1、水平和高程滤波窗口分开配置

2、算法1的每轮周期由支持最多300个解改为600个固定解

sec-api/src/main/java/com/imdroid/secapi/dto/GnssGroupCalc.java

@@ -9,6 +9,7 @@ public class GnssGroupCalc {
     Integer id;
     String name;
     Integer filter_hour;
+    Integer zfilter_hour;
     Float xy_threshold;
     Float z_threshold;
     Boolean adv_filter;

sec-beidou-rtcm/src/main/java/com/imdroid/sideslope/bd/FocusCalculator1.java

@@ -19,7 +19,7 @@ public class FocusCalculator1 implements FocusCalculator{
     // b562算法相关：b562固定解的点、计算球心初始半径、迭代步长、最少点数
     final List<double[]> pointList = Collections.synchronizedList(new ArrayList<>());
     int gravityMinCount = 50;
-    int gravityMaxCount = 300;
+    int gravityMaxCount = 600;
     double gravityInitR = 5;//mm
     double gravityMaxR = 300;//mm
     double pointSelectedRate = 0.5;

sec-beidou-rtcm/src/main/java/com/imdroid/sideslope/calc/GNSSCalcFilterService.java

@@ -42,14 +42,17 @@ public class GNSSCalcFilterService {
         newRecord.setEnabled(true);
 
         // 计算平滑周期
-        int filterCycle = groupCalc.getFilter_hour();
+        Integer xyfilterCycle = groupCalc.getFilter_hour();
+        Integer zfilterCycle = groupCalc.getZfilter_hour();
+        if(null == zfilterCycle) zfilterCycle = xyfilterCycle;
         VaryFilterCycle varyCycle = autoCycleDevices.get(deviceId);
         if(varyCycle!=null){
-            filterCycle = varyCycle.filterCycleHour;
+            xyfilterCycle = varyCycle.filterCycleHour;
+            zfilterCycle = varyCycle.filterCycleHour;
         }
 
         // 平滑处理
-        calcFilterLocation(newRecord, referPos, filterCycle, groupCalc.getFilter_min_hour(),
+        calcFilterLocation(newRecord, referPos, xyfilterCycle, zfilterCycle, groupCalc.getFilter_min_hour(),
                 groupCalc.getXy_threshold(), groupCalc.getZ_threshold(), groupCalc.getAdv_filter());
 
         repository.insert(newRecord);
@@ -168,6 +171,81 @@ public class GNSSCalcFilterService {
         return false;
     }
 
+    public boolean calcFilterLocation(GnssCalcData newRecord, double[] referPos, int filterCycleHour, int zFilterCycleHour,
+                                      int minCycleHour, float xyThreshold, float zThreshold, boolean isAdvFilter){
+        String deviceId = newRecord.getDeviceid();
+        // 选取[newRecordTime-filterCycleHour, newRcordTime]之间的记录做平滑
+        // 如果这个时间段的记录数少于FILTER_MIN_RECORD_NUM，本次不做平滑
+        LocalDateTime newRecordTime = newRecord.getCreatetime();
+        LocalDateTime filterAfterTime = newRecordTime.minusHours(filterCycleHour<zFilterCycleHour?zFilterCycleHour:filterCycleHour);
+        LocalDateTime xyFilterTime = newRecordTime.minusHours(filterCycleHour);
+        LocalDateTime zFilterTime = newRecordTime.minusHours(zFilterCycleHour);
+        LocalDateTime minCycleTime = newRecordTime.minusHours(minCycleHour);
+        QueryWrapper<GnssCalcData> query = new QueryWrapper<>();
+        query.eq("deviceid", deviceId);
+        query.ge("createtime", filterAfterTime.format(dateFormatter));
+        query.le("createtime", newRecordTime.format(dateFormatter));
+        //query.eq("enabled", true);// 坏点参与比较，不参与滤波
+        query.orderByDesc("createtime");
+
+        List<GnssCalcData> gnssHistoryRecords = repository.selectList(query);
+
+        if(gnssHistoryRecords.size() == 0){
+            //第一个点无参考，当作坏点处理
+            newRecord.setEnabled(false);
+        }
+        else {
+            newRecord.setEnabled(
+                    isGoodGnssData(newRecord, referPos, gnssHistoryRecords,xyThreshold,zThreshold,isAdvFilter));
+
+            if(newRecord.getEnabled()) {
+                // 求本组和最近recordNum组原始值的平均值
+                double sumE = newRecord.getB562e();
+                double sumN = newRecord.getB562n();
+                double sumD = newRecord.getB562d();
+                double msumE = sumE;
+                double msumN = sumN;
+                double msumD = sumD;
+                int xyCount = 1;
+                int zCount = 1;
+                int minCount = 1;
+
+                for (GnssCalcData record : gnssHistoryRecords) {
+                    if (record.getEnabled()) {//只选取好点参与滤波
+                        if(record.getCreatetime().isAfter(xyFilterTime)) {
+                            sumE += record.getB562e();
+                            sumN += record.getB562n();
+                            xyCount++;
+                        }
+                        if(record.getCreatetime().isAfter(zFilterTime)) {
+                            sumD += record.getB562d();
+                            zCount++;
+                        }
+                        // 计算短周期
+                        if(record.getCreatetime().isAfter(minCycleTime)){
+                            msumE = sumE;
+                            msumN = sumN;
+                            msumD = sumD;
+                            minCount++;
+                        }
+                    }
+                }
+                logger.debug("{} filter records num: {}, {}",deviceId,xyCount,zCount);
+                if (xyCount >= FILTER_MIN_RECORD_NUM) {
+                    newRecord.setRpose(NumberUtils.scaleTwo(sumE / xyCount));
+                    newRecord.setRposn(NumberUtils.scaleTwo(sumN / xyCount));
+                    newRecord.setRposd(NumberUtils.scaleTwo(sumD / zCount));
+                    newRecord.setAuxe(NumberUtils.scaleTwo(msumE / minCount));
+                    newRecord.setAuxn(NumberUtils.scaleTwo(msumN / minCount));
+                    newRecord.setAuxd(NumberUtils.scaleTwo(msumD / minCount));
+                    return true;
+                }
+            }
+        }
+
+        return false;
+    }
+
     void refreshFilterCycle(String deviceId, GnssGroupCalc groupCalc, GnssCalcData curCalcData){
         if(curCalcData.getAuxe()==null) return;
 

sec-beidou/src/main/resources/db/schema.sql

@@ -78,7 +78,8 @@ CREATE TABLE IF NOT EXISTS `gnssgroup` (
 CREATE TABLE IF NOT EXISTS `gnssgroupcalc` (
     `id` int NOT NULL,
     `name` varchar(64) DEFAULT NULL,
-    `filter_hour` int DEFAULT NULL COMMENT '平滑窗口',
+    `filter_hour` int DEFAULT NULL COMMENT '水平平滑窗口',
+    `zfilter_hour` int DEFAULT NULL COMMENT '高程平滑窗口',
     `xy_threshold` float DEFAULT NULL COMMENT '坏点水平门限',
     `z_threshold` float DEFAULT NULL COMMENT '坏点垂直门限',
     `adv_filter` bit(1) DEFAULT 0 COMMENT '增强坏点剔除',

sec-beidou/src/main/resources/templates/page/gnss_group_cfg.html

@@ -146,9 +146,10 @@
 			{field: 'id', title: '组号', sort: true},
 			{field: 'name', title: '描述'},
 			{field: 'ver', title: '算法版本'},
-			{field: 'filter_hour', title: '滤波周期(小时)'},
+			{field: 'filter_hour', title: '水平滤波周期(小时)'},
+			{field: 'zfilter_hour', title: '高程滤波周期(小时)'},
 			{field: 'xy_threshold', title: '水平异常门限(mm)'},
-			{field: 'z_threshold', title: '垂直异常门限(mm)'},
+			{field: 'z_threshold', title: '高程异常门限(mm)'},
 			{field: 'adv_filter', title: '增强异常过滤', templet: "<div>{{d.adv_filter==1?'启用':'禁用'}}</div>"},
 			{field: 'auto_filter', title: '自适应滤波', templet: "<div>{{d.auto_filter==1?'启用':'禁用'}}</div>"},
 			{field: 'filter_min_hour', title: '最小滤波周期'},
@@ -158,7 +159,7 @@
 			{title: '操作', toolbar: '#currentTableBar', align: "center"}
 		];
 		if([[${role}]] != "ADMIN" && [[${role}]] != "SUPER_ADMIN") {
-			cfg2_cols[12].hide = true;
+			cfg2_cols[13].hide = true;
 		}
 		table.render({
 		    elem: '#calcParaTableId',

sec-beidou/src/main/resources/templates/page/table/gnss_add_group_calc.html

@@ -40,11 +40,17 @@
             </div>
         </div>
         <div class="layui-form-item">
-            <label class="layui-form-label required">滤波周期(小时)</label>
+            <label class="layui-form-label required">水平滤波周期(小时)</label>
             <div class="layui-input-block">
                 <input type="number" name="filter_hour" id="filter_hour" lay-verify="required" lay-reqtext="不能为空" class="layui-input">
             </div>
         </div>
+        <div class="layui-form-item">
+            <label class="layui-form-label required">高程滤波周期(小时)</label>
+            <div class="layui-input-block">
+                <input type="number" name="zfilter_hour" id="zfilter_hour" lay-verify="required" lay-reqtext="不能为空" class="layui-input">
+            </div>
+        </div>
         <div class="layui-form-item">
             <label class="layui-form-label required">水平异常门限(mm)</label>
             <div class="layui-input-block">
@@ -140,6 +146,7 @@
             group_id.val(data.id);
             group_id.attr('readonly',true);
             $('#filter_hour').val(data.filter_hour);
+            $('#zfilter_hour').val(data.zfilter_hour);
             $('#xy_threshold').val(data.xy_threshold);
             $('#z_threshold').val(data.z_threshold);
             $('#adv_filter').val(data.adv_filter?'1':'0');