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bug fixed: 参与平滑的记录时间判断有错

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This commit is contained in:
weidong 2023-12-10 22:02:12 +08:00
parent 29df3ebbfb
commit def9f4d7eb
3 changed files with 45 additions and 48 deletions
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15
sec-beidou-rtcm/src/main/java/com/imdroid/sideslope/calc/SingleLineGNSSCalcService.java
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@ -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);
}

59
sec-beidou-rtcm/src/main/java/com/imdroid/sideslope/service/GNSSDeviceLocationRecordServiceImpl.java
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@ -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();
// 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
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);
// 选取[newRecordTime-filterCycleHour, newRcordTime]之间的记录做平滑
// 如果这个时间段的记录数少于FILTER_MIN_RECORD_NUM，本次不做平滑
LocalDateTime newRecordTime = newRecord.getCreatetime();
LocalDateTime filterAfterTime = newRecordTime.minusHours(filterCycleHour);
boolean hasCheck = false;
if(gnssDeviceLocationRecords.size() > 0){
QueryWrapper<GnssCalcData> query = new QueryWrapper<>();
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++) {
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;
for (GnssCalcData record : gnssDeviceLocationRecords) {
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);
if(count >= FILTER_MIN_RECORD_NUM) {
logger.info(deviceId + " filter records num: " + count);
if (count >= FILTER_MIN_RECORD_NUM) {
return new double[]{sumE / count, sumN / count, sumD / count};
}
}
}
return null;
}

1
sec-beidou-rtcm/src/main/java/com/imdroid/sideslope/service/WarningServiceImpl.java
View File

@ -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);
}
}