2021-09-23 纳雷MR76S 雷达数据解析

自己的项目文件做一些备份
雷达数据获取解析：

 //Target Info 目标消息
        if (cmd[0] == 0x06 && cmd[1] == 0x0B){
            Log.v(TAG," CanTestActivity data Target Info: " +  bytes2hex(data));

            //1.Objects_ID 目标ID 0x57=87，即目标 ID 为 87。目标在 0~255 之间循环产生。在稳定跟踪过 程中，目标 ID 保持不变；
            double radar_id = data[0] & 0XFF;

            //2.Objects_DistLong 目标纵向距离：(0x4E*32 +(0xC4>>3))*0.2-500 = 4 米；
            double radar_distant_x;
            radar_distant_x =  (data[1]*32 + (data[2] >> 3))*0.2 -500;

            //3.Objects_Distlat 目标横向距离：((0xC4&0x07)*256 + 0x0C) *0.2-204.6 = 2.6 米；
            double radar_distant_y;
            radar_distant_y = ((data[2]&0x07)*256 +data[3])*0.2 - 204.6;

            //4.Objects_VrelLong 目标纵向速度：(0x7F*4+(0x60>>6))*0.25-128 = -0.75m/s；
            double radar_speed_x;
            radar_speed_x = (data[4]*4+(data[5] >> 6)) * 0.25 - 128;

            //5.Objects_VrelLat 目标横向速度：((0x60&0x3F)*8+(0x18>>5))*0.25-64 = 0m/s；
            double radar_speed_y;
            radar_speed_y = ((data[5]&0x3F)*8+(data[6] >> 5)) * 0.25 - 64;

            //6.Objects_DynProp 目标动态属性
            double radar_trends_property;
            radar_trends_property = data[6]&0x07;

            //7.Objects_RCS 分辨率RCS 0x80 *0.5-64= 0，默认均为 0。
            double radar_rcs;
            radar_rcs = data[7] * 0.5 -64;

            //8.目 标 径 向 距 离 R=sqrt(Objects_DistLong*Objects_DistLong+Objects_Distlat* Objects_Distlat)
            double radar_r;
            radar_r = Math.sqrt(radar_distant_x*radar_distant_x)+(radar_distant_y * radar_distant_y);

            //9.目标角速度 tan ߠ ൌ Objects_Distlat ܱ ܾ݆ ݆ܿ ݁ݏ _ܦ ݏݐ ݁ܮ ̴݊ ܦ
            double radar_θ;
            double θ = Math.toRadians(radar_distant_y / radar_speed_y);
            radar_θ =  Math.tan(θ);

            //10.目标速度
            double radar_V;
            radar_V = radar_speed_x * Math.cos(θ) + radar_speed_y * Math.sin(θ);
        }