C++编程:实现简单的高精度时间日志记录小程序

news/2024/10/5 20:05:55/

0. 概述

为了检查是否存在系统时间跳变,本文使用C++实现了一个简单的高精度时间日志记录小程序。该程序能够每隔指定时间(默认40毫秒)记录一次系统时间到文件中,并具备以下功能:

  1. 自定义时间间隔和文件名:通过命令行参数设置时间间隔和输出文件名,默认值为40毫秒和timestamps.txt
  2. 高精度定时:采用std::chrono::steady_clocksleep_until确保时间间隔的准确性,避免std::this_thread::sleep_for带来的时间漂移。
  3. 缓存队列:使用线程安全的队列缓存时间戳,减少频繁的文件I/O操作。
  4. 日志轮转:当日志文件大小超过100MB时,自动进行日志轮转。
  5. 时间跳变检测:使用[TIME_JUMP]标记日志中发生的时间跳变(即后续时间戳小于前一个时间戳的情况)。
    默认仅记录跳变前后的10个时间戳,避免日志文件中充斥过多正常的时间记录,突出异常事件。

1. 代码实现

超过100MB
未超过
开始
初始化参数
启动生产者线程
启动消费者线程
获取当前时间
推入队列
计算下一个时间点
休眠至下一个时间点
继续运行?
结束生产者线程
等待1秒
获取所有时间戳
检测时间跳变
写入日志文件
检查文件大小
进行日志轮转
继续循环
等待消费者线程结束
程序结束

1.1. 线程安全队列(ThreadSafeQueue)

实现了一个简单的线程安全队列类ThreadSafeQueue,使用std::mutexstd::condition_variable来确保并发访问的安全性。

// Thread-safe queue for storing timestamps
class ThreadSafeQueue {
public:// Push a new timestamp into the queuevoid push(const std::string& value) {std::lock_guard<std::mutex> lock(mtx_);queue_.push(value);cv_.notify_one();}// Retrieve and clear all timestamps from the queuestd::queue<std::string> popAll() {std::lock_guard<std::mutex> lock(mtx_);std::queue<std::string> temp;std::swap(temp, queue_);return temp;}private:std::queue<std::string> queue_;std::mutex mtx_;std::condition_variable cv_;
};

1.2. 获取当前时间的字符串表示

使用gettimeofday获取系统当前时间,并将其格式化为字符串,精确到微秒。

// Function to get the current time as a formatted string
std::string getCurrentTimeString() {struct timeval tv;gettimeofday(&tv, nullptr);struct tm* tm_info = localtime(&tv.tv_sec);char buffer[64];strftime(buffer, sizeof(buffer), "%Y-%m-%d %H:%M:%S", tm_info);// Append microsecondschar currentTime[100];snprintf(currentTime, sizeof(currentTime), "%s.%06ld", buffer, tv.tv_usec);return std::string(currentTime);
}

1.3. 文件大小获取

使用stat函数获取指定文件的大小,以便在日志轮转时进行判断。

// Function to get the size of a file in bytes
std::size_t getFileSize(const std::string& filename) {struct stat stat_buf;int rc = stat(filename.c_str(), &stat_buf);return rc == 0 ? stat_buf.st_size : 0;
}

1.4. 时间戳解析

将时间戳字符串解析为自纪元以来的微秒数,方便进行时间比较以检测时间跳变

// Function to parse timestamp string to microseconds since epoch
uint64_t parseTimestamp(const std::string& timestamp_str) {struct tm tm_info;int microseconds = 0;// Split the timestamp into datetime and microsecondssize_t dot_pos = timestamp_str.find('.');if (dot_pos == std::string::npos) {// If no microseconds part, parse as isif (strptime(timestamp_str.c_str(), "%Y-%m-%d %H:%M:%S", &tm_info) == nullptr) {return 0;}} else {std::string datetime_str = timestamp_str.substr(0, dot_pos);std::string micro_str = timestamp_str.substr(dot_pos + 1);// Parse datetime partif (strptime(datetime_str.c_str(), "%Y-%m-%d %H:%M:%S", &tm_info) == nullptr) {return 0;}// Parse microseconds parttry {microseconds = std::stoi(micro_str);} catch (...) {microseconds = 0;}}time_t seconds = mktime(&tm_info);if (seconds == -1) {return 0;}uint64_t total_microseconds = static_cast<uint64_t>(seconds) * 1000000 + microseconds;return total_microseconds;
}

1.5. 主函数实现

主函数负责解析命令行参数,启动生产者和消费者线程,并控制程序的运行时间和日志轮转。

int main(int argc, char* argv[]) {// Default valuesint interval_ms = 40; // Default interval of 40 millisecondsstd::string filename = "timestamps.txt"; // Default filenameint run_time_seconds = 3600; // Default run time of 1 hour (3600 seconds)const std::size_t max_file_size = 100 * 1024 * 1024; // 100MB// Parse command-line argumentsfor(int i = 1; i < argc; ++i) {std::string arg = argv[i];if((arg == "-i" || arg == "--interval") && i + 1 < argc) {interval_ms = std::atoi(argv[++i]);if(interval_ms <= 0) {std::cerr << "Invalid interval. Using default value of 40 milliseconds." << std::endl;interval_ms = 40;}}else if((arg == "-f" || arg == "--file") && i + 1 < argc) {filename = argv[++i];}else if((arg == "-t" || arg == "--time") && i + 1 < argc) {run_time_seconds = std::atoi(argv[++i]);if(run_time_seconds <= 0) {std::cerr << "Invalid run time. Using default value of 3600 seconds (1 hour)." << std::endl;run_time_seconds = 3600;}}else if(arg == "-h" || arg == "--help") {std::cout << "Usage: " << argv[0] << " [options]\n"<< "Options:\n"<< "  -i, --interval <milliseconds>    Set the time interval, default is 40 milliseconds\n"<< "  -f, --file <filename>            Set the output filename, default is timestamps.txt\n"<< "  -t, --time <seconds>             Set the run time in seconds, default is 3600 seconds (1 hour)\n"<< "  -h, --help                       Show this help message\n";return 0;}else {std::cerr << "Unknown argument: " << arg << "\nUse -h or --help to see available options." << std::endl;return 1;}}std::cout << "Time Interval: " << interval_ms << " milliseconds" << std::endl;std::cout << "Output File: " << filename << std::endl;std::cout << "Run Time: " << run_time_seconds << " seconds" << std::endl;ThreadSafeQueue timeQueue;std::atomic<bool> running(true);std::atomic<int> file_index(1); // For log rotation// Producer thread: collects timestamps at specified intervalsstd::thread producer([&timeQueue, &running, interval_ms]() {using clock = std::chrono::steady_clock;auto next_time = clock::now();while (running.load()) {// Get current time and push to queuestd::string currentTime = getCurrentTimeString();timeQueue.push(currentTime);// Calculate next time pointnext_time += std::chrono::milliseconds(interval_ms);// Sleep until the next time pointstd::this_thread::sleep_until(next_time);// Adjust next_time if we're behind scheduleauto now = clock::now();if (now > next_time) {next_time = now;}}});// Consumer thread: writes timestamps to the file, handles log rotation, and detects time jumpsstd::thread consumer([&timeQueue, &running, &filename, &file_index, max_file_size]() {std::ofstream outFile(filename, std::ios::out | std::ios::app);if (!outFile.is_open()) {std::cerr << "Unable to open file for writing: " << filename << std::endl;running.store(false);return;}uint64_t last_timestamp_us = 0; // To store the last timestamp in microsecondswhile (running.load()) {// Wait for 1 second before writing to the filestd::this_thread::sleep_for(std::chrono::seconds(1));// Retrieve all timestamps from the queuestd::queue<std::string> tempQueue = timeQueue.popAll();// Write timestamps to the filewhile (!tempQueue.empty()) {std::string current_timestamp_str = tempQueue.front();tempQueue.pop();uint64_t current_timestamp_us = parseTimestamp(current_timestamp_str);bool time_jump = false;if (last_timestamp_us != 0 && current_timestamp_us < last_timestamp_us) {time_jump = true;}if (time_jump) {outFile << current_timestamp_str << " [TIME_JUMP]" << std::endl;} else {outFile << current_timestamp_str << std::endl;}last_timestamp_us = current_timestamp_us;}outFile.flush(); // Ensure data is written to the file// Check if file size exceeds the maximum limitstd::size_t current_size = getFileSize(filename);if (current_size >= max_file_size) {outFile.close();// Generate a new filename with an indexstd::ostringstream new_filename;new_filename << filename << "." << file_index++;// Rename the current fileif (std::rename(filename.c_str(), new_filename.str().c_str()) != 0) {std::cerr << "Failed to rotate log file." << std::endl;} else {std::cout << "Rotated log file to " << new_filename.str() << std::endl;}// Open a new fileoutFile.open(filename, std::ios::out | std::ios::app);if (!outFile.is_open()) {std::cerr << "Unable to open new file for writing: " << filename << std::endl;running.store(false);return;}// Reset last_timestamp_us after rotationlast_timestamp_us = 0;}}// Write any remaining timestamps before exitingstd::queue<std::string> tempQueue = timeQueue.popAll();while (!tempQueue.empty()) {std::string current_timestamp_str = tempQueue.front();tempQueue.pop();uint64_t current_timestamp_us = parseTimestamp(current_timestamp_str);bool time_jump = false;if (last_timestamp_us != 0 && current_timestamp_us < last_timestamp_us) {time_jump = true;}if (time_jump) {outFile << current_timestamp_str << " [TIME_JUMP]" << std::endl;} else {outFile << current_timestamp_str << std::endl;}last_timestamp_us = current_timestamp_us;}outFile.flush();outFile.close();});std::cout << "Program will run for " << run_time_seconds << " seconds and then exit." << std::endl;// Let the program run for the specified durationstd::this_thread::sleep_for(std::chrono::seconds(run_time_seconds));running.store(false);// Wait for threads to finishproducer.join();consumer.join();std::cout << "Program has ended." << std::endl;return 0;
}

2. 编译与运行

2.1 编译

g++ -std=c++11 -pthread -o time_logger time_logger.cpp

运行

  • 使用默认设置(40毫秒间隔,输出文件为timestamps.txt,运行1小时):

    ./time_logger
    
  • 自定义设置(例如,100毫秒间隔,输出文件为output.txt,运行2小时):

    ./time_logger -i 100 -f output.txt -t 7200
    

2.2 示例日志文件

以下是日志文件timestamps.txt的一部分示例内容,其中标记了时间跳变

2024-04-27 12:34:56.789123
2024-04-27 12:34:56.829456
2024-04-27 12:34:56.869789
2024-04-27 12:34:56.809012 [TIME_JUMP]
2024-04-27 12:34:56.849345
...

3. 附完整代码

// g++ -std=c++11 -pthread -o time_logger time_logger.cpp
#include <iostream>
#include <fstream>
#include <queue>
#include <deque>
#include <thread>
#include <mutex>
#include <condition_variable>
#include <chrono>
#include <sys/time.h>
#include <atomic>
#include <string>
#include <cstdlib>
#include <iomanip>
#include <sstream>
#include <sys/stat.h>// Thread-safe queue for storing timestamps
class ThreadSafeQueue {
public:// Push a new timestamp into the queuevoid push(const std::string& value) {std::lock_guard<std::mutex> lock(mtx_);queue_.push(value);cv_.notify_one();}// Retrieve and clear all timestamps from the queuestd::queue<std::string> popAll() {std::lock_guard<std::mutex> lock(mtx_);std::queue<std::string> temp;std::swap(temp, queue_);return temp;}private:std::queue<std::string> queue_;std::mutex mtx_;std::condition_variable cv_;
};// Function to get the current time as a formatted string
std::string getCurrentTimeString() {struct timeval tv;gettimeofday(&tv, nullptr);struct tm* tm_info = localtime(&tv.tv_sec);char buffer[64];strftime(buffer, sizeof(buffer), "%Y-%m-%d %H:%M:%S", tm_info);// Append microsecondschar currentTime[100];snprintf(currentTime, sizeof(currentTime), "%s.%06ld", buffer, tv.tv_usec);return std::string(currentTime);
}// Function to get the size of a file in bytes
std::size_t getFileSize(const std::string& filename) {struct stat stat_buf;int rc = stat(filename.c_str(), &stat_buf);return rc == 0 ? stat_buf.st_size : 0;
}// Function to parse timestamp string to microseconds since epoch
uint64_t parseTimestamp(const std::string& timestamp_str) {struct tm tm_info;int microseconds = 0;// Split the timestamp into datetime and microsecondssize_t dot_pos = timestamp_str.find('.');if (dot_pos == std::string::npos) {// If no microseconds part, parse as isif (strptime(timestamp_str.c_str(), "%Y-%m-%d %H:%M:%S", &tm_info) == nullptr) {return 0;}} else {std::string datetime_str = timestamp_str.substr(0, dot_pos);std::string micro_str = timestamp_str.substr(dot_pos + 1);// Parse datetime partif (strptime(datetime_str.c_str(), "%Y-%m-%d %H:%M:%S", &tm_info) == nullptr) {return 0;}// Parse microseconds parttry {microseconds = std::stoi(micro_str);} catch (...) {microseconds = 0;}}time_t seconds = mktime(&tm_info);if (seconds == -1) {return 0;}uint64_t total_microseconds = static_cast<uint64_t>(seconds) * 1000000 + microseconds;return total_microseconds;
}int main(int argc, char* argv[]) {// Default valuesint interval_ms = 40; // Default interval of 40 millisecondsstd::string filename = "timestamps.txt"; // Default filenameint run_time_seconds = 3600; // Default run time of 1 hour (3600 seconds)const std::size_t max_file_size = 100 * 1024 * 1024; // 100MBbool selective_logging = true; // Default: enable selective logging// Parse command-line argumentsfor(int i = 1; i < argc; ++i) {std::string arg = argv[i];if((arg == "-i" || arg == "--interval") && i + 1 < argc) {interval_ms = std::atoi(argv[++i]);if(interval_ms <= 0) {std::cerr << "Invalid interval. Using default value of 40 milliseconds." << std::endl;interval_ms = 40;}}else if((arg == "-f" || arg == "--file") && i + 1 < argc) {filename = argv[++i];}else if((arg == "-t" || arg == "--time") && i + 1 < argc) {run_time_seconds = std::atoi(argv[++i]);if(run_time_seconds <= 0) {std::cerr << "Invalid run time. Using default value of 3600 seconds (1 hour)." << std::endl;run_time_seconds = 3600;}}else if(arg == "--disable_selective_logging") {selective_logging = false;}else if(arg == "-h" || arg == "--help") {std::cout << "Usage: " << argv[0] << " [options]\n"<< "Options:\n"<< "  -i, --interval <milliseconds>        Set the time interval, default is 40 milliseconds\n"<< "  -f, --file <filename>                Set the output filename, default is timestamps.txt\n"<< "  -t, --time <seconds>                 Set the run time in seconds, default is 3600 seconds (1 hour)\n"<< "      --disable_selective_logging       Disable selective logging feature\n"<< "  -h, --help                           Show this help message\n";return 0;}else {std::cerr << "Unknown argument: " << arg << "\nUse -h or --help to see available options." << std::endl;return 1;}}std::cout << "Time Interval: " << interval_ms << " milliseconds" << std::endl;std::cout << "Output File: " << filename << std::endl;std::cout << "Run Time: " << run_time_seconds << " seconds" << std::endl;std::cout << "Selective Logging: " << (selective_logging ? "Enabled" : "Disabled") << std::endl;ThreadSafeQueue timeQueue;std::atomic<bool> running(true);std::atomic<int> file_index(1); // For log rotation// Producer thread: collects timestamps at specified intervalsstd::thread producer([&timeQueue, &running, interval_ms]() {using clock = std::chrono::steady_clock;auto next_time = clock::now();while (running.load()) {// Get current time and push to queuestd::string currentTime = getCurrentTimeString();timeQueue.push(currentTime);// Calculate next time pointnext_time += std::chrono::milliseconds(interval_ms);// Sleep until the next time pointstd::this_thread::sleep_until(next_time);// Adjust next_time if we're behind scheduleauto now = clock::now();if (now > next_time) {next_time = now;}}});// Consumer thread: writes timestamps to the file, handles log rotation, and detects time jumpsstd::thread consumer([&timeQueue, &running, &filename, &file_index, max_file_size, selective_logging]() {std::ofstream outFile(filename, std::ios::out | std::ios::app);if (!outFile.is_open()) {std::cerr << "Unable to open file for writing: " << filename << std::endl;running.store(false);return;}uint64_t last_timestamp_us = 0; // To store the last timestamp in microsecondsstd::deque<std::string> recent_timestamps; // To store recent timestamps for bufferconst size_t buffer_size = 10; // Number of timestamps to keep before a time jumpsize_t normal_count = 0; // Counter for normal timestampsconst size_t normal_threshold = 20; // Write every 20 normal timestampsbool in_jump_mode = false; // Flag indicating if currently in jump modesize_t jump_remaining = 0; // Number of jump-related timestamps remaining to writestd::vector<std::string> jump_buffer; // Buffer to store jump-related timestampswhile (running.load()) {// Wait for 1 second before processingstd::this_thread::sleep_for(std::chrono::seconds(1));// Retrieve all timestamps from the queuestd::queue<std::string> tempQueue = timeQueue.popAll();while (!tempQueue.empty()) {std::string current_timestamp_str = tempQueue.front();tempQueue.pop();// Update recent_timestamps bufferrecent_timestamps.push_back(current_timestamp_str);if (recent_timestamps.size() > buffer_size) {recent_timestamps.pop_front();}uint64_t current_timestamp_us = parseTimestamp(current_timestamp_str);bool time_jump = false;if (selective_logging && last_timestamp_us != 0 && current_timestamp_us < last_timestamp_us) {time_jump = true;}if (selective_logging && time_jump && !in_jump_mode) {// Time jump detected, enter jump modein_jump_mode = true;jump_remaining = 10; // Number of timestamps to write after the jumpjump_buffer.clear();// Add the last 10 timestamps before the jumpfor (const auto& ts : recent_timestamps) {jump_buffer.push_back(ts);}// Add the current (jump) timestampjump_buffer.push_back(current_timestamp_str);last_timestamp_us = current_timestamp_us;}else if (selective_logging && in_jump_mode) {// In jump mode, collect the next 10 timestampsjump_buffer.push_back(current_timestamp_str);jump_remaining--;last_timestamp_us = current_timestamp_us;if (jump_remaining == 0) {// Write all collected jump timestamps to file with [TIME_JUMP] flagfor (size_t i = 0; i < jump_buffer.size(); ++i) {if (i == buffer_size) { // The jump timestampoutFile << jump_buffer[i] << " [TIME_JUMP]" << std::endl;}else {outFile << jump_buffer[i] << std::endl;}}outFile.flush();jump_buffer.clear();in_jump_mode = false;}}else {// Normal timestamp processingnormal_count++;if (normal_count >= normal_threshold) {outFile << current_timestamp_str << std::endl;outFile.flush();normal_count = 0;}last_timestamp_us = current_timestamp_us;}// Check if file size exceeds the maximum limitstd::size_t current_size = getFileSize(filename);if (current_size >= max_file_size) {outFile.close();// Generate a new filename with an indexstd::ostringstream new_filename;new_filename << filename << "." << file_index++;// Rename the current fileif (std::rename(filename.c_str(), new_filename.str().c_str()) != 0) {std::cerr << "Failed to rotate log file." << std::endl;} else {std::cout << "Rotated log file to " << new_filename.str() << std::endl;}// Open a new fileoutFile.open(filename, std::ios::out | std::ios::app);if (!outFile.is_open()) {std::cerr << "Unable to open new file for writing: " << filename << std::endl;running.store(false);return;}// Reset last_timestamp_us and buffers after rotationlast_timestamp_us = 0;recent_timestamps.clear();jump_buffer.clear();in_jump_mode = false;normal_count = 0;}}}// Handle any remaining timestamps before exitingstd::queue<std::string> remainingQueue = timeQueue.popAll();while (!remainingQueue.empty()) {std::string current_timestamp_str = remainingQueue.front();remainingQueue.pop();// Update recent_timestamps bufferrecent_timestamps.push_back(current_timestamp_str);if (recent_timestamps.size() > buffer_size) {recent_timestamps.pop_front();}uint64_t current_timestamp_us = parseTimestamp(current_timestamp_str);bool time_jump = false;if (selective_logging && last_timestamp_us != 0 && current_timestamp_us < last_timestamp_us) {time_jump = true;}if (selective_logging && time_jump && !in_jump_mode) {// Time jump detected, enter jump modein_jump_mode = true;jump_remaining = 10; // Number of timestamps to write after the jumpjump_buffer.clear();// Add the last 10 timestamps before the jumpfor (const auto& ts : recent_timestamps) {jump_buffer.push_back(ts);}// Add the current (jump) timestampjump_buffer.push_back(current_timestamp_str);last_timestamp_us = current_timestamp_us;}else if (selective_logging && in_jump_mode) {// In jump mode, collect the next 10 timestampsjump_buffer.push_back(current_timestamp_str);jump_remaining--;last_timestamp_us = current_timestamp_us;if (jump_remaining == 0) {// Write all collected jump timestamps to file with [TIME_JUMP] flagfor (size_t i = 0; i < jump_buffer.size(); ++i) {if (i == buffer_size) { // The jump timestampoutFile << jump_buffer[i] << " [TIME_JUMP]" << std::endl;}else {outFile << jump_buffer[i] << std::endl;}}outFile.flush();jump_buffer.clear();in_jump_mode = false;}}else {// Normal timestamp processingnormal_count++;if (normal_count >= normal_threshold) {outFile << current_timestamp_str << std::endl;outFile.flush();normal_count = 0;}last_timestamp_us = current_timestamp_us;}// Check if file size exceeds the maximum limitstd::size_t current_size = getFileSize(filename);if (current_size >= max_file_size) {outFile.close();// Generate a new filename with an indexstd::ostringstream new_filename;new_filename << filename << "." << file_index++;// Rename the current fileif (std::rename(filename.c_str(), new_filename.str().c_str()) != 0) {std::cerr << "Failed to rotate log file." << std::endl;} else {std::cout << "Rotated log file to " << new_filename.str() << std::endl;}// Open a new fileoutFile.open(filename, std::ios::out | std::ios::app);if (!outFile.is_open()) {std::cerr << "Unable to open new file for writing: " << filename << std::endl;running.store(false);return;}// Reset last_timestamp_us and buffers after rotationlast_timestamp_us = 0;recent_timestamps.clear();jump_buffer.clear();in_jump_mode = false;normal_count = 0;}}outFile.flush();outFile.close();});std::cout << "Program will run for " << run_time_seconds << " seconds and then exit." << std::endl;// Let the program run for the specified durationstd::this_thread::sleep_for(std::chrono::seconds(run_time_seconds));running.store(false);// Wait for threads to finishproducer.join();consumer.join();std::cout << "Program has ended." << std::endl;return 0;
}

http://www.ppmy.cn/news/1535086.html

相关文章

国外电商系统开发-运维系统功能清单开发

一、最终效果图 二、功能清单 功能 描述 自定义日志绘图 根据Nginx、Apache登录日志文件绘图&#xff0c;绘图数据包括&#xff1a;访问量走势&#xff0c;500错误&#xff0c;200正确百分比等 创建服务器 加入服务器 主机状态自动检查 加入主机到系统后&#xff0c;系统…

LabVIEW回转支承间隙自动化检测系统

开发了一种基于LabVIEW软件的回转支承间隙检测系统&#xff0c;通过高精度传感器和数据采集卡&#xff0c;自动化、高效地测量回转支承的轴向间隙和径向间隙&#xff0c;提高了检测精度和生产质量。以下是对系统的详细描述与应用案例分析&#xff0c;希望能为有类似需求的开发者…

Redis篇(最佳实践)(持续更新迭代)

介绍一&#xff1a;键值设计 一、优雅的key结构 Redis 的 Key 虽然可以自定义&#xff0c;但最好遵循下面的几个最佳实践约定&#xff1a; 遵循基本格式&#xff1a;[业务名称]:[数据名]:[id]长度不超过 44 字节不包含特殊字符 例如&#xff1a; 我们的登录业务&#xff0…

Leecode热题100-48.旋转图像

给定一个 n n 的二维矩阵 matrix 表示一个图像。请你将图像顺时针旋转 90 度。 你必须在 原地 旋转图像&#xff0c;这意味着你需要直接修改输入的二维矩阵。请不要 使用另一个矩阵来旋转图像。 示例 1&#xff1a; 输入&#xff1a;matrix [[1,2,3],[4,5,6],[7,8,9]] 输出…

工控系统组成与安全需求分析

目录 工控系统安全威胁与需求分析工业控制系统安全需求分析 工控系统安全威胁与需求分析 工业控制系统是由各种控制组件监测组件数据处理与展示组件共同构成的&#xff0c;对工业生产过程进行控制和监控的业务流程管控系统。 就是现在有很多工厂&#xff0c;它比如说要生产鞋…

卡尔曼滤波推导过程|MATLAB滤波|MATLAB卡尔曼|MATLAB卡尔曼导航

卡尔曼滤波的推导过程 3.1 系统模型 卡尔曼滤波的基本框架由状态方程和观测方程构成&#xff1a; 状态方程&#xff1a; xkFkxk−1Bkukwkxk​Fk​xk−1​Bk​uk​wk​ 其中&#xff1a; xkxk​&#xff1a;在时间 kk 的状态向量。FkFk​&#xff1a;状态转移矩阵。BkBk​&…

淡水鱼目标检测数据集 31类 2900张 鱼数据集带标注 voc yolo

淡水鱼目标检测数据集2900张 鱼数据集带标注 voc yolo 淡水鱼目标检测数据集介绍 数据集名称 淡水鱼目标检测数据集 (Freshwater Fish Object Detection Dataset) 数据集概述 该数据集是一个专为淡水鱼种类识别和目标检测任务设计的数据集&#xff0c;包含2,975张图像&#…

uniapp设置从右上角到左下角的三种渐变颜色

推荐学习文档 golang应用级os框架&#xff0c;欢迎stargolang应用级os框架使用案例&#xff0c;欢迎star案例&#xff1a;基于golang开发的一款超有个性的旅游计划app经历golang实战大纲golang优秀开发常用开源库汇总想学习更多golang知识&#xff0c;这里有免费的golang学习笔…