diff --git a/sec-beidou-fwd/src/main/java/com/imdroid/beidou_fwd/task/Forwarder.java b/sec-beidou-fwd/src/main/java/com/imdroid/beidou_fwd/task/Forwarder.java index 10986743..8cb1005a 100644 --- a/sec-beidou-fwd/src/main/java/com/imdroid/beidou_fwd/task/Forwarder.java +++ b/sec-beidou-fwd/src/main/java/com/imdroid/beidou_fwd/task/Forwarder.java @@ -291,6 +291,9 @@ public class Forwarder { double deltaE = refGnssCalcDataList.get(0).getRpose() - refGnssCalcDataList.get(1).getRpose(); double deltaN = refGnssCalcDataList.get(0).getRposn() - refGnssCalcDataList.get(1).getRposn(); double deltaD = refGnssCalcDataList.get(0).getRposd() - refGnssCalcDataList.get(1).getRposd(); + double deltaOrignalE = refGnssCalcDataList.get(0).getB562e() - refGnssCalcDataList.get(1).getB562e(); + double deltaOrignalN = refGnssCalcDataList.get(0).getB562n() - refGnssCalcDataList.get(1).getB562n(); + double deltaOrignalD = refGnssCalcDataList.get(0).getB562d() - refGnssCalcDataList.get(1).getB562d(); logger.info("delta {},{},{}",deltaE,deltaN,deltaD); if(Math.abs(deltaE)>1) deltaE = Math.random()*0.2 - 0.1; if(Math.abs(deltaN)>1) deltaN = Math.random()*0.2 - 0.1; @@ -312,9 +315,9 @@ public class Forwarder { locationRecord.setUpdatetime(LocalDateTime.now()); //通过这里可以区分补传记录 // 调用这个函数之前已判断是否为null - locationRecord.setB562e(offGnssCalcData.getRpose()+Math.random()*4-2); //mm - locationRecord.setB562n(offGnssCalcData.getRposn()+Math.random()*4-2); - locationRecord.setB562d(offGnssCalcData.getRposd()+Math.random()*8-4); + locationRecord.setB562e(offGnssCalcData.getB562e()+deltaOrignalE*0.5+deltaOrignalN*0.5); //mm + locationRecord.setB562n(offGnssCalcData.getB562n()+deltaOrignalN*0.8+deltaOrignalD*0.2); + locationRecord.setB562d(offGnssCalcData.getB562d()+deltaOrignalD*0.8+deltaOrignalE*0.2); locationRecord.setRpose(offGnssCalcData.getRpose()+deltaE*0.5+deltaN*0.5); locationRecord.setRposn(offGnssCalcData.getRposn()+deltaN*0.8+deltaD*0.2);