1、增加增强过滤算法剔除坏点

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

@@ -10,6 +10,7 @@ public class GnssGroupCalc {
     Integer filter_hour;
     Float xy_threshold;
     Float z_threshold;
+    Boolean adv_filter;
     Boolean auto_filter;
     Integer filter_min_hour;
     Float auto_threshold;

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

@@ -33,7 +33,6 @@ public class GNSSCalcFilterService {
     static final float XY_THRESHOLD = 30; //水平异常点30mm
     static final float Z_THRESHOLD = 30; //高程异常点30mm
     static final float AUTO_THRESHOLD = 50; //触发自适应滤波的门限50mm
-    static final double MIN_CHANGE = 0.01;
 
     static class VaryFilterCycle{
         public LocalDateTime startTime;
@@ -64,7 +63,7 @@ public class GNSSCalcFilterService {
 
         // 平滑处理
         calcFilterLocation(locationRecord, filterCycle, groupCalc.getFilter_min_hour(),
-                groupCalc.getXy_threshold(), groupCalc.getZ_threshold());
+                groupCalc.getXy_threshold(), groupCalc.getZ_threshold(), groupCalc.getAdv_filter());
 
         repository.insert(locationRecord);
 
@@ -93,7 +92,7 @@ public class GNSSCalcFilterService {
      * 计算东北天的最近融合数据的加权平均, 刘畅20230725 copy 自 avgEND; id>20, 滤波参数6h 或 25h
      */
     public boolean calcFilterLocation(GnssCalcData newRecord, int filterCycleHour, int minCycleHour,
-                                      float xyThreshold, float zThreshold){
+                                      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
@@ -125,11 +124,16 @@ public class GNSSCalcFilterService {
                 newRecord.setEnabled(false); //记录为坏点，下次不参与滤波
                 logger.info(deviceId + " abnormal gnss data");
             }
-            else if (Math.abs(newRecord.getB562e() - record0.getB562e()) < MIN_CHANGE &&
+            else if(isAdvFilter){
-                    Math.abs(newRecord.getB562n() - record0.getB562n()) < MIN_CHANGE &&
+                GnssCalcData record1 = null;
-                    Math.abs(newRecord.getB562d() - record0.getB562d()) < MIN_CHANGE) {
+                if(gnssDeviceLocationRecords.size()>1) record1 = gnssDeviceLocationRecords.get(1);
-                newRecord.setEnabled(false); //如果两次解算结果相等，数据有被冻住的嫌疑，记录为坏点，下次不参与滤波
+                if(record1 == null ||
-                logger.info(deviceId + " abnormal gnss data");
+                        Math.abs(newRecord.getB562e() - record1.getB562e()) > xyThreshold*2 ||
+                        Math.abs(newRecord.getB562n() - record1.getB562n()) > xyThreshold*2 ||
+                        Math.abs(newRecord.getB562d() - record1.getB562d()) > zThreshold*2) {
+                    newRecord.setEnabled(false); //记录为坏点，下次不参与滤波
+                    logger.info(deviceId + " abnormal gnss data by adv filter");
+                }
             }
             else {
                 // 求本组和最近recordNum组原始值的平均值
@@ -234,7 +238,7 @@ public class GNSSCalcFilterService {
         List<GnssCalcData> calcDataListToUpdate = repository.selectList(query);
         for(GnssCalcData calcData:calcDataListToUpdate){
             calcFilterLocation(calcData, groupCalc.getFilter_hour(), groupCalc.getFilter_min_hour(),
-                    groupCalc.getXy_threshold(), groupCalc.getZ_threshold());
+                    groupCalc.getXy_threshold(), groupCalc.getZ_threshold(), groupCalc.getAdv_filter());
             repository.updateById(calcData);
             lastTime = calcData.getCreatetime();
             logger.info(deviceId + " update rpos");

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

@@ -77,6 +77,7 @@ CREATE TABLE IF NOT EXISTS `gnssgroupcalc` (
     `filter_hour` int DEFAULT NULL COMMENT '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',
     `auto_filter` bit(1) DEFAULT 0,
     `filter_min_hour` int DEFAULT NULL COMMENT '最小平滑窗口',
     `auto_threshold` float DEFAULT NULL,

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

@@ -146,6 +146,7 @@
 			{field: 'filter_hour', title: '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: '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'},
 			{field: 'auto_threshold', title: '触发门限(mm)'},

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

@@ -41,6 +41,15 @@
                 <input type="number" name="z_threshold" id="z_threshold" lay-verify="required" lay-reqtext="不能为空" class="layui-input">
             </div>
         </div>
+        <div class="layui-form-item">
+            <label class="layui-form-label">增强异常过滤</label>
+            <div class="layui-input-inline">
+                <select name="adv_filter" id="adv_filter" lay-filter="adv_filter">
+                    <option value="0">禁用</option>
+                    <option value="1">启用</option>
+                </select>
+            </div>
+        </div>
         <div class="layui-form-item">
             <label class="layui-form-label">自适应滤波</label>
             <div class="layui-input-inline">
@@ -119,6 +128,7 @@
         $('#filter_hour').val(data.filter_hour);
         $('#xy_threshold').val(data.xy_threshold);
         $('#z_threshold').val(data.z_threshold);
+        $('#adv_filter').val(data.adv_filter?'1':'0');
         $('#auto_filter').val(data.auto_filter?'1':'0');
         $('#filter_min_hour').val(data.filter_min_hour);
         $('#auto_threshold').val(data.auto_threshold);