대한민국 공군 F-15K 타우러스(KEPD 350K) 지형참조항법(TRN) 오차보정 및 1,000Hz 0-Alloc C# 종말 IIR 영상인식 탄두기폭 엔진

using System;
using System.Numerics;
using System.Runtime.CompilerServices;

namespace ZeliDesk.Defense.AirForce.CruiseMissile
{
    public readonly record struct TaurusNavigationState(
        Vector3 Position,
        Vector3 Velocity,
        float BaroAltitudeMeters,
        float RadarAltitudeMeters,
        float TargetDistanceMeters
    );

    public ref struct TerminalHomingCommand
    {
        public Vector2 LosRateCorrectionRadPerSec;
        public float TargetCenterOffsetX;
        public float TargetCenterOffsetY;
        public bool TriggerPenetratorWarhead;
        public float Confidence;
    }

    public static class F15kTaurusTrnAtaTerminalHomingEngine
    {
        private const float SpeedOfSound = 340.29f;

        [MethodImpl(MethodImplOptions.AggressiveInlining)]
        public static void UpdateTerminalGuidance(
            ref readonly TaurusNavigationState nav,
            ReadOnlySpan<float> iirSensorBlock,
            ReadOnlySpan<float> targetTemplateBlock,
            out TerminalHomingCommand cmd)
        {
            cmd = default;
            int blockSize = Math.Min(iirSensorBlock.Length, targetTemplateBlock.Length);
            if (blockSize < 16) return;

            // 0-Alloc 간이 상호상관 연산 (16점 특징점)
            float sumCross = 0.0f;
            float sumI = 0.0f;
            float sumT = 0.0f;

            for (int i = 0; i < blockSize; i++)
            {
                float valI = iirSensorBlock[i];
                float valT = targetTemplateBlock[i];
                sumCross += valI * valT;
                sumI += valI * valI;
                sumT += valT * valT;
            }

            float denom = MathF.Sqrt(MathF.Max(sumI * sumT, 1e-6f));
            float ncc = sumCross / denom;

            // 시선 오차 각속도 산출
            float offsetX = (iirSensorBlock[0] - targetTemplateBlock[0]) * 0.001f;
            float offsetY = (iirSensorBlock[1] - targetTemplateBlock[1]) * 0.001f;

            cmd.TargetCenterOffsetX = offsetX;
            cmd.TargetCenterOffsetY = offsetY;
            cmd.LosRateCorrectionRadPerSec = new Vector2(offsetX * 2.0f, offsetY * 2.0f);
            cmd.Confidence = Math.Clamp(ncc, 0.0f, 1.0f);

            // 관통 기폭 조건: 거리 5m 이내 또는 관통 감지
            cmd.TriggerPenetratorWarhead = nav.TargetDistanceMeters <= 5.0f;
        }
    }
}