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
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weidong
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@ -9,6 +9,7 @@ public class GnssGroupCalc {
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Integer id;
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String name;
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Integer filter_hour;
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Integer zfilter_hour;
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Float xy_threshold;
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Float z_threshold;
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Boolean adv_filter;
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@ -19,7 +19,7 @@ public class FocusCalculator1 implements FocusCalculator{
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// 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
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final List<double[]> pointList = Collections.synchronizedList(new ArrayList<>());
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int gravityMinCount = 50;
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int gravityMaxCount = 300;
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int gravityMaxCount = 600;
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double gravityInitR = 5;//mm
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double gravityMaxR = 300;//mm
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double pointSelectedRate = 0.5;
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@ -42,14 +42,17 @@ public class GNSSCalcFilterService {
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newRecord.setEnabled(true);
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// 计算平滑周期
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int filterCycle = groupCalc.getFilter_hour();
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Integer xyfilterCycle = groupCalc.getFilter_hour();
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Integer zfilterCycle = groupCalc.getZfilter_hour();
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if(null == zfilterCycle) zfilterCycle = xyfilterCycle;
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VaryFilterCycle varyCycle = autoCycleDevices.get(deviceId);
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if(varyCycle!=null){
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filterCycle = varyCycle.filterCycleHour;
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xyfilterCycle = varyCycle.filterCycleHour;
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zfilterCycle = varyCycle.filterCycleHour;
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}
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// 平滑处理
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calcFilterLocation(newRecord, referPos, filterCycle, groupCalc.getFilter_min_hour(),
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calcFilterLocation(newRecord, referPos, xyfilterCycle, zfilterCycle, groupCalc.getFilter_min_hour(),
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groupCalc.getXy_threshold(), groupCalc.getZ_threshold(), groupCalc.getAdv_filter());
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repository.insert(newRecord);
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@ -168,6 +171,81 @@ public class GNSSCalcFilterService {
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return false;
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}
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public boolean calcFilterLocation(GnssCalcData newRecord, double[] referPos, int filterCycleHour, int zFilterCycleHour,
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int minCycleHour, float xyThreshold, float zThreshold, boolean isAdvFilter){
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String deviceId = newRecord.getDeviceid();
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// 选取[newRecordTime-filterCycleHour, newRcordTime]之间的记录做平滑
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// 如果这个时间段的记录数少于FILTER_MIN_RECORD_NUM，本次不做平滑
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LocalDateTime newRecordTime = newRecord.getCreatetime();
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LocalDateTime filterAfterTime = newRecordTime.minusHours(filterCycleHour<zFilterCycleHour?zFilterCycleHour:filterCycleHour);
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LocalDateTime xyFilterTime = newRecordTime.minusHours(filterCycleHour);
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LocalDateTime zFilterTime = newRecordTime.minusHours(zFilterCycleHour);
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LocalDateTime minCycleTime = newRecordTime.minusHours(minCycleHour);
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QueryWrapper<GnssCalcData> query = new QueryWrapper<>();
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query.eq("deviceid", deviceId);
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query.ge("createtime", filterAfterTime.format(dateFormatter));
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query.le("createtime", newRecordTime.format(dateFormatter));
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//query.eq("enabled", true);// 坏点参与比较，不参与滤波
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query.orderByDesc("createtime");
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List<GnssCalcData> gnssHistoryRecords = repository.selectList(query);
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if(gnssHistoryRecords.size() == 0){
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//第一个点无参考，当作坏点处理
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newRecord.setEnabled(false);
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}
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else {
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newRecord.setEnabled(
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isGoodGnssData(newRecord, referPos, gnssHistoryRecords,xyThreshold,zThreshold,isAdvFilter));
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if(newRecord.getEnabled()) {
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// 求本组和最近recordNum组原始值的平均值
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double sumE = newRecord.getB562e();
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double sumN = newRecord.getB562n();
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double sumD = newRecord.getB562d();
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double msumE = sumE;
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double msumN = sumN;
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double msumD = sumD;
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int xyCount = 1;
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int zCount = 1;
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int minCount = 1;
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for (GnssCalcData record : gnssHistoryRecords) {
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if (record.getEnabled()) {//只选取好点参与滤波
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if(record.getCreatetime().isAfter(xyFilterTime)) {
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sumE += record.getB562e();
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sumN += record.getB562n();
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xyCount++;
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}
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if(record.getCreatetime().isAfter(zFilterTime)) {
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sumD += record.getB562d();
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zCount++;
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}
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// 计算短周期
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if(record.getCreatetime().isAfter(minCycleTime)){
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msumE = sumE;
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msumN = sumN;
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msumD = sumD;
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minCount++;
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}
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}
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}
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logger.debug("{} filter records num: {}, {}",deviceId,xyCount,zCount);
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if (xyCount >= FILTER_MIN_RECORD_NUM) {
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newRecord.setRpose(NumberUtils.scaleTwo(sumE / xyCount));
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newRecord.setRposn(NumberUtils.scaleTwo(sumN / xyCount));
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newRecord.setRposd(NumberUtils.scaleTwo(sumD / zCount));
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newRecord.setAuxe(NumberUtils.scaleTwo(msumE / minCount));
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newRecord.setAuxn(NumberUtils.scaleTwo(msumN / minCount));
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newRecord.setAuxd(NumberUtils.scaleTwo(msumD / minCount));
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return true;
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}
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}
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}
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return false;
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}
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void refreshFilterCycle(String deviceId, GnssGroupCalc groupCalc, GnssCalcData curCalcData){
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if(curCalcData.getAuxe()==null) return;
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@ -78,7 +78,8 @@ CREATE TABLE IF NOT EXISTS `gnssgroup` (
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CREATE TABLE IF NOT EXISTS `gnssgroupcalc` (
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`id` int NOT NULL,
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`name` varchar(64) DEFAULT NULL,
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`filter_hour` int DEFAULT NULL COMMENT '平滑窗口',
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`filter_hour` int DEFAULT NULL COMMENT '水平平滑窗口',
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`zfilter_hour` int DEFAULT NULL COMMENT '高程平滑窗口',
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`xy_threshold` float DEFAULT NULL COMMENT '坏点水平门限',
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`z_threshold` float DEFAULT NULL COMMENT '坏点垂直门限',
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`adv_filter` bit(1) DEFAULT 0 COMMENT '增强坏点剔除',
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@ -146,9 +146,10 @@
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{field: 'id', title: '组号', sort: true},
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{field: 'name', title: '描述'},
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{field: 'ver', title: '算法版本'},
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{field: 'filter_hour', title: '滤波周期(小时)'},
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{field: 'filter_hour', title: '水平滤波周期(小时)'},
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{field: 'zfilter_hour', title: '高程滤波周期(小时)'},
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{field: 'xy_threshold', title: '水平异常门限(mm)'},
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{field: 'z_threshold', title: '垂直异常门限(mm)'},
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{field: 'z_threshold', title: '高程异常门限(mm)'},
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{field: 'adv_filter', title: '增强异常过滤', templet: "<div>{{d.adv_filter==1?'启用':'禁用'}}</div>"},
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{field: 'auto_filter', title: '自适应滤波', templet: "<div>{{d.auto_filter==1?'启用':'禁用'}}</div>"},
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{field: 'filter_min_hour', title: '最小滤波周期'},
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@ -158,7 +159,7 @@
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{title: '操作', toolbar: '#currentTableBar', align: "center"}
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];
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if([[${role}]] != "ADMIN" && [[${role}]] != "SUPER_ADMIN") {
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cfg2_cols[12].hide = true;
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cfg2_cols[13].hide = true;
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}
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table.render({
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elem: '#calcParaTableId',
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@ -40,11 +40,17 @@
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</div>
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</div>
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<div class="layui-form-item">
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<label class="layui-form-label required">滤波周期(小时)</label>
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<label class="layui-form-label required">水平滤波周期(小时)</label>
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<div class="layui-input-block">
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<input type="number" name="filter_hour" id="filter_hour" lay-verify="required" lay-reqtext="不能为空" class="layui-input">
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</div>
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</div>
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<div class="layui-form-item">
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<label class="layui-form-label required">高程滤波周期(小时)</label>
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<div class="layui-input-block">
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<input type="number" name="zfilter_hour" id="zfilter_hour" lay-verify="required" lay-reqtext="不能为空" class="layui-input">
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</div>
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</div>
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<div class="layui-form-item">
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<label class="layui-form-label required">水平异常门限(mm)</label>
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<div class="layui-input-block">
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@ -140,6 +146,7 @@
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group_id.val(data.id);
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group_id.attr('readonly',true);
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$('#filter_hour').val(data.filter_hour);
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$('#zfilter_hour').val(data.zfilter_hour);
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$('#xy_threshold').val(data.xy_threshold);
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$('#z_threshold').val(data.z_threshold);
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$('#adv_filter').val(data.adv_filter?'1':'0');
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