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优化策略

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This commit is contained in:
tongchenfei
2020-12-01 18:46:11 +08:00
parent 0dc442100b
commit 44d1aff8cf
2 changed files with 188 additions and 22 deletions
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44
modules/mogo-module-service/src/main/java/com/mogo/module/service/MogoServices.java
View File

@@ -4,6 +4,7 @@ import android.content.ComponentName;
import android.content.Context;
import android.content.Intent;
import android.content.IntentFilter;
import android.graphics.BitmapFactory;
import android.location.Location;
import android.net.ConnectivityManager;
import android.os.Handler;
@@ -15,6 +16,7 @@ import android.view.MotionEvent;
import androidx.annotation.NonNull;
import com.amap.api.maps.model.MarkerOptions;
import com.mogo.commons.debug.DebugConfig;
import com.mogo.commons.network.ParamsProvider;
import com.mogo.commons.network.SubscribeImpl;
@@ -27,6 +29,7 @@ import com.mogo.map.MogoLatLng;
import com.mogo.map.listener.IMogoMapListener;
import com.mogo.map.location.IMogoLocationListener;
import com.mogo.map.location.MogoLocation;
import com.mogo.map.marker.MogoMarkerOptions;
import com.mogo.map.navi.IMogoAimlessModeListener;
import com.mogo.map.navi.IMogoCarLocationChangedListener2;
import com.mogo.map.navi.IMogoNavi;
@@ -34,6 +37,7 @@ import com.mogo.map.navi.IMogoNaviListener;
import com.mogo.map.navi.MogoCongestionInfo;
import com.mogo.map.navi.MogoTraffic;
import com.mogo.map.uicontroller.IMogoMapUIController;
import com.mogo.module.common.MogoApisHandler;
import com.mogo.module.common.MogoModule;
import com.mogo.module.common.MogoModulePaths;
import com.mogo.module.common.entity.CloudLocationInfo;
@@ -452,6 +456,46 @@ public class MogoServices implements IMogoMapListener,
Logger.i(TAG,"cloudLocationInfos size : " + cloudLocationInfos.size());
startSendCarLocationAndAdasRecognizedResult2Server(cloudLocationInfos);
});
SimpleLocationCorrectStrategy.getInstance().setRecordLocationListener((history, correct,valid,err) -> {
// todo 打点
Logger.d("SimpleCorrect","correct: "+correct);
Logger.d("SimpleCorrect","valid: "+valid);
Logger.d("SimpleCorrect","err: "+err);
ArrayList<MogoMarkerOptions> optionList = new ArrayList<>();
// for (CloudLocationInfo h : history) {
// MogoMarkerOptions options = new MogoMarkerOptions();
// options.position(LocationParseUtil.cloudLocationToMogoLatLng(h));
// options.icon(BitmapFactory.decodeResource(context.getResources(),
// R.drawable.bg_map_marker_blue));
// optionList.add(options);
// }
for (CloudLocationInfo v : valid) {
MogoMarkerOptions options = new MogoMarkerOptions();
options.position(LocationParseUtil.cloudLocationToMogoLatLng(v));
options.icon(BitmapFactory.decodeResource(context.getResources(),
R.drawable.bg_map_marker_oragne));
optionList.add(options);
}
for (CloudLocationInfo c : correct) {
MogoMarkerOptions options = new MogoMarkerOptions();
options.position(LocationParseUtil.cloudLocationToMogoLatLng(c));
options.icon(BitmapFactory.decodeResource(context.getResources(),
R.drawable.bg_map_marker_green));
optionList.add(options);
}
for (CloudLocationInfo e : err) {
MogoMarkerOptions options = new MogoMarkerOptions();
options.position(LocationParseUtil.cloudLocationToMogoLatLng(e));
options.icon(BitmapFactory.decodeResource(context.getResources(),
R.drawable.bg_map_marker_red));
optionList.add(options);
}
MogoApisHandler.getInstance().getApis().getMapServiceApi().getMarkerManager(context).addMarkers("MogoServices", optionList, false);
});
}
private void initLocationServiceProcess( Context context ) {

166
modules/mogo-module-service/src/main/java/com/mogo/module/service/utils/SimpleLocationCorrectStrategy.java
View File

@@ -3,6 +3,7 @@ package com.mogo.module.service.utils;
import android.location.Location;
import android.os.SystemClock;
import com.mogo.map.MogoLatLng;
import com.mogo.module.common.MogoApisHandler;
import com.mogo.module.common.entity.CloudLocationInfo;
import com.mogo.utils.logger.Logger;
@@ -33,17 +34,25 @@ public class SimpleLocationCorrectStrategy {
return instance;
}
private List<CloudLocationInfo> tmpList = new ArrayList<>();
private List<CloudLocationInfo> historyList = new ArrayList<>();
private List<CloudLocationInfo> validList = new ArrayList<>();
private List<CloudLocationInfo> correctList = new ArrayList<>();
private List<CloudLocationInfo> errList = new ArrayList<>();
public CloudLocationInfo correct(CloudLocationInfo info) {
Logger.d(TAG, "info: " + info.print());
Logger.d("tmpList", "tmpList: " + tmpList);
if(isLocationValid(info)) {
tmpList.add(info);
if(recordLocation()) {
historyList.add(info);
}
if (lastLocation == null) {
lastLocation = info;
anchorTime = SystemClock.elapsedRealtime();
Logger.d(TAG, "第一条数据");
if(recordLocation()) {
validList.add(lastLocation);
}
return info;
}
if (lastLocation.equals(info)) {
@@ -62,11 +71,18 @@ public class SimpleLocationCorrectStrategy {
anchorTime = SystemClock.elapsedRealtime();
errCount = 0;
Logger.d(TAG, "在范围内，为有效点");
if(recordLocation()) {
validList.add(lastLocation);
}
return info;
} else {
// 出现异常点
if (errCount >= ERR_COUNT_THRESHOLD) {
// 出错次数超过阈值，认为本次出错点为正确点
if(recordLocation()) {
errList.add(new CloudLocationInfo(lastLocation));
correctList.add(info);
}
lastLocation = info;
anchorTime = SystemClock.elapsedRealtime();
errCount = 0;
@@ -74,15 +90,24 @@ public class SimpleLocationCorrectStrategy {
return info;
} else {
// 按照上一个点的方向和速度，计算下一个点的位置，下一个点除坐标点外，其余数据与上一个点相同
// CloudLocationInfo nextInfo = new CloudLocationInfo(lastLocation);
// nextInfo.setLon(targetDistance * Math.sin(lastLocation.getHeading() * Math.PI / 180));
// nextInfo.setLat(targetDistance * Math.cos(lastLocation.getHeading() * Math.PI / 180));
// lastLocation = nextInfo;
CloudLocationInfo nextInfo = new CloudLocationInfo(lastLocation);
MogoLatLng nextLatLon = computerThatLonLat(lastLocation.getLon(),
lastLocation.getLat(), lastLocation.getHeading(), targetDistance);
nextInfo.setLon(nextLatLon.lon);
nextInfo.setLat(nextLatLon.lat);
if(recordLocation()) {
errList.add(info);
correctList.add(nextInfo);
}
lastLocation = nextInfo;
anchorTime = SystemClock.elapsedRealtime();
errCount++;
Logger.d(TAG, "异常点纠偏 info: " + lastLocation);
return lastLocation;
// return nextInfo;
// return lastLocation;
if(recordLocation()) {
correctList.add(nextInfo);
}
return nextInfo;
}
}
} catch (Exception e) {
@@ -101,15 +126,24 @@ public class SimpleLocationCorrectStrategy {
Logger.d(TAG,
"异常定位点\n准备计算{ lastInfo: " + lastLocation.print() + " info: " + info.print() + " targetDistance: " + targetDistance + " distance : " + distance + "}");
// 按照上一个点的方向和速度，计算下一个点的位置，下一个点除坐标点外，其余数据与上一个点相同
// CloudLocationInfo nextInfo = new CloudLocationInfo(lastLocation);
// nextInfo.setLon(targetDistance * Math.sin(lastLocation.getHeading()));
// nextInfo.setLat(targetDistance * Math.cos(lastLocation.getHeading()));
// lastLocation = nextInfo;
CloudLocationInfo nextInfo = new CloudLocationInfo(lastLocation);
MogoLatLng nextLatLon = computerThatLonLat(lastLocation.getLon(),
lastLocation.getLat(), lastLocation.getHeading(), targetDistance);
nextInfo.setLon(nextLatLon.lon);
nextInfo.setLat(nextLatLon.lat);
if(recordLocation()) {
errList.add(info);
correctList.add(nextInfo);
}
lastLocation = nextInfo;
anchorTime = SystemClock.elapsedRealtime();
errCount++;
Logger.d(TAG, "异常点纠偏 info: " + lastLocation);
// return nextInfo;
return lastLocation;
if(recordLocation()) {
correctList.add(nextInfo);
}
// return lastLocation;
return nextInfo;
}catch (Exception e){
Logger.e(TAG, e, "纠偏异常");
e.printStackTrace();
@@ -123,13 +157,101 @@ public class SimpleLocationCorrectStrategy {
return info.getLat() != 0 && info.getLon() != 0;
}
private float getDistance(CloudLocationInfo lastInfo, CloudLocationInfo info) {
float[] results=new float[1];
try{
Location.distanceBetween(lastInfo.getLat(), lastInfo.getLon(), info.getLat(), info.getLon(), results);
}catch(Exception e){
e.printStackTrace();
private RecordLocationListener recordLocationListener = null;
private boolean hasCallbackReocrd = false;
public void setRecordLocationListener(RecordLocationListener recordLocationListener) {
this.recordLocationListener = recordLocationListener;
}
private boolean recordLocation(){
if (historyList.size() >= 100 && !hasCallbackReocrd && recordLocationListener != null) {
hasCallbackReocrd = true;
recordLocationListener.onRecordFinish(historyList, correctList,validList,correctList);
}
return results[0]*1000;
return historyList.size() < 100;
}
/**
* 根据距离和角度计算下一个经纬度
* 大地坐标系资料WGS-84 长半径a=6378137 短半径b=6356752.3142 扁率f=1/298.2572236
*/
public MogoLatLng computerThatLonLat(double lon, double lat, double brng, double dist) {
double alpha1 = rad(brng);
double sinAlpha1 = Math.sin(alpha1);
double cosAlpha1 = Math.cos(alpha1);
// 扁率f=1/298.2572236
double f = 1 / 298.2572236;
double tanU1 = (1 - f) * Math.tan(rad(lat));
double cosU1 = 1 / Math.sqrt((1 + tanU1 * tanU1));
double sinU1 = tanU1 * cosU1;
double sigma1 = Math.atan2(tanU1, cosAlpha1);
double sinAlpha = cosU1 * sinAlpha1;
double cosSqAlpha = 1 - sinAlpha * sinAlpha;
// 长半径a=6378137
double a = 6378137;
// 短半径b=6356752.3142
double b = 6356752.3142;
double uSq = cosSqAlpha * (a * a - b * b) / (b * b);
double A = 1 + uSq / 16384 * (4096 + uSq * (-768 + uSq * (320 - 175 * uSq)));
double B = uSq / 1024 * (256 + uSq * (-128 + uSq * (74 - 47 * uSq)));
double cos2SigmaM=0;
double sinSigma=0;
double cosSigma=0;
double sigma = dist / (b * A), sigmaP = 2 * Math.PI;
while (Math.abs(sigma - sigmaP) > 1e-12) {
cos2SigmaM = Math.cos(2 * sigma1 + sigma);
sinSigma = Math.sin(sigma);
cosSigma = Math.cos(sigma);
double deltaSigma = B * sinSigma * (cos2SigmaM + B / 4 * (cosSigma * (-1 + 2 * cos2SigmaM * cos2SigmaM)
- B / 6 * cos2SigmaM * (-3 + 4 * sinSigma * sinSigma) * (-3 + 4 * cos2SigmaM * cos2SigmaM)));
sigmaP = sigma;
sigma = dist / (b * A) + deltaSigma;
}
double tmp = sinU1 * sinSigma - cosU1 * cosSigma * cosAlpha1;
double lat2 = Math.atan2(sinU1 * cosSigma + cosU1 * sinSigma * cosAlpha1,
(1 - f) * Math.sqrt(sinAlpha * sinAlpha + tmp * tmp));
double lambda = Math.atan2(sinSigma * sinAlpha1, cosU1 * cosSigma - sinU1 * sinSigma * cosAlpha1);
double C = f / 16 * cosSqAlpha * (4 + f * (4 - 3 * cosSqAlpha));
double L = lambda - (1 - C) * f * sinAlpha
* (sigma + C * sinSigma * (cos2SigmaM + C * cosSigma * (-1 + 2 * cos2SigmaM * cos2SigmaM)));
// final bearing
double revAz = Math.atan2(sinAlpha, -tmp);
System.out.println(revAz);
System.out.println(lon+deg(L)+","+deg(lat2));
return new MogoLatLng(deg(lat2), lon + deg(L));
}
/**
* 度换成弧度
*
* @param d
* 度
* @return 弧度
*/
private double rad(double d) {
return d * Math.PI / 180.0;
}
/**
* 弧度换成度
*
* @param x
* 弧度
* @return 度
*/
private double deg(double x) {
return x * 180 / Math.PI;
}
public interface RecordLocationListener{
void onRecordFinish(List<CloudLocationInfo> history, List<CloudLocationInfo> correct,List<CloudLocationInfo> valid,List<CloudLocationInfo> err);
}
}