两星一地被动参考模式第一个可用的版本

Service/X2D1TaskServer/Service/TaskService.cs

@@ -605,7 +605,7 @@ namespace X2D1TaskServer.Service
                         FreqDown = paramInfo.Minfo.FreqHz,
                         FreqUp = paramInfo.Dinfo.FreqHz,
                         Target = target,
-                        CalcConfidence = true,
+                        CalcConfidence = false,
                         CheckRes = new CheckResDto()
                         {
                             FileName = Path.GetFileName(paramInfo.Dinfo.FilePath),
@@ -713,8 +713,9 @@ namespace X2D1TaskServer.Service
                         var dto1 = (d1 - d2) * 1e6 + r.Next(-50, 51);
                         var dto22 = (d1 - d3) * 1e6 + r.Next(-50, 51);
                         dto2.SxDto = Math.Round(dto1, 3);
+                        dto2.SxSnr = r.Next(18, 30);
+                        dto2.XdSnr = r.Next(20, 34);
                         dto2.XdDto = Math.Round(dto22, 3);
-
                         var result = await HttpHelper.PostRequestAsync<PosResDto>(_config.baseUrl + "Pos/PosX2D1NoParAsync", dto2);
                         if (result.code != 200)
                         {
@@ -850,7 +851,12 @@ namespace X2D1TaskServer.Service
                 //已知主邻、主地的测量时差，求样本
                 //主地(测量值)+Δ=样本主(Δ表示超短站到固定站的理论距离)
                 //样本主-主邻1(测量值)=样本邻
-
+                if (dto.ForTest)
+                {
+                    item.SxSnr = r.Next(20, 40);
+                    item.XdSnr = r.Next(20, 40);
+                }
+                if (item.SxSnr <= 0 || item.XdSnr <= 0) continue;//无效数据不用缓存
                 var tarEcef = PhysicsHelper.GeoToEcef((dto.FixedStationDto.Lon, dto.FixedStationDto.Lat, 0));
                 var ecefCdb = PhysicsHelper.GeoToEcef((dto.CdbLon, dto.CdbLat, 0));
                 var delta = PhysicsHelper.Dto(tarEcef, ecefCdb) * 1e6;
@@ -863,9 +869,9 @@ namespace X2D1TaskServer.Service
                     FixedLon = dto.FixedStationDto.Lon,
                     FixedLat = dto.FixedStationDto.Lat,
                     SigTime = item.SigTime,
-                    MainYbDto = dtoYbMain,
-                    AdjaYbDto = dtoYbAdja,
-                    YbSnr = 40,
+                    MainYbDto = Math.Round(dtoYbMain, 3),
+                    AdjaYbDto = Math.Round(dtoYbAdja, 3),
+                    YbSnr = Math.Min(item.XdSnr, item.SxSnr),
                 };
                 cgItems.Add(cgItem);
             }
@@ -889,8 +895,9 @@ namespace X2D1TaskServer.Service
 
                     var d1 = PhysicsHelper.Dto(refEcef, ecefMain, recEcef);
                     var d2 = PhysicsHelper.Dto(refEcef, ecefAdja, recEcef);
-                    item.MainYbDto = d1 * 1e6;
-                    item.AdjaYbDto = d2 * 1e6;
+                    item.MainYbDto = Math.Round(d1 * 1e6, 3);
+                    item.AdjaYbDto = Math.Round(d2 * 1e6, 3);
+                    item.YbSnr = r.Next(20, 40);
                 }
             }
 

XdCxRhDW.Api/AddIns/定位/PosApi.cs

@@ -1,4 +1,5 @@
-using System;
+using DPP_YH_Core.Extensions;
+using System;
 using System.Collections.Generic;
 using System.Linq;
 using System.Runtime.CompilerServices;
@@ -17,7 +18,7 @@ namespace XdCxRhDW.Api
     public static class PosApi
     {
         //置信度统计次数
-        private static int confidenceCount = 100;
+        private static int confidenceCount = 1000;
 
         //置信度有效距离(m)
         private static int confidenceDistance = 10000;
@@ -215,16 +216,16 @@ namespace XdCxRhDW.Api
                     var cgResNew = cgRes.Clone();
                     for (int i = 0; i < confidenceCount; i++)
                     {
-                        cgResNew.MainX = cgRes.MainX + RandomHelper.Normal(0, 500);
-                        cgResNew.MainY = cgRes.MainY + RandomHelper.Normal(0, 500);
-                        cgResNew.MainZ = cgRes.MainZ + RandomHelper.Normal(0, 500);
-                        cgResNew.Adja1X = cgRes.Adja1X + RandomHelper.Normal(0, 500);
-                        cgResNew.Adja1Y = cgRes.Adja1Y + RandomHelper.Normal(0, 500);
-                        cgResNew.Adja1Z = cgRes.Adja1Z + RandomHelper.Normal(0, 500);
-                        cgResNew.Dto1 = (cgRes.Dto1 * 1e6 + RandomHelper.Normal(0, 4)) / 1e6;
-                        cgResNew.DtoCdb = (cgRes.DtoCdb * 1e6 + RandomHelper.Normal(0, 4)) / 1e6;
-                        cgResNew.YbMainDto = (cgRes.YbMainDto * 1e6 + RandomHelper.Normal(0, 4)) / 1e6;
-                        cgResNew.YbAdja1Dto = (cgRes.YbAdja1Dto * 1e6 + RandomHelper.Normal(0, 4)) / 1e6;
+                        cgResNew.MainX = cgRes.MainX + RandomHelper.Normal(0, 200);
+                        cgResNew.MainY = cgRes.MainY + RandomHelper.Normal(0, 200);
+                        cgResNew.MainZ = cgRes.MainZ + RandomHelper.Normal(0, 200);
+                        cgResNew.Adja1X = cgRes.Adja1X + RandomHelper.Normal(0, 200);
+                        cgResNew.Adja1Y = cgRes.Adja1Y + RandomHelper.Normal(0, 200);
+                        cgResNew.Adja1Z = cgRes.Adja1Z + RandomHelper.Normal(0, 200);
+                        cgResNew.Dto1 = (cgRes.Dto1 * 1e6 + RandomHelper.Normal(0, 1)) / 1e6;
+                        cgResNew.DtoCdb = (cgRes.DtoCdb * 1e6 + RandomHelper.Normal(0, 1)) / 1e6;
+                        cgResNew.YbMainDto = (cgRes.YbMainDto * 1e6 + RandomHelper.Normal(0, 1)) / 1e6;
+                        cgResNew.YbAdja1Dto = (cgRes.YbAdja1Dto * 1e6 + RandomHelper.Normal(0, 1)) / 1e6;
                         res = X2D1_GzPos(cgResNew, sRes);
                         var posResNew = ConvertToGeoPoint(res);
                         if (IsGeoPoint2(posResNew))
@@ -311,13 +312,66 @@ namespace XdCxRhDW.Api
             {
                 return new double[7] { 999, 999, 0, 999, 999, 0, -1 };
             }
-            double startLon = (int)sRes.CdbTxLon.Value - 20;
-            double endLon = (int)sRes.CdbTxLon.Value + 20;
-            double startLat = (int)sRes.CdbTxLat.Value - 20;
-            double endLat = (int)sRes.CdbTxLat.Value + 20;
+            var cdbStation = new double[2] { sRes.CdbTxLon.Value, sRes.CdbTxLat.Value };
+            var satStation = new double[2] { sRes.SatTxLon, sRes.SatTxLat };
+            var mainXYZ = new double[3] { cgRes.MainX.Value, cgRes.MainY.Value, cgRes.MainZ.Value };
+            var adjaXYZ = new double[3] { cgRes.Adja1X.Value, cgRes.Adja1Y.Value, cgRes.Adja1Z.Value };
+            var dtoSxus = cgRes.Dto1.Value;
+            var dtoXdus = cgRes.DtoCdb.Value;
+            var posRes = X2D1_PosNoRefCore_Zl(cdbStation, satStation, mainXYZ, adjaXYZ, dtoSxus, dtoXdus);
+            posRes = ConvertToGeoPoint(posRes);
+            if (CalcConfidence && IsGeoPoint2(posRes))
+            {
+                int succeedCount = 0;
+                int totalCount = 100;
+                for (int i = 0; i < totalCount; i++)
+                {
+                    var mainSatNew = new double[3]
+                    {
+                        cgRes.MainX.Value+RandomHelper.Normal(0,500),
+                        cgRes.MainY.Value+RandomHelper.Normal(0,500),
+                        cgRes.MainZ.Value+RandomHelper.Normal(0,500)
+
+                    };
+                    var adjaSatNew = new double[3]
+                    {
+                        cgRes.Adja1X.Value+RandomHelper.Normal(0,500),
+                        cgRes.Adja1Y.Value+RandomHelper.Normal(0,500),
+                        cgRes.Adja1Z.Value+RandomHelper.Normal(0,500)
+                    };
+                    var dtoSxusNew = dtoSxus + RandomHelper.Normal(0, 1);
+                    var dtoXdusNew = dtoXdus + RandomHelper.Normal(0, 1);
+                    var posResNew = X2D1_PosNoRefCore_Zl(cdbStation, satStation, mainSatNew, adjaSatNew, dtoSxusNew, dtoXdusNew);
+                    posResNew = ConvertToGeoPoint(posResNew);
+                    if (IsGeoPoint2(posResNew))
+                    {
+                        var distance = PhysicsHelper.DistanceGeo((posRes[0], posRes[1], 0), (posResNew[0], posResNew[1], 0));
+                        if (distance <= confidenceDistance)
+                        {
+                            succeedCount++;
+                        }
+                    }
+                }
+                var confidence = (int)(succeedCount / (double)totalCount * 100);
+                if (confidence == 0)
+                    confidence = 1;
+                if (confidence == 100)
+                    confidence = 99;
+                posRes[6] = confidence;
+            }
+            return posRes;
+        }
+
+        private static double[] X2D1_PosNoRefCore_Zl(double[] cdbStation, double[] satStation, double[] mainXYZ, double[] adjaXYZ, double dtoSxus, double dtoXdus)
+        {
+
+            double startLon = (int)cdbStation[0] - 10;
+            double endLon = (int)cdbStation[0] + 10;
+            double startLat = (int)cdbStation[1] - 10;
+            double endLat = (int)cdbStation[1] + 10;
             List<(double, double, double, double)> list = new List<(double, double, double, double)>();
-            var recXYZ = PhysicsHelper.GeoToEcef((sRes.SatTxLon, sRes.SatTxLat, 0));
-            var cdbXYZ = PhysicsHelper.GeoToEcef((sRes.CdbTxLon.Value, sRes.CdbTxLat.Value, 0));
+            var recXYZ = PhysicsHelper.GeoToEcef((satStation[0], satStation[1], 0));
+            var cdbXYZ = PhysicsHelper.GeoToEcef((cdbStation[0], cdbStation[1], 0));
             for (double lon = startLon; lon < endLon; lon += 0.0001)
             {
                 int flag = 0;
@@ -326,11 +380,11 @@ namespace XdCxRhDW.Api
                     var posXYZ = PhysicsHelper.GeoToEcef((lon, lat, 0));
 
                     //目标-主星-接收站的时间(us)
-                    var dt1 = PhysicsHelper.Dto(posXYZ, (cgRes.MainX.Value, cgRes.MainY.Value, cgRes.MainZ.Value), recXYZ) * 1e6;
+                    var dt1 = PhysicsHelper.Dto(posXYZ, (mainXYZ[0], mainXYZ[1], mainXYZ[2]), recXYZ) * 1e6;
 
                     //目标-超短站的时间(us)
                     var dt3 = PhysicsHelper.Dto(posXYZ, cdbXYZ) * 1e6;
-                    var dto2 = Math.Abs(dt1 - dt3 - cgRes.DtoCdb.Value);
+                    var dto2 = Math.Abs(dt1 - dt3 - dtoXdus);
                     if (dto2 > 400)
                     {
                         lat += 1;
@@ -367,8 +421,8 @@ namespace XdCxRhDW.Api
                     //    continue;
                     //}
                     //目标-邻星-接收站的时间(us)
-                    var dt2 = PhysicsHelper.Dto(posXYZ, (cgRes.Adja1X.Value, cgRes.Adja1Y.Value, cgRes.Adja1Z.Value), recXYZ) * 1e6;
-                    var dto1 = Math.Abs(dt1 - dt2 - cgRes.Dto1.Value);
+                    var dt2 = PhysicsHelper.Dto(posXYZ, (adjaXYZ[0], adjaXYZ[1], adjaXYZ[2]), recXYZ) * 1e6;
+                    var dto1 = Math.Abs(dt1 - dt2 - dtoSxus);
                     if (dto1 > 400)
                     {
                         lat += 1;
@@ -421,18 +475,18 @@ namespace XdCxRhDW.Api
             var p1 = list.OrderBy(p => p.Item4 * p.Item4 + p.Item3 * p.Item3).FirstOrDefault();
             if (p1 == default)
             {
-                posRes = new double[7] { 999, 999, 0, 999, 999, 0, -1 };
+                posRes = new double[6] { 999, 999, 0, 999, 999, 0 };
                 return posRes;
             }
             var p2 = list.Where(p => PhysicsHelper.DistanceGeo((p1.Item1, p1.Item2, 0), (p.Item1, p.Item2, 0)) > 10000).OrderBy(p => p.Item4 * p.Item4 + p.Item3 * p.Item3).FirstOrDefault();
             if (p2 == default)
-                posRes = new double[7] { p1.Item1, p1.Item2, 0, 999, 999, 0, -1 };
+                posRes = new double[6] { p1.Item1, p1.Item2, 0, 999, 999, 0 };
             else
-                posRes = new double[7] { p1.Item1, p1.Item2, 0, p2.Item1, p2.Item2, 0, -1 };
+                posRes = new double[6] { p1.Item1, p1.Item2, 0, p2.Item1, p2.Item2, 0 };
             if (posRes[3] != 999)
             {
-                var dis1 = PhysicsHelper.DistanceArcGeo((posRes[3], posRes[4]), (sRes.CdbTxLon.Value, sRes.CdbTxLat.Value));
-                var dis2 = PhysicsHelper.DistanceArcGeo((posRes[0], posRes[1]), (sRes.CdbTxLon.Value, sRes.CdbTxLat.Value));
+                var dis1 = PhysicsHelper.DistanceArcGeo((posRes[3], posRes[4]), (cdbStation[0], cdbStation[1]));
+                var dis2 = PhysicsHelper.DistanceArcGeo((posRes[0], posRes[1]), (cdbStation[0], cdbStation[1]));
                 if (dis1 < dis2)
                 {
                     var tmp1 = posRes[3];
@@ -443,48 +497,10 @@ namespace XdCxRhDW.Api
                     posRes[1] = tmp2;
                 }
             }
-            if (CalcConfidence && IsGeoPoint2(posRes))
-            {
-                double[] satStation = new double[3] { sRes.SatTxLon, sRes.SatTxLat, 0 };
-                double[] cdbStation = new double[3] { sRes.CdbTxLon.Value, sRes.CdbTxLat.Value, 0 };
-                double dto1 = cgRes.Dto1.Value / 1e6;
-                double dtoCdb = cgRes.DtoCdb.Value / 1e6;
-                double[] zone = new double[] { -85, 85, -180, 180 }; //定位区域
-                int succeedCount = 0;
-                for (int i = 0; i < confidenceCount; i++)
-                {
-                    var mainSatNew = new double[3]
-                    {
-                        cgRes.MainX.Value+RandomHelper.Normal(0,200),
-                        cgRes.MainY.Value+RandomHelper.Normal(0,200),
-                        cgRes.MainZ.Value+RandomHelper.Normal(0,200)
-
-                    };
-                    var adjaSatNew = new double[3]
-                    {
-                        cgRes.Adja1X.Value+RandomHelper.Normal(0,200),
-                        cgRes.Adja1Y.Value+RandomHelper.Normal(0,200),
-                        cgRes.Adja1Z.Value+RandomHelper.Normal(0,200)
-                    };
-                    var dto1New = (dto1 * 1e6 + RandomHelper.Normal(0, 1)) / 1e6;
-                    var dtoCdbNew = (dtoCdb * 1e6 + RandomHelper.Normal(0, 1)) / 1e6;
-                    double[] res = new double[6];
-                    X2D1_PosNoRef20240305_Core(mainSatNew, adjaSatNew, cdbStation, satStation, satStation, satStation, zone, dto1New, dtoCdbNew, res);
-                    var posResNew = ConvertToGeoPoint(res);
-                    if (IsGeoPoint2(posResNew))
-                    {
-                        var distance = PhysicsHelper.DistanceGeo((posRes[0], posRes[1], 0), (posResNew[0], posResNew[1], 0));
-                        if (distance <= confidenceDistance)
-                        {
-                            succeedCount++;
-                        }
-                    }
-                }
-                posRes[6] = (int)(succeedCount / (double)confidenceCount * 100);
-            }
             return posRes;
         }
 
+
         /// <summary>
         /// 融合定位带参，返回经度、纬度、高度、镜像点、置信度,数组长度为7
         /// </summary>

XdCxRhDW.App/App.config

@@ -27,7 +27,7 @@
 		<!--参估绘图外部程序的路径(可设置为绝对路径，也可设置为平台目录的相对路径)-->
 		<add key="CgDrawExe" value="Draw\Everything.exe" />
 		<!--星地任务是否使用仿真时频差等进行流程测试-->
-		<add key="ForTest" value="true"/>
+		<!--<add key="ForTest" value="true"/>-->
 	</appSettings>
 	<startup>
 		<supportedRuntime version="v4.0" sku=".NETFramework,Version=v4.7.2" />

XdCxRhDW.App/EditForms/X2D1DTOParamEditor.cs

@@ -70,8 +70,8 @@ namespace XdCxRhDW.App.EditForms
                 this.txtDtoCdb.Text = $"{cg.DtoCdb.Value}";
                 if (info.PosResType == EnumPosResType.X2D1)
                 {
-                    this.txtYbMain.Text = $"{cg.YbMainDto.Value}";
-                    this.txtYbAdja.Text = $"{cg.YbAdja1Dto.Value}";
+                    this.txtYbMain.Text = $"{cg.YbMainDto}";
+                    this.txtYbAdja.Text = $"{cg.YbAdja1Dto}";
                 }
                 this.txtSigTime.EditValue = info.SigTime;
                 ucEphXYZMain.SetXYZ("主星", cg.MainCode, (cg.MainX, cg.MainY, cg.MainZ), Color.Black);

XdCxRhDW.App/FindRef/LinearInterpolation.cs

@@ -11,12 +11,16 @@ namespace XdCxRhDW.App
         public static double CalSigTimeDto(DateTime x, DateTime x0, DateTime x1, double y0, double y1)
         {
             // 线性插值公式: y = y0 + (x - x0) * ((y1 - y0) / (x1 - x0))
-            double y= y0 + (x - x0).TotalSeconds * ((y1 - y0) / (x1 - x0).TotalSeconds);
+            if (x0 == x1)
+            {
+                return (y0 + y1) / 2;
+            }
+            double y = y0 + (x - x0).TotalSeconds * ((y1 - y0) / (x1 - x0).TotalSeconds);
             if (y == double.NaN)
             {
                 y = 0;
             }
-            return y;
+            return Math.Round(y, 3);
         }
 
     }

XdCxRhDW.App/FindRef/PosWithRefFind.cs

@@ -43,7 +43,7 @@ namespace XdCxRhDW.App
                             continue;
                         }
 
-                        if (refcgDto.MainYbDto == 0 || refcgDto.AdjaYbDto == 0)
+                        if (refcgDto.MainYbDto == 0 || refcgDto.AdjaYbDto == 0 || refcgDto.MainYbDto == double.NaN || refcgDto.AdjaYbDto == double.NaN)
                         {
                             await SendX2D1NoXlNoParAsync(taritem);
                         }
@@ -70,8 +70,8 @@ namespace XdCxRhDW.App
                                 XdSnr = taritem.XdSnr,
                                 SxDfo = taritem.SxDfo,
                                 SxSnr = taritem.SxSnr,
-                                CalcConfidence = true,
-                                TheoryDfoCalc = false,
+                                CalcConfidence = false,
+                                TheoryDfoCalc = true,
                                 TaskID = taritem.TaskID,
                                 CheckRes = taritem.CheckRes,
                             };
@@ -282,7 +282,7 @@ namespace XdCxRhDW.App
                         AdjaX = 25526808.8297,
                         AdjaY = 33541855.6479,
                         AdjaZ = 65652.2217,
-                        CalcConfidence = dto.CalcConfidence,
+                        CalcConfidence = false,
                         CdbTxLat = dto.CdbTxLat,
                         CdbTxLon = dto.CdbTxLon,
                         CheckRes = dto.CheckRes,

XdCxRhDW.App/UserControl/CtrlHome.cs

@@ -283,7 +283,7 @@ namespace XdCxRhDW.App.UserControl
                         mapControl1.DelPosItem(removeItems);
                         mapControl1.AddPosItem(posRes);
                     }));
-                    if ((DateTime.Now - lasetUpdateTime).TotalSeconds > 5)
+                    //if ((DateTime.Now - lasetUpdateTime).TotalSeconds > 5)
                     {
                         this.Invoke(new Action(() =>
                         {

XdCxRhDW.Sender/Form1.cs

@@ -154,7 +154,7 @@ namespace XdCxRhDW.Sender
                                             CdbTxLat = IniFiles.ReadValue<double>("Station_Data2023.ini", "超短波接收天线", "Lat"),
                                             RefLon = IniFiles.ReadValue<double>("Station_Data2023.ini", "参考站", "Lon"),
                                             RefLat = IniFiles.ReadValue<double>("Station_Data2023.ini", "参考站", "Lat"),
-                                            CalcConfidence = true,
+                                            CalcConfidence = false,
                                             TheoryDfoCalc = true,
                                         };
 
@@ -351,7 +351,7 @@ namespace XdCxRhDW.Sender
                                             XdSnr = 25,//For Api Test
                                             SxDfo = 1024,//For Api Test
                                             SxSnr = 25,//For Api Test
-                                            CalcConfidence = true,
+                                            CalcConfidence = false,
                                             TheoryDfoCalc = true,
                                         };
 

XdCxRhDw.Dto/PosDto/X2D1NoParPosDto.cs

@@ -175,7 +175,6 @@ namespace XdCxRhDW.Dto
         /// <summary>
         /// 是否计算理论频差
         /// </summary>
-        [Obsolete]
         public bool TheoryDfoCalc { get; set; } = false;
 
         /// <summary>

XdCxRhDw.Dto/PosDto/X2D1NoXlNoParlPosDto.cs

@@ -115,7 +115,6 @@ namespace XdCxRhDW.Dto
         /// <summary>
         /// 是否计算理论频差
         /// </summary>
-        [Obsolete]
         public bool TheoryDfoCalc { get; set; } = false;
 
         /// <summary>

XdCxRhDw.Dto/PosDto/X2D1NoXlPosDto.cs

@@ -139,7 +139,6 @@ namespace XdCxRhDW.Dto
         /// <summary>
         /// 是否计算理论频差
         /// </summary>
-        [Obsolete]
         public bool TheoryDfoCalc { get; set; } = false;
 
         /// <summary>

XdCxRhDw.Dto/PosDto/X2D1PosDto.cs

@@ -197,7 +197,6 @@ namespace XdCxRhDW.Dto
         /// <summary>
         /// 是否计算理论频差
         /// </summary>
-        [Obsolete]
         public bool TheoryDfoCalc { get; set; } = false;
 
         /// <summary>

XdCxRhDw.Dto/PosDto/X3TwoDtoNoParPosDto.cs

@@ -193,7 +193,6 @@ namespace XdCxRhDW.Dto
         /// <summary>
         /// 是否计算理论频差
         /// </summary>
-        [Obsolete]
         public bool TheoryDfoCalc { get; set; } = false;
 
         /// <summary>

XdCxRhDw.Dto/PosDto/X3TwoDtoNoXlNoParPosDto.cs

@@ -103,7 +103,6 @@ namespace XdCxRhDW.Dto
         /// <summary>
         /// 是否计算理论频差
         /// </summary>
-        [Obsolete]
         public bool TheoryDfoCalc { get; set; } = false;
 
         /// <summary>

XdCxRhDw.Dto/PosDto/X3TwoDtoNoXlPosDto.cs

@@ -130,7 +130,6 @@ namespace XdCxRhDW.Dto
         /// <summary>
         /// 是否计算理论频差
         /// </summary>
-        [Obsolete]
         public bool TheoryDfoCalc { get; set; } = false;
 
         /// <summary>

XdCxRhDw.Dto/PosDto/X3TwoDtoPosDto.cs

@@ -220,7 +220,6 @@ namespace XdCxRhDW.Dto
         /// <summary>
         /// 是否计算理论频差
         /// </summary>
-        [Obsolete]
         public bool TheoryDfoCalc { get; set; } = false;
 
         /// <summary>