Imdroid/security-monitor
2
0
Fork 0
Code Issues Pull Requests 1 Actions Packages Projects Releases Wiki Activity

1、增加增强过滤算法剔除坏点

Browse Source
This commit is contained in:
weidong 2024-01-27 16:19:03 +08:00
parent 0d1ddfb8c5
commit 8646c8b700
5 changed files with 26 additions and 9 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

1
sec-api/src/main/java/com/imdroid/secapi/dto/GnssGroupCalc.java
View File

@ -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;

22
sec-beidou-rtcm/src/main/java/com/imdroid/sideslope/calc/GNSSCalcFilterService.java
View File

@ -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 &&
Math.abs(newRecord.getB562n() - record0.getB562n()) < MIN_CHANGE &&
Math.abs(newRecord.getB562d() - record0.getB562d()) < MIN_CHANGE) {
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
logger.info(deviceId + " abnormal gnss data");
else if(isAdvFilter){
GnssCalcData record1 = null;
if(gnssDeviceLocationRecords.size()>1) record1 = gnssDeviceLocationRecords.get(1);
if(record1 == null ||
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");

1
sec-beidou/src/main/resources/db/schema.sql
View File

@ -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,

1
sec-beidou/src/main/resources/templates/page/gnss_group_cfg.html
View File

@ -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)'},

10
sec-beidou/src/main/resources/templates/page/table/gnss_add_group_calc.html
View File

@ -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);