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1、算法2优化

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This commit is contained in:
weidong 2024-04-27 22:35:44 +08:00
parent bc76ad68b9
commit 053513c602
5 changed files with 101 additions and 110 deletions
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4
sec-beidou-rtcm/src/main/java/com/imdroid/sideslope/bd/FocusCalculator.java
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@ -1,11 +1,13 @@
package com.imdroid.sideslope.bd;
import java.time.LocalDateTime;
public interface FocusCalculator {
void reset();
// 数据收集：b562位置、惯导角度、基站到测站时延
void addXyz(double[] xyz);
void addXyz(double[] xyz, LocalDateTime dataTime);
void addTilt(Tilt tilt);
void addDelayMs(int ms);

7
sec-beidou-rtcm/src/main/java/com/imdroid/sideslope/bd/FocusCalculator1.java
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@ -76,7 +76,7 @@ public class FocusCalculator1 implements FocusCalculator{
* @param xyz
*/
@Override
public void addXyz(double[] xyz){
public void addXyz(double[] xyz, LocalDateTime dataTime){
if((int)xyz[3] == UBXUtil.NO_B562) counterNoB562++;
else if((int)xyz[3] == UBXUtil.FLOAT_RESULT) counterNoFixed++;
else {
@ -112,9 +112,12 @@ public class FocusCalculator1 implements FocusCalculator{
}
@Override
public double[] getReferPoint(){
if(referPoint==null || referPointTime==null) return null;
if(referPoint==null || referPointTime==null) {
return null;
}
if(LocalDateTime.now().isAfter(referPointTime.plusHours(24))) {
logger.info("refer time is expired");
referPoint = null;
}
return referPoint;

186
sec-beidou-rtcm/src/main/java/com/imdroid/sideslope/bd/FocusCalculator2.java
View File

@ -12,35 +12,35 @@ import java.util.*;
* 6.。。。。。。
*/
public class FocusCalculator2 extends FocusCalculator1{
public final static int MAX_B562_NUM = 1800;
final static int B562_EXPIRED_HOUR = 1;
final static int B562_EXPIRED_HOUR = 4;
final List<LocalDateTime> pointTimeList = Collections.synchronizedList(new ArrayList<>());
final List<double[]> pointAuxList = Collections.synchronizedList(new ArrayList<>());
final List<LocalDateTime> pointTimeAuxList = Collections.synchronizedList(new ArrayList<>());
final List<Map.Entry<LocalDateTime, List<double[]>>> cyclePointList = Collections.synchronizedList(new ArrayList<>());
boolean referPointFilteredFlag = false;
LocalDateTime initReferPointTime;
final static int INIT_REFER_POINT_NOT_SET = 0;
final static int INIT_REFER_POINT_IN_USE = 1;
final static int INIT_REFER_POINT_EXPIRED = 2;
int originalReferPointFlag= INIT_REFER_POINT_NOT_SET; // 0:not set; 1:in use; 2:expired
LocalDateTime originalReferPointTime;
/* public FocusCalculator2(double height, Tilt tilt0, double[] position0){
super();
iterStep = 0.2;
class EComparator implements Comparator<double[]>{
@Override
public int compare(double[] point1, double[] point2) {
return (int) ((point1[0] - point2[0])*100);
}
}
class NComparator implements Comparator<double[]>{
@Override
public int compare(double[] point1, double[] point2) {
return (int) ((point1[1] - point2[1])*100);
}
}
*/
public FocusCalculator2(){
super();
iterStep = 2;//2mm
gravityMaxR = 500;
}
@Override
public void reset(){
//pointList.clear();
pointAuxList.clear();
pointTimeAuxList.clear();
counterNoB562 = 0;
counterNoFixed = 0;
counterFixedResult = 0;
class DComparator implements Comparator<double[]>{
@Override
public int compare(double[] point1, double[] point2) {
return (int) ((point1[2] - point2[2])*100);
}
}
/**
@ -48,85 +48,70 @@ public class FocusCalculator2 extends FocusCalculator1{
* @param xyz
*/
@Override
public void addXyz(double[] xyz){
LocalDateTime now = LocalDateTime.now();
public void addXyz(double[] xyz, LocalDateTime dataTime){
Map.Entry entry = null;
if(cyclePointList.size()==0 || counterFixedResult+counterNoB562+counterNoFixed == 0){
entry = new AbstractMap.SimpleEntry(dataTime, new ArrayList<double[]>());
cyclePointList.add(entry);
// 检查有没有过期的数据
Iterator<Map.Entry<LocalDateTime, List<double[]>>> iterator = cyclePointList.iterator();
while (iterator.hasNext()){
LocalDateTime t = iterator.next().getKey();
if(t.isBefore(dataTime.minusHours(B562_EXPIRED_HOUR))){
iterator.remove();
}
}
}
else{
entry = cyclePointList.get(cyclePointList.size()-1);
}
if((int)xyz[3] == UBXUtil.NO_B562) counterNoB562++;
else if((int)xyz[3] == UBXUtil.FLOAT_RESULT) counterNoFixed++;
else {
counterFixedResult ++;
if (filter(xyz)) {
pointAuxList.add(xyz);
pointTimeAuxList.add(now);
}
if (pointAuxList.size() > gravityMaxCount) {
pointAuxList.remove(0);
pointTimeAuxList.remove(0);
List<double[]> list = (List<double[]>) entry.getValue();
list.add(xyz);
}
}
}
/*public void addXyz(double[] xyz){
LocalDateTime now = LocalDateTime.now();
Iterator<LocalDateTime> iterPointTime = pointTimeList.iterator();
Iterator<double[]> iterPoint = pointList.iterator();
while(iterPointTime.hasNext() && iterPoint.hasNext()){
LocalDateTime pointTime = iterPointTime.next();
iterPoint.next();
if(now.isAfter(pointTime.plusHours(B562_EXPIRED_HOUR))){
iterPointTime.remove();
iterPoint.remove();
}
else{
break;
}
}
if((int)xyz[3] == UBXUtil.NO_B562) counterNoB562++;
else if((int)xyz[3] == UBXUtil.NO_FIX_RESULT) counterNoFixed++;
else {
counterFixedResult ++;
if (filter(xyz)) {
pointList.add(xyz);
pointTimeList.add(now);
}
if (pointList.size() > gravityMaxCount) {
pointList.remove(0);
pointTimeList.remove(0);
}
double calcGravity(List<double[]> list , int index){
double sum = 0;
int begin = (int) (list.size() * 0.25);
int end = (int) (list.size() * 0.75);
if(end-begin == 0) return 0;
for(int i=begin; i<end; i++){
sum += list.get(i)[index];
}
}*/
return sum/(end-begin);
}
public double[] resultB562(){
if(counterFixedResult<30) return null;
// 把本轮的固定解添加到pointList一起解算
int totalNum = pointList.size()+pointAuxList.size();
LocalDateTime latestTime = pointTimeAuxList.get(pointTimeAuxList.size()-1);
Iterator<LocalDateTime> iterPointTime = pointTimeList.iterator();
Iterator<double[]> iterPoint = pointList.iterator();
while(iterPointTime.hasNext() && iterPoint.hasNext()){
LocalDateTime pointTime = iterPointTime.next();
iterPoint.next();
if(totalNum>MAX_B562_NUM || latestTime.isAfter(pointTime.plusHours(B562_EXPIRED_HOUR))){
iterPointTime.remove();
iterPoint.remove();
totalNum--;
}
else{
break;
}
if(counterFixedResult<30) return null;
// 求pointList的重心：当固定解大于300个时，去掉25%最大值和25%最小值
pointList.clear();
Iterator<Map.Entry<LocalDateTime, List<double[]>>> iterator = cyclePointList.iterator();
while (iterator.hasNext()){
pointList.addAll(iterator.next().getValue());
}
pointList.addAll(pointAuxList);
pointTimeList.addAll(pointTimeAuxList);
logger.info("point list: {},{},{},{}",pointTimeList.get(0),pointTimeAuxList.get(pointTimeAuxList.size()-1),pointTimeList.size(),pointList.size());
// 求pointList的重心
return super.resultB562();
}
logger.info("total fixed point num to calculated: {},{},{}",pointList.size(),
cyclePointList.get(0).getKey(), cyclePointList.get(cyclePointList.size()-1).getKey());
@Override
public int[] getB562Stat(){
int[] b562Stat = new int[]{counterFixedResult,counterNoFixed,counterNoB562};
reset();
return b562Stat;
if(pointList.size() >= gravityMaxCount){
Collections.sort(pointList, new EComparator());
double e = calcGravity(pointList,0);
Collections.sort(pointList, new NComparator());
double n = calcGravity(pointList,1);
Collections.sort(pointList, new DComparator());
double d = calcGravity(pointList,2);
return new double[]{e,n,d};
}
return null;
}
@Override
@ -146,24 +131,25 @@ public class FocusCalculator2 extends FocusCalculator1{
@Override
public void setReferPoint(double[] point){
if(referPointFilteredFlag){
if(originalReferPointFlag==INIT_REFER_POINT_IN_USE){
// 初始参考位置保持24小时
if(initReferPointTime!=null &&
LocalDateTime.now().isAfter(initReferPointTime.plusHours(24))){
referPoint = point;
if(originalReferPointTime!=null &&
LocalDateTime.now().isBefore(originalReferPointTime.plusHours(24))){
return;
}
else originalReferPointFlag = INIT_REFER_POINT_EXPIRED;
}
else{
referPoint = point;
}
referPoint = point;
referPointTime = LocalDateTime.now();
}
public boolean isReferPointFiltered(){
return referPointFilteredFlag;
public boolean isOriginalReferPointSet(){
return (originalReferPointFlag!=INIT_REFER_POINT_NOT_SET);
}
public void setInitReferPoint(double[] point){
public void setOriginalReferPoint(double[] point){
referPoint = point;
referPointFilteredFlag = true;
initReferPointTime = LocalDateTime.now();
referPointTime = LocalDateTime.now();
originalReferPointFlag = INIT_REFER_POINT_IN_USE;
originalReferPointTime = LocalDateTime.now();
}
}

6
sec-beidou-rtcm/src/main/java/com/imdroid/sideslope/calc/SingleLineGNSSCalcService.java
View File

@ -97,7 +97,7 @@ public class SingleLineGNSSCalcService implements GNSSDataCalcService {
// 单次b562
double[] doubles = message.getB562_loc();//unit: mm
focusCalculator.addXyz(doubles);
focusCalculator.addXyz(doubles,message.getCreateTime());
if (logger.isDebugEnabled()) {
logger.debug("测站" + deviceId + "的b562单次解析结果:{}", Arrays.toString(doubles));
}
@ -207,7 +207,7 @@ public class SingleLineGNSSCalcService implements GNSSDataCalcService {
}
else {
FocusCalculator2 focusCalculator2 = (FocusCalculator2)focusCalculator;
if(focusCalculator2.isReferPointFiltered()) {
if(focusCalculator2.isOriginalReferPointSet()) {
if (locationRecord.getEnabled() && locationRecord.getRpose() != null) {
focusCalculator2.setReferPoint(new double[]{locationRecord.getRpose(), locationRecord.getRposn(), locationRecord.getRposd()});
logger.info("{} set reference pos to filter result:{},{},{}",
@ -220,7 +220,7 @@ public class SingleLineGNSSCalcService implements GNSSDataCalcService {
else{
// 查询设备有没有配置初始位置
if(device.getIPose()!=null){
focusCalculator2.setInitReferPoint(new double[]{device.getIPose(),device.getIPosn(),device.getIPosd()});
focusCalculator2.setOriginalReferPoint(new double[]{device.getIPose(),device.getIPosn(),device.getIPosd()});
logger.info("{} set reference pos to init pos:{},{},{}",
deviceId,device.getIPose(),device.getIPosn(),device.getIPosd());
}

8
sec-test-device/src/main/java/com/imdroid/beidou/test_device/task/BeidouDevice.java
View File

@ -42,7 +42,7 @@ public class BeidouDevice {
execute("C:\\Users\\wd\\Desktop\\log\\b562_2412254_0416_5xx.log");
execute("C:\\Users\\wd\\Desktop\\log\\b562_2412254_0416_6xx.log");
*/
/*
executeAsD342("C:\\Users\\wd\\Desktop\\log\\b562_2412254_1xx.log");
executeAsD342("C:\\Users\\wd\\Desktop\\log\\b562_2412254_2xx.log");
executeAsD342("C:\\Users\\wd\\Desktop\\log\\b562_2412254_3xx.log");
@ -69,16 +69,16 @@ public class BeidouDevice {
//execute("C:\\Users\\wd\\Desktop\\log\\b562_2412270_1.log");
//executeAsD342("C:\\Users\\wd\\Desktop\\log\\b562_2412270_1xx.log");
//executeAsD342("C:\\Users\\wd\\Desktop\\log\\b562_2412270_2xx.log");
executeAsD342("C:\\Users\\wd\\Desktop\\log\\2345076_0424_1.log");
/* executeAsD342("C:\\Users\\wd\\Desktop\\log\\2345076_0424_1.log");
executeAsD342("C:\\Users\\wd\\Desktop\\log\\2345076_0424_2.log");
executeAsD342("C:\\Users\\wd\\Desktop\\log\\2345076_0424_1xx.log");
executeAsD342("C:\\Users\\wd\\Desktop\\log\\2345076_0424_2xx.log");
executeAsD342("C:\\Users\\wd\\Desktop\\log\\2345076_0424_3xx.log");
executeAsD342("C:\\Users\\wd\\Desktop\\log\\2345076_0424_4xx.log");
executeAsD342("C:\\Users\\wd\\Desktop\\log\\2345076_0424_5xx.log");
*/
execute("C:\\Users\\wd\\Desktop\\log\\2353120_0424_1.log");
/*
executeAsD342("C:\\Users\\wd\\Desktop\\log\\2353120_0424_1.log");
executeAsD342("C:\\Users\\wd\\Desktop\\log\\2353120_0424_2.log");
executeAsD342("C:\\Users\\wd\\Desktop\\log\\2353120_0424_1xx.log");