bug fixed: 参与平滑的记录时间判断有错

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

@@ -151,21 +151,22 @@ public class SingleLineGNSSCalcService implements GNSSCalcService {
         GnssCalcData locationRecord = new GnssCalcData();
         locationRecord.setCreatetime(resultTime);
         locationRecord.setDeviceid(deviceId);
-        if(b562Result!=null) {
+
+        // 调用这个函数之前已判断是否为null
         locationRecord.setB562e(b562Result[0] * 10); //cm->mm
         locationRecord.setB562n(b562Result[1] * 10);
         locationRecord.setB562d(b562Result[2] * 10);
-        }
+
+        locationRecord.setResulte(result[0]);
+        locationRecord.setResultn(result[1]);
+        locationRecord.setResultd(result[2]);
+
         if(r9250Result!=null) {
             locationRecord.setR9250e(r9250Result[0]);
             locationRecord.setR9250n(r9250Result[1]);
             locationRecord.setR9250d(r9250Result[2]);
         }
-        if(result!=null) {
+
-            locationRecord.setResulte(result[0]);
-            locationRecord.setResultn(result[1]);
-            locationRecord.setResultd(result[2]);
-        }
         locationRecord.setPps(delay);
         deviceService.postLocationRecord(locationRecord, isShocked);
     }

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

@@ -119,56 +119,51 @@ public class GNSSDeviceLocationRecordServiceImpl implements GNSSDeviceLocationRe
      * 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 double[] calcFilterLocation(GnssCalcData newRecord, int filterCycleHour){
-
         String deviceId = newRecord.getDeviceid();
-
+        // 选取[newRecordTime-filterCycleHour, newRcordTime]之间的记录做平滑
-        // 读取离newRecord创建时间最近的filterCycleHour小时内的记录，按时间倒序排序
+        // 如果这个时间段的记录数少于FILTER_MIN_RECORD_NUM，本次不做平滑
-        QueryWrapper<GnssCalcData> query = new QueryWrapper<>();
-        query.eq("deviceid", deviceId);
-        query.orderByDesc("createtime");
-        query.last("limit "+FILTER_MAX_RECORD_NUM);
-
-        List<GnssCalcData> gnssDeviceLocationRecords = repository.selectList(query);
-
         LocalDateTime newRecordTime = newRecord.getCreatetime();
         LocalDateTime filterAfterTime = newRecordTime.minusHours(filterCycleHour);
-        boolean hasCheck = false;
+        QueryWrapper<GnssCalcData> query = new QueryWrapper<>();
-        if(gnssDeviceLocationRecords.size() > 0){
+        query.eq("deviceid", deviceId);
+        query.ge("createtime", filterAfterTime.format(dateFormatter));
+        query.le("createtime", newRecordTime.format(dateFormatter));
+        query.orderByDesc("createtime");
+
+        List<GnssCalcData> gnssDeviceLocationRecords = repository.selectList(query);
+        if(gnssDeviceLocationRecords.size() == 0){
+            //第一个点无参考，当作坏点处理
+            newRecord.setEnabled(false);
+        }
+        else {
+            GnssCalcData record0 = gnssDeviceLocationRecords.get(0);
+            // 检查是不是坏点
+            if (Math.abs(newRecord.getB562e() - record0.getB562e()) > xyThreshold ||
+                    Math.abs(newRecord.getB562n() - record0.getB562n()) > xyThreshold ||
+                    Math.abs(newRecord.getB562d() - record0.getB562d()) > zThreshold) {
+                newRecord.setEnabled(false); //记录为坏点，下次不参与滤波
+                logger.info(deviceId + " abnormal gnss data");
+            }
+            else {
                 // 求本组和最近recordNum组原始值的平均值
                 double sumE = newRecord.getB562e();
                 double sumN = newRecord.getB562n();
                 double sumD = newRecord.getB562d();
                 int count = 1;
-            for (int i = 0; i < gnssDeviceLocationRecords.size(); i++) {
+                for (GnssCalcData record : gnssDeviceLocationRecords) {
-                GnssCalcData record = gnssDeviceLocationRecords.get(i);
-                if(record.getB562e()!=null && record.getB562n()!=null && record.getB562d()!=null) {
-                    if(!hasCheck){
-                        // 检查是不是坏点，即使超过平滑周期的记录也要比较，因为有可能中间会缺数据
-                        if(Math.abs(newRecord.getB562e() - record.getB562e())>xyThreshold ||
-                                Math.abs(newRecord.getB562n() - record.getB562n())>xyThreshold ||
-                                Math.abs(newRecord.getB562d() - record.getB562d())>zThreshold ){
-                            newRecord.setEnabled(false); //记录为坏点，下次不参与滤波
-                            logger.info(deviceId + " abnormal gnss data");
-                            return null;
-                        }
-                        hasCheck = true;
-                    }
-                    // 如果记录超过平滑周期的不参与平滑计算
-                    if(record.getCreatetime().isBefore(filterAfterTime)) break;
                     if (record.getEnabled()) {//只选取好点参与滤波
                         sumE += record.getB562e();
                         sumN += record.getB562n();
                         sumD += record.getB562d();
                         count++;
                     }
-
                 }
-            }
+                logger.info(deviceId + " filter records num: " + count);
-            logger.info(deviceId + " filter records num: "+count);
+                if (count >= FILTER_MIN_RECORD_NUM) {
-            if(count >= FILTER_MIN_RECORD_NUM) {
                     return new double[]{sumE / count, sumN / count, sumD / count};
                 }
             }
+        }
 
         return null;
     }

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

@@ -85,6 +85,7 @@ public class WarningServiceImpl implements WarningService {
             if((status.getWarningcode()&WarningCfg.TYPE_NO_FIXED_RESULT) != 0){
                 status.setWarningcode(status.getWarningcode() & ~WarningCfg.TYPE_NO_FIXED_RESULT);
                 status.setWarning(getWarningLevel(status.getWarningcode()));
+                status.setNoreslutcount(0);
                 gnssStatusMapper.updateById(status);
             }
         }