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{
"cells": [
{
"cell_type": "code",
"execution_count": null,
"id": "79c435c0-31ba-4c2f-81b3-90d8e670eb76",
"metadata": {},
"outputs": [],
"source": [
"import numpy as np\n",
"import matplotlib.pyplot as plt\n",
"from matplotlib.animation import FuncAnimation\n",
"from mpl_toolkits.mplot3d import Axes3D, art3d\n",
"import random\n",
"\n",
"# Parameters\n",
"WORLD_SIZE = 100000\n",
"AIRCRAFT_COUNT = 100\n",
"RADAR_RANGE = 70000\n",
"RADAR_ALTITUDE_LIMIT = 20000 # max altitude radar covers in meters\n",
"SCAN_SPEED = 2.0 # degrees per frame\n",
"BEAM_WIDTH = 5.0 # degrees width of radar beam\n",
"TRACK_LENGTH = 20 # length of tail/track for aircrafts\n",
"MAX_ACCELERATION = 5 # m/s^2 max change in velocity per frame\n",
"\n",
"# Aircraft types with properties\n",
"AIRCRAFT_TYPES = {\n",
" 'commercial': {'rcs_range': (10, 20), 'color': 'cyan', 'size': 30},\n",
" 'military': {'rcs_range': (5, 12), 'color': 'red', 'size': 40},\n",
" 'drone': {'rcs_range': (1, 4), 'color': 'yellow', 'size': 20},\n",
" 'unknown': {'rcs_range': (0.5, 2), 'color': 'magenta', 'size': 25}\n",
"}\n",
"\n",
"# Event Class with motion\n",
"class MovingEvent3D:\n",
" def __init__(self, evt_type, center, radius, altitude, velocity):\n",
" self.type = evt_type\n",
" self.center = np.array(center, dtype=float)\n",
" self.radius = radius\n",
" self.altitude = altitude\n",
" self.velocity = np.array(velocity, dtype=float)\n",
" self.active = True\n",
" \n",
" def update(self):\n",
" self.center += self.velocity\n",
" # Bounce inside world bounds for x,y\n",
" for i in [0, 1]:\n",
" if self.center[i] < 0 or self.center[i] > WORLD_SIZE:\n",
" self.velocity[i] = -self.velocity[i]\n",
" self.center[i] = np.clip(self.center[i], 0, WORLD_SIZE)\n",
" # Bounce altitude inside radar altitude limit\n",
" if self.altitude < 0 or self.altitude > RADAR_ALTITUDE_LIMIT:\n",
" self.velocity[2] = -self.velocity[2]\n",
" self.altitude = np.clip(self.altitude, 0, RADAR_ALTITUDE_LIMIT)\n",
" # Random on/off toggle for event activity\n",
" if random.random() < 0.001:\n",
" self.active = not self.active\n",
"\n",
"def generate_moving_events_3d():\n",
" events = []\n",
" for _ in range(4):\n",
" evt_type = random.choice(['storm', 'no-fly-zone', 'jamming', 'interference'])\n",
" center = np.random.uniform(0, WORLD_SIZE, 2)\n",
" altitude = np.random.uniform(0, RADAR_ALTITUDE_LIMIT)\n",
" radius = {'storm': 15000, 'no-fly-zone': 10000, 'jamming': 8000, 'interference':12000}[evt_type]\n",
" velocity = np.random.uniform(-50, 50, 3)\n",
" events.append(MovingEvent3D(evt_type, center, radius, altitude, velocity))\n",
" return events\n",
"\n",
"world_events = generate_moving_events_3d()\n",
"\n",
"# Generate aircrafts with altitude, track history, type and variable velocity\n",
"def generate_aircraft_3d():\n",
" aircrafts = []\n",
" for i in range(AIRCRAFT_COUNT):\n",
" ac_type = random.choices(list(AIRCRAFT_TYPES.keys()), weights=[0.5,0.3,0.15,0.05])[0]\n",
" rcs_min, rcs_max = AIRCRAFT_TYPES[ac_type]['rcs_range']\n",
" ac = {\n",
" 'id': i,\n",
" 'type': ac_type,\n",
" 'position': np.array([*np.random.uniform(0, WORLD_SIZE, 2), np.random.uniform(0, RADAR_ALTITUDE_LIMIT)]),\n",
" 'velocity': np.random.uniform(-50, 50, 3),\n",
" 'rcs': random.uniform(rcs_min, rcs_max),\n",
" 'callsign': f\"{ac_type[:2].upper()}{i:03}\",\n",
" 'emergency': random.random() < 0.03,\n",
" 'track': [],\n",
" 'acceleration': np.zeros(3),\n",
" }\n",
" aircrafts.append(ac)\n",
" return aircrafts\n",
"\n",
"aircrafts = generate_aircraft_3d()\n",
"radar_angle = [0]\n",
"radar_pos = np.array([WORLD_SIZE/2, WORLD_SIZE/2, 0])\n",
"paused = [False]\n",
"\n",
"def is_event_active_3d(pos):\n",
" for evt in world_events:\n",
" if evt.active:\n",
" d_xy = np.linalg.norm(pos[:2] - evt.center)\n",
" dz = abs(pos[2] - evt.altitude)\n",
" if d_xy < evt.radius and dz < evt.radius / 2:\n",
" return evt.type\n",
" return None\n",
"\n",
"def detect_3d(ac, radar_pos):\n",
" delta = ac['position'] - radar_pos\n",
" rng = np.linalg.norm(delta)\n",
" if rng > RADAR_RANGE or ac['position'][2] > RADAR_ALTITUDE_LIMIT:\n",
" return False\n",
" bearing = (np.degrees(np.arctan2(delta[1], delta[0])) + 360) % 360\n",
" diff = abs((bearing - radar_angle[0] + 180) % 360 - 180)\n",
" if diff > BEAM_WIDTH / 2:\n",
" return False\n",
" evt = is_event_active_3d(ac['position'])\n",
" snr_val = 20 - 20*np.log10(rng + 1) + ac['rcs']\n",
" if evt == 'jamming':\n",
" snr_val -= 50\n",
" elif evt == 'storm':\n",
" snr_val -= 15\n",
" elif evt == 'interference':\n",
" snr_val -= 25\n",
" prob = 1 / (1 + np.exp(-(snr_val - 10)))\n",
" # Introduce random detection noise\n",
" noise = np.random.normal(0, 0.1)\n",
" return np.random.rand() < (prob + noise)\n",
"\n",
"# Setup plot\n",
"fig = plt.figure(figsize=(14, 10))\n",
"ax = fig.add_subplot(111, projection='3d')\n",
"ax.set_xlim(0, WORLD_SIZE)\n",
"ax.set_ylim(0, WORLD_SIZE)\n",
"ax.set_zlim(0, RADAR_ALTITUDE_LIMIT)\n",
"ax.set_facecolor('black')\n",
"\n",
"# Scatter for different types of aircrafts (dynamic update)\n",
"all_scatter = ax.scatter([], [], [], c=[], s=[], label='Aircraft')\n",
"detected_scatter = ax.scatter([], [], [], c='lime', s=60, label='Detected')\n",
"emergency_scatter = ax.scatter([], [], [], c='orange', s=80, marker='^', label='Emergency')\n",
"radar_sweep_line, = ax.plot([], [], [], c='cyan', linewidth=3, label='Radar Sweep')\n",
"\n",
"# Track lines for aircrafts\n",
"track_lines = [ax.plot([], [], [], c='white', alpha=0.3, linewidth=1)[0] for _ in range(AIRCRAFT_COUNT)]\n",
"\n",
"event_spheres = []\n",
"event_colors = {'storm':'blue', 'no-fly-zone':'yellow', 'jamming':'magenta', 'interference':'purple'}\n",
"\n",
"def plot_sphere(center, radius, color):\n",
" u = np.linspace(0, 2*np.pi, 20)\n",
" v = np.linspace(0, np.pi, 20)\n",
" x = center[0] + radius * np.outer(np.cos(u), np.sin(v))\n",
" y = center[1] + radius * np.outer(np.sin(u), np.sin(v))\n",
" z = center[2] + radius * np.outer(np.ones(np.size(u)), np.cos(v))\n",
" return ax.plot_surface(x, y, z, color=color, alpha=0.15)\n",
"\n",
"for evt in world_events:\n",
" sphere = plot_sphere(np.array([*evt.center, evt.altitude]), evt.radius, event_colors[evt.type])\n",
" event_spheres.append(sphere)\n",
"\n",
"# Radar range circle on ground\n",
"radar_circle = plt.Circle((radar_pos[0], radar_pos[1]), RADAR_RANGE, color='cyan', alpha=0.1)\n",
"ax.add_patch(radar_circle)\n",
"art3d.pathpatch_2d_to_3d(radar_circle, z=0, zdir=\"z\")\n",
"\n",
"def update(frame):\n",
" if paused[0]:\n",
" return\n",
" \n",
" # بهروزرسانی زاویه رادار\n",
" radar_angle[0] = (radar_angle[0] + 1) % 360\n",
"\n",
" all_pos = []\n",
" all_colors = []\n",
" all_sizes = []\n",
"\n",
" detected_pos = []\n",
" emergency_pos = []\n",
"\n",
" for ac in aircrafts:\n",
" # محدود کردن سرعت\n",
" v_mag = np.linalg.norm(ac['velocity'])\n",
" max_speed = 250 # m/s\n",
" if v_mag > max_speed:\n",
" ac['velocity'] = (ac['velocity'] / v_mag) * max_speed\n",
" \n",
" # بهروزرسانی موقعیت\n",
" ac['position'] += ac['velocity']\n",
" \n",
" # برخورد به دیوارههای جهان\n",
" for i in [0, 1]:\n",
" if ac['position'][i] < 0 or ac['position'][i] > WORLD_SIZE:\n",
" ac['velocity'][i] = -ac['velocity'][i]\n",
" ac['position'][i] = np.clip(ac['position'][i], 0, WORLD_SIZE)\n",
" if ac['position'][2] < 0 or ac['position'][2] > RADAR_ALTITUDE_LIMIT:\n",
" ac['velocity'][2] = -ac['velocity'][2]\n",
" ac['position'][2] = np.clip(ac['position'][2], 0, RADAR_ALTITUDE_LIMIT)\n",
" \n",
" # ثبت رد حرکت\n",
" ac['track'].append(ac['position'].copy())\n",
" if len(ac['track']) > TRACK_LENGTH:\n",
" ac['track'].pop(0)\n",
" \n",
" all_pos.append(ac['position'])\n",
" all_colors.append(AIRCRAFT_TYPES[ac['type']]['color'])\n",
" all_sizes.append(AIRCRAFT_TYPES[ac['type']]['size'])\n",
" \n",
" if detect_3d(ac, radar_pos):\n",
" detected_pos.append(ac['position'])\n",
" if ac['emergency']:\n",
" emergency_pos.append(ac['position'])\n",
"\n",
" # تبدیل به np.array\n",
" all_pos = np.array(all_pos)\n",
" detected_pos = np.array(detected_pos)\n",
" emergency_pos = np.array(emergency_pos)\n",
"\n",
" # آپدیت scatter کل هواپیماها\n",
" if len(all_pos) > 0:\n",
" all_scatter._offsets3d = (all_pos[:,0], all_pos[:,1], all_pos[:,2])\n",
" all_scatter.set_color(all_colors)\n",
" all_scatter.set_sizes(all_sizes)\n",
" else:\n",
" all_scatter._offsets3d = ([], [], [])\n",
" all_scatter.set_color([])\n",
" all_scatter.set_sizes([])\n",
"\n",
" # آپدیت scatter هواپیماهای تشخیص داده شده\n",
" if len(detected_pos) > 0:\n",
" detected_scatter._offsets3d = (detected_pos[:,0], detected_pos[:,1], detected_pos[:,2])\n",
" detected_scatter.set_sizes([60]*len(detected_pos))\n",
" else:\n",
" detected_scatter._offsets3d = ([], [], [])\n",
" detected_scatter.set_sizes([])\n",
"\n",
" # آپدیت scatter هواپیماهای اضطراری\n",
" if len(emergency_pos) > 0:\n",
" emergency_scatter._offsets3d = (emergency_pos[:,0], emergency_pos[:,1], emergency_pos[:,2])\n",
" emergency_scatter.set_sizes([80]*len(emergency_pos))\n",
" else:\n",
" emergency_scatter._offsets3d = ([], [], [])\n",
" emergency_scatter.set_sizes([])\n",
"\n",
" # بهروزرسانی خطوط رد حرکت\n",
" for i, ac in enumerate(aircrafts):\n",
" if len(ac['track']) >= 2:\n",
" track_arr = np.array(ac['track'])\n",
" track_lines[i].set_data(track_arr[:,0], track_arr[:,1])\n",
" track_lines[i].set_3d_properties(track_arr[:,2])\n",
" else:\n",
" track_lines[i].set_data([], [])\n",
" track_lines[i].set_3d_properties([])\n",
"\n",
" # بهروزرسانی خط اسکن رادار\n",
" angle_rad = np.radians(radar_angle[0])\n",
" x = [radar_pos[0], radar_pos[0] + RADAR_RANGE * np.cos(angle_rad)]\n",
" y = [radar_pos[1], radar_pos[1] + RADAR_RANGE * np.sin(angle_rad)]\n",
" z = [0, 0]\n",
" radar_sweep_line.set_data(x, y)\n",
" radar_sweep_line.set_3d_properties(z)\n",
"\n",
" ax.set_title(f\"3D Radar Simulation - Scan Angle: {radar_angle[0]:.1f}°\")\n",
"\n",
" \n",
"def on_key(event):\n",
" if event.key == ' ':\n",
" paused[0] = not paused[0]\n",
"\n",
"fig.canvas.mpl_connect('key_press_event', on_key)\n",
"\n",
"ani = FuncAnimation(fig, update, interval=50)\n",
"plt.legend(loc='upper right')\n",
"plt.show()\n"
]
}
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