XdCxRhDW/XdCxRhDW.WebApi/Controllers/PosController.cs

using System;
using System.Collections.Generic;
using System.Data.Entity;
using System.Data.SqlClient;
using System.Data.SQLite;
using System.Linq;
using System.Net.Http;
using System.Text;
using System.Threading.Tasks;
using System.Web.Http;
using Newtonsoft.Json;
using Serilog;
using Swashbuckle.Swagger;
using XdCxRhDw.Dto;
using XdCxRhDW.App.Api;
using XdCxRhDW.Core.Api;
using XdCxRhDW.Core.ObServer;
using XdCxRhDW.Core;
using XdCxRhDW.Dto;
using XdCxRhDW.Repostory.EFContext;
using XdCxRhDW.Repostory.Model;
using XdCxRhDW.WebApi.Controllers;

namespace XdCxRhDW.App.WebAPI
{
    /// <summary>
    /// 定位功能相关接口
    /// </summary>
    public class PosController : BaseController
    {
        #region 一星一地测向定位
        /// <summary>
        /// 一星一地测向带参定位(含星历)
        /// </summary>
        /// <param name="dto">定位参数</param>
        /// <returns></returns>
        [HttpPost]
        public async Task<AjaxResult<PosRes>> PosX1D1Async(X1D1PosDto dto)
        {
            using (RHDWContext db = new RHDWContext())
            {
                var runTask = await db.TaskInfos.FirstOrDefaultAsync(p => p.PosType == EnumPosType.X1D1CX && p.TaskState == EnumTaskState.Running);
                if (runTask == null)
                {
                    Serilog.Log.Warning($"接收到一星一地测向带参定位(含星历)参数,由于任务没有运行中忽略本次定位!");
                    return Error<PosRes>($"多模式融合定位平台没有启动一星一地测向定位任务");
                }

                var StationRes = db.StationRes.Add(new StationRes()
                {
                    SatTxLon = dto.SatTxLon,
                    SatTxLat = dto.SatTxLat,
                    CdbTxLon = dto.CdbTxLon,
                    CdbTxLat = dto.CdbTxLat,
                    CxLon = dto.CxLon,
                    CxLat = dto.CxLat,
                    RefLon = dto.RefLon,
                    RefLat = dto.RefLat,
                });

                var cgRes = db.CgRes.Add(new CgRes()
                {
                    SigTime = dto.SigTime,
                    DtoCdb = dto.XdDto,
                    DfoCdb = dto.XdDfo,
                    SnrCdb = dto.XdSnr,
                    YbMainDto = dto.MainYbDto,
                    StationResID = StationRes.ID,
                    MainX = dto.MainX,
                    MainY = dto.MainY,
                    MainZ = dto.MainZ,
                });

                var cxRes = db.CxRes.Add(new CxRes()
                {
                    SigTime = dto.SigTime,
                    Fx = dto.CxRes,
                });

                var res = PosApi.X1D1_Pos(cgRes, StationRes, cxRes);

                PosRes posRes = new PosRes()
                {
                    SigTime = cgRes.SigTime,
                    TaskInfoID = runTask.ID,
                    CxResID = cxRes.ID,
                    CgResID = cgRes.ID,
                    TarName = string.IsNullOrWhiteSpace(dto.TarName) ? "未知目标" : dto.TarName,
                    TsName = dto.TsName,
                    PosLon = res[0],
                    PosLat = res[1],
                    MirrLon = res[3],
                    MirrLat = res[4],
                };
                posRes = db.PosRes.Add(posRes);
                await db.SaveChangesAsync();
                PosObServer.Instance.Pub(posRes);
                return Success(posRes);
            }
        }

        /// <summary>
        /// 一星一地测向带参定位(无星历)
        /// </summary>
        /// <returns>返回定位结果ID</returns>
        [HttpPost]
        public async Task<AjaxResult<PosRes>> PosX1D1NoXlAsync(X1D1NoXlPosDto dto)
        {
            using (RHDWContext db = new RHDWContext())
            {
                var runTask = await db.TaskInfos.Where(p => p.TaskState == EnumTaskState.Running && p.PosType == EnumPosType.X1D1CX).FirstOrDefaultAsync();
                if (runTask == null)
                {
                    Serilog.Log.Warning($"接收到一星一地带参定位(无星历)参数,由于任务没有运行中忽略本次定位!");
                    return Error<PosRes>($"多模式融合定位平台没有启动一星一地定位任务");
                }
                var parameter1 = new SQLiteParameter("@sigTime", dto.SigTime);
                var parameter2 = new SQLiteParameter("@satcode", dto.MainSatID);
                var xlInfo1 = await db.XlInfos.SqlQuery("select * from XlInfo where ABS(JULIANDAY(TimeBJ)-JULIANDAY(@sigTime))=(select min(ABS(JULIANDAY(TimeBJ)-JULIANDAY(@sigTime))) from XlInfo where satcode=@satcode)", parameter1, parameter2).FirstOrDefaultAsync();
                if (xlInfo1 == null)
                {
                    Serilog.Log.Error($"未找到卫星[{dto.MainSatID}]的双行根数星历");
                    return Error<PosRes>($"未找到卫星[{dto.MainSatID}]的双行根数星历");
                }
                Serilog.Log.Information($"卫星{dto.MainSatID}使用{xlInfo1.TwoLine}进行星历推算");
                var settings = await db.SysSetings.FirstOrDefaultAsync();
                var client = new HttpClient();
                string url = string.Format("http://{0}:{1}/Api/", IpHelper.GetLocalIp(), settings.HttpPort);
                url += string.Format("Xl/Calc?tleStr={0}&dt={1}", xlInfo1.TwoLine, dto.SigTime);
                var response = await client.GetAsync(url);
                if (!response.IsSuccessStatusCode) // 处理响应失败
                {
                    Serilog.Log.Error($"[{dto.MainSatID}]星厉推算失败");
                    return Error<PosRes>($"[{dto.MainSatID}]星厉推算失败");
                }
                var content = await response.Content.ReadAsStringAsync();
                var ephMain = JsonConvert.DeserializeObject<AjaxResult<SatEphDto>>(content).data;

                var StationRes = db.StationRes.Add(new StationRes()
                {
                    SatTxLon = dto.SatTxLon,
                    SatTxLat = dto.SatTxLat,
                    CdbTxLon = dto.CdbTxLon,
                    CdbTxLat = dto.CdbTxLat,
                    CxLon = dto.CxLon,
                    CxLat = dto.CxLat,
                    RefLon = dto.RefLon,
                    RefLat = dto.RefLat,
                });

                var cgRes = db.CgRes.Add(new CgRes()
                {
                    SigTime = dto.SigTime,
                    DtoCdb = dto.XdDto,
                    DfoCdb = dto.XdDfo,
                    SnrCdb = dto.XdSnr,
                    YbMainDto = dto.MainYbDto,
                    StationResID = StationRes.ID,
                    MainX = ephMain.X,
                    MainY = ephMain.Y,
                    MainZ = ephMain.Z,
                });

                var cxRes = db.CxRes.Add(new CxRes()
                {
                    SigTime = dto.SigTime,
                    Fx = dto.CxRes,
                });

                var res = PosApi.X1D1_Pos(cgRes, StationRes, cxRes);

                PosRes posRes = new PosRes()
                {
                    SigTime = dto.SigTime,
                    TaskInfoID = runTask.ID,
                    CgResID = cgRes.ID,
                    TarName = string.IsNullOrWhiteSpace(dto.TarName) ? "未知目标" : dto.TarName,
                    TsName = dto.TsName,
                    PosLon = res[0],
                    PosLat = res[1],
                    MirrLon = res[3],
                    MirrLat = res[4],
                };
                posRes = db.PosRes.Add(posRes);
                await db.SaveChangesAsync();
                PosObServer.Instance.Pub(posRes);
                return Success(posRes);
            }
        }
        #endregion

        #region  两星一地定位
        /// <summary>
        /// 两星一地带参定位(含星历)
        /// </summary>
        /// <param name="dto">定位参数</param>
        /// <returns></returns>
        [HttpPost]
        public async Task<AjaxResult<PosRes>> PosX2D1Async(X2D1PosDto dto)
        {
            using (RHDWContext db = new RHDWContext())
            {
                var runTask = await db.TaskInfos.FirstOrDefaultAsync(p => p.PosType == EnumPosType.X2D1 && p.TaskState == EnumTaskState.Running);
                if (runTask == null)
                {
                    Serilog.Log.Warning($"接收到两星一地带参定位(含星历)参数,由于任务没有运行中忽略本次定位!");
                    return Error<PosRes>($"多模式融合定位平台没有启动两星一地定位任务");
                }

                var StationRes = db.StationRes.Add(new StationRes()
                {
                    SatTxLon = dto.SatTxLon,
                    SatTxLat = dto.SatTxLat,
                    CdbTxLon = dto.CdbTxLon,
                    CdbTxLat = dto.CdbTxLat,
                    RefLon = dto.RefLon,
                    RefLat = dto.RefLat,
                });

                var cgRes = db.CgRes.Add(new CgRes()
                {
                    SigTime = dto.SigTime,
                    Dto1 = dto.SxDto,
                    Dfo1 = dto.SxDfo,
                    Snr1 = dto.SxSnr,
                    DtoCdb = dto.XdDto,
                    DfoCdb = dto.XdDfo,
                    SnrCdb = dto.XdSnr,
                    YbMainDto = dto.MainYbDto,
                    YbAdja1Dto = dto.AdjaYbDto,
                    StationResID = StationRes.ID,
                    MainX = dto.MainX,
                    MainY = dto.MainY,
                    MainZ = dto.MainZ,
                    Adja1X = dto.AdjaX,
                    Adja1Y = dto.AdjaY,
                    Adja1Z = dto.AdjaZ,
                });

                var res = PosApi.X2D1_Pos(cgRes, StationRes);

                PosRes posRes = new PosRes()
                {
                    SigTime = cgRes.SigTime,
                    TaskInfoID = runTask.ID,
                    CgResID = cgRes.ID,
                    TarName = string.IsNullOrWhiteSpace(dto.TarName) ? "未知目标" : dto.TarName,
                    TsName = dto.TsName,
                    PosLon = res[0],
                    PosLat = res[1],
                    MirrLon = res[3],
                    MirrLat = res[4],
                };
                posRes = db.PosRes.Add(posRes);
                await db.SaveChangesAsync();
                PosObServer.Instance.Pub(posRes);
                return Success(posRes);
            }
        }

        /// <summary>
        /// 两星一地带参定位(无星历)
        /// </summary>
        /// <returns>返回定位结果ID</returns>
        [HttpPost]
        public async Task<AjaxResult<PosRes>> PosX2D1NoXlAsync(X2D1NoXlPosDto dto)
        {
            using (RHDWContext db = new RHDWContext())
            {
                var runTask = await db.TaskInfos.Where(p => p.TaskState == EnumTaskState.Running && p.PosType == EnumPosType.X2D1).FirstOrDefaultAsync();
                if (runTask == null)
                {
                    Serilog.Log.Warning($"接收到两星一地带参定位(无星历)参数,由于任务没有运行中忽略本次定位!");
                    return Error<PosRes>($"多模式融合定位平台没有启动两星一地定位任务");
                }
                var parameter1 = new SQLiteParameter("@sigTime", dto.SigTime);
                var parameter2 = new SQLiteParameter("@satcode", dto.MainSatID);
                var parameter3 = new SQLiteParameter("@satcode", dto.AdjaSatID);
                var xlInfo1 = await db.XlInfos.SqlQuery("select * from XlInfo where ABS(JULIANDAY(TimeBJ)-JULIANDAY(@sigTime))=(select min(ABS(JULIANDAY(TimeBJ)-JULIANDAY(@sigTime))) from XlInfo where satcode=@satcode)", parameter1, parameter2).FirstOrDefaultAsync();
                if (xlInfo1 == null)
                {
                    Serilog.Log.Error($"未找到卫星[{dto.MainSatID}]的双行根数星历");
                    return Error<PosRes>($"未找到卫星[{dto.MainSatID}]的双行根数星历");
                }

                var xlInfo2 = await db.XlInfos.SqlQuery("select * from XlInfo where ABS(JULIANDAY(TimeBJ)-JULIANDAY(@sigTime))=(select min(ABS(JULIANDAY(TimeBJ)-JULIANDAY(@sigTime))) from XlInfo where satcode=@satcode)", parameter1, parameter3).FirstOrDefaultAsync();
                if (xlInfo2 == null)
                {
                    Serilog.Log.Error($"未找到卫星[{dto.AdjaSatID}]的双行根数星历");
                    return Error<PosRes>($"未找到卫星[{dto.AdjaSatID}]的双行根数星历");
                }
                Serilog.Log.Information($"卫星{dto.MainSatID}使用{xlInfo1.TwoLine}进行星历推算");
                Serilog.Log.Information($"卫星{dto.AdjaSatID}使用{xlInfo2.TwoLine}进行星历推算");
                var settings = await db.SysSetings.FirstOrDefaultAsync();
                var client = new HttpClient();
                string url = string.Format("http://{0}:{1}/Api/", IpHelper.GetLocalIp(), settings.HttpPort);
                var url1 = string.Format(url + "Xl/Calc?tleStr={0}&dt={1}", xlInfo1.TwoLine, dto.SigTime);
                var response = await client.GetAsync(url1);
                if (!response.IsSuccessStatusCode) // 处理响应失败
                {
                    Serilog.Log.Error($"[{dto.MainSatID}]星厉推算失败");
                    return Error<PosRes>($"[{dto.MainSatID}]星厉推算失败");
                }
                var content = await response.Content.ReadAsStringAsync();
                var ephMain = JsonConvert.DeserializeObject<AjaxResult<SatEphDto>>(content).data;

                var url2 = string.Format(url + "Xl/Calc?tleStr={0}&dt={1}", xlInfo2.TwoLine, dto.SigTime);
                var response2 = await client.GetAsync(url2);
                if (!response2.IsSuccessStatusCode) // 处理响应失败
                {
                    Serilog.Log.Error($"[{dto.AdjaSatID}]星厉推算失败");
                    return Error<PosRes>($"[{dto.AdjaSatID}]星厉推算失败");
                }
                var content2 = await response2.Content.ReadAsStringAsync();
                var ephAdja = JsonConvert.DeserializeObject<AjaxResult<SatEphDto>>(content2).data;

                var StationRes = db.StationRes.Add(new StationRes()
                {
                    SatTxLon = dto.SatTxLon,
                    SatTxLat = dto.SatTxLat,
                    CdbTxLon = dto.CdbTxLon,
                    CdbTxLat = dto.CdbTxLat,
                    RefLon = dto.RefLon,
                    RefLat = dto.RefLat,
                });

                var cgRes = db.CgRes.Add(new CgRes()
                {
                    SigTime = dto.SigTime,
                    Dto1 = dto.SxDto,
                    Dfo1 = dto.SxDfo,
                    Snr1 = dto.SxSnr,
                    DtoCdb = dto.XdDto,
                    DfoCdb = dto.XdDfo,
                    SnrCdb = dto.XdSnr,
                    YbMainDto = dto.MainYbDto,
                    YbAdja1Dto = dto.AdjaYbDto,
                    StationResID = StationRes.ID,
                    MainX = ephMain.X,
                    MainY = ephMain.Y,
                    MainZ = ephMain.Z,
                    Adja1X = ephAdja.X,
                    Adja1Y = ephAdja.Y,
                    Adja1Z = ephAdja.Z,
                });

                var res = PosApi.X2D1_Pos(cgRes, StationRes);

                PosRes posRes = new PosRes()
                {
                    SigTime = dto.SigTime,
                    TaskInfoID = runTask.ID,
                    CgResID = cgRes.ID,
                    TarName = string.IsNullOrWhiteSpace(dto.TarName) ? "未知目标" : dto.TarName,
                    TsName = dto.TsName,
                    PosLon = res[0],
                    PosLat = res[1],
                    MirrLon = res[3],
                    MirrLat = res[4],
                };
                posRes = db.PosRes.Add(posRes);
                await db.SaveChangesAsync();
                PosObServer.Instance.Pub(posRes);
                return Success(posRes);
            }
        }

        /// <summary>
        /// 两星一地无参定位(含星历)
        /// </summary>
        /// <param name="dto">定位参数</param>
        /// <returns></returns>
        [HttpPost]
        public async Task<AjaxResult<PosRes>> PosX2D1NoParAsync(X2D1NoParPosDto dto)
        {
            using (RHDWContext db = new RHDWContext())
            {
                var runTask = await db.TaskInfos.FirstOrDefaultAsync(p => p.PosType == EnumPosType.X2D1 && p.TaskState == EnumTaskState.Running);
                if (runTask == null)
                {
                    Serilog.Log.Warning($"接收到两星一地无参定位(含星历)参数,由于任务没有运行中忽略本次定位!");
                    return Error<PosRes>($"多模式融合定位平台没有启动两星一地定位任务");
                }

                var StationRes = db.StationRes.Add(new StationRes()
                {
                    SatTxLon = dto.SatTxLon,
                    SatTxLat = dto.SatTxLat,
                    CdbTxLon = dto.CdbTxLon,
                    CdbTxLat = dto.CdbTxLat,
                });

                var cgRes = db.CgRes.Add(new CgRes()
                {
                    SigTime = dto.SigTime,
                    Dto1 = dto.SxDto,
                    Dfo1 = dto.SxDfo,
                    Snr1 = dto.SxSnr,
                    DtoCdb = dto.XdDto,
                    DfoCdb = dto.XdDfo,
                    SnrCdb = dto.XdSnr,
                    StationResID = StationRes.ID,
                    MainX = dto.MainX,
                    MainY = dto.MainY,
                    MainZ = dto.MainZ,
                    Adja1X = dto.AdjaX,
                    Adja1Y = dto.AdjaY,
                    Adja1Z = dto.AdjaZ,
                });

                var res = PosApi.X2D1_PosNoRef(cgRes, StationRes);

                PosRes posRes = new PosRes()
                {
                    SigTime = cgRes.SigTime,
                    TaskInfoID = runTask.ID,
                    CgResID = cgRes.ID,
                    TarName = string.IsNullOrWhiteSpace(dto.TarName) ? "未知目标" : dto.TarName,
                    TsName = dto.TsName,
                    PosLon = res[0],
                    PosLat = res[1],
                    MirrLon = res[3],
                    MirrLat = res[4],
                };

                posRes = db.PosRes.Add(posRes);
                await db.SaveChangesAsync();
                PosObServer.Instance.Pub(posRes);
                return Success(posRes);
            }
        }

        /// <summary>
        /// 两星一地无参定位(无星历)
        /// </summary>
        /// <returns>返回定位结果ID</returns>
        [HttpPost]
        public async Task<AjaxResult<PosRes>> PosX2D1NoXlNoParAsync(X2D1NoXlNoParlPosDto dto)
        {
            using (RHDWContext db = new RHDWContext())
            {
                var runTask = await db.TaskInfos.Where(p => p.TaskState == EnumTaskState.Running && p.PosType == EnumPosType.X2D1).FirstOrDefaultAsync();
                if (runTask == null)
                {
                    Serilog.Log.Warning($"接收到两星一地无参定位(无星历)参数,由于任务没有运行中忽略本次定位!");
                    return Error<PosRes>($"多模式融合定位平台没有启动两星一地定位任务");
                }
                var parameter1 = new SQLiteParameter("@sigTime", dto.SigTime);
                var parameter2 = new SQLiteParameter("@satcode", dto.MainSatID);
                var parameter3 = new SQLiteParameter("@satcode", dto.AdjaSatID);
                var xlInfo1 = await db.XlInfos.SqlQuery("select * from XlInfo where ABS(JULIANDAY(TimeBJ)-JULIANDAY(@sigTime))=(select min(ABS(JULIANDAY(TimeBJ)-JULIANDAY(@sigTime))) from XlInfo where satcode=@satcode)", parameter1, parameter2).FirstOrDefaultAsync();
                if (xlInfo1 == null)
                {
                    Serilog.Log.Error($"未找到卫星[{dto.MainSatID}]的双行根数星历");
                    return Error<PosRes>($"未找到卫星[{dto.MainSatID}]的双行根数星历");
                }

                var xlInfo2 = await db.XlInfos.SqlQuery("select * from XlInfo where ABS(JULIANDAY(TimeBJ)-JULIANDAY(@sigTime))=(select min(ABS(JULIANDAY(TimeBJ)-JULIANDAY(@sigTime))) from XlInfo where satcode=@satcode)", parameter1, parameter3).FirstOrDefaultAsync();
                if (xlInfo2 == null)
                {
                    Serilog.Log.Error($"未找到卫星[{dto.AdjaSatID}]的双行根数星历");
                    return Error<PosRes>($"未找到卫星[{dto.AdjaSatID}]的双行根数星历");
                }
                Serilog.Log.Information($"卫星{dto.MainSatID}使用{xlInfo1.TwoLine}进行星历推算");
                Serilog.Log.Information($"卫星{dto.AdjaSatID}使用{xlInfo2.TwoLine}进行星历推算");
                var settings = await db.SysSetings.FirstOrDefaultAsync();
                var client = new HttpClient();
                string url = string.Format("http://{0}:{1}/Api/", IpHelper.GetLocalIp(), settings.HttpPort);
                var url1 = string.Format(url + "Xl/Calc?tleStr={0}&dt={1}", xlInfo1.TwoLine, dto.SigTime);
                var response = await client.GetAsync(url1);
                if (!response.IsSuccessStatusCode) // 处理响应失败
                {
                    Serilog.Log.Error($"[{dto.MainSatID}]星厉推算失败");
                    return Error<PosRes>($"[{dto.MainSatID}]星厉推算失败");
                }
                var content = await response.Content.ReadAsStringAsync();
                var ephMain = JsonConvert.DeserializeObject<AjaxResult<SatEphDto>>(content).data;

                var url2 = string.Format(url + "Xl/Calc?tleStr={0}&dt={1}", xlInfo2.TwoLine, dto.SigTime);
                var response2 = await client.GetAsync(url2);
                if (!response2.IsSuccessStatusCode) // 处理响应失败
                {
                    Serilog.Log.Error($"[{dto.AdjaSatID}]星厉推算失败");
                    return Error<PosRes>($"[{dto.AdjaSatID}]星厉推算失败");
                }
                var content2 = await response2.Content.ReadAsStringAsync();
                var ephAdja = JsonConvert.DeserializeObject<AjaxResult<SatEphDto>>(content2).data;

                var StationRes = db.StationRes.Add(new StationRes()
                {
                    SatTxLon = dto.SatTxLon,
                    SatTxLat = dto.SatTxLat,
                    CdbTxLon = dto.CdbTxLon,
                    CdbTxLat = dto.CdbTxLat,
                });

                var cgRes = db.CgRes.Add(new CgRes()
                {
                    SigTime = dto.SigTime,
                    Dto1 = dto.SxDto,
                    Dfo1 = dto.SxDfo,
                    Snr1 = dto.SxSnr,
                    DtoCdb = dto.XdDto,
                    DfoCdb = dto.XdDfo,
                    SnrCdb = dto.XdSnr,
                    StationResID = StationRes.ID,
                    MainX = ephMain.X,
                    MainY = ephMain.Y,
                    MainZ = ephMain.Z,
                    Adja1X = ephAdja.X,
                    Adja1Y = ephAdja.Y,
                    Adja1Z = ephAdja.Z,
                });

                var res = PosApi.X2D1_PosNoRef(cgRes, StationRes);

                PosRes posRes = new PosRes()
                {
                    SigTime = dto.SigTime,
                    TaskInfoID = runTask.ID,
                    CgResID = cgRes.ID,
                    TarName = string.IsNullOrWhiteSpace(dto.TarName) ? "未知目标" : dto.TarName,
                    TsName = dto.TsName,
                    PosLon = res[0],
                    PosLat = res[1],
                    MirrLon = res[3],
                    MirrLat = res[4],
                };

                posRes = db.PosRes.Add(posRes);
                await db.SaveChangesAsync();
                PosObServer.Instance.Pub(posRes);
                return Success(posRes);
            }
        }
        #endregion

        #region 融合定位
        /// <summary>
        /// 融合带参定位(含星历)
        /// </summary>
        /// <param name="dto">定位参数</param>
        /// <returns></returns>
        [HttpPost]
        public async Task<AjaxResult<PosRes>> PosRhAsync(RHPosDto dto)
        {
            using (RHDWContext db = new RHDWContext())
            {
                var runTask = await db.TaskInfos.FirstOrDefaultAsync(p => p.PosType == EnumPosType.RH && p.TaskState == EnumTaskState.Running);
                if (runTask == null)
                {
                    Serilog.Log.Warning($"接收到融合带参定位(含星历)参数,由于任务没有运行中忽略本次定位!");
                    return Error<PosRes>($"多模式融合定位平台没有启动融合定位任务");
                }

                var StationRes = db.StationRes.Add(new StationRes()
                {
                    SatTxLon = dto.SatTxLon,
                    SatTxLat = dto.SatTxLat,
                    CdbTxLon = dto.CdbTxLon,
                    CdbTxLat = dto.CdbTxLat,
                    CxLon = dto.CxLon,
                    CxLat = dto.CxLat,
                    RefLon = dto.RefLon,
                    RefLat = dto.RefLat,
                });

                var cgRes = db.CgRes.Add(new CgRes()
                {
                    SigTime = dto.SigTime,
                    Dto1 = dto.SxDto,
                    Dfo1 = dto.SxDfo,
                    Snr1 = dto.SxSnr,
                    DtoCdb = dto.XdDto,
                    DfoCdb = dto.XdDfo,
                    SnrCdb = dto.XdSnr,
                    YbMainDto = dto.MainYbDto,
                    YbAdja1Dto = dto.AdjaYbDto,
                    StationResID = StationRes.ID,
                    MainX = dto.MainX,
                    MainY = dto.MainY,
                    MainZ = dto.MainZ,
                    Adja1X = dto.AdjaX,
                    Adja1Y = dto.AdjaY,
                    Adja1Z = dto.AdjaZ,
                });

                var cxRes = db.CxRes.Add(new CxRes()
                {
                    SigTime = dto.SigTime,
                    Fx = dto.CxRes,
                });

                var res = PosApi.RH_Pos(cgRes, StationRes, cxRes);

                PosRes posRes = new PosRes()
                {
                    SigTime = cgRes.SigTime,
                    TaskInfoID = runTask.ID,
                    CxResID = cxRes.ID,
                    CgResID = cgRes.ID,
                    TarName = string.IsNullOrWhiteSpace(dto.TarName) ? "未知目标" : dto.TarName,
                    TsName = dto.TsName,
                    PosLon = res[0],
                    PosLat = res[1],
                    MirrLon = res[3],
                    MirrLat = res[4],
                };
                posRes = db.PosRes.Add(posRes);
                await db.SaveChangesAsync();
                PosObServer.Instance.Pub(posRes);
                return Success(posRes);
            }
        }

        /// <summary>
        /// 融合带参定位(无星历)
        /// </summary>
        /// <returns>返回定位结果ID</returns>
        [HttpPost]
        public async Task<AjaxResult<PosRes>> PosRhNoXlAsync(RHNoXlPosDto dto)
        {
            using (RHDWContext db = new RHDWContext())
            {
                var runTask = await db.TaskInfos.Where(p => p.TaskState == EnumTaskState.Running && p.PosType == EnumPosType.RH).FirstOrDefaultAsync();
                if (runTask == null)
                {
                    Serilog.Log.Warning($"接收到融合带参定位(无星历)参数,由于任务没有运行中忽略本次定位!");
                    return Error<PosRes>($"多模式融合定位平台没有启动融合定位任务");
                }
                var parameter1 = new SQLiteParameter("@sigTime", dto.SigTime);
                var parameter2 = new SQLiteParameter("@satcode", dto.MainSatID);
                var parameter3 = new SQLiteParameter("@satcode", dto.AdjaSatID);
                var xlInfo1 = await db.XlInfos.SqlQuery("select * from XlInfo where ABS(JULIANDAY(TimeBJ)-JULIANDAY(@sigTime))=(select min(ABS(JULIANDAY(TimeBJ)-JULIANDAY(@sigTime))) from XlInfo where satcode=@satcode)", parameter1, parameter2).FirstOrDefaultAsync();
                if (xlInfo1 == null)
                {
                    Serilog.Log.Error($"未找到卫星[{dto.MainSatID}]的双行根数星历");
                    return Error<PosRes>($"未找到卫星[{dto.MainSatID}]的双行根数星历");
                }

                var xlInfo2 = await db.XlInfos.SqlQuery("select * from XlInfo where ABS(JULIANDAY(TimeBJ)-JULIANDAY(@sigTime))=(select min(ABS(JULIANDAY(TimeBJ)-JULIANDAY(@sigTime))) from XlInfo where satcode=@satcode)", parameter1, parameter3).FirstOrDefaultAsync();
                if (xlInfo2 == null)
                {
                    Serilog.Log.Error($"未找到卫星[{dto.AdjaSatID}]的双行根数星历");
                    return Error<PosRes>($"未找到卫星[{dto.AdjaSatID}]的双行根数星历");
                }
                Serilog.Log.Information($"卫星{dto.MainSatID}使用{xlInfo1.TwoLine}进行星历推算");
                Serilog.Log.Information($"卫星{dto.AdjaSatID}使用{xlInfo2.TwoLine}进行星历推算");
                var settings = await db.SysSetings.FirstOrDefaultAsync();
                var client = new HttpClient();
                string url = string.Format("http://{0}:{1}/Api/", IpHelper.GetLocalIp(), settings.HttpPort);
                var url1 = string.Format(url + "Xl/Calc?tleStr={0}&dt={1}", xlInfo1.TwoLine, dto.SigTime);
                var response = await client.GetAsync(url1);
                if (!response.IsSuccessStatusCode) // 处理响应失败
                {
                    Serilog.Log.Error($"[{dto.MainSatID}]星厉推算失败");
                    return Error<PosRes>($"[{dto.MainSatID}]星厉推算失败");
                }
                var content = await response.Content.ReadAsStringAsync();
                var ephMain = JsonConvert.DeserializeObject<AjaxResult<SatEphDto>>(content).data;

                var url2 = string.Format(url + "Xl/Calc?tleStr={0}&dt={1}", xlInfo2.TwoLine, dto.SigTime);
                var response2 = await client.GetAsync(url2);
                if (!response2.IsSuccessStatusCode) // 处理响应失败
                {
                    Serilog.Log.Error($"[{dto.AdjaSatID}]星厉推算失败");
                    return Error<PosRes>($"[{dto.AdjaSatID}]星厉推算失败");
                }
                var content2 = await response2.Content.ReadAsStringAsync();
                var ephAdja = JsonConvert.DeserializeObject<AjaxResult<SatEphDto>>(content2).data;

                var StationRes = db.StationRes.Add(new StationRes()
                {
                    SatTxLon = dto.SatTxLon,
                    SatTxLat = dto.SatTxLat,
                    CdbTxLon = dto.CdbTxLon,
                    CdbTxLat = dto.CdbTxLat,
                    CxLon = dto.CxLon,
                    CxLat = dto.CxLat,
                    RefLon = dto.RefLon,
                    RefLat = dto.RefLat,
                });

                var cgRes = db.CgRes.Add(new CgRes()
                {
                    SigTime = dto.SigTime,
                    Dto1 = dto.SxDto,
                    Dfo1 = dto.SxDfo,
                    Snr1 = dto.SxSnr,
                    DtoCdb = dto.XdDto,
                    DfoCdb = dto.XdDfo,
                    SnrCdb = dto.XdSnr,
                    YbMainDto = dto.MainYbDto,
                    YbAdja1Dto = dto.AdjaYbDto,
                    StationResID = StationRes.ID,
                    MainX = ephMain.X,
                    MainY = ephMain.Y,
                    MainZ = ephMain.Z,
                    Adja1X = ephAdja.X,
                    Adja1Y = ephAdja.Y,
                    Adja1Z = ephAdja.Z,
                });

                var cxRes = db.CxRes.Add(new CxRes()
                {
                    SigTime = dto.SigTime,
                    Fx = dto.CxRes,
                });

                var res = PosApi.RH_Pos(cgRes, StationRes, cxRes);

                PosRes posRes = new PosRes()
                {
                    SigTime = cgRes.SigTime,
                    TaskInfoID = runTask.ID,
                    CxResID = cxRes.ID,
                    CgResID = cgRes.ID,
                    TarName = string.IsNullOrWhiteSpace(dto.TarName) ? "未知目标" : dto.TarName,
                    TsName = dto.TsName,
                    PosLon = res[0],
                    PosLat = res[1],
                    MirrLon = res[3],
                    MirrLat = res[4],
                };
                posRes = db.PosRes.Add(posRes);
                await db.SaveChangesAsync();
                PosObServer.Instance.Pub(posRes);
                return Success(posRes);
            }
        }
        #endregion

        #region 三星双时差定位
        /// <summary>
        /// 三星双时差带参定位(含星历)
        /// </summary>
        /// <param name="dto">定位参数</param>
        /// <returns></returns>
        [HttpPost]
        public async Task<AjaxResult<PosRes>> PosX3TwoDtoAsync(X3TwoDtoPosDto dto)
        {
            using (RHDWContext db = new RHDWContext())
            {
                var runTask = await db.TaskInfos.FirstOrDefaultAsync(p => p.PosType == EnumPosType.X3TwoDto && p.TaskState == EnumTaskState.Running);
                if (runTask == null)
                {
                    Serilog.Log.Warning($"接收到三星双时差带参定位(含星历)参数,由于任务没有运行中忽略本次定位!");
                    return Error<PosRes>($"多模式融合定位平台没有启动三星双时差定位任务");
                }

                var StationRes = db.StationRes.Add(new StationRes()
                {
                    SatTxLon = dto.SatTxLon,
                    SatTxLat = dto.SatTxLat,
                    RefLon = dto.RefLon,
                    RefLat = dto.RefLat,
                });

                var cgRes = db.CgRes.Add(new CgRes()
                {
                    SigTime = dto.SigTime,
                    Dto1 = dto.Dto1,
                    Dfo1 = dto.Dfo1,
                    Snr1 = dto.Snr1,
                    Dto2 = dto.Dto2,
                    Dfo2 = dto.Dfo2,
                    Snr2 = dto.Snr2,
                    YbMainDto = dto.YbMainDto,
                    YbAdja1Dto = dto.YbAdja1Dto,
                    YbAdja2Dto = dto.YbAdja2Dto,
                    StationResID = StationRes.ID,
                    MainX = dto.MainX,
                    MainY = dto.MainY,
                    MainZ = dto.MainZ,
                    Adja1X = dto.Adja1X,
                    Adja1Y = dto.Adja1Y,
                    Adja1Z = dto.Adja1Z,
                    Adja2X = dto.Adja2X,
                    Adja2Y = dto.Adja2Y,
                    Adja2Z = dto.Adja2Z,
                });

                var res = PosApi.X3_Pos(cgRes, StationRes);

                PosRes posRes = new PosRes()
                {
                    SigTime = cgRes.SigTime,
                    TaskInfoID = runTask.ID,
                    CgResID = cgRes.ID,
                    TarName = string.IsNullOrWhiteSpace(dto.TarName) ? "未知目标" : dto.TarName,
                    TsName = dto.TsName,
                    PosLon = res[0],
                    PosLat = res[1],
                    MirrLon = res[3],
                    MirrLat = res[4],
                };
                posRes = db.PosRes.Add(posRes);
                await db.SaveChangesAsync();
                PosObServer.Instance.Pub(posRes);
                return Success(posRes);
            }
        }

        /// <summary>
        /// 三星双时差带参定位(无星历)
        /// </summary>
        /// <returns>返回定位结果ID</returns>
        [HttpPost]
        public async Task<AjaxResult<PosRes>> PosX3TwoDtoNoXlAsync(X3TwoDtoNoXlPosDto dto)
        {
            using (RHDWContext db = new RHDWContext())
            {
                var runTask = await db.TaskInfos.Where(p => p.TaskState == EnumTaskState.Running && p.PosType == EnumPosType.X3TwoDto).FirstOrDefaultAsync();
                if (runTask == null)
                {
                    Serilog.Log.Warning($"接收到三星双时差带参定位(无星历)参数,由于任务没有运行中忽略本次定位!");
                    return Error<PosRes>($"多模式融合定位平台没有启动三星双时差定位任务");
                }
                var parameter1 = new SQLiteParameter("@sigTime", dto.SigTime);
                var parameter2 = new SQLiteParameter("@satcode", dto.MainSatID);
                var parameter3 = new SQLiteParameter("@satcode", dto.Adja1SatID);
                var parameter4 = new SQLiteParameter("@satcode", dto.Adja2SatID);
                var xlInfo1 = await db.XlInfos.SqlQuery("select * from XlInfo where ABS(JULIANDAY(TimeBJ)-JULIANDAY(@sigTime))=(select min(ABS(JULIANDAY(TimeBJ)-JULIANDAY(@sigTime))) from XlInfo where satcode=@satcode)", parameter1, parameter2).FirstOrDefaultAsync();
                if (xlInfo1 == null)
                {
                    Serilog.Log.Error($"未找到卫星[{dto.MainSatID}]的双行根数星历");
                    return Error<PosRes>($"未找到卫星[{dto.MainSatID}]的双行根数星历");
                }

                var xlInfo2 = await db.XlInfos.SqlQuery("select * from XlInfo where ABS(JULIANDAY(TimeBJ)-JULIANDAY(@sigTime))=(select min(ABS(JULIANDAY(TimeBJ)-JULIANDAY(@sigTime))) from XlInfo where satcode=@satcode)", parameter1, parameter3).FirstOrDefaultAsync();
                if (xlInfo2 == null)
                {
                    Serilog.Log.Error($"未找到卫星[{dto.Adja1SatID}]的双行根数星历");
                    return Error<PosRes>($"未找到卫星[{dto.Adja1SatID}]的双行根数星历");
                }

                var xlInfo3 = await db.XlInfos.SqlQuery("select * from XlInfo where ABS(JULIANDAY(TimeBJ)-JULIANDAY(@sigTime))=(select min(ABS(JULIANDAY(TimeBJ)-JULIANDAY(@sigTime))) from XlInfo where satcode=@satcode)", parameter1, parameter4).FirstOrDefaultAsync();
                if (xlInfo3 == null)
                {
                    Serilog.Log.Error($"未找到卫星[{dto.Adja2SatID}]的双行根数星历");
                    return Error<PosRes>($"未找到卫星[{dto.Adja2SatID}]的双行根数星历");
                }
                Serilog.Log.Information($"卫星{dto.MainSatID}使用{xlInfo1.TwoLine}进行星历推算");
                Serilog.Log.Information($"卫星{dto.Adja1SatID}使用{xlInfo2.TwoLine}进行星历推算");
                Serilog.Log.Information($"卫星{dto.Adja2SatID}使用{xlInfo3.TwoLine}进行星历推算");
                var settings = await db.SysSetings.FirstOrDefaultAsync();
                var client = new HttpClient();

                string url = string.Format("http://{0}:{1}/Api/", IpHelper.GetLocalIp(), settings.HttpPort);
                var url1 = string.Format(url + "Xl/Calc?tleStr={0}&dt={1}", xlInfo1.TwoLine, dto.SigTime);
                var response = await client.GetAsync(url1);
                if (!response.IsSuccessStatusCode) // 处理响应失败
                {
                    Serilog.Log.Error($"[{dto.MainSatID}]星厉推算失败");
                    return Error<PosRes>($"[{dto.MainSatID}]星厉推算失败");
                }
                var content = await response.Content.ReadAsStringAsync();
                var ephMain = JsonConvert.DeserializeObject<AjaxResult<SatEphDto>>(content).data;

                var url2 = string.Format(url + "Xl/Calc?tleStr={0}&dt={1}", xlInfo2.TwoLine, dto.SigTime);
                var response2 = await client.GetAsync(url2);
                if (!response2.IsSuccessStatusCode) // 处理响应失败
                {
                    Serilog.Log.Error($"[{dto.Adja1SatID}]星厉推算失败");
                    return Error<PosRes>($"[{dto.Adja1SatID}]星厉推算失败");
                }
                var content2 = await response2.Content.ReadAsStringAsync();
                var ephAdja1 = JsonConvert.DeserializeObject<AjaxResult<SatEphDto>>(content2).data;

                var url3 = string.Format(url + "Xl/Calc?tleStr={0}&dt={1}", xlInfo3.TwoLine, dto.SigTime);
                var response3 = await client.GetAsync(url3);
                if (!response3.IsSuccessStatusCode) // 处理响应失败
                {
                    Serilog.Log.Error($"[{dto.Adja2SatID}]星厉推算失败");
                    return Error<PosRes>($"[{dto.Adja2SatID}]星厉推算失败");
                }
                var content3 = await response2.Content.ReadAsStringAsync();
                var ephAdja2 = JsonConvert.DeserializeObject<AjaxResult<SatEphDto>>(content3).data;

                var StationRes = db.StationRes.Add(new StationRes()
                {
                    SatTxLon = dto.SatTxLon,
                    SatTxLat = dto.SatTxLat,
                    RefLon = dto.RefLon,
                    RefLat = dto.RefLat,
                });

                var cgRes = db.CgRes.Add(new CgRes()
                {
                    SigTime = dto.SigTime,
                    Dto1 = dto.Dto1,
                    Dfo1 = dto.Dfo1,
                    Snr1 = dto.Snr1,
                    Dto2 = dto.Dto2,
                    Dfo2 = dto.Dfo2,
                    Snr2 = dto.Snr2,
                    YbMainDto = dto.YbMainDto,
                    YbAdja1Dto = dto.YbAdja1Dto,
                    YbAdja2Dto = dto.YbAdja2Dto,
                    StationResID = StationRes.ID,
                    MainX = ephMain.X,
                    MainY = ephMain.Y,
                    MainZ = ephMain.Z,
                    Adja1X = ephAdja1.X,
                    Adja1Y = ephAdja1.Y,
                    Adja1Z = ephAdja1.Z,
                    Adja2X = ephAdja2.X,
                    Adja2Y = ephAdja2.Y,
                    Adja2Z = ephAdja2.Z,
                });

                var res = PosApi.X3_Pos(cgRes, StationRes);

                PosRes posRes = new PosRes()
                {
                    SigTime = dto.SigTime,
                    TaskInfoID = runTask.ID,
                    CgResID = cgRes.ID,
                    TarName = string.IsNullOrWhiteSpace(dto.TarName) ? "未知目标" : dto.TarName,
                    TsName = dto.TsName,
                    PosLon = res[0],
                    PosLat = res[1],
                    MirrLon = res[3],
                    MirrLat = res[4],
                };
                posRes = db.PosRes.Add(posRes);
                await db.SaveChangesAsync();
                PosObServer.Instance.Pub(posRes);
                return Success(posRes);
            }
        }

        /// <summary>
        /// 三星双时差无参定位(含星历)
        /// </summary>
        /// <param name="dto">定位参数</param>
        /// <returns></returns>
        [HttpPost]
        public async Task<AjaxResult<PosRes>> PosX3TwoDtoNoParAsync(X3TwoDtoNoParPosDto dto)
        {
            using (RHDWContext db = new RHDWContext())
            {
                var runTask = await db.TaskInfos.FirstOrDefaultAsync(p => p.PosType == EnumPosType.X3TwoDto && p.TaskState == EnumTaskState.Running);
                if (runTask == null)
                {
                    Serilog.Log.Warning($"接收到三星双时差无参定位(含星历)参数,由于任务没有运行中忽略本次定位!");
                    return Error<PosRes>($"多模式融合定位平台没有启动三星双时差定位任务");
                }

                var StationRes = db.StationRes.Add(new StationRes()
                {
                    SatTxLon = dto.SatTxLon,
                    SatTxLat = dto.SatTxLat,
                });

                var cgRes = db.CgRes.Add(new CgRes()
                {
                    SigTime = dto.SigTime,
                    Dto1 = dto.Dto1,
                    Dfo1 = dto.Dfo1,
                    Snr1 = dto.Snr1,
                    Dto2 = dto.Dto2,
                    Dfo2 = dto.Dfo2,
                    Snr2 = dto.Snr2,
                    StationResID = StationRes.ID,
                    MainX = dto.MainX,
                    MainY = dto.MainY,
                    MainZ = dto.MainZ,
                    Adja1X = dto.Adja1X,
                    Adja1Y = dto.Adja1Y,
                    Adja1Z = dto.Adja1Z,
                    Adja2X = dto.Adja2X,
                    Adja2Y = dto.Adja2Y,
                    Adja2Z = dto.Adja2Z,
                });

                var res = PosApi.X3_PosNoRef(cgRes, StationRes);

                PosRes posRes = new PosRes()
                {
                    SigTime = cgRes.SigTime,
                    TaskInfoID = runTask.ID,
                    CgResID = cgRes.ID,
                    TarName = string.IsNullOrWhiteSpace(dto.TarName) ? "未知目标" : dto.TarName,
                    TsName = dto.TsName,
                    PosLon = res[0],
                    PosLat = res[1],
                    MirrLon = res[3],
                    MirrLat = res[4],
                };
                posRes = db.PosRes.Add(posRes);
                await db.SaveChangesAsync();
                PosObServer.Instance.Pub(posRes);
                return Success(posRes);
            }
        }

        /// <summary>
        /// 三星双时差无参定位(无星历)
        /// </summary>
        /// <returns>返回定位结果ID</returns>
        [HttpPost]
        public async Task<AjaxResult<PosRes>> PosX3TwoDtoNoXlNoParAsync(X3TwoDtoNoXlNoParPosDto dto)
        {
            using (RHDWContext db = new RHDWContext())
            {
                var runTask = await db.TaskInfos.Where(p => p.TaskState == EnumTaskState.Running && p.PosType == EnumPosType.X3TwoDto).FirstOrDefaultAsync();
                if (runTask == null)
                {
                    Serilog.Log.Warning($"接收到三星双时差无参定位(无星历)参数,由于任务没有运行中忽略本次定位!");
                    return Error<PosRes>($"多模式融合定位平台没有启动三星双时差定位任务");
                }
                var parameter1 = new SQLiteParameter("@sigTime", dto.SigTime);
                var parameter2 = new SQLiteParameter("@satcode", dto.MainSatID);
                var parameter3 = new SQLiteParameter("@satcode", dto.Adja1SatID);
                var parameter4 = new SQLiteParameter("@satcode", dto.Adja2SatID);
                var xlInfo1 = await db.XlInfos.SqlQuery("select * from XlInfo where ABS(JULIANDAY(TimeBJ)-JULIANDAY(@sigTime))=(select min(ABS(JULIANDAY(TimeBJ)-JULIANDAY(@sigTime))) from XlInfo where satcode=@satcode)", parameter1, parameter2).FirstOrDefaultAsync();
                if (xlInfo1 == null)
                {
                    Serilog.Log.Error($"未找到卫星[{dto.MainSatID}]的双行根数星历");
                    return Error<PosRes>($"未找到卫星[{dto.MainSatID}]的双行根数星历");
                }

                var xlInfo2 = await db.XlInfos.SqlQuery("select * from XlInfo where ABS(JULIANDAY(TimeBJ)-JULIANDAY(@sigTime))=(select min(ABS(JULIANDAY(TimeBJ)-JULIANDAY(@sigTime))) from XlInfo where satcode=@satcode)", parameter1, parameter3).FirstOrDefaultAsync();
                if (xlInfo2 == null)
                {
                    Serilog.Log.Error($"未找到卫星[{dto.Adja1SatID}]的双行根数星历");
                    return Error<PosRes>($"未找到卫星[{dto.Adja1SatID}]的双行根数星历");
                }

                var xlInfo3 = await db.XlInfos.SqlQuery("select * from XlInfo where ABS(JULIANDAY(TimeBJ)-JULIANDAY(@sigTime))=(select min(ABS(JULIANDAY(TimeBJ)-JULIANDAY(@sigTime))) from XlInfo where satcode=@satcode)", parameter1, parameter4).FirstOrDefaultAsync();
                if (xlInfo3 == null)
                {
                    Serilog.Log.Error($"未找到卫星[{dto.Adja2SatID}]的双行根数星历");
                    return Error<PosRes>($"未找到卫星[{dto.Adja2SatID}]的双行根数星历");
                }
                Serilog.Log.Information($"卫星{dto.MainSatID}使用{xlInfo1.TwoLine}进行星历推算");
                Serilog.Log.Information($"卫星{dto.Adja1SatID}使用{xlInfo2.TwoLine}进行星历推算");
                Serilog.Log.Information($"卫星{dto.Adja2SatID}使用{xlInfo3.TwoLine}进行星历推算");
                var settings = await db.SysSetings.FirstOrDefaultAsync();
                var client = new HttpClient();

                string url = string.Format("http://{0}:{1}/Api/", IpHelper.GetLocalIp(), settings.HttpPort);
                var url1 = string.Format(url + "Xl/Calc?tleStr={0}&dt={1}", xlInfo1.TwoLine, dto.SigTime);
                var response = await client.GetAsync(url1);
                if (!response.IsSuccessStatusCode) // 处理响应失败
                {
                    Serilog.Log.Error($"[{dto.MainSatID}]星厉推算失败");
                    return Error<PosRes>($"[{dto.MainSatID}]星厉推算失败");
                }
                var content = await response.Content.ReadAsStringAsync();
                var ephMain = JsonConvert.DeserializeObject<AjaxResult<SatEphDto>>(content).data;

                var url2 = string.Format(url + "Xl/Calc?tleStr={0}&dt={1}", xlInfo2.TwoLine, dto.SigTime);
                var response2 = await client.GetAsync(url2);
                if (!response2.IsSuccessStatusCode) // 处理响应失败
                {
                    Serilog.Log.Error($"[{dto.Adja1SatID}]星厉推算失败");
                    return Error<PosRes>($"[{dto.Adja1SatID}]星厉推算失败");
                }
                var content2 = await response2.Content.ReadAsStringAsync();
                var ephAdja1 = JsonConvert.DeserializeObject<AjaxResult<SatEphDto>>(content2).data;

                var url3 = string.Format(url + "Xl/Calc?tleStr={0}&dt={1}", xlInfo3.TwoLine, dto.SigTime);
                var response3 = await client.GetAsync(url3);
                if (!response3.IsSuccessStatusCode) // 处理响应失败
                {
                    Serilog.Log.Error($"[{dto.Adja2SatID}]星厉推算失败");
                    return Error<PosRes>($"[{dto.Adja2SatID}]星厉推算失败");
                }
                var content3 = await response2.Content.ReadAsStringAsync();
                var ephAdja2 = JsonConvert.DeserializeObject<AjaxResult<SatEphDto>>(content3).data;

                var StationRes = db.StationRes.Add(new StationRes()
                {
                    SatTxLon = dto.SatTxLon,
                    SatTxLat = dto.SatTxLat,
                });

                var cgRes = db.CgRes.Add(new CgRes()
                {
                    SigTime = dto.SigTime,
                    Dto1 = dto.Dto1,
                    Dfo1 = dto.Dfo1,
                    Snr1 = dto.Snr1,
                    Dto2 = dto.Dto2,
                    Dfo2 = dto.Dfo2,
                    Snr2 = dto.Snr2,
                    StationResID = StationRes.ID,
                    MainX = ephMain.X,
                    MainY = ephMain.Y,
                    MainZ = ephMain.Z,
                    Adja1X = ephAdja1.X,
                    Adja1Y = ephAdja1.Y,
                    Adja1Z = ephAdja1.Z,
                    Adja2X = ephAdja2.X,
                    Adja2Y = ephAdja2.Y,
                    Adja2Z = ephAdja2.Z,
                });

                var res = PosApi.X3_PosNoRef(cgRes, StationRes);

                PosRes posRes = new PosRes()
                {
                    SigTime = dto.SigTime,
                    TaskInfoID = runTask.ID,
                    CgResID = cgRes.ID,
                    TarName = string.IsNullOrWhiteSpace(dto.TarName) ? "未知目标" : dto.TarName,
                    TsName = dto.TsName,
                    PosLon = res[0],
                    PosLat = res[1],
                    MirrLon = res[3],
                    MirrLat = res[4],
                };
                posRes = db.PosRes.Add(posRes);
                await db.SaveChangesAsync();
                PosObServer.Instance.Pub(posRes);
                return Success(posRes);
            }
        }
        #endregion

        #region 三星双频差定位
        /// <summary>
        /// 三星双频差带参定位(含星历)
        /// </summary>
        /// <param name="dto">定位参数</param>
        /// <returns></returns>
        [HttpPost]
        public async Task<AjaxResult<PosRes>> PosX3TwoDfoAsync(X3TwoDfoPosDto dto)
        {
            using (RHDWContext db = new RHDWContext())
            {
                var runTask = await db.TaskInfos.FirstOrDefaultAsync(p => p.PosType == EnumPosType.X3TwoDfo && p.TaskState == EnumTaskState.Running);
                if (runTask == null)
                {
                    Serilog.Log.Warning($"接收到三星双频差带参定位(含星历)参数,由于任务没有运行中忽略本次定位!");
                    return Error<PosRes>($"多模式融合定位平台没有启动三星双频差定位任务");
                }

                var StationRes = db.StationRes.Add(new StationRes()
                {
                    SatTxLon = dto.SatTxLon,
                    SatTxLat = dto.SatTxLat,
                    RefLon = dto.RefLon,
                    RefLat = dto.RefLat,
                });

                var cgRes = db.CgRes.Add(new CgRes()
                {
                    SigTime = dto.SigTime,
                    Dto1 = dto.Dto1,
                    Dfo1 = dto.Dfo1,
                    Snr1 = dto.Snr1,
                    Dto2 = dto.Dto2,
                    Dfo2 = dto.Dfo2,
                    Snr2 = dto.Snr2,
                    YbMainDfo = dto.YbMainDfo,
                    YbAdja1Dfo = dto.YbAdja1Dfo,
                    YbAdja2Dfo = dto.YbAdja2Dfo,
                    TarFreqUp = dto.TarFreqUp,
                    TarFreqDown = dto.TarFreqDown,
                    RefFreqUp = dto.RefFreqUp,
                    RefFreqDown = dto.RefFreqDown,
                    StationResID = StationRes.ID,
                    MainX = dto.MainX,
                    MainY = dto.MainY,
                    MainZ = dto.MainZ,
                    MainVx = dto.MainVx,
                    MainVy = dto.MainVy,
                    MainVz = dto.MainVz,
                    Adja1X = dto.Adja1X,
                    Adja1Y = dto.Adja1Y,
                    Adja1Z = dto.Adja1Z,
                    Adja1Vx = dto.Adja1Vx,
                    Adja1Vy = dto.Adja1Vy,
                    Adja1Vz = dto.Adja1Vz,
                    Adja2X = dto.Adja2X,
                    Adja2Y = dto.Adja2Y,
                    Adja2Z = dto.Adja2Z,
                    Adja2Vx = dto.Adja2Vx,
                    Adja2Vy = dto.Adja2Vy,
                    Adja2Vz = dto.Adja2Vz,
                });

                var res = PosApi.X3_PosTwoDfo(cgRes, StationRes);

                PosRes posRes = new PosRes()
                {
                    SigTime = cgRes.SigTime,
                    TaskInfoID = runTask.ID,
                    CgResID = cgRes.ID,
                    TarName = string.IsNullOrWhiteSpace(dto.TarName) ? "未知目标" : dto.TarName,
                    TsName = dto.TsName,
                    PosLon = res[0],
                    PosLat = res[1],
                    MirrLon = res[3],
                    MirrLat = res[4],
                };
                posRes = db.PosRes.Add(posRes);
                await db.SaveChangesAsync();
                PosObServer.Instance.Pub(posRes);
                return Success(posRes);
            }
        }

        /// <summary>
        /// 三星双频差带参定位(无星历)
        /// </summary>
        /// <returns>返回定位结果ID</returns>
        [HttpPost]
        public async Task<AjaxResult<PosRes>> PosX3TwoDfoNoXlAsync(X3TwoDfoNoXlPosDto dto)
        {
            using (RHDWContext db = new RHDWContext())
            {
                var runTask = await db.TaskInfos.Where(p => p.TaskState == EnumTaskState.Running && p.PosType == EnumPosType.X3TwoDfo).FirstOrDefaultAsync();
                if (runTask == null)
                {
                    Serilog.Log.Warning($"接收到三星双频差带参定位(无星历)参数,由于任务没有运行中忽略本次定位!");
                    return Error<PosRes>($"多模式融合定位平台没有启动三星双频差定位任务");
                }
                var parameter1 = new SQLiteParameter("@sigTime", dto.SigTime);
                var parameter2 = new SQLiteParameter("@satcode", dto.MainSatID);
                var parameter3 = new SQLiteParameter("@satcode", dto.Adja1SatID);
                var parameter4 = new SQLiteParameter("@satcode", dto.Adja2SatID);
                var xlInfo1 = await db.XlInfos.SqlQuery("select * from XlInfo where ABS(JULIANDAY(TimeBJ)-JULIANDAY(@sigTime))=(select min(ABS(JULIANDAY(TimeBJ)-JULIANDAY(@sigTime))) from XlInfo where satcode=@satcode)", parameter1, parameter2).FirstOrDefaultAsync();
                if (xlInfo1 == null)
                {
                    Serilog.Log.Error($"未找到卫星[{dto.MainSatID}]的双行根数星历");
                    return Error<PosRes>($"未找到卫星[{dto.MainSatID}]的双行根数星历");
                }

                var xlInfo2 = await db.XlInfos.SqlQuery("select * from XlInfo where ABS(JULIANDAY(TimeBJ)-JULIANDAY(@sigTime))=(select min(ABS(JULIANDAY(TimeBJ)-JULIANDAY(@sigTime))) from XlInfo where satcode=@satcode)", parameter1, parameter3).FirstOrDefaultAsync();
                if (xlInfo2 == null)
                {
                    Serilog.Log.Error($"未找到卫星[{dto.Adja1SatID}]的双行根数星历");
                    return Error<PosRes>($"未找到卫星[{dto.Adja1SatID}]的双行根数星历");
                }

                var xlInfo3 = await db.XlInfos.SqlQuery("select * from XlInfo where ABS(JULIANDAY(TimeBJ)-JULIANDAY(@sigTime))=(select min(ABS(JULIANDAY(TimeBJ)-JULIANDAY(@sigTime))) from XlInfo where satcode=@satcode)", parameter1, parameter4).FirstOrDefaultAsync();
                if (xlInfo3 == null)
                {
                    Serilog.Log.Error($"未找到卫星[{dto.Adja2SatID}]的双行根数星历");
                    return Error<PosRes>($"未找到卫星[{dto.Adja2SatID}]的双行根数星历");
                }
                Serilog.Log.Information($"卫星{dto.MainSatID}使用{xlInfo1.TwoLine}进行星历推算");
                Serilog.Log.Information($"卫星{dto.Adja1SatID}使用{xlInfo2.TwoLine}进行星历推算");
                Serilog.Log.Information($"卫星{dto.Adja2SatID}使用{xlInfo3.TwoLine}进行星历推算");
                var settings = await db.SysSetings.FirstOrDefaultAsync();
                var client = new HttpClient();

                string url = string.Format("http://{0}:{1}/Api/", IpHelper.GetLocalIp(), settings.HttpPort);
                var url1 = string.Format(url + "Xl/Calc?tleStr={0}&dt={1}", xlInfo1.TwoLine, dto.SigTime);
                var response = await client.GetAsync(url1);
                if (!response.IsSuccessStatusCode) // 处理响应失败
                {
                    Serilog.Log.Error($"[{dto.MainSatID}]星厉推算失败");
                    return Error<PosRes>($"[{dto.MainSatID}]星厉推算失败");
                }
                var content = await response.Content.ReadAsStringAsync();
                var ephMain = JsonConvert.DeserializeObject<AjaxResult<SatEphDto>>(content).data;

                var url2 = string.Format(url + "Xl/Calc?tleStr={0}&dt={1}", xlInfo2.TwoLine, dto.SigTime);
                var response2 = await client.GetAsync(url2);
                if (!response2.IsSuccessStatusCode) // 处理响应失败
                {
                    Serilog.Log.Error($"[{dto.Adja1SatID}]星厉推算失败");
                    return Error<PosRes>($"[{dto.Adja1SatID}]星厉推算失败");
                }
                var content2 = await response2.Content.ReadAsStringAsync();
                var ephAdja1 = JsonConvert.DeserializeObject<AjaxResult<SatEphDto>>(content2).data;

                var url3 = string.Format(url + "Xl/Calc?tleStr={0}&dt={1}", xlInfo3.TwoLine, dto.SigTime);
                var response3 = await client.GetAsync(url3);
                if (!response3.IsSuccessStatusCode) // 处理响应失败
                {
                    Serilog.Log.Error($"[{dto.Adja2SatID}]星厉推算失败");
                    return Error<PosRes>($"[{dto.Adja2SatID}]星厉推算失败");
                }
                var content3 = await response2.Content.ReadAsStringAsync();
                var ephAdja2 = JsonConvert.DeserializeObject<AjaxResult<SatEphDto>>(content3).data;

                var StationRes = db.StationRes.Add(new StationRes()
                {
                    SatTxLon = dto.SatTxLon,
                    SatTxLat = dto.SatTxLat,
                    RefLon = dto.RefLon,
                    RefLat = dto.RefLat,
                });

                var cgRes = db.CgRes.Add(new CgRes()
                {
                    SigTime = dto.SigTime,
                    Dto1 = dto.Dto1,
                    Dfo1 = dto.Dfo1,
                    Snr1 = dto.Snr1,
                    Dto2 = dto.Dto2,
                    Dfo2 = dto.Dfo2,
                    Snr2 = dto.Snr2,
                    YbMainDfo = dto.YbMainDfo,
                    YbAdja1Dfo = dto.YbAdja1Dfo,
                    YbAdja2Dfo = dto.YbAdja2Dfo,
                    TarFreqUp = dto.TarFreqUp,
                    TarFreqDown = dto.TarFreqDown,
                    RefFreqUp = dto.RefFreqUp,
                    RefFreqDown = dto.RefFreqDown,
                    StationResID = StationRes.ID,
                    MainX = ephMain.X,
                    MainY = ephMain.Y,
                    MainZ = ephMain.Z,
                    MainVx = ephMain.VX,
                    MainVy = ephMain.VY,
                    MainVz = ephMain.VZ,
                    Adja1X = ephAdja1.X,
                    Adja1Y = ephAdja1.Y,
                    Adja1Z = ephAdja1.Z,
                    Adja1Vx = ephAdja1.VX,
                    Adja1Vy = ephAdja1.VY,
                    Adja1Vz = ephAdja1.VZ,
                    Adja2X = ephAdja2.X,
                    Adja2Y = ephAdja2.Y,
                    Adja2Z = ephAdja2.Z,
                    Adja2Vx = ephAdja2.VX,
                    Adja2Vy = ephAdja2.VY,
                    Adja2Vz = ephAdja2.VZ,
                });

                var res = PosApi.X3_PosTwoDfo(cgRes, StationRes);

                PosRes posRes = new PosRes()
                {
                    SigTime = dto.SigTime,
                    TaskInfoID = runTask.ID,
                    CgResID = cgRes.ID,
                    TarName = string.IsNullOrWhiteSpace(dto.TarName) ? "未知目标" : dto.TarName,
                    TsName = dto.TsName,
                    PosLon = res[0],
                    PosLat = res[1],
                    MirrLon = res[3],
                    MirrLat = res[4],
                };
                posRes = db.PosRes.Add(posRes);
                await db.SaveChangesAsync();
                PosObServer.Instance.Pub(posRes);
                return Success(posRes);
            }
        }
        #endregion

        #region 双星时频差定位
        /// <summary>
        /// 双星时频差带参定位(含星历)
        /// </summary>
        /// <param name="dto">定位参数</param>
        /// <returns></returns>
        [HttpPost]
        public async Task<AjaxResult<PosRes>> PosX2DtoDfoAsync(X2DtoDfoPosDto dto)
        {
            using (RHDWContext db = new RHDWContext())
            {
                var runTask = await db.TaskInfos.FirstOrDefaultAsync(p => p.PosType == EnumPosType.X2Dfo && p.TaskState == EnumTaskState.Running);
                if (runTask == null)
                {
                    Serilog.Log.Warning($"接收到双星时频差带参定位(含星历)参数,由于任务没有运行中忽略本次定位!");
                    return Error<PosRes>($"多模式融合定位平台没有启动双星时频差定位任务");
                }

                var StationRes = db.StationRes.Add(new StationRes()
                {
                    SatTxLon = dto.SatTxLon,
                    SatTxLat = dto.SatTxLat,
                    RefLon = dto.RefLon,
                    RefLat = dto.RefLat,
                });

                var cgRes = db.CgRes.Add(new CgRes()
                {
                    SigTime = dto.SigTime,
                    Dto1 = dto.Dto,
                    Dfo1 = dto.Dfo,
                    Snr1 = dto.Snr,
                    YbMainDto = dto.YbMainDto,
                    YbAdja1Dto = dto.YbAdjaDto,
                    YbMainDfo = dto.YbMainDfo,
                    YbAdja1Dfo = dto.YbAdjaDfo,
                    TarFreqUp = dto.TarFreqUp,
                    TarFreqDown = dto.TarFreqDown,
                    RefFreqUp = dto.RefFreqUp,
                    RefFreqDown = dto.RefFreqDown,
                    StationResID = StationRes.ID,
                    MainX = dto.MainX,
                    MainY = dto.MainY,
                    MainZ = dto.MainZ,
                    MainVx = dto.MainVx,
                    MainVy = dto.MainVy,
                    MainVz = dto.MainVz,
                    Adja1X = dto.AdjaX,
                    Adja1Y = dto.AdjaY,
                    Adja1Z = dto.AdjaZ,
                    Adja1Vx = dto.AdjaVx,
                    Adja1Vy = dto.AdjaVy,
                    Adja1Vz = dto.AdjaVz,
                });

                var res = PosApi.X2_PosDtoDfo(cgRes, StationRes);

                PosRes posRes = new PosRes()
                {
                    SigTime = cgRes.SigTime,
                    TaskInfoID = runTask.ID,
                    CgResID = cgRes.ID,
                    TarName = string.IsNullOrWhiteSpace(dto.TarName) ? "未知目标" : dto.TarName,
                    TsName = dto.TsName,
                    PosLon = res[0],
                    PosLat = res[1],
                    MirrLon = res[3],
                    MirrLat = res[4],
                };
                posRes = db.PosRes.Add(posRes);
                await db.SaveChangesAsync();
                PosObServer.Instance.Pub(posRes);
                return Success(posRes);
            }
        }

        /// <summary>
        /// 双星时频差带参定位(无星历)
        /// </summary>
        /// <returns>返回定位结果ID</returns>
        [HttpPost]
        public async Task<AjaxResult<PosRes>> PosX2DtoDfoNoXlAsync(X2DtoDfoNoXlPosDto dto)
        {
            using (RHDWContext db = new RHDWContext())
            {
                var runTask = await db.TaskInfos.Where(p => p.TaskState == EnumTaskState.Running && p.PosType == EnumPosType.X2Dfo).FirstOrDefaultAsync();
                if (runTask == null)
                {
                    Serilog.Log.Warning($"接收到双星时频差带参定位(无星历)参数,由于任务没有运行中忽略本次定位!");
                    return Error<PosRes>($"多模式融合定位平台没有启动双星时频差定位任务");
                }
                var parameter1 = new SQLiteParameter("@sigTime", dto.SigTime);
                var parameter2 = new SQLiteParameter("@satcode", dto.MainSatID);
                var parameter3 = new SQLiteParameter("@satcode", dto.AdjaSatID);
                var xlInfo1 = await db.XlInfos.SqlQuery("select * from XlInfo where ABS(JULIANDAY(TimeBJ)-JULIANDAY(@sigTime))=(select min(ABS(JULIANDAY(TimeBJ)-JULIANDAY(@sigTime))) from XlInfo where satcode=@satcode)", parameter1, parameter2).FirstOrDefaultAsync();
                if (xlInfo1 == null)
                {
                    Serilog.Log.Error($"未找到卫星[{dto.MainSatID}]的双行根数星历");
                    return Error<PosRes>($"未找到卫星[{dto.MainSatID}]的双行根数星历");
                }

                var xlInfo2 = await db.XlInfos.SqlQuery("select * from XlInfo where ABS(JULIANDAY(TimeBJ)-JULIANDAY(@sigTime))=(select min(ABS(JULIANDAY(TimeBJ)-JULIANDAY(@sigTime))) from XlInfo where satcode=@satcode)", parameter1, parameter3).FirstOrDefaultAsync();
                if (xlInfo2 == null)
                {
                    Serilog.Log.Error($"未找到卫星[{dto.AdjaSatID}]的双行根数星历");
                    return Error<PosRes>($"未找到卫星[{dto.AdjaSatID}]的双行根数星历");
                }
                Serilog.Log.Information($"卫星{dto.MainSatID}使用{xlInfo1.TwoLine}进行星历推算");
                Serilog.Log.Information($"卫星{dto.AdjaSatID}使用{xlInfo2.TwoLine}进行星历推算");
                var settings = await db.SysSetings.FirstOrDefaultAsync();
                var client = new HttpClient();

                string url = string.Format("http://{0}:{1}/Api/", IpHelper.GetLocalIp(), settings.HttpPort);
                var url1 = string.Format(url + "Xl/Calc?tleStr={0}&dt={1}", xlInfo1.TwoLine, dto.SigTime);
                var response = await client.GetAsync(url1);
                if (!response.IsSuccessStatusCode) // 处理响应失败
                {
                    Serilog.Log.Error($"[{dto.MainSatID}]星厉推算失败");
                    return Error<PosRes>($"[{dto.MainSatID}]星厉推算失败");
                }
                var content = await response.Content.ReadAsStringAsync();
                var ephMain = JsonConvert.DeserializeObject<AjaxResult<SatEphDto>>(content).data;

                var url2 = string.Format(url + "Xl/Calc?tleStr={0}&dt={1}", xlInfo2.TwoLine, dto.SigTime);
                var response2 = await client.GetAsync(url2);
                if (!response2.IsSuccessStatusCode) // 处理响应失败
                {
                    Serilog.Log.Error($"[{dto.AdjaSatID}]星厉推算失败");
                    return Error<PosRes>($"[{dto.AdjaSatID}]星厉推算失败");
                }
                var content2 = await response2.Content.ReadAsStringAsync();
                var ephAdja1 = JsonConvert.DeserializeObject<AjaxResult<SatEphDto>>(content2).data;

                var StationRes = db.StationRes.Add(new StationRes()
                {
                    SatTxLon = dto.SatTxLon,
                    SatTxLat = dto.SatTxLat,
                    RefLon = dto.RefLon,
                    RefLat = dto.RefLat,
                });

                var cgRes = db.CgRes.Add(new CgRes()
                {
                    SigTime = dto.SigTime,
                    Dto1 = dto.Dto,
                    Dfo1 = dto.Dfo,
                    Snr1 = dto.Snr,
                    YbMainDto = dto.YbMainDto,
                    YbAdja1Dto = dto.YbAdjaDto,
                    YbMainDfo = dto.YbMainDfo,
                    YbAdja1Dfo = dto.YbAdjaDfo,
                    TarFreqUp = dto.TarFreqUp,
                    TarFreqDown = dto.TarFreqDown,
                    RefFreqUp = dto.RefFreqUp,
                    RefFreqDown = dto.RefFreqDown,
                    StationResID = StationRes.ID,
                    MainX = ephMain.X,
                    MainY = ephMain.Y,
                    MainZ = ephMain.Z,
                    MainVx = ephMain.VX,
                    MainVy = ephMain.VY,
                    MainVz = ephMain.VZ,
                    Adja1X = ephAdja1.X,
                    Adja1Y = ephAdja1.Y,
                    Adja1Z = ephAdja1.Z,
                    Adja1Vx = ephAdja1.VX,
                    Adja1Vy = ephAdja1.VY,
                    Adja1Vz = ephAdja1.VZ,
                });

                var res = PosApi.X2_PosDtoDfo(cgRes, StationRes);

                PosRes posRes = new PosRes()
                {
                    SigTime = dto.SigTime,
                    TaskInfoID = runTask.ID,
                    CgResID = cgRes.ID,
                    TarName = string.IsNullOrWhiteSpace(dto.TarName) ? "未知目标" : dto.TarName,
                    TsName = dto.TsName,
                    PosLon = res[0],
                    PosLat = res[1],
                    MirrLon = res[3],
                    MirrLat = res[4],
                };
                posRes = db.PosRes.Add(posRes);
                await db.SaveChangesAsync();
                PosObServer.Instance.Pub(posRes);
                return Success(posRes);
            }
        }
        #endregion

        /// <summary>
        /// 查询定位结果(暂未实现)
        /// </summary>
        /// <param name="dto"></param>
        /// <returns></returns>
        /// <exception cref="Exception"></exception>
        [HttpGet]
        public async Task<AjaxResult<PosResDto>> GetPosRes(PosResQueryDto dto)
        {
            await Task.Delay(100);
            return Error<PosResDto>("该功能暂未实现!");
        }

    }
}