feat: 新增 geoidSeparation 属性

- 用于判断博通大地水准面相对椭球面的高度是否非零

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

@@ -37,6 +37,11 @@ public class Gga {
     private int quality=0;
     private int satellitesInUsed=0;
 
+    /**
+     * 大地水准面相对椭球面的高度
+     */
+    private double geoidSeparation = 0;
+
     public Gga() {
     }
 
@@ -94,8 +99,8 @@ public class Gga {
             }
         }
         if(ggaStr != null){
-            String[] params = ggaStr.split(",",11);
+            String[] params = ggaStr.split(",", 14);
-            if(params.length == 11){
+            if(params.length >= 12){
                 Gga gga = new Gga();
                 try {
                     gga.setLatitude(transGGAPos(Double.parseDouble(params[2])));
@@ -103,6 +108,7 @@ public class Gga {
                     gga.setAltitude(Double.parseDouble(params[9]));
                     gga.setQuality(Integer.parseInt(params[6]));
                     gga.setSatellitesInUsed(Integer.parseInt(params[7]));
+                    gga.setGeoidSeparation(Double.parseDouble(params[11]));
                     return gga;
                 }
                 catch (Exception e){

sec-beidou-rtcm/src/main/java/com/imdroid/sideslope/executor/D331RtcmMessageExecutor.java

@@ -116,10 +116,10 @@ public class D331RtcmMessageExecutor implements Executor<D331RtcmMessage, Void>
             deviceBs.setLatitude(gga.getLatitude());
             deviceBs.setLongitude(gga.getLongitude());
             deviceBs.setAltitude(gga.getAltitude());
+            deviceBs.setGeoidSeparation(gga.getGeoidSeparation());
         }
 
         // 添加NTRIP处理
-
         if(deviceBs.getForwardToNtrip()) {
             byte[] srcdata = message.getSrcData();
             String rtcm = ByteUtil.bytesToHexString(srcdata);

sec-beidou-rtcm/src/main/java/com/imdroid/sideslope/service/Device.java

@@ -62,6 +62,12 @@ public class Device {
     Double latitude;
     Double longitude;
     Double altitude;
+
+    // 大地水准面相对椭球面的高度差
+    // 博通 GGA 此处可能非零，影响 RTK 运算，故需通过此属性判断。
+    Double geoidSeparation = 0.0;
+
+
     Double ecefx;
     Double ecefy;
     Double ecefz;
@@ -69,6 +75,7 @@ public class Device {
     Double iPose;
     Double iPosn;
     Double iPosd;
+
     private BigDecimal remaining;
     private BigDecimal total;
     private BigDecimal used;
@@ -78,10 +85,10 @@ public class Device {
     LocalDateTime lastD3f2Time;
     short noFixedAndFloatResult=0;
 
-    // 日志记录控制
+
-    Short loggingmode;
+    Short loggingmode;// 日志记录控制
-    // NtripCaster 推送控制
+    Boolean forwardToNtrip = false;// NtripCaster 推送控制
-    Boolean forwardToNtrip = false;
+
     int lastRxHead = 0;
 
     int fixedNum = 0;