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function radar_signal_sorting_gui() % 雷达信号分选算法主界面 % 创建一个GUI界面，让用户选择使用SDIF或CDIF算法进行信号分选 % 创建主选择界面 mainFig = figure('Name', '雷达信号分选算法', 'NumberTitle', 'off', ... 'Position', [300, 200, 400, 250], 'MenuBar', 'none', ... 'Resize', 'off', 'Color', [0.95, 0.95, 0.95]); % 添加标题 uicontrol('Style', 'text', 'String', '请选择分选算法', ... 'Position', [100, 180, 200, 40], ... 'FontSize', 16, 'FontWeight', 'bold', ... 'BackgroundColor', [0.95, 0.95, 0.95]); % SDIF算法按钮 uicontrol('Style', 'pushbutton', 'String', 'SDIF 算法', ... 'Position', [100, 120, 200, 40], ... 'FontSize', 14, 'FontWeight', 'bold', ... 'BackgroundColor', [0.4, 0.8, 1.0], ... 'Callback', @sdif_callback); % CDIF算法按钮 uicontrol('Style', 'pushbutton', 'String', 'CDIF 算法', ... 'Position', [100, 60, 200, 40], ... 'FontSize', 14, 'FontWeight', 'bold', ... 'BackgroundColor', [1.0, 0.8, 0.4], ... 'Callback', @cdif_callback); % SDIF算法回调函数 function sdif_callback(~, ~) close(mainFig); % 关闭主界面 sdif_gui(); % 打开SDIF参数设置界面 end % CDIF算法回调函数 function cdif_callback(~, ~) close(mainFig); % 关闭主界面 CDIF_GUI(); % 打开CDIF参数设置界面 end end function sdif_gui() % SDIF算法参数设置界面 % 允许用户设置SDIF算法的各项参数 fig = figure('Name', 'SDIF参数设置', 'NumberTitle', 'off', ... 'Position', [300, 200, 500, 500], 'MenuBar', 'none', ... 'Color', [0.95, 0.95, 0.95]); % 默认参数值 defaultParams = struct(... 'filename', 'PDW2.txt', ... % 数据文件名 'bin_size', 5, ... % 直方图箱大小(µs) 'max_interval', 1200, ... % 最大间隔(µs) 'A', 0.4, ... % 门限参数A 'lambda', 0.25, ... % 脉冲流密度λ 'max_order', 8, ... % 最大直方图阶数 'tolerance', 3, ... % 容差范围(µs) 'min_seq_length', 5 ... % 序列最小长度 ); % 界面标题 uicontrol('Style', 'text', 'String', 'SDIF参数配置', ... 'Position', [150, 450, 200, 30], ... 'FontSize', 16, 'FontWeight', 'bold', ... 'BackgroundColor', [0.95, 0.95, 0.95]); % 创建参数输入控件 params = fieldnames(defaultParams); yPos = 400; % 初始Y坐标 controls = struct(); % 存储控件句柄 for i = 1:length(params) param = params{i}; value = defaultParams.(param); % 参数标签 uicontrol('Style', 'text', 'String', [strrep(param, '_', ' '), ':'], ... 'Position', [50, yPos, 150, 25], ... 'HorizontalAlignment', 'left', ... 'FontSize', 12, ... 'BackgroundColor', [0.95, 0.95, 0.95]); % 参数输入框 if isnumeric(value) valueStr = num2str(value); else valueStr = value; end ctrl = uicontrol('Style', 'edit', ... 'String', valueStr, ... 'Position', [220, yPos, 150, 25], ... 'FontSize', 11, ... 'Tag', param); controls.(param) = ctrl; yPos = yPos - 40; % 下移位置 end % 文件浏览按钮 uicontrol('Style', 'pushbutton', 'String', '浏览...', ... 'Position', [380, 400, 80, 25], ... 'FontSize', 10, ... 'Callback', @browseFile); % 运行分析按钮 uicontrol('Style', 'pushbutton', 'String', '运行 SDIF 分析', ... 'Position', [150, 50, 200, 40], ... 'FontSize', 14, 'FontWeight', 'bold', ... 'BackgroundColor', [0.4, 0.8, 0.4], ... 'Callback', @runAnalysis); % 返回主菜单按钮 uicontrol('Style', 'pushbutton', 'String', '返回主菜单', ... 'Position', [20, 20, 100, 30], ... 'Callback', @returnToMain); % 文件浏览回调函数 function browseFile(~, ~) [file, path] = uigetfile('.txt', '选择数据文件'); if file set(controls.filename, 'String', fullfile(path, file)); end end % 运行分析回调函数 function runAnalysis(~, ~) % 获取用户输入的参数值 params = struct(); paramNames = fieldnames(defaultParams); for i = 1:length(paramNames) name = paramNames{i}; strVal = get(controls.(name), 'String'); if strcmp(name, 'filename') params.(name) = strVal; % 文件名直接使用字符串 else params.(name) = str2double(strVal); % 其他参数转换为数值 end end % 验证文件是否存在 if ~isfile(params.filename) errordlg('数据文件不存在!', '文件错误'); return; end try % 运行SDIF算法 [sequences, pris, remaining_toa] = run_sdif(... params.filename, ... params.bin_size, ... params.max_interval, ... params.A, ... params.lambda, ... params.max_order, ... params.tolerance, ... params.min_seq_length); % 显示结果 show_sdif_results(sequences, pris, remaining_toa); catch ME % 错误处理 errordlg(sprintf('分析错误: %s', ME.message), '分析错误'); end end % 返回主菜单回调函数 function returnToMain(~, ~) close(fig); % 关闭当前界面 radar_signal_sorting_gui(); % 重新打开主界面 end end function [sequences, pris, remaining_toa] = run_sdif(filename, bin_size, max_interval, A, lambda, max_order, tolerance, min_seq_length) % SDIF算法核心执行函数 % 读取数据文件并执行SDIF分选算法 % 读取数据文件 fid = fopen(filename, 'r'); data = textscan(fid, '%f %f %f %f %f'); fclose(fid); data = [data{1}, data{2}, data{3}, data{4}, data{5}]; % 提取到达时间(TOA)并排序 toa = data(:, 4); [toa_sorted, sort_idx] = sort(toa); data_sorted = data(sort_idx, :); % 计算直方图箱数 num_bins = floor(max_interval / bin_size); % 执行SDIF核心算法 [sequences, pris, remaining_toa] = sdif_core(... toa_sorted, bin_size, max_interval, num_bins, ... A, lambda, max_order, tolerance, min_seq_length); end function show_sdif_results(sequences, pris, remaining_toa) % 显示SDIF分选结果 % 创建结果展示界面，包含表格和多种图表 fig = figure('Name', 'SDIF分选结果', 'NumberTitle', 'off', ... 'Position', [300, 50, 1200, 800], 'MenuBar', 'none'); % 结果摘要面板 summaryPanel = uipanel('Title', '分选结果摘要', 'Position', [0.02, 0.85, 0.96, 0.13], ... 'FontSize', 12, 'FontWeight', 'bold'); % 计算统计信息 totalPulses = sum(cellfun(@length, sequences)) + length(remaining_toa); extracted = length(pris(pris>0)); % 提取的有效序列数 % 显示摘要信息 uicontrol('Parent', summaryPanel, 'Style', 'text', ... 'String', sprintf('提取序列数: %d | 总脉冲数: %d | 剩余脉冲: %d', ... extracted, totalPulses, length(remaining_toa)), ... 'Position', [20, 40, 900, 30], ... 'FontSize', 14, 'FontWeight', 'bold', ... 'HorizontalAlignment', 'left'); % 结果表格 resultTable = uitable(fig, 'Position', [50, 450, 1100, 150], ... 'ColumnName', {'序列ID', 'PRI(μs)', '脉冲数', '起始时间(μs)', '结束时间(μs)'}, ... 'ColumnWidth', {120, 210, 210, 240, 240}, ... 'FontSize', 12); % 填充表格数据 tableData = cell(length(sequences), 5); for i = 1:length(sequences) seq = sequences{i}; % 处理未知PRI值 pri_val = ifelse(pris(i)>0, sprintf('%.1f', pris(i)), '未知'); tableData{i,1} = i; tableData{i,2} = pri_val; tableData{i,3} = length(seq); tableData{i,4} = min(seq); tableData{i,5} = max(seq); end set(resultTable, 'Data', tableData); % 创建选项卡组 tabGroup = uitabgroup(fig, 'Position', [0.05, 0.05, 0.9, 0.5]); % 选项卡1: 序列脉冲分布 tab1 = uitab(tabGroup, 'Title', '序列脉冲分布'); ax1 = axes('Parent', tab1); hold(ax1, 'on'); grid(ax1, 'on'); % 为每个序列分配不同颜色 colors = lines(length(sequences)); % 绘制每个序列的脉冲分布 for i = 1:length(sequences) seq = sequences{i}; y_pos = i ones(size(seq)); scatter(ax1, seq, y_pos, 40, colors(i,:), 'filled'); plot(ax1, seq, y_pos, 'Color', colors(i,:), 'LineWidth', 1.5); % 添加序列信息标注 if pris(i) > 0 text(ax1, min(seq), i+0.3, sprintf('序列%d: PRI=%.1fµs', i, pris(i)), ... 'Color', colors(i,:), 'FontSize', 10); end end % 绘制未分选脉冲 if ~isempty(remaining_toa) y_pos = (length(sequences)+1) * ones(size(remaining_toa)); scatter(ax1, remaining_toa, y_pos, 40, [0.8 0.2 0.2], 'filled'); text(ax1, min(remaining_toa), length(sequences)+1.3, '未分选脉冲', ... 'Color', [0.8 0.2 0.2], 'FontSize', 10); end % 设置坐标轴范围 ylim(ax1, [0, length(sequences)+2]); xlabel(ax1, '到达时间(TOA, µs)'); ylabel(ax1, '信号序列'); title(ax1, '脉冲序列分布'); % 选项卡2: 脉冲数量统计 tab2 = uitab(tabGroup, 'Title', '脉冲数量统计'); ax2 = axes('Parent', tab2); % 计算每个序列的脉冲数量 pulseCounts = cellfun(@length, sequences); validSeqs = find(pris > 0); % 只统计有效序列 % 绘制条形图 bar(ax2, validSeqs, pulseCounts(validSeqs), 'FaceColor', [0.3, 0.6, 0.9]); % 添加数量标签 for i = 1:length(validSeqs) text(ax2, validSeqs(i), pulseCounts(validSeqs(i))+0.5, ... num2str(pulseCounts(validSeqs(i))), ... 'HorizontalAlignment', 'center', 'FontSize', 10); end xlabel(ax2, '序列ID'); ylabel(ax2, '脉冲数量'); title(ax2, '各序列脉冲数量统计'); grid(ax2, 'on'); set(ax2, 'XTick', validSeqs); % 选项卡3: PRI分布 tab3 = uitab(tabGroup, 'Title', 'PRI分布'); ax3 = axes('Parent', tab3); % 提取有效PRI值 valid_pris = pris(pris > 0); if ~isempty(valid_pris) % 绘制直方图 hist(ax3, valid_pris, 20); xlabel(ax3, 'PRI值(µs)'); ylabel(ax3, '出现次数'); title(ax3, '提取的PRI值分布'); grid(ax3, 'on'); else % 无有效PRI时显示提示 text(ax3, 0.5, 0.5, '未检测到有效PRI', ... 'HorizontalAlignment', 'center', 'FontSize', 14); end % 返回主菜单按钮 uicontrol('Style', 'pushbutton', 'String', '返回主菜单', ... 'Position', [50, 20, 120, 30], ... 'Callback', @returnToMain); % 返回主菜单回调函数 function returnToMain(~, ~) close(fig); % 关闭结果界面 radar_signal_sorting_gui(); % 重新打开主界面 end end % 条件判断辅助函数 function s = ifelse(condition, true_str, false_str) if condition s = true_str; else s = false_str; end end % SDIF核心算法实现 function [sequences, pris, remaining_toa] = sdif_core(... toa_data, bin_size, max_interval, num_bins, ... A, lambda, max_order, tolerance, min_seq_length) % 初始化变量 n_pulses = length(toa_data); pulse_mask = true(n_pulses, 1); % 脉冲掩码，标记哪些脉冲未被分选 sequences = {}; % 存储分选出的序列 pris = []; % 存储每个序列的PRI值 iteration = 0; % 迭代计数器 % 主循环：当剩余脉冲数足够时分选 while nnz(pulse_mask) >= min_seq_length iteration = iteration + 1; current_toa = toa_data(pulse_mask); % 当前未被分选的脉冲 n_current = length(current_toa); found_sequence = false; % 标记是否找到序列 % 遍历不同阶数 for order = 1:max_order % 检查脉冲数量是否足够 if n_current < order + 1 continue; end % 计算间隔差 if order == 1 % 一阶：连续脉冲间的间隔 intervals = current_toa(2:end) - current_toa(1:end-1); else % 高阶：间隔order个脉冲的间隔差 intervals = current_toa(order+1:end) - current_toa(1:end-order); end % 计算直方图 [hist_counts, bin_edges] = histcounts(intervals, num_bins, 'BinLimits', [0, max_interval]); bin_centers = bin_edges(1:end-1) + bin_size/2; % 计算SDIF门限 E = n_current; % 当前脉冲数量 C = order; % 当前阶数 threshold_values = A * (E - C) * exp(-lambda * bin_centers); % 找出超过门限的箱 exceed_idx = find(hist_counts > threshold_values); if ~isempty(exceed_idx) % 选择PRI候选值 if order == 1 if numel(exceed_idx) == 1 pri_candidate = bin_centers(exceed_idx(1)); else % 多个候选时选择最小PRI（子谐波检验） [min_pri, min_idx] = min(bin_centers(exceed_idx)); pri_candidate = min_pri; end else % 高阶选择最小PRI [min_pri, min_idx] = min(bin_centers(exceed_idx)); pri_candidate = min_pri; end % 搜索序列 [seq_found, seq_idx] = find_sequence_sdif(... current_toa, pri_candidate, tolerance, min_seq_length); if seq_found % 转换为全局索引 global_idx = find(pulse_mask); global_seq_idx = global_idx(seq_idx); % 保存序列 sequences{end+1} = current_toa(seq_idx); pris(end+1) = pri_candidate; % 更新脉冲掩码 pulse_mask(global_seq_idx) = false; found_sequence = true; break; % 找到序列后跳出阶数循环 end end end % 未找到新序列时终止分选 if ~found_sequence break; end end % 处理剩余脉冲 remaining_toa = toa_data(pulse_mask); if ~isempty(remaining_toa) sequences{end+1} = remaining_toa; pris(end+1) = 0; % 未知PRI end end % 查找序列函数 function [found, seq_indices] = find_sequence_sdif(toa, pri, tolerance, min_length) % 使用动态规划算法查找最长的连续序列 n = length(toa); dp = ones(1, n); % dp[i]表示以第i个脉冲结尾的序列长度 prev = zeros(1, n); % 前驱指针，记录序列中的前一个脉冲 max_len = 1; % 最长序列长度 max_idx = 1; % 最长序列的结束位置 % 动态规划填表 for i = 2:n dp(i) = 1; prev(i) = 0; % 检查所有可能的j for j = 1:i-1 interval = toa(i) - toa(j); % 检查间隔是否在容差范围内 if abs(interval - pri) <= tolerance % 更新序列长度 if dp(j) + 1 > dp(i) dp(i) = dp(j) + 1; prev(i) = j; end end end % 更新最长序列信息 if dp(i) > max_len max_len = dp(i); max_idx = i; end end % 检查序列是否满足最小长度要求 if max_len >= min_length found = true; seq_indices = []; current = max_idx; % 回溯重建序列 while current > 0 seq_indices = [current, seq_indices]; current = prev(current); end else found = false; seq_indices = []; end end function CDIF_GUI() % CDIF算法主界面 % 提供参数设置和结果展示功能 fig = figure('Name', 'CDIF脉冲序列分析', 'NumberTitle', 'off', ... 'Position', [200, 100, 1000, 700], 'MenuBar', 'none', ... 'Resize', 'on'); % 参数控制面板 controlPanel = uipanel(fig, 'Title', '参数控制', ... 'Position', [0.02, 0.02, 0.96, 0.96], ... 'FontSize', 14, 'FontWeight', 'bold'); % 默认参数值 defaultParams = struct(... 'filename', 'PDW1.txt', ... % 数据文件名 'max_level', 2, ... % 最大分析层级 'a', 0.4, ... % 门限参数a 'tolerance', 0.01, ... % 容差 'min_pulse_sequence', 5, ... % 最小脉冲序列长度 'min_total_pulses', 0 ... % 最小总脉冲数 ); % 文件选择控件 uicontrol(controlPanel, 'Style', 'text', 'String', '数据文件:', ... 'Units', 'normalized', 'Position', [0.05, 0.85, 0.15, 0.05], ... 'HorizontalAlignment', 'left', 'FontSize', 12); fileEdit = uicontrol(controlPanel, 'Style', 'edit', ... 'String', defaultParams.filename, ... 'Units', 'normalized', 'Position', [0.20, 0.85, 0.45, 0.05], ... 'FontSize', 12); uicontrol(controlPanel, 'Style', 'pushbutton', 'String', '浏览...', ... 'Units', 'normalized', 'Position', [0.70, 0.85, 0.15, 0.05], ... 'FontSize', 12, ... 'Callback', @(src,evt) browseFile(fileEdit)); % 参数输入控件 params = fieldnames(defaultParams); paramControls = struct(); paramControls.filename = fileEdit; paramYPos = 0.75; % 初始Y坐标 paramSpacing = 0.08; % 控件间距 % 创建参数控件 for i = 2:length(params) paramName = params{i}; paramValue = defaultParams.(paramName); % 参数标签 uicontrol(controlPanel, 'Style', 'text', ... 'String', [replace(paramName, '_', ' '), ':'], ... 'Units', 'normalized', 'Position', [0.05, paramYPos, 0.25, 0.05], ... 'HorizontalAlignment', 'left', 'FontSize', 12); % 整数参数使用编辑框 if ismember(paramName, {'max_level', 'min_pulse_sequence', 'min_total_pulses'}) paramControls.(paramName) = uicontrol(controlPanel, 'Style', 'edit', ... 'String', num2str(paramValue), ... 'Units', 'normalized', 'Position', [0.35, paramYPos, 0.15, 0.05], ... 'Tag', paramName, 'FontSize', 12); else % 浮点参数使用编辑框+滑块 paramControls.(paramName) = uicontrol(controlPanel, 'Style', 'edit', ... 'String', num2str(paramValue), ... 'Units', 'normalized', 'Position', [0.35, paramYPos, 0.15, 0.05], ... 'Tag', paramName, 'FontSize', 12); % 添加滑块 uicontrol(controlPanel, 'Style', 'slider', ... 'Min', 0, 'Max', 1, ... 'Value', paramValue, ... 'Units', 'normalized', 'Position', [0.55, paramYPos, 0.30, 0.05], ... 'Tag', [paramName, 'Slider'], ... 'Callback', @(src,evt) sliderCallback(src, paramName, paramControls.(paramName))); end paramYPos = paramYPos - paramSpacing; % 下移位置 end % 运行分析按钮 uicontrol(controlPanel, 'Style', 'pushbutton', 'String', '运行分析', ... 'Units', 'normalized', 'Position', [0.35, 0.05, 0.30, 0.08], ... 'FontWeight', 'bold', 'FontSize', 14, ... 'Callback', @(src,evt) runAnalysis(fig, paramControls)); % 文件浏览回调函数 function browseFile(editControl) [file, path] = uigetfile('.txt', '选择数据文件'); if file set(editControl, 'String', fullfile(path, file)); end end % 滑块回调函数 function sliderCallback(src, paramName, editControl) value = get(src, 'Value'); set(editControl, 'String', num2str(value)); end % 运行分析回调函数 function runAnalysis(fig, paramControls) % 获取参数值 filename = get(paramControls.filename, 'String'); max_level = str2double(get(paramControls.max_level, 'String')); a = str2double(get(paramControls.a, 'String')); tolerance = str2double(get(paramControls.tolerance, 'String')); min_pulse_sequence = str2double(get(paramControls.min_pulse_sequence, 'String')); min_total_pulses = str2double(get(paramControls.min_total_pulses, 'String')); % 验证参数有效性 if isnan(max_level) || max_level < 1 || max_level > 10 errordlg('最大层级必须为1-10之间的整数', '参数错误'); return; end if isnan(a) || a < 0 || a > 1 errordlg('门限参数a必须在0-1范围内', '参数错误'); return; end % 删除现有结果面板（如果存在） if ishandle(findobj(fig, 'Tag', 'resultPanel')) delete(findobj(fig, 'Tag', 'resultPanel')); end try % 运行CDIF分析 [all_sequences, all_pri, remaining_toa, all_seq_cdif_data] = ... optimized_CDIF(filename, max_level, a, tolerance, min_pulse_sequence, min_total_pulses); % 创建结果面板 resultPanel = uipanel(fig, 'Title', '分析结果', ... 'Position', [0.02, 0.02, 0.96, 0.96], ... 'Units', 'normalized', ... 'Tag', 'resultPanel', ... 'FontSize', 14, 'FontWeight', 'bold'); % 添加返回按钮 uicontrol(resultPanel, 'Style', 'pushbutton', 'String', '返回控制面板', ... 'Units', 'normalized', 'Position', [0.01, 0.01, 0.15, 0.04], ... 'FontSize', 12, ... 'Callback', @(src,evt) delete(resultPanel)); % 创建结果表格 resultTable = uitable(resultPanel, 'Units', 'normalized', ... 'Position', [0.02, 0.75, 0.96, 0.23], ... 'ColumnName', {'序列ID', 'PRI (μs)', '脉冲数量', '分析层级'}, ... 'ColumnFormat', {'numeric', 'numeric', 'numeric', 'numeric'}, ... 'ColumnWidth', {220, 220, 250, 200}, ... 'Tag', 'resultTable', ... 'FontSize', 12); % 显示结果摘要 summaryStr = sprintf('提取序列总数: %d | 剩余脉冲数: %d', ... length(all_sequences), length(remaining_toa)); uicontrol(resultPanel, 'Style', 'text', ... 'Units', 'normalized', ... 'Position', [0.02, 0.70, 0.96, 0.05], ... 'String', summaryStr, ... 'FontSize', 14, 'FontWeight', 'bold', ... 'HorizontalAlignment', 'left'); % 更新结果表格数据 if ~isempty(all_sequences) resultData = cell(length(all_sequences), 4); for i = 1:length(all_sequences) resultData{i,1} = i; % 序列ID resultData{i,2} = all_pri(i); % PRI resultData{i,3} = length(all_sequences{i}); % 脉冲数量 % 查找分析层级 level_found = 0; for lvl = 1:length(all_seq_cdif_data) if lvl <= length(all_seq_cdif_data) && ... ~isempty(all_seq_cdif_data{lvl}) && ... any([all_seq_cdif_data{lvl}.seq_id] == i) resultData{i,4} = lvl; level_found = 1; break; end end if ~level_found resultData{i,4} = '未知'; end end else resultData = {}; end set(resultTable, 'Data', resultData); % 创建图形面板 - 使用选项卡 tabGroup = uitabgroup(resultPanel, 'Units', 'normalized', ... 'Position', [0.02, 0.05, 0.96, 0.65]); % CDIF分析结果选项卡 cdifTab = uitab(tabGroup, 'Title', 'CDIF分析结果'); % 序列脉冲统计选项卡 pulseTab = uitab(tabGroup, 'Title', '序列脉冲统计'); % 创建CDIF分析结果图 if ~isempty(all_seq_cdif_data) % 计算实际有数据的层级 valid_levels = sum(~cellfun(@isempty, all_seq_cdif_data)); if valid_levels > 0 % 计算网格布局（每行最多2列） grid_cols = min(2, valid_levels); grid_rows = ceil(valid_levels / grid_cols); level_counter = 1; for lvl = 1:length(all_seq_cdif_data) if ~isempty(all_seq_cdif_data{lvl}) % 创建坐标轴 ax = subplot(grid_rows, grid_cols, level_counter, 'Parent', cdifTab); set(ax, 'Tag', ['axes', num2str(lvl)], 'FontSize', 12); % 绘制该层级的CDIF结果 plot_combined_cdif_gui(all_seq_cdif_data{lvl}, lvl, ax); level_counter = level_counter + 1; end end end else % 无CDIF数据时显示提示 uicontrol(cdifTab, 'Style', 'text', 'String', '未找到CDIF分析数据', ... 'Units', 'normalized', 'Position', [0.3, 0.5, 0.4, 0.1], ... 'FontSize', 14, 'FontWeight', 'bold'); end % 创建序列脉冲统计图 if ~isempty(all_sequences) axHist = axes('Parent', pulseTab, 'FontSize', 12); % 获取序列ID和脉冲数量 seqIds = 1:length(all_sequences); pulseCounts = cellfun(@length, all_sequences); % 绘制条形图 bar(axHist, seqIds, pulseCounts, 'FaceColor', [0.3, 0.6, 0.9]); % 添加数值标签 for i = 1:length(seqIds) text(axHist, seqIds(i), pulseCounts(i)+0.1, num2str(pulseCounts(i)), ... 'HorizontalAlignment', 'center', 'FontSize', 12); end title(axHist, '序列脉冲数量统计', 'FontSize', 14); xlabel(axHist, '序列ID', 'FontSize', 12); ylabel(axHist, '脉冲数量', 'FontSize', 12); grid(axHist, 'on'); set(axHist, 'XTick', seqIds); else % 无有效序列时显示提示 uicontrol(pulseTab, 'Style', 'text', 'String', '未找到有效序列', ... 'Units', 'normalized', 'Position', [0.3, 0.5, 0.4, 0.1], ... 'FontSize', 14, 'FontWeight', 'bold'); end catch ME % 错误处理 errordlg(sprintf('分析错误: %s', ME.message), '分析错误'); end end % CDIF结果绘图函数 function plot_combined_cdif_gui(cdif_data, level, ax) axes(ax); % 设置当前坐标轴 cla(ax); % 清除原有内容 % 获取最大PRI范围和最大直方图值 max_pri_len = max(arrayfun(@(x) length(x.hist), cdif_data)); max_hist_val = max(arrayfun(@(x) max(x.hist), cdif_data)); % 创建颜色映射 colors = lines(length(cdif_data)); hold(ax, 'on'); % 绘制所有序列的直方图 for i = 1:length(cdif_data) data = cdif_data(i); x = 1:length(data.hist); % 绘制直方图 plot(ax, x, data.hist, 'Color', colors(i, :), 'LineWidth', 1.5, ... 'DisplayName', sprintf('序列%d (PRI=%.1fµs)', data.seq_id, data.pri)); % 找到最接近实际PRI的索引位置 [~, idx] = min(abs(x - data.pri)); peak_value = data.hist(idx); % 标记检测到的PRI plot(ax, x(idx), peak_value, 'o', 'MarkerSize', 8, ... 'MarkerFaceColor', colors(i, :), 'MarkerEdgeColor', 'k', ... 'HandleVisibility', 'off'); end % 绘制统一的门限曲线 if ~isempty(cdif_data) x_thresh = 1:length(cdif_data(1).threshold); plot(ax, x_thresh, cdif_data(1).threshold, 'k--', 'LineWidth', 1.5, ... 'DisplayName', '最优门限'); end hold(ax, 'off'); % 添加图例和标签 title(ax, sprintf('层级 %d CDIF分析', level), 'FontSize', 14); xlabel(ax, 'PRI (\mu s)', 'FontSize', 12); ylabel(ax, '累积计数', 'FontSize', 12); legend(ax, 'show', 'Location', 'best', 'FontSize', 10); grid(ax, 'on'); % 设置坐标轴范围 xlim(ax, [1, min(max_pri_len, 100000)]); % 限制X轴范围 % 动态设置Y轴范围 if max_hist_val > 0 ylim(ax, [0, max_hist_val 1.2]); % 基于数据设置Y轴 else ylim(ax, [0, 10]); % 默认范围 end % 设置坐标轴字体大小 set(ax, 'FontSize', 12); end end function [all_sequences, all_pri, remaining_toa, all_seq_cdif_data] = optimized_CDIF(filename, max_level, a, tolerance, min_pulse_sequence, min_total_pulses) % CDIF算法核心实现 % 读取数据并执行CDIF分选算法 % 读取数据 data = load(filename); toa_original = data(:,4); toa_original = sort(toa_original); % 排序到达时间 remaining_toa = toa_original; % 剩余脉冲 % 计算总时间范围和最大PRI T_total = max(toa_original) - min(toa_original); absolute_max_pri = 1000000; % 1000ms PRI_max = min(T_total/2, absolute_max_pri); % 存储结果 all_sequences = {}; % 所有分选出的序列 all_pri = []; % 各序列的PRI值 sequence_counter = 1; % 序列计数器 all_seq_cdif_data = cell(1, max_level); % 各层级的CDIF数据 % 主循环：处理所有序列 while length(remaining_toa) >= min_total_pulses % 提取下一个序列 [sequence, pri, level, remaining_toa, level_hists] = extract_next_sequence(... remaining_toa, PRI_max, a, tolerance, ... min_pulse_sequence, max_level); if ~isempty(sequence) % 保存序列信息 all_sequences{end+1} = sequence; all_pri(end+1) = pri; % 保存CDIF数据 for lvl = 1:length(level_hists) level_data = level_hists{lvl}; if lvl <= max_level if isempty(all_seq_cdif_data{lvl}) all_seq_cdif_data{lvl} = struct(... 'seq_id', sequence_counter, ... 'hist', level_data.hist, ... 'threshold', level_data.threshold, ... 'pri', pri); else all_seq_cdif_data{lvl}(end+1) = struct(... 'seq_id', sequence_counter, ... 'hist', level_data.hist, ... 'threshold', level_data.threshold, ... 'pri', pri); end end end sequence_counter = sequence_counter + 1; else break; % 未找到新序列时退出 end end end % 提取下一个序列 function [sequence, pri, level, remaining_toa, level_hists] = extract_next_sequence(... toa, PRI_max, a, tolerance, min_pulse_sequence, max_level) level_hists = {}; % 存储各层级直方图 cumulative_hist = []; % 累积直方图 T_total = max(toa) - min(toa); % 当前脉冲流的总时间 % CDIF分析循环 (从1级到max_level) for current_level = 1:max_level % 计算当前级别的直方图 [level_hist, thresholds] = compute_level_hist(toa, current_level, PRI_max, T_total, a); % 累积到前一级的直方图 if isempty(cumulative_hist) cumulative_hist = level_hist; else % 确保直方图长度一致 max_len = max(length(cumulative_hist), length(level_hist)); cumulative_hist(end+1:max_len) = 0; level_hist(end+1:max_len) = 0; cumulative_hist = cumulative_hist + level_hist; end % 保存当前层级数据 level_data.hist = cumulative_hist; level_data.threshold = thresholds; level_hists{end+1} = level_data; % 寻找候选PRI（高于门限） candidate_indices = find(cumulative_hist > thresholds); % 过滤无效PRI候选值 candidate_indices(candidate_indices < 10) = []; % 过滤过小的PRI candidate_indices(candidate_indices > PRI_max) = []; % 过滤过大的PRI if ~isempty(candidate_indices) % 按显著性排序（直方图值降序） [sorted_values, sort_idx] = sort(cumulative_hist(candidate_indices), 'descend'); candidate_pri = candidate_indices(sort_idx); % 尝试提取序列 for i = 1:length(candidate_pri) tolerance_val = candidate_pri(i) * tolerance; [sequence, new_toa] = extract_sequence(toa, candidate_pri(i), tolerance_val, min_pulse_sequence); if ~isempty(sequence) pri = candidate_pri(i); level = current_level; remaining_toa = new_toa; return; % 成功提取序列后返回 end end end end % 未找到序列 pri = []; level = []; sequence = []; remaining_toa = toa; level_hists = {}; end % 计算层级直方图 function [level_hist, thresholds] = compute_level_hist(toa, level, PRI_max, T_total, a) % 初始化直方图 level_hist = zeros(1, ceil(PRI_max)); % 检查是否有足够脉冲计算当前层级 if length(toa) > level % 计算当前级别的dTOA（到达时间差） dtoa = toa(level+1:end) - toa(1:end-level); % 过滤有效值（在1和PRI_max之间） valid_indices = (dtoa >= 1) & (dtoa <= PRI_max); dtoa = dtoa(valid_indices); % 统计直方图 for i = 1:length(dtoa) idx = min(ceil(dtoa(i)), length(level_hist)); % 计算索引 if idx > 0 level_hist(idx) = level_hist(idx) + 1; % 增加计数 end end end % 计算最优门限函数 D_{cdif} = a * T / t t = 1:length(level_hist); thresholds = a * T_total ./ t; % 处理除零和无效值 thresholds(isinf(thresholds) | isnan(thresholds)) = max(level_hist); thresholds(t == 0) = max(level_hist); % 确保门限不低于最小值 min_threshold = 3; % 最小门限值 thresholds(thresholds < min_threshold) = min_threshold; end % 提取序列函数 function [sequence, remaining] = extract_sequence(toa, pri, tolerance_val, min_length) sequence = []; remaining = toa; % 检查是否有足够脉冲 if length(toa) < min_length return; end best_sequence = []; % 最佳序列 best_length = 0; % 最佳序列长度 % 尝试不同的起点（最多尝试20个起点） for start_idx = 1:min(20, length(toa)) current_sequence = toa(start_idx); % 当前序列 current_time = toa(start_idx); % 当前时间 last_index = start_idx; % 最后索引 lost_count = 0; % 丢失脉冲计数 total_missed = 0; % 总丢失脉冲数 % 向前搜索 for j = (start_idx+1):length(toa) expected_time = current_time + pri; % 期望到达时间 % 检查当前脉冲是否在期望时间附近 if abs(toa(j) - expected_time) <= tolerance_val % 添加脉冲到序列 current_sequence(end+1) = toa(j); current_time = toa(j); last_index = j; lost_count = 0; % 重置丢失计数 % 检查是否可能丢失脉冲 elseif toa(j) > expected_time + tolerance_val % 计算可能丢失的脉冲数 missed_count = floor((toa(j) - expected_time) / pri); % 检查是否在容差范围内 next_expected = expected_time + missed_count * pri; if abs(toa(j) - next_expected) <= tolerance_val % 添加脉冲到序列 current_sequence(end+1) = toa(j); current_time = toa(j); last_index = j; lost_count = lost_count + missed_count; total_missed = total_missed + missed_count; else % 如果脉冲差距太大，可能不是同一个序列 if lost_count >= 2 break; end end end end % 检查序列质量 if length(current_sequence) >= min_length % 计算序列持续时间 duration = current_sequence(end) - current_sequence(1); % 序列质量标准： % 1. 序列持续时间至少为2倍PRI % 2. 丢失脉冲比例不超过50% if duration >= 2 * pri && (total_missed / length(current_sequence)) <= 0.5 if length(current_sequence) > best_length best_sequence = current_sequence; best_length = length(current_sequence); end end end end % 验证序列长度 if best_length >= min_length sequence = best_sequence; % 从原始TOA中移除序列 [~, idx] = ismember(sequence, toa); remaining = toa; remaining(idx) = []; end end 分析上述代码的设计思路

<think>我们分析的是雷达信号分选算法的MATLABGUI实现代码，包括SDIF（序列差直方图）......

收起资源包目录

VL53L8CX小板开发(4)-运动指示器（231个子文件）

STM32H503CBT6_VL53L8CX_Project4.uvguix.a8456 91KB

STM32H503CBT6_VL53L8CX_Project4.axf 421KB

stm32h5xx_hal_tim.c 266KB

stm32h5xx_hal_i2c.c 256KB

stm32h5xx_hal_rcc_ex.c 222KB

stm32h5xx_hal_dma_ex.c 173KB

stm32h5xx_hal_uart.c 166KB

stm32h5xx_hal_tim_ex.c 127KB

stm32h5xx_hal_rcc.c 69KB

stm32h5xx_hal_flash_ex.c 68KB

stm32h5xx_hal_dma.c 57KB

stm32h5xx_hal.c 43KB

vl53l8cx_api.c 39KB

stm32h5xx_hal_uart_ex.c 37KB

stm32h5xx_hal_cortex.c 33KB

stm32h5xx_hal_flash.c 30KB

stm32h5xx_hal_pwr_ex.c 29KB

stm32h5xx_hal_gpio.c 27KB

stm32h5xx_hal_exti.c 25KB

stm32h5xx_hal_pwr.c 22KB

stm32h5xx_hal_icache.c 22KB

vl53l8cx.c 19KB

system_stm32h5xx.c 16KB

app_tof.c 14KB

custom_bus.c 13KB

custom_ranging_sensor.c 12KB

vl53l8cx_plugin_xtalk.c 11KB

custom.c 11KB

stm32h5xx_hal_i2c_ex.c 10KB

main.c 8KB

stm32h5xx_it.c 5KB

vl53l8cx_plugin_detection_thresholds.c 5KB

vl53l8cx_plugin_motion_indicator.c 3KB

stm32h5xx_hal_msp.c 2KB

gpio.c 2KB

platform.c 2KB

icache.c 1KB

memorymap.c 962B

bsp.c 718B

main.d 3KB

app_tof.d 3KB

custom_ranging_sensor.d 2KB

stm32h5xx_it.d 2KB

memorymap.d 2KB

stm32h5xx_hal_msp.d 2KB

icache.d 2KB

gpio.d 2KB

custom.d 2KB

custom_bus.d 2KB

stm32h5xx_hal_flash_ex.d 2KB

stm32h5xx_hal_uart_ex.d 2KB

stm32h5xx_hal_i2c_ex.d 2KB

stm32h5xx_hal_icache.d 2KB

stm32h5xx_hal_rcc_ex.d 2KB

stm32h5xx_hal_pwr_ex.d 2KB

stm32h5xx_hal_dma_ex.d 2KB

stm32h5xx_hal_tim_ex.d 2KB

stm32h5xx_hal_cortex.d 2KB

stm32h5xx_hal_flash.d 2KB

stm32h5xx_hal_exti.d 2KB

stm32h5xx_hal_gpio.d 2KB

stm32h5xx_hal_uart.d 2KB

stm32h5xx_hal_i2c.d 2KB

stm32h5xx_hal_dma.d 2KB

stm32h5xx_hal_tim.d 2KB

stm32h5xx_hal_rcc.d 2KB

stm32h5xx_hal_pwr.d 2KB

stm32h5xx_hal.d 2KB

system_stm32h5xx.d 2KB

vl53l8cx.d 638B

vl53l8cx_plugin_motion_indicator.d 514B

vl53l8cx_plugin_detection_thresholds.d 475B

vl53l8cx_api.d 460B

vl53l8cx_plugin_xtalk.d 430B

platform.d 269B

bsp.d 58B

STM32H503CBT6_VL53L8CX_Project4_STM32H503CBTx_1.0.0.dbgconf 5KB

STM32H503CBT6_VL53L8CX_Project4_STM32H503CBT6_VL53L8CX_Project4.dep 121KB

stm32h503xx.h 1.04MB

vl53l8cx_buffers.h 537KB

core_cm55.h 315KB

core_cm85.h 306KB

stm32h5xx_ll_dma.h 304KB

core_armv81mml.h 274KB

stm32h5xx_ll_rcc.h 258KB

stm32h5xx_hal_rcc.h 258KB

stm32_hal_legacy.h 236KB

core_starmc1.h 192KB

core_cm35p.h 188KB

core_cm33.h 188KB

core_armv8mml.h 182KB

stm32h5xx_hal_rcc_ex.h 178KB

stm32h5xx_ll_usart.h 175KB

stm32h5xx_hal_tim.h 154KB

core_cm7.h 138KB

stm32h5xx_ll_bus.h 128KB

core_cm23.h 121KB

core_cm4.h 120KB

core_armv8mbl.h 114KB

core_cm3.h 109KB

共 231 条

Features

• New generation, multizone Time-of-Flight (ToF) sensor with low-power and

enhanced distance ranging performance

– Multizone distance measurement capability with either 4x4 or 8x8

separate zones

– Autonomous low-power mode with interrupt programmable threshold to

wake up the host

– Ranging up to 400 cm, with enhanced performance under ambient light

– Multitarget detection and distance measurement in each zone

– Histogram processing and algorithmic compensation to minimize or

remove the impact of cover glass crosstalk

– Motion indicator for each zone to show if targets have moved and how

they have moved

– Frame rate capability of 60 Hz

• Fully integrated miniature module with wide field of view (FoV)

– New generation, high-power emitter: 940 nm invisible light VCSEL

(vertical-cavity surface-emitting laser) and integrated analog driver

– 65° diagonal square FoV using DOEs (diffractive optical elements) on

both transmitter and receiver

– Receiving array of SPADS (single photon avalanche diodes)

– Low-power microcontroller running firmware

– Size: 6.4 x 3.0 x 1.75 mm

• Easy integration

– Single reflowable component

– Requires 1.8 V core supply and 3.3 V AVDD supply

– Optional 1.2 V or 1.8 V IOVDD interface voltage levels

– I²C (up to 1 MHz) or SPI (up to 3 MHz) interface

– Compatible with a wide range of cover glass materials

– Can be hidden behind a dark cover glass

Product status link

VL53L8CX

Low-power high-performance 8x8 multizone Time-of-Flight (ToF) sensor

VL53L8CX

Datasheet

DS14161 - Rev 11 - October 2024

For further information contact your local STMicroelectronics sales office.

www.st.com

Application

• Robotic applications in difficult environments including SLAM, wall tracking, small object detection, cliff

prediction, and floor type recognition

• System activation under ambient light for smart buildings and smart lighting. For example: user detection to

wake up devices

• Content management for tanks, loads in trucks, and waste bins

• Liquid level monitoring

• Gesture recognition

• Keystone correction for video projectors

• Devices requiring better ambient light immunity

• Augmented reality/Virtual reality enhancement. Dual camera stereoscopy and 3D depth assistance thanks

to multizone distance measurements

• IoT and battery powered devices for user and object detection

• LAF (laser assisted autofocus), which enhances the camera AF system speed and robustness, especially

in difficult low light or low contrast scenes.

Description

The VL53L8CX is an 8x8 multizone, ToF ranging sensor, which enhances performance under ambient light with a

reduced power consumption. Based on STMicroelectronics' FlightSense technology, the sensor is designed to

provide accurate ranging up to 400 cm with a 65° diagonal FoV.

The VL53L8CX integrates a powerful new generation VCSEL, and two advanced metasurface lenses. The

hardware is housed in an innovative "all in one" module. This enables a wider variety of high-performance

usecases, such as low-power system activation, gesture recognition, SLAM for robotics, liquid level monitoring,

and many more.

Thanks to STMicroelectronics' patented algorithms, the VL53L8CX can detect and track multiple targets within the

FoV, with a 64-zone depth measurement. The STMicroelectronics' histograms ensure a cover glass crosstalk

immunity above 60 cm.

Like all ToF sensors based on STMicroelectronics' FlightSense technology, the VL53L8CX measures an absolute

distance regardless of the target color and reflectance.

The VL53L8CX supports SPI and I²C interfaces for high frequency frame rates and short-boot times.

The VCSEL of the VL53L8CX emits fully invisible 940 nm IR light. Such VCSEL has a Class 1 certification that is

safe for the eyes. Scene browsing and multizone detection are possible with the VL53L8CX. This is due to a

software customizable detection array. It detects human presence quickly and at low-power. Such detection is

known as a minidepth map.

VL53L8CX

DS14161 - Rev 11

page 2/44

1 Acronyms and abbreviations

Acronym/abbreviation Definition

AF autofocus

API application programming interface

AR/VR augmented reality/virtual reality

DOE diffractive optical element

ESD electrostatic discharge

FoV field of view

FoI field of illumination

GPIO general-purpose input/output

HP high power

inter-integrated circuit (serial bus)

LAF laser autofocus

LGA land grid array

LP low power

MCLK main serial clock

MISO main input secondary output

MOSI main output secondary input

NCS chip select

NVM non-volatile memory

PCB printed circuit board

PDAF phase detection autofocus

PLL phase-locked loop

PVT process, voltage, and temperature

POR power on reset

RAM random-access memory

SPAD single photon avalanche diode

SW software

ToF Time-of-Flight

UI user interface

UM user manual

VCSEL vertical-cavity surface-emitting laser

VL53L8CX

Acronyms and abbreviations

DS14161 - Rev 11

page 3/44

2 Product overview

2.1 Technical specifications

Table 1. Technical specifications

Feature Detail

Package Optical LGA16

Size 6.4 x 3.0 x 1.75 mm

Ranging 2 to 400 cm per zone

Operating voltage

AVDD: 3.3 V

CORE_1V8: 1.8 V

IOVDD: 1.2/1.8 V

Operating temperature -30 to 85°C

Sample rate Up to 60 Hz

Infrared emitter 940 nm

I²C and SPI interface

I²C: 1 MHz serial bus, address: 0x52

SPI: 3 MHz

Operating ranging mode

Continuous or autonomous (see UM3109 for more

information)

2.2 Field of view

The Rx (or collector) exclusion zone includes all module assembly tolerances. It is used to define the cover glass

dimensions. The cover glass opening must be equal to or wider than the exclusion zone.

The detection volume represents the applicative or system FoV in which a target is detected, and a distance

measured. The Rx lens or the Rx aperture determines the detection volume. It is narrower than the exclusion

zone.

Figure 1. System FoV and exclusion zone description (not to scale)

Table 2. FoV angles

Horizontal

Vertical Diagonal

Detection volume 45° 45° 65°

Collector exclusion zone 57.6° 57.6° 85.9°

Note: The detection volume depends on the following: environment and sensor configuration, target distance,

reflectance, ambient light level, sensor resolution, sharpener, ranging mode, and integration time.

VL53L8CX

Product overview

DS14161 - Rev 11

page 4/44

Note: The detection volume of Table 2. FoV angles has been measured with a white 88% reflectance perpendicular

target. This measurement was taken:

• In full FoV

• Located at 1 m from the sensor

• Without ambient light (dark conditions)

• With an 8x8 resolution

• With a 14% sharpener (default value)

• In continuous mode

• At 15 Hz

2.3

Field of illumination

The VCSEL field of illumination (FoI) is shown in the figure below. The relative emitted signal power depends on

the FoI angle. It corresponds to:

• 43.4° x 43.4°, considering a beam with a 75% signal from the maximum.

• 57.9° x 57.9°, considering a beam with a 10% signal from the maximum.

Figure 2. VL53L8CX FoI

VL53L8CX

Product overview

DS14161 - Rev 11

page 5/44

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