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1、算法2加打印查问题

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This commit is contained in:
weidong 2024-04-26 11:59:19 +08:00
parent 7854b5f45c
commit bc76ad68b9
2 changed files with 17 additions and 12 deletions
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19
sec-beidou-rtcm/src/main/java/com/imdroid/sideslope/calc/GNSSCalcFilterService.java
View File

@ -64,20 +64,23 @@ public class GNSSCalcFilterService {
public boolean isGoodGnssData(GnssCalcData newRecord, double[] referPos, List<GnssCalcData> gnssHistoryRecords,
float xyThreshold, float zThreshold, boolean isAdvFilter) {
boolean isGood = true;
if(referPos == null) {
logger.info("bad point");
return false;
}
// 检查是不是坏点
GnssCalcData record0 = null;
if(gnssHistoryRecords.size()>0) record0 = gnssHistoryRecords.get(0);
if(record0 != null && Math.abs(record0.getB562e() - newRecord.getB562e())<0.001) {
isGood = false;
return false;
}
else if (Math.abs(newRecord.getB562e() - referPos[0]) > xyThreshold ||
if(referPos==null && record0!=null) {
referPos = new double[]{record0.getB562e(), record0.getB562n(), record0.getB562d()};
}
if(referPos==null) return false;
if (Math.abs(newRecord.getB562e() - referPos[0]) > xyThreshold ||
Math.abs(newRecord.getB562n() - referPos[1]) > xyThreshold ||
Math.abs(newRecord.getB562d() - referPos[2]) > zThreshold) {
logger.info("{},{},{} bad point",newRecord.getB562e()- referPos[0],newRecord.getB562n()- referPos[1],newRecord.getB562d()- referPos[2]);
logger.debug("{} bad point,delta: {},{},{} ",newRecord.getDeviceid(),
newRecord.getB562e()- referPos[0],newRecord.getB562n()- referPos[1],newRecord.getB562d()- referPos[2]);
isGood = false; //记录为坏点，下次不参与滤波
}
else if(isAdvFilter){
@ -87,7 +90,7 @@ public class GNSSCalcFilterService {
Math.abs(newRecord.getB562e() - record1.getB562e()) > xyThreshold*2 ||
Math.abs(newRecord.getB562n() - record1.getB562n()) > xyThreshold*2 ||
Math.abs(newRecord.getB562d() - record1.getB562d()) > zThreshold*2) {
logger.info("bad point");
logger.debug("{} adv filter bad point",newRecord.getDeviceid());
isGood = false; //记录为坏点，下次不参与滤波
}
}

10
sec-beidou-rtcm/src/main/java/com/imdroid/sideslope/calc/SingleLineGNSSCalcService.java
View File

@ -210,21 +210,23 @@ public class SingleLineGNSSCalcService implements GNSSDataCalcService {
if(focusCalculator2.isReferPointFiltered()) {
if (locationRecord.getEnabled() && locationRecord.getRpose() != null) {
focusCalculator2.setReferPoint(new double[]{locationRecord.getRpose(), locationRecord.getRposn(), locationRecord.getRposd()});
logger.info("set reference pos to filter result:{},{},{}", locationRecord.getRpose(), locationRecord.getRposn(), locationRecord.getRposd());
logger.info("{} set reference pos to filter result:{},{},{}",
deviceId, locationRecord.getRpose(), locationRecord.getRposn(), locationRecord.getRposd());
}
else{
logger.info("reference pos not changed");
logger.info("{} reference pos not changed",deviceId);
}
}
else{
// 查询设备有没有配置初始位置
if(device.getIPose()!=null){
focusCalculator2.setInitReferPoint(new double[]{device.getIPose(),device.getIPosn(),device.getIPosd()});
logger.info("set reference pos to init pos:{},{},{}",device.getIPose(),device.getIPosn(),device.getIPosd());
logger.info("{} set reference pos to init pos:{},{},{}",
deviceId,device.getIPose(),device.getIPosn(),device.getIPosd());
}
else{
focusCalculator.setReferPoint(b562Result);
logger.info("set reference pos to b562 result");
logger.info("{} set reference pos to b562 result",deviceId);
}
}
}