From 05a83e33a1b39f2da04f032a0997b54bb7e78ba8 Mon Sep 17 00:00:00 2001
From: weidong <weidong@im-droid.com>
Date: Mon, 17 Mar 2025 13:49:32 +0800
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---
 .../com/imdroid/sideslope/calc/GNSSCalcFilterService.java  | 7 ++++++-
 1 file changed, 6 insertions(+), 1 deletion(-)

diff --git a/sec-beidou-rtcm/src/main/java/com/imdroid/sideslope/calc/GNSSCalcFilterService.java b/sec-beidou-rtcm/src/main/java/com/imdroid/sideslope/calc/GNSSCalcFilterService.java
index f8427846..ef0a6775 100644
--- a/sec-beidou-rtcm/src/main/java/com/imdroid/sideslope/calc/GNSSCalcFilterService.java
+++ b/sec-beidou-rtcm/src/main/java/com/imdroid/sideslope/calc/GNSSCalcFilterService.java
@@ -213,6 +213,7 @@ public class GNSSCalcFilterService {
                 int xyCount = 1;
                 int zCount = 1;
                 int minCount = 1;
+                LocalDateTime lastRecordTime = null;
 
                 for (GnssCalcData record : gnssHistoryRecords) {
                     if (record.getEnabled()) {//只选取好点参与滤波
@@ -225,8 +226,10 @@ public class GNSSCalcFilterService {
                             sumD += record.getB562d();
                             zCount++;
                         }
+                        //记录最后一条有效解的时间
+                        lastRecordTime = record.getCreatetime();
                         // 计算短周期
-                        if(record.getCreatetime().isAfter(minCycleTime)){
+                        if(lastRecordTime.isAfter(minCycleTime)){
                             msumE = sumE;
                             msumN = sumN;
                             msumD = sumD;
@@ -242,6 +245,8 @@ public class GNSSCalcFilterService {
                     newRecord.setAuxe(NumberUtils.scaleTwo(msumE / minCount));
                     newRecord.setAuxn(NumberUtils.scaleTwo(msumN / minCount));
                     newRecord.setAuxd(NumberUtils.scaleTwo(msumD / minCount));
+                    //滤波窗口里的时间跨度超过滤波时间的2/3才认为稳定
+                    newRecord.setStabled(lastRecordTime.isBefore(newRecordTime.minusHours(filterCycleHour * 2 / 3)));
                     return true;
                 }
             }