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增加b562固定解、非固定解的统计，以及固定解少于门限时产生告警

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This commit is contained in:
weidong 2023-11-22 09:49:00 +08:00
parent 1a63de8b7d
commit b73ad2c520
9 changed files with 102 additions and 79 deletions
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8
sec-beidou-rtcm/src/main/java/com/imdroid/sideslope/bd/FocusCalculator.java
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@ -1,8 +1,8 @@
package com.imdroid.sideslope.bd;
public interface FocusCalculator {
public void reset();
public void addXyz(double[] xyz);
public int getB562Num();
public double[] resultB562(double[] last);
void reset();
void addXyz(double[] xyz);
int[] getB562Stat();
double[] resultB562(double[] last);
}

35
sec-beidou-rtcm/src/main/java/com/imdroid/sideslope/bd/FocusCalculator1.java
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@ -12,19 +12,23 @@ import java.util.*;
*/
public class FocusCalculator1 implements FocusCalculator{
private List<double[]> list = Collections.synchronizedList(new ArrayList<>());
private List<Tilt> tilts = Collections.synchronizedList(new ArrayList<>());
private final List<double[]> list = Collections.synchronizedList(new ArrayList<>());
private final List<Tilt> tilts = Collections.synchronizedList(new ArrayList<>());
private Tilt tilt0;//初始状态
private double[] position0;
private double r = 10;//杆的长度cm 20230718 测试改为10
//private boolean flag = false; // 是否是第一次计算
private List<Point> pointList = new ArrayList<>();
private final List<Point> pointList = new ArrayList<>();
//public static double[] lastFocus = null;//
private int delay_ms = 0;
private int counter = 0;
private boolean isShock = false;
private double shockThreshold = 1.5;
private final double shockThreshold = 1.5;
private int counterNoB562 = 0;
private int counterNoFixed = 0;
private int counterFixedResult = 0;
/**
@ -46,8 +50,8 @@ public class FocusCalculator1 implements FocusCalculator{
@Override
public void reset(){
list.removeAll(list);
pointList.removeAll(pointList);
list.clear();
pointList.clear();
}
/**
@ -56,17 +60,22 @@ public class FocusCalculator1 implements FocusCalculator{
*/
@Override
public void addXyz(double[] xyz){
if(filter(xyz)){
if(xyz[3] == UBXUtil.NO_B562) counterNoB562++;
else if(xyz[3] == UBXUtil.NO_FIX_RESULT) counterNoFixed++;
else {
counterFixedResult ++;
if (filter(xyz)) {
list.add(xyz);
}
if(list.size() > 300){
if (list.size() > 300) {
list.remove(0);
}
}
}
@Override
public int getB562Num(){
return list.size();
public int[] getB562Stat(){
return new int[]{counterFixedResult,counterNoFixed,counterNoB562};
}
@ -147,8 +156,7 @@ public class FocusCalculator1 implements FocusCalculator{
private double[] resultB562Sub(){
if(list.size() > 0){
//重心
double[] focus = focus(list);
return focus;
return focus(list);
}
return null;
}
@ -338,8 +346,7 @@ public class FocusCalculator1 implements FocusCalculator{
if(tilt0 == null || position0 == null || r == 0 || avg == null){
return null;
}
double[] _9250_result = TiltUtil.toPosition(avg,tilt0,position0,r);
return _9250_result;
return TiltUtil.toPosition(avg,tilt0,position0,r);
}
public Tilt getTilt0(){

26
sec-beidou-rtcm/src/main/java/com/imdroid/sideslope/bd/FocusCalculator2.java
View File

@ -12,15 +12,18 @@ import java.util.*;
*/
public class FocusCalculator2 implements FocusCalculator{
private List<double[]> list = Collections.synchronizedList(new ArrayList<>());
private final List<double[]> list = Collections.synchronizedList(new ArrayList<>());
private List<Point> pointList = new ArrayList<>();
private final List<Point> pointList = new ArrayList<>();
private int counterNoB562 = 0;
private int counterNoFixed = 0;
private int counterFixedResult = 0;
@Override
public void reset(){
list.removeAll(list);
pointList.removeAll(pointList);
list.clear();
pointList.clear();
}
/**
@ -29,13 +32,18 @@ public class FocusCalculator2 implements FocusCalculator{
*/
@Override
public void addXyz(double[] xyz){
if(filter(xyz)){
if(xyz[3] == UBXUtil.NO_B562) counterNoB562++;
else if(xyz[3] == UBXUtil.NO_FIX_RESULT) counterNoFixed++;
else {
counterFixedResult ++;
if (filter(xyz)) {
list.add(xyz);
}
if(list.size() > 300){
if (list.size() > 300) {
list.remove(0);
}
}
}
private boolean filter(double[] xyz){
double a = xyz[0]*xyz[1]*xyz[2];
@ -46,8 +54,8 @@ public class FocusCalculator2 implements FocusCalculator{
}
@Override
public int getB562Num(){
return list.size();
public int[] getB562Stat(){
return new int[]{counterFixedResult,counterNoFixed,counterNoB562};
}
@ -108,7 +116,7 @@ public class FocusCalculator2 implements FocusCalculator{
List<Double> list2 = new ArrayList<>();
for(double[] point: list){
if(Math.abs(point[index]-g)<=r){
list2.add(new Double(point[index]));
list2.add(point[index]);
newG += point[index];
}
}

11
sec-beidou-rtcm/src/main/java/com/imdroid/sideslope/bd/UBXUtil.java
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@ -13,6 +13,11 @@ public class UBXUtil {
* @param data UBX数据(b562开头)
* @return x,y,z 东，北，竖直 东为正数，北为正数，朝上为正数
*/
public static int FIX_RESULT = 0;
public static int NO_FIX_RESULT = 1;
public static int NO_B562 = 2;
public static double[] getLocation(ByteBuf data){
boolean has_b562 = false;
byte[] b562_flag = {(byte) 0xb5, (byte)0x62};
@ -26,7 +31,7 @@ public class UBXUtil {
break;
}
}
if(!has_b562) return null;
if(!has_b562) return new double[]{0,0,0,NO_B562};
pos+=6;
double relPosN = data.getIntLE(pos+8) + data.getByte(pos+32)*0.01;
@ -35,9 +40,9 @@ public class UBXUtil {
relPosD = -relPosD;
short status = (short) ((data.getUnsignedByte(pos+60) & 0x18)>>3); //mask: 00011000
if(status == 2){
return new double[]{relPosE,relPosN,relPosD};
return new double[]{relPosE,relPosN,relPosD,FIX_RESULT};
}else{
return null;
return new double[]{0,0,0,NO_FIX_RESULT};
}
}
}

16
sec-beidou-rtcm/src/main/java/com/imdroid/sideslope/calc/SingleLineGNSSCalcService.java
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@ -47,10 +47,8 @@ public class SingleLineGNSSCalcService implements GNSSCalcService {
@Override
public double[] calcSingle(D341LocationMessage message) {
String deviceId = message.getId();
Device device = deviceService.findByDeviceId(deviceId);
if (device != null && device.getDeviceType() == Device.DEVICE_ROVER) {
resultOutputTimer(deviceId);
}
resultOutputTimer(deviceId, message.getTenantId());
//todo 创建FocusCalculator对象需获取该测站的杆长度，上一小时的Tilt平均值，上一小时的测站相对坐标融合值ekfResult
FocusCalculator1 focusCalculator = calculatorMap.computeIfAbsent(deviceId, s -> new FocusCalculator1(150,tiltMap.get(deviceId),
positionMap.get(deviceId)));
@ -66,20 +64,15 @@ public class SingleLineGNSSCalcService implements GNSSCalcService {
focusCalculator.addDelayMs(message.getPps());
//计算到单次相对位置xyz并记录
//tilt共16个字节，从后边开始找b562
double[] doubles = message.getB562_loc();
if(doubles != null){
focusCalculator.addXyz(doubles);
if (logger.isDebugEnabled()) {
logger.debug("测站" + deviceId + "的b562单次解析结果:{}", Arrays.toString(doubles));
}
return doubles;
}else{
return new double[0];
}
}
private void resultOutputTimer(String deviceId){
private void resultOutputTimer(String deviceId, Integer tenantId){
//20秒没数据后输出结果
ScheduledFuture<?> future = timerMap.get(deviceId);
if (future != null && !future.isDone()) {
@ -91,7 +84,8 @@ public class SingleLineGNSSCalcService implements GNSSCalcService {
try {
FocusCalculator1 focusCalculator = calculatorMap.get(deviceId);
// 1.检查b562有效数，如果过少，产生告警
warningService.checkB562Num(focusCalculator.getB562Num());
warningService.checkB562Num(deviceId, tenantId,
focusCalculator.getB562Stat());
// 2.数据处理：参考上次的位置，计算b562重心
double[] lastEfk = null;

7
sec-beidou-rtcm/src/main/java/com/imdroid/sideslope/service/WarningService.java
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@ -3,16 +3,15 @@ package com.imdroid.sideslope.service;
import com.imdroid.secapi.dto.GnssStatus;
import com.imdroid.secapi.dto.GnssStatusMsg;
import com.imdroid.secapi.dto.GnssTrxMsg;
import com.imdroid.sideslope.message.D3F0SelfCheckMessage;
import com.imdroid.sideslope.message.D3F2StopIndicationMessage;
public interface WarningService {
/***
* 检查一个周期内的b562数量是否足够
* 返回告警级别和告警码
* @param b562Num
* @param
*/
void checkB562Num(int b562Num);
void checkB562Num(String deviceId,Integer tenantId, int[] numB562Stat);
/***
* 检查电压、RSSI等
* @param msg

31
sec-beidou-rtcm/src/main/java/com/imdroid/sideslope/service/WarningServiceImpl.java
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@ -2,8 +2,6 @@ package com.imdroid.sideslope.service;
import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
import com.imdroid.secapi.dto.*;
import com.imdroid.sideslope.message.D3F0SelfCheckMessage;
import com.imdroid.sideslope.message.D3F2StopIndicationMessage;
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.stereotype.Service;
@ -18,7 +16,6 @@ public class WarningServiceImpl implements WarningService {
WarningCfgMapper warningCfgMapper;
@Autowired
WarningMsgMapper warningMsgMapper;
private GnssStatusMapper statusMapper;
// warning type <-> level & value
Map<Integer, int[]> cfgMap = new HashMap<>();
int warningLevel2Code = 0;
@ -36,11 +33,25 @@ public class WarningServiceImpl implements WarningService {
}
/***
* 检查一个周期内的b562数量是否足够
* @param b562Num
* @param
*/
@Override
public void checkB562Num(int b562Num){
public void checkB562Num(String deviceId, Integer tenantId,
int[] numB562Stat){
if(cfgMap.size() == 0) refreshCfg();
int[] threshold = cfgMap.get(WarningCfg.TYPE_LESS_B562);
if(threshold != null && (numB562Stat[0] < threshold[1])) {
// 检测电压和RSSI
WarningMsg warningMsg = new WarningMsg();
warningMsg.setDeviceid(deviceId);
warningMsg.setTenantid(tenantId);
warningMsg.setCreatetime(new Date());
warningMsg.setDevicetype(WarningCfg.TYPE_GNSS);
warningMsg.setCode(WarningCfg.TYPE_LESS_B562);
warningMsg.setLevel((short) threshold[0]);
warningMsg.setInfo("B562过少，固定解:" + numB562Stat[0] + "，非固定解:"+numB562Stat[1]+"，无B562:"+numB562Stat[2]);
warningMsgMapper.insert(warningMsg);
}
}
/***
* 检查电压、RSSI等
@ -60,10 +71,10 @@ public class WarningServiceImpl implements WarningService {
warningMsg.setCreatetime(new Date());
warningMsg.setDevicetype(WarningCfg.TYPE_GNSS);
int lowVoltage[] = cfgMap.get(WarningCfg.TYPE_LOW_VOLTAGE);
int[] lowVoltage = cfgMap.get(WarningCfg.TYPE_LOW_VOLTAGE);
if(lowVoltage!=null){
if(statusMsg.getVoltage() <= lowVoltage[1]) {
warningMsg.setCode((int) WarningCfg.TYPE_LOW_VOLTAGE);
warningMsg.setCode(WarningCfg.TYPE_LOW_VOLTAGE);
warningMsg.setLevel((short) lowVoltage[0]);
warningMsg.setInfo("低电压：" + statusMsg.getVoltage() + "mV");
warningMsgMapper.insert(warningMsg);
@ -76,10 +87,10 @@ public class WarningServiceImpl implements WarningService {
}
}
int lowRSSI[] = cfgMap.get(WarningCfg.TYPE_LOW_RSSI);
int[] lowRSSI = cfgMap.get(WarningCfg.TYPE_LOW_RSSI);
if(lowRSSI!=null){
if(statusMsg.getRssi() <= lowRSSI[1]) {
warningMsg.setCode((int) WarningCfg.TYPE_LOW_RSSI);
warningMsg.setCode( WarningCfg.TYPE_LOW_RSSI);
warningMsg.setLevel((short) lowRSSI[0]);
warningMsg.setInfo("4G信号弱：" + statusMsg.getRssi());
warningMsgMapper.insert(warningMsg);

15
sec-beidou-rtcm/src/test/java/FocusCalculator3.java
View File

@ -2,7 +2,6 @@ import com.imdroid.sideslope.bd.FocusCalculator;
import com.imdroid.sideslope.bd.Point;
import org.ejml.simple.SimpleMatrix;
import java.io.IOException;
import java.util.ArrayList;
import java.util.Collections;
import java.util.Comparator;
@ -10,15 +9,15 @@ import java.util.List;
public class FocusCalculator3 implements FocusCalculator {
private List<double[]> list = Collections.synchronizedList(new ArrayList<>());
private final List<double[]> list = Collections.synchronizedList(new ArrayList<>());
private List<Double> listE = Collections.synchronizedList(new ArrayList<>());
private final List<Double> listE = Collections.synchronizedList(new ArrayList<>());
private List<Double> listN = Collections.synchronizedList(new ArrayList<>());
private final List<Double> listN = Collections.synchronizedList(new ArrayList<>());
private List<Double> listD = Collections.synchronizedList(new ArrayList<>());
private final List<Double> listD = Collections.synchronizedList(new ArrayList<>());
private List<Point> pointList = new ArrayList<>();
private final List<Point> pointList = new ArrayList<>();
@Override
@ -53,8 +52,8 @@ public class FocusCalculator3 implements FocusCalculator {
}
@Override
public int getB562Num(){
return list.size();
public int[] getB562Stat(){
return new int[]{0,0,0};
}
@Override

4
sec-beidou-rtcm/src/test/java/FocusCalculatorTest.java
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@ -86,9 +86,9 @@ public class FocusCalculatorTest {
br.close();
fr.close();
if(focusCalculator.getB562Num()>0) {
//if(focusCalculator.getB562Num()>0) {
calcGravity(last, lastTime);
}
//}
System.out.println("raw results statistic:");
calcStd(calcResultList);