0
|
||||
return frame
|
||||
|
||||
def test_three_pri_target_confirmed(self):
|
||||
"""Detection at rbin=10 in all 3 sub-frames at bin 3 → CONFIRMED, v ≈ 15 m/s."""
|
||||
from v7.processing import extract_targets_from_frame_crt
|
||||
from v7.models import WaveformConfig
|
||||
wc = WaveformConfig()
|
||||
# bins 3 / 19 / 35 = sub-frame {0, 1, 2} bin-in-sf 3.
|
||||
frame = self._make_frame([
|
||||
(10, 3, 1000.0),
|
||||
(10, 19, 800.0),
|
||||
(10, 35, 1200.0),
|
||||
])
|
||||
targets = extract_targets_from_frame_crt(frame, wc)
|
||||
self.assertEqual(len(targets), 1)
|
||||
t = targets[0]
|
||||
self.assertAlmostEqual(t.range, 10 * wc.range_resolution_m, places=1)
|
||||
# bin 3 across PRIs maps to ~ 15 m/s (≈ 3 · v_res ≈ 15.3 / 16.6 / 16.0)
|
||||
self.assertGreater(t.velocity, 12.0)
|
||||
self.assertLess(t.velocity, 18.0)
|
||||
self.assertEqual(t.velocity_confidence, "CONFIRMED")
|
||||
self.assertIsNotNone(t.alias_set)
|
||||
self.assertEqual(len(t.alias_set), 1)
|
||||
|
||||
def test_long_only_target_ambiguous(self):
|
||||
"""Detection only in LONG sub-frame at rbin=20 → AMBIGUOUS, single-PRI v."""
|
||||
from v7.processing import extract_targets_from_frame_crt
|
||||
from v7.models import WaveformConfig
|
||||
wc = WaveformConfig()
|
||||
# dbin = 32 + 5 = 37 → LONG sub-frame, bin 5 (positive).
|
||||
frame = self._make_frame([(20, 37, 1500.0)])
|
||||
targets = extract_targets_from_frame_crt(frame, wc)
|
||||
self.assertEqual(len(targets), 1)
|
||||
t = targets[0]
|
||||
self.assertEqual(t.velocity_confidence, "AMBIGUOUS")
|
||||
# v should be close to 5 · v_res_long ≈ 26.7 m/s
|
||||
expected_v = 5.0 * wc.velocity_resolution_long_mps
|
||||
self.assertAlmostEqual(t.velocity, expected_v, places=1)
|
||||
|
||||
def test_two_pri_target_likely(self):
|
||||
"""Detection in SHORT + MEDIUM but not LONG → LIKELY."""
|
||||
from v7.processing import extract_targets_from_frame_crt
|
||||
from v7.models import WaveformConfig
|
||||
wc = WaveformConfig()
|
||||
# bin 4 in SHORT (dbin=4), bin 4 in MEDIUM (dbin=20).
|
||||
frame = self._make_frame([
|
||||
(15, 4, 900.0),
|
||||
(15, 20, 700.0),
|
||||
])
|
||||
targets = extract_targets_from_frame_crt(frame, wc)
|
||||
self.assertEqual(len(targets), 1)
|
||||
self.assertEqual(targets[0].velocity_confidence, "LIKELY")
|
||||
|
||||
def test_strongest_bin_per_subframe_picked(self):
|
||||
"""Two detections in same sub-frame at same rbin: stronger one wins."""
|
||||
from v7.processing import extract_targets_from_frame_crt
|
||||
from v7.models import WaveformConfig
|
||||
wc = WaveformConfig()
|
||||
# SHORT sub-frame: bins 3 (mag=500) and 5 (mag=1500) — bin 5 stronger.
|
||||
# MEDIUM: bin 5 (mag=1200) — matches.
|
||||
# LONG: bin 5 (mag=1100).
|
||||
frame = self._make_frame([
|
||||
(8, 3, 500.0),
|
||||
(8, 5, 1500.0),
|
||||
(8, 21, 1200.0),
|
||||
(8, 37, 1100.0),
|
||||
])
|
||||
targets = extract_targets_from_frame_crt(frame, wc)
|
||||
self.assertEqual(len(targets), 1)
|
||||
t = targets[0]
|
||||
# Expected v ≈ 5 · v_res ≈ 25.5 m/s (3-PRI CRT picks the bin-5 fold).
|
||||
self.assertGreater(t.velocity, 23.0)
|
||||
self.assertLess(t.velocity, 28.0)
|
||||
self.assertEqual(t.velocity_confidence, "CONFIRMED")
|
||||
|
||||
def test_two_targets_at_different_ranges(self):
|
||||
"""Two targets at distinct rbins → 2 RadarTargets, IDs sequential."""
|
||||
from v7.processing import extract_targets_from_frame_crt
|
||||
from v7.models import WaveformConfig
|
||||
wc = WaveformConfig()
|
||||
frame = self._make_frame([
|
||||
# Target A at rbin 5, all 3 sub-frames bin 2.
|
||||
(5, 2, 800.0), (5, 18, 700.0), (5, 34, 750.0),
|
||||
# Target B at rbin 30, all 3 sub-frames bin 12 (negative velocity).
|
||||
(30, 12, 600.0), (30, 28, 550.0), (30, 44, 580.0),
|
||||
])
|
||||
targets = extract_targets_from_frame_crt(frame, wc)
|
||||
self.assertEqual(len(targets), 2)
|
||||
self.assertEqual([t.id for t in targets], [0, 1])
|
||||
# rbin 5 should come first (sorted), with positive v; rbin 30 negative.
|
||||
self.assertGreater(targets[0].velocity, 0)
|
||||
self.assertLess(targets[1].velocity, 0)
|
||||
for t in targets:
|
||||
self.assertEqual(t.velocity_confidence, "CONFIRMED")
|
||||
|
||||
def test_falls_back_to_legacy_for_non_48_bin_frame(self):
|
||||
"""Frame with n_doppler != 48 → calls legacy extract_targets_from_frame."""
|
||||
from v7.processing import extract_targets_from_frame_crt
|
||||
from v7.models import WaveformConfig
|
||||
from radar_protocol import RadarFrame
|
||||
# Synthesize a 32-bin frame manually.
|
||||
frame = RadarFrame()
|
||||
frame.detections = np.zeros((64, 32), dtype=np.uint8)
|
||||
frame.magnitude = np.zeros((64, 32), dtype=np.float64)
|
||||
frame.detections[5, 16] = 1 # legacy center
|
||||
frame.magnitude[5, 16] = 1000.0
|
||||
frame.detection_count = 1
|
||||
frame.timestamp = 1.0
|
||||
wc = WaveformConfig()
|
||||
targets = extract_targets_from_frame_crt(frame, wc)
|
||||
self.assertEqual(len(targets), 1)
|
||||
# Legacy path → velocity_confidence stays default "UNKNOWN".
|
||||
self.assertEqual(targets[0].velocity_confidence, "UNKNOWN")
|
||||
self.assertIsNone(targets[0].alias_set)
|
||||
|
||||
def test_no_detections_returns_empty(self):
|
||||
from v7.processing import extract_targets_from_frame_crt
|
||||
from v7.models import WaveformConfig
|
||||
wc = WaveformConfig()
|
||||
frame = self._make_frame([])
|
||||
targets = extract_targets_from_frame_crt(frame, wc)
|
||||
self.assertEqual(targets, [])
|
||||
|
||||
def test_gps_georef_with_crt(self):
|
||||
"""GPS-georef populates lat/lon (smoke test)."""
|
||||
from v7.processing import extract_targets_from_frame_crt
|
||||
from v7.models import WaveformConfig, GPSData
|
||||
wc = WaveformConfig()
|
||||
gps = GPSData(latitude=41.9, longitude=12.5, altitude=0.0,
|
||||
pitch=0.0, heading=90.0)
|
||||
frame = self._make_frame([(10, 3, 1000.0), (10, 19, 800.0), (10, 35, 1200.0)])
|
||||
targets = extract_targets_from_frame_crt(frame, wc, gps=gps)
|
||||
self.assertEqual(len(targets), 1)
|
||||
self.assertAlmostEqual(targets[0].latitude, 41.9, places=2)
|
||||
self.assertGreater(targets[0].longitude, 12.5)
|
||||
|
||||
|
||||
# =============================================================================
|
||||
# Helper: lazy import of v7.models
|
||||
# =============================================================================
|
||||
|
||||
Reference in New Issue
Block a user