README.md

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-# gold_eyes
+# 无人机载视觉声觉融合战场感知系统
 

model/.gitignore

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-# ---> VisualStudioCode
-.vscode/*
-!.vscode/settings.json
-!.vscode/tasks.json
-!.vscode/launch.json
-!.vscode/extensions.json
-!.vscode/*.code-snippets
-
-# Local History for Visual Studio Code
-.history/
-
-# Built Visual Studio Code Extensions
-*.vsix
-

model/README.md

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-# gold_eyes
-
+# 这是一个model

model/云台控制顺序图.puml

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+@startuml
+title 云台定向控制流程
+
+participant "用户" as Autoer
+participant "音频定位模块" as AudioLocalization
+participant "应用系统" as Application
+participant "云台控制模块" as PanTiltControl
+participant "云台设备" as PanTiltDevice
+
+activate Autoer
+Autoer -> AudioLocalization: 开启音频监听
+
+activate AudioLocalization
+AudioLocalization -> Application: 提供声源方位信息
+deactivate AudioLocalization
+
+activate Application
+Application -> PanTiltControl: 转发方位信息
+
+activate PanTiltControl
+PanTiltControl -> PanTiltControl: 计算转动角度
+PanTiltControl -> PanTiltDevice: 发送转动指令
+deactivate PanTiltControl
+
+activate PanTiltDevice
+PanTiltDevice -> PanTiltDevice: 执行转动
+PanTiltDevice --> Application: 转动完成反馈
+deactivate PanTiltDevice
+
+Application -> Application: 更新界面状态
+Application -> Autoer: 返回完成信息
+
+deactivate Application
+deactivate Autoer
+@enduml

model/地图标识顺序图.puml

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+@startuml
+actor "声学阵列" as Array
+
+participant "TDOA定位" as TDOA
+participant "坐标转换模块" as GeoConverter
+participant "GPS/IMU" as GPS
+participant "GeoJSON生成" as GeoJSON
+participant "军事符号映射" as MilitarySymbol
+participant "OpenCV坐标变换" as OpenCV
+participant "HTML5/WebGL渲染" as WebGL
+actor "实时动态地图" as Map
+
+Array -> TDOA : 原始声学数据
+TDOA ->  GeoConverter : 极坐标系方位/距离
+GeoConverter -> GPS : 请求定位基准
+GPS --> GeoConverter : 返回地理锚点
+GeoConverter -> GeoJSON : 经纬度坐标
+GeoJSON -> MilitarySymbol : 请求战术标记
+MilitarySymbol -> OpenCV : 坐标系对齐请求
+OpenCV --> MilitarySymbol : 投影变换结果
+MilitarySymbol --> GeoJSON : 标绘元数据
+GeoJSON -> WebGL : 带语义的GeoJSON
+WebGL -> Map : 战场态势渲染流
+@enduml

model/音频定位顺序图.puml

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+@startuml
+title 音频定位流程
+
+actor 用户 as User
+participant "应用系统" as Application
+actor 声源 as SoundSource
+participant "阵列麦克风设备" as MicArray
+participant "信号处理模块" as SignalProcessing
+participant "声源定位模块" as Localization
+
+activate User
+User -> Application: 打开音频监听
+
+activate Application
+Application -> MicArray: 发送监听指令
+deactivate Application
+
+activate MicArray
+MicArray --> Application: 监听就绪确认
+deactivate MicArray
+
+activate Application
+Application --> User: 显示监听状态
+deactivate Application
+
+activate SoundSource
+SoundSource -> MicArray: 枪声传播
+deactivate SoundSource
+
+activate MicArray
+MicArray -> SignalProcessing: 原始音频数据
+deactivate MicArray
+
+activate SignalProcessing
+SignalProcessing -> SignalProcessing: 预处理(滤波去噪)
+SignalProcessing -> Localization: 处理后的音频信号
+deactivate SignalProcessing
+
+activate Localization
+Localization -> Localization: 时间延迟估计(TDOA)
+Localization -> Localization: 声源方位角计算(DOA)
+Localization -> Application: 返回音频定位结果
+deactivate Localization
+
+activate Application
+Application -> Application: 处理定位信息
+Application -> User: 显示音频定位结果
+deactivate Application
+
+User -> User: 查看定位信息
+deactivate User
+@enduml

src/.gitignore

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-# ---> VisualStudioCode
-.vscode/*
-!.vscode/settings.json
-!.vscode/tasks.json
-!.vscode/launch.json
-!.vscode/extensions.json
-!.vscode/*.code-snippets
-
-# Local History for Visual Studio Code
-.history/
-
-# Built Visual Studio Code Extensions
-*.vsix
-

src/README.md

@@ -1,2 +1 @@
-# gold_eyes
-
+# 这是一个src