XdCxRhDW/XdCxRhDW.App/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.Security.Cryptography.Xml;
using System.Text;
using System.Threading.Tasks;
using System.Web.Http;
using System.Windows.Documents;
using DevExpress.Mvvm.Native;
using DevExpress.XtraCharts;
using DevExpress.XtraPrinting;
using Newtonsoft.Json;
using PosResAnalysis;
using Serilog;
using Swashbuckle.Swagger;
using XdCxRhDw.Dto;
using XdCxRhDW.App.Api;
using XdCxRhDW.App.App.Properties;
using XdCxRhDW.App.Basic;
using XdCxRhDW.App.EFContext;
using XdCxRhDW.App.Model;
using XdCxRhDW.App.ObServer;
using XdCxRhDW.App.WebAPI.DTO;
using XdCxRhDW.Dto;
using static System.Windows.Forms.VisualStyles.VisualStyleElement.TextBox;
using static XdCxRhDw.CpuCgTools.FormCpuCg;
using CgRes = XdCxRhDW.App.Model.CgRes;

namespace XdCxRhDW.App.WebAPI
{
    /// <summary>
    /// 定位功能相关接口
    /// </summary>
    public class PosController : BaseController
    {
        #region 带参有星历
        /// <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 cgRes = db.CgRes.Add(new CgRes()
                {
                    SigTime = dto.SigTime,
                    DtoCdb = dto.XdDto * 1e6,
                    DfoCdb = dto.XdDfo * 1e6,
                    SnrCdb = dto.XdSnr,
                    YbMain = dto.MainYbDto * 1e6,
                    MainX = dto.MainX,
                    MainY = dto.MainY,
                    MainZ = dto.MainZ,
                });

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

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

                double[] res = new double[6];
                double[] mainSat = new double[3] { cgRes.MainX, cgRes.MainY, cgRes.MainZ };
                double[] satStation = new double[3] { dto.StationResInfo.SatTxLon, dto.StationResInfo.SatTxLat, 0 };
                double[] cdbStation = new double[3] { dto.StationResInfo.CdbTxLon, dto.StationResInfo.CdbTxLat, 0 };
                double[] cxStation = new double[3] { dto.StationResInfo.CxLon, dto.StationResInfo.CxLat, 0 };
                double[] refStation = new double[3] { dto.StationResInfo.RefLon, dto.StationResInfo.RefLat, 0 };
                double[] zone = new double[] { -85, 85, -180, 180 }; //定位区域
                double theta = cxRes.Fx;//单位°
                PosApi.X1D1_POS2023_Core(mainSat, satStation, cdbStation, cxStation, refStation, zone, theta, cgRes.DtoCdb.Value / 1e6, cgRes.YbMain.Value / 1e6, res);
                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 = Math.Round(res[0], 4),
                    PosLat = Math.Round(res[1], 4),
                    MirrLon = Math.Round(res[3], 4),
                    MirrLat = Math.Round(res[4], 4),
                };
                db.PosRes.Add(posRes);
                await db.SaveChangesAsync();
                return Success(posRes);
            }
        }

        /// <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 cgRes = db.CgRes.Add(new CgRes()
                {
                    SigTime = dto.SigTime,
                    DtoSx = dto.SxDto * 1e6,
                    DfoSx = dto.SxDfo * 1e6,
                    SnrSx = dto.SxSnr,
                    DtoCdb = dto.XdDto * 1e6,
                    DfoCdb = dto.XdDfo * 1e6,
                    SnrCdb = dto.XdSnr,
                    YbMain = dto.MainYbDto * 1e6,
                    YbAdja = dto.AdjaYbDto * 1e6,
                    MainX = dto.MainX,
                    MainY = dto.MainY,
                    MainZ = dto.MainZ,
                    AdjaX = dto.AdjaX,
                    AdjaY = dto.AdjaY,
                    AdjaZ = dto.AdjaZ,
                });
                var StationRes = db.StationRes.Add(new StationRes()
                {
                    SatTxLon = dto.StationResInfo.SatTxLon,
                    SatTxLat = dto.StationResInfo.SatTxLat,
                    CdbTxLon = dto.StationResInfo.CdbTxLon,
                    CdbTxLat = dto.StationResInfo.CdbTxLat,
                    CxLon = dto.StationResInfo.CxLon,
                    CxLat = dto.StationResInfo.CxLat,
                    RefLon = dto.StationResInfo.RefLon,
                    RefLat = dto.StationResInfo.RefLat,
                });
                double[] res = new double[6];
                double[] mainSat = new double[3] { cgRes.MainX, cgRes.MainY, cgRes.MainZ };
                double[] adjaSat = new double[3] { cgRes.AdjaX, cgRes.AdjaY, cgRes.AdjaZ };
                double[] satStation = new double[3] { dto.StationResInfo.SatTxLon, dto.StationResInfo.SatTxLat, 0 };
                double[] cdbStation = new double[3] { dto.StationResInfo.CdbTxLon, dto.StationResInfo.CdbTxLat, 0 };
                double[] cxStation = new double[3] { dto.StationResInfo.CxLon, dto.StationResInfo.CxLat, 0 };
                double[] refStation = new double[3] { dto.StationResInfo.RefLon, dto.StationResInfo.RefLat, 0 };
                double[] zone = new double[] { -85, 85, -180, 180 }; //定位区域
                PosApi.X2D1_POS_Core(mainSat, adjaSat, cdbStation, satStation, satStation, satStation, satStation, satStation, refStation, zone, cgRes.DtoSx.Value / 1e6, cgRes.DtoCdb.Value / 1e6, cgRes.YbMain.Value / 1e6, cgRes.YbAdja.Value / 1e6, res);
                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 = Math.Round(res[0], 4),
                    PosLat = Math.Round(res[1], 4),
                    MirrLon = Math.Round(res[3], 4),
                    MirrLat = Math.Round(res[4], 4),
                };
                posRes=db.PosRes.Add(posRes);
                await db.SaveChangesAsync();
                PosObServer.Instance.Pub(posRes);
                return Success(posRes);
            }
        }

        /// <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两星一地定位任务");
                }
                var listTx = new List<TxInfo>();
                var cgRes = db.CgRes.Add(new CgRes()
                {
                    SigTime = dto.SigTime,
                    DtoSx = dto.SxDto * 1e6,
                    DfoSx = dto.SxDfo * 1e6,
                    SnrSx = dto.SxSnr,
                    DtoCdb = dto.XdDto * 1e6,
                    DfoCdb = dto.XdDfo * 1e6,
                    SnrCdb = dto.XdSnr,
                    YbMain = dto.MainYbDto * 1e6,
                    YbAdja = dto.AdjaYbDto * 1e6,
                    MainX = dto.MainX,
                    MainY = dto.MainY,
                    MainZ = dto.MainZ,
                    AdjaX = dto.AdjaX,
                    AdjaY = dto.AdjaY,
                    AdjaZ = dto.AdjaZ,
                });

                var cxRes = db.CxRes.Add(new CxRes()
                {
                    SigTime = dto.SigTime,
                    Fx = dto.CxRes,
                });
              
                var StationRes = db.StationRes.Add(new StationRes()
                {
                    SatTxLon = dto.StationResInfo.SatTxLon,
                    SatTxLat = dto.StationResInfo.SatTxLat,
                    CdbTxLon = dto.StationResInfo.CdbTxLon,
                    CdbTxLat = dto.StationResInfo.CdbTxLat,
                    CxLon = dto.StationResInfo.CxLon,
                    CxLat = dto.StationResInfo.CxLat,
                    RefLon = dto.StationResInfo.RefLon,
                    RefLat = dto.StationResInfo.RefLat,
                });
                double[] resX1D1 = new double[6];
                double[] resX2D1 = new double[6];
                double[] mainSat = new double[3] { cgRes.MainX, cgRes.MainY, cgRes.MainZ };
                double[] adjaSat = new double[3] { cgRes.AdjaX, cgRes.AdjaY, cgRes.AdjaZ };
                double[] satStation = new double[3] { dto.StationResInfo.SatTxLon, dto.StationResInfo.SatTxLat, 0 };
                double[] cdbStation = new double[3] { dto.StationResInfo.CdbTxLon, dto.StationResInfo.CdbTxLat, 0 };
                double[] cxStation = new double[3] { dto.StationResInfo.CxLon, dto.StationResInfo.CxLat, 0 };
                double[] refStation = new double[3] { dto.StationResInfo.RefLon, dto.StationResInfo.RefLat, 0 };
                double[] zone = new double[] { -85, 85, -180, 180 }; //定位区域
                double theta = cxRes.Fx;//单位°

                PosApi.X1D1_POS2023_Core(mainSat, satStation, cdbStation, cxStation, refStation, zone, theta, cgRes.DtoCdb.Value / 1e6, cgRes.YbMain.Value / 1e6, resX1D1);

                PosApi.X2D1_POS_Core(mainSat, adjaSat, cdbStation, satStation, satStation, satStation, satStation, satStation, refStation, zone, cgRes.DtoSx.Value / 1e6, cgRes.DtoCdb.Value / 1e6, cgRes.YbMain.Value / 1e6, cgRes.YbAdja.Value / 1e6, resX2D1);

                double[] res = new double[] { 999, 999, 0, 999, 999, 0 };
                if (PosApi.IsGeoPoint(resX1D1) && PosApi.IsGeoPoint(resX2D1))
                {
                    res = new double[6] {
                    (resX1D1[0] + resX2D1[0]) / 2 + 0.003,
                    (resX1D1[1] + resX2D1[1]) / 2 - 0.002,
                    (resX1D1[2] + resX2D1[2]) / 2,
                    (resX1D1[3] + resX2D1[3]) / 2 + 0.003,
                    (resX1D1[4] + resX2D1[4]) / 2 - 0.002,
                    (resX1D1[5] + resX2D1[5]) / 2,
                };
                }
                else if (PosApi.IsGeoPoint(resX1D1))
                {
                    res = new double[6]
                    {
                    resX1D1[0] + 0.003,
                    resX1D1[1] - 0.002,
                    resX1D1[2],
                    resX1D1[3] + 0.003,
                    resX1D1[4] - 0.002,
                    resX1D1[5],

                    };
                }
                else if (PosApi.IsGeoPoint(resX2D1))
                {
                    res = new double[6]
                   {
                    resX2D1[0] + 0.003,
                    resX2D1[1] - 0.002,
                    resX2D1[2],
                    resX2D1[3] + 0.003,
                    resX2D1[4] - 0.002,
                    resX2D1[5],

                   };
                }
                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 = Math.Round(res[0], 4),
                    PosLat = Math.Round(res[1], 4),
                    MirrLon = Math.Round(res[3], 4),
                    MirrLat = Math.Round(res[4], 4),
                };
                db.PosRes.Add(posRes);
                await db.SaveChangesAsync();
                return Success(posRes);
            }
        }
        #endregion

        #region 带参无星历
        /// <summary>
        /// 一星一地带参定位(无星历)
        /// </summary>
        /// <returns>返回定位结果ID</returns>
        [HttpPost]
        public async Task<AjaxResult<PosRes>> 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 ephMain = EphHelper.Calc(xlInfo1.TwoLine, dto.SigTime);
                var cgRes = db.CgRes.Add(new CgRes()
                {
                    SigTime = dto.SigTime,
                    DtoCdb = dto.XdDto * 1e6,
                    DfoCdb = dto.XdDfo * 1e6,
                    SnrCdb = dto.XdSnr,
                    YbMain = dto.MainYbDto * 1e6,
                    MainX = ephMain.X,
                    MainY = ephMain.Y,
                    MainZ = ephMain.Z,
                });

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

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

                double[] res = new double[6];
                double[] mainSat = new double[3] { cgRes.MainX, cgRes.MainY, cgRes.MainZ };
                double[] satStation = new double[3] { dto.StationResInfo.SatTxLon, dto.StationResInfo.SatTxLat, 0 };
                double[] cdbStation = new double[3] { dto.StationResInfo.CdbTxLon, dto.StationResInfo.CdbTxLat, 0 };
                double[] cxStation = new double[3] { dto.StationResInfo.CxLon, dto.StationResInfo.CxLat, 0 };
                double[] refStation = new double[3] { dto.StationResInfo.RefLon, dto.StationResInfo.RefLat, 0 };
                double[] zone = new double[] { -85, 85, -180, 180 }; //定位区域
                double theta = cxRes.Fx;//单位°
                PosApi.X1D1_POS2023_Core(mainSat, satStation, cdbStation, cxStation, refStation, zone, theta, cgRes.DtoCdb.Value / 1e6, cgRes.YbMain.Value / 1e6, res);
                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],
                };
                db.PosRes.Add(posRes);
                await db.SaveChangesAsync();
                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 ephMain = EphHelper.Calc(xlInfo1.TwoLine, dto.SigTime);
                //var ephAdja = EphHelper.Calc(xlInfo2.TwoLine, dto.SigTime);
                var cgRes = db.CgRes.Add(new Model.CgRes()
                {
                    SigTime = dto.SigTime,
                    DtoSx = dto.SxDto * 1e6,
                    DfoSx = dto.SxDfo * 1e6,
                    SnrSx = dto.SxSnr,
                    DtoCdb = dto.XdDto * 1e6,
                    DfoCdb = dto.XdDfo * 1e6,
                    SnrCdb = dto.XdSnr,
                    YbMain = dto.MainYbDto * 1e6,
                    YbAdja = dto.AdjaYbDto * 1e6,
                    MainX = ephMain.X,
                    MainY = ephMain.Y,
                    MainZ = ephMain.Z,
                    AdjaX = ephAdja.X,
                    AdjaY = ephAdja.Y,
                    AdjaZ = ephAdja.Z,
                });

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

                double[] res = new double[6];
                double[] mainSat = new double[3] { cgRes.MainX, cgRes.MainY, cgRes.MainZ };
                double[] adjaSat = new double[3] { cgRes.AdjaX, cgRes.AdjaY, cgRes.AdjaZ };
                double[] satStation = new double[3] { dto.StationResInfo.SatTxLon, dto.StationResInfo.SatTxLat, 0 };
                double[] cdbStation = new double[3] { dto.StationResInfo.CdbTxLon, dto.StationResInfo.CdbTxLat, 0 };
                double[] cxStation = new double[3] { dto.StationResInfo.CxLon, dto.StationResInfo.CxLat, 0 };
                double[] refStation = new double[3] { dto.StationResInfo.RefLon, dto.StationResInfo.RefLat, 0 };
                double[] zone = new double[] { -85, 85, -180, 180 }; //定位区域
                PosApi.X2D1_POS_Core(mainSat, adjaSat, cdbStation, satStation, satStation, satStation, satStation, satStation, refStation, zone, cgRes.DtoSx.Value / 1e6, cgRes.DtoCdb.Value / 1e6, dto.MainYbDto / 1e6, dto.AdjaYbDto / 1e6, res);
                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],
                };
                db.PosRes.Add(posRes);
                await db.SaveChangesAsync();
                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 ephMain = EphHelper.Calc(xlInfo1.TwoLine, dto.SigTime);
                //var ephAdja = EphHelper.Calc(xlInfo2.TwoLine, dto.SigTime);
                var cgRes = db.CgRes.Add(new CgRes()
                {
                    SigTime = dto.SigTime,
                    DtoSx = dto.SxDto * 1e6,
                    DfoSx = dto.SxDfo * 1e6,
                    SnrSx = dto.SxSnr,
                    DtoCdb = dto.XdDto * 1e6,
                    DfoCdb = dto.XdDfo * 1e6,
                    SnrCdb = dto.XdSnr,
                    YbMain = dto.MainYbDto * 1e6,
                    YbAdja = dto.AdjaYbDto * 1e6,
                    MainX = ephMain.X,
                    MainY = ephMain.Y,
                    MainZ = ephMain.Z,
                    AdjaX = ephAdja.X,
                    AdjaY = ephAdja.Y,
                    AdjaZ = ephAdja.Z,
                });

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

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

                double[] resX1D1 = new double[6];
                double[] resX2D1 = new double[6];
                double[] mainSat = new double[3] { cgRes.MainX, cgRes.MainY, cgRes.MainZ };
                double[] adjaSat = new double[3] { cgRes.AdjaX, cgRes.AdjaY, cgRes.AdjaZ };
                double[] satStation = new double[3] { dto.StationResInfo.SatTxLon, dto.StationResInfo.SatTxLat, 0 };
                double[] cdbStation = new double[3] { dto.StationResInfo.CdbTxLon, dto.StationResInfo.CdbTxLat, 0 };
                double[] cxStation = new double[3] { dto.StationResInfo.CxLon, dto.StationResInfo.CxLat, 0 };
                double[] refStation = new double[3] { dto.StationResInfo.RefLon, dto.StationResInfo.RefLat, 0 };
                double[] zone = new double[] { -85, 85, -180, 180 }; //定位区域
                double theta = cxRes.Fx;//单位°

                PosApi.X1D1_POS2023_Core(mainSat, satStation, cdbStation, cxStation, refStation, zone, theta, cgRes.DtoCdb.Value / 1e6, cgRes.YbMain.Value / 1e6, resX1D1);

                PosApi.X2D1_POS_Core(mainSat, adjaSat, cdbStation, satStation, satStation, satStation, satStation, satStation, refStation, zone, cgRes.DtoSx.Value / 1e6, cgRes.DtoCdb.Value / 1e6, cgRes.YbMain.Value / 1e6, cgRes.YbAdja.Value / 1e6, resX2D1);

                double[] res = new double[] { 999, 999, 0, 999, 999, 0 };
                if (PosApi.IsGeoPoint(resX1D1) && PosApi.IsGeoPoint(resX2D1))
                {
                    res = new double[6] {
                    (resX1D1[0] + resX2D1[0]) / 2 + 0.003,
                    (resX1D1[1] + resX2D1[1]) / 2 - 0.002,
                    (resX1D1[2] + resX2D1[2]) / 2,
                    (resX1D1[3] + resX2D1[3]) / 2 + 0.003,
                    (resX1D1[4] + resX2D1[4]) / 2 - 0.002,
                    (resX1D1[5] + resX2D1[5]) / 2,
                };
                }
                else if (PosApi.IsGeoPoint(resX1D1))
                {
                    res = new double[6]
                    {
                    resX1D1[0] + 0.003,
                    resX1D1[1] - 0.002,
                    resX1D1[2],
                    resX1D1[3] + 0.003,
                    resX1D1[4] - 0.002,
                    resX1D1[5],

                    };
                }
                else if (PosApi.IsGeoPoint(resX2D1))
                {
                    res = new double[6]
                   {
                    resX2D1[0] + 0.003,
                    resX2D1[1] - 0.002,
                    resX2D1[2],
                    resX2D1[3] + 0.003,
                    resX2D1[4] - 0.002,
                    resX2D1[5],

                   };
                }
                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 = Math.Round(res[0], 4),
                    PosLat = Math.Round(res[1], 4),
                    MirrLon = Math.Round(res[3], 4),
                    MirrLat = Math.Round(res[4], 4),
                };
                db.PosRes.Add(posRes);
                await db.SaveChangesAsync();
                return Success(posRes);
            }
        }
        #endregion

        #region 无参有星历
        /// <summary>
        /// 一星一地测向无参定位(含星历)
        /// </summary>
        /// <param name="dto">定位参数</param>
        /// <returns></returns>
        [HttpPost]
        public async Task<AjaxResult<PosRes>> PosX1D1NoParAsync(X1D1NoParPosDto 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一星一地测向定位任务");
                }
                var cgRes = db.CgRes.Add(new CgRes()
                {
                    SigTime = dto.SigTime,
                    DtoCdb = dto.XdDto * 1e6,
                    DfoCdb = dto.XdDfo * 1e6,
                    SnrCdb = dto.XdSnr,
                    MainX = dto.MainX,
                    MainY = dto.MainY,
                    MainZ = dto.MainZ,
                });

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

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

                double[] res = new double[6];
                double[] mainSat = new double[3] { cgRes.MainX, cgRes.MainY, cgRes.MainZ };
                double[] satStation = new double[3] { dto.StationResInfo.SatTxLon, dto.StationResInfo.SatTxLat, 0 };
                double[] cdbStation = new double[3] { dto.StationResInfo.CdbTxLon, dto.StationResInfo.CdbTxLat, 0 };
                double[] cxStation = new double[3] { dto.StationResInfo.CxLon, dto.StationResInfo.CxLat, 0 };
                double[] refStation = new double[3] { dto.StationResInfo.RefLon, dto.StationResInfo.RefLat, 0 };
                double[] zone = new double[] { -85, 85, -180, 180 }; //定位区域
                double theta = cxRes.Fx;//单位°
                PosApi.X1D1_POS2023_Core(mainSat, satStation, cdbStation, cxStation, refStation, zone, theta, cgRes.DtoCdb.Value / 1e6, cgRes.YbMain.Value / 1e6, res);
                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 = Math.Round(res[0], 4),
                    PosLat = Math.Round(res[1], 4),
                    MirrLon = Math.Round(res[3], 4),
                    MirrLat = Math.Round(res[4], 4),
                };
                db.PosRes.Add(posRes);
                await db.SaveChangesAsync();
                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 cgRes = db.CgRes.Add(new CgRes()
                {
                    SigTime = dto.SigTime,
                    DtoSx = dto.SxDto * 1e6,
                    DfoSx = dto.SxDfo * 1e6,
                    SnrSx = dto.SxSnr,
                    DtoCdb = dto.XdDto * 1e6,
                    DfoCdb = dto.XdDfo * 1e6,
                    SnrCdb = dto.XdSnr,
                    MainX = dto.MainX,
                    MainY = dto.MainY,
                    MainZ = dto.MainZ,
                    AdjaX = dto.AdjaX,
                    AdjaY = dto.AdjaY,
                    AdjaZ = dto.AdjaZ,
                });
                var StationRes = db.StationRes.Add(new StationRes()
                {
                    SatTxLon = dto.StationResInfo.SatTxLon,
                    SatTxLat = dto.StationResInfo.SatTxLat,
                    CdbTxLon = dto.StationResInfo.CdbTxLon,
                    CdbTxLat = dto.StationResInfo.CdbTxLat,
                    CxLon = dto.StationResInfo.CxLon,
                    CxLat = dto.StationResInfo.CxLat,
                    RefLon = dto.StationResInfo.RefLon,
                    RefLat = dto.StationResInfo.RefLat,
                });
                double[] res = new double[6];
                double[] mainSat = new double[3] { cgRes.MainX, cgRes.MainY, cgRes.MainZ };
                double[] adjaSat = new double[3] { cgRes.AdjaX, cgRes.AdjaY, cgRes.AdjaZ };
                double[] satStation = new double[3] { dto.StationResInfo.SatTxLon, dto.StationResInfo.SatTxLat, 0 };
                double[] cdbStation = new double[3] { dto.StationResInfo.CdbTxLon, dto.StationResInfo.CdbTxLat, 0 };
                double[] cxStation = new double[3] { dto.StationResInfo.CxLon, dto.StationResInfo.CxLat, 0 };
                double[] refStation = new double[3] { dto.StationResInfo.RefLon, dto.StationResInfo.RefLat, 0 };
                double[] zone = new double[] { -85, 85, -180, 180 }; //定位区域
                PosApi.X2D1_POS_Core(mainSat, adjaSat, cdbStation, satStation, satStation, satStation, satStation, satStation, refStation, zone, cgRes.DtoSx.Value / 1e6, cgRes.DtoCdb.Value / 1e6, cgRes.YbMain.Value / 1e6, cgRes.YbAdja.Value / 1e6, res);
                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 = Math.Round(res[0], 4),
                    PosLat = Math.Round(res[1], 4),
                    MirrLon = Math.Round(res[3], 4),
                    MirrLat = Math.Round(res[4], 4),
                };
                db.PosRes.Add(posRes);
                await db.SaveChangesAsync();
                return Success(posRes);
            }
        }

        /// <summary>
        /// 融合无参定位(含星历)
        /// </summary>
        /// <param name="dto">定位参数</param>
        /// <returns></returns>
        [HttpPost]
        public async Task<AjaxResult<PosRes>> PosRhNoParAsync(RHNoParPosDto 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 listTx = new List<TxInfo>();
                var cgRes = db.CgRes.Add(new CgRes()
                {
                    SigTime = dto.SigTime,
                    DtoSx = dto.SxDto * 1e6,
                    DfoSx = dto.SxDfo * 1e6,
                    SnrSx = dto.SxSnr,
                    DtoCdb = dto.XdDto * 1e6,
                    DfoCdb = dto.XdDfo * 1e6,
                    SnrCdb = dto.XdSnr,
                    MainX = dto.MainX,
                    MainY = dto.MainY,
                    MainZ = dto.MainZ,
                    AdjaX = dto.AdjaX,
                    AdjaY = dto.AdjaY,
                    AdjaZ = dto.AdjaZ,
                });

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

                var StationRes = db.StationRes.Add(new StationRes()
                {
                    SatTxLon = dto.StationResInfo.SatTxLon,
                    SatTxLat = dto.StationResInfo.SatTxLat,
                    CdbTxLon = dto.StationResInfo.CdbTxLon,
                    CdbTxLat = dto.StationResInfo.CdbTxLat,
                    CxLon = dto.StationResInfo.CxLon,
                    CxLat = dto.StationResInfo.CxLat,
                    RefLon = dto.StationResInfo.RefLon,
                    RefLat = dto.StationResInfo.RefLat,
                });
                double[] resX1D1 = new double[6];
                double[] resX2D1 = new double[6];
                double[] mainSat = new double[3] { cgRes.MainX, cgRes.MainY, cgRes.MainZ };
                double[] adjaSat = new double[3] { cgRes.AdjaX, cgRes.AdjaY, cgRes.AdjaZ };
                double[] satStation = new double[3] { dto.StationResInfo.SatTxLon, dto.StationResInfo.SatTxLat, 0 };
                double[] cdbStation = new double[3] { dto.StationResInfo.CdbTxLon, dto.StationResInfo.CdbTxLat, 0 };
                double[] cxStation = new double[3] { dto.StationResInfo.CxLon, dto.StationResInfo.CxLat, 0 };
                double[] refStation = new double[3] { dto.StationResInfo.RefLon, dto.StationResInfo.RefLat, 0 };
                double[] zone = new double[] { -85, 85, -180, 180 }; //定位区域
                double theta = cxRes.Fx;//单位°

                PosApi.X1D1_POS2023_Core(mainSat, satStation, cdbStation, cxStation, refStation, zone, theta, cgRes.DtoCdb.Value / 1e6, cgRes.YbMain.Value / 1e6, resX1D1);

                PosApi.X2D1_POS_Core(mainSat, adjaSat, cdbStation, satStation, satStation, satStation, satStation, satStation, refStation, zone, cgRes.DtoSx.Value / 1e6, cgRes.DtoCdb.Value / 1e6, cgRes.YbMain.Value / 1e6, cgRes.YbAdja.Value / 1e6, resX2D1);

                double[] res = new double[] { 999, 999, 0, 999, 999, 0 };
                if (PosApi.IsGeoPoint(resX1D1) && PosApi.IsGeoPoint(resX2D1))
                {
                    res = new double[6] {
                    (resX1D1[0] + resX2D1[0]) / 2 + 0.003,
                    (resX1D1[1] + resX2D1[1]) / 2 - 0.002,
                    (resX1D1[2] + resX2D1[2]) / 2,
                    (resX1D1[3] + resX2D1[3]) / 2 + 0.003,
                    (resX1D1[4] + resX2D1[4]) / 2 - 0.002,
                    (resX1D1[5] + resX2D1[5]) / 2,
                };
                }
                else if (PosApi.IsGeoPoint(resX1D1))
                {
                    res = new double[6]
                    {
                    resX1D1[0] + 0.003,
                    resX1D1[1] - 0.002,
                    resX1D1[2],
                    resX1D1[3] + 0.003,
                    resX1D1[4] - 0.002,
                    resX1D1[5],

                    };
                }
                else if (PosApi.IsGeoPoint(resX2D1))
                {
                    res = new double[6]
                   {
                    resX2D1[0] + 0.003,
                    resX2D1[1] - 0.002,
                    resX2D1[2],
                    resX2D1[3] + 0.003,
                    resX2D1[4] - 0.002,
                    resX2D1[5],

                   };
                }
                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 = Math.Round(res[0], 4),
                    PosLat = Math.Round(res[1], 4),
                    MirrLon = Math.Round(res[3], 4),
                    MirrLat = Math.Round(res[4], 4),
                };
                db.PosRes.Add(posRes);
                await db.SaveChangesAsync();
                return Success(posRes);
            }
        }
        #endregion

        #region 无参无星历
        /// <summary>
        /// 一星一地无参定位(无星历)
        /// </summary>
        /// <returns>返回定位结果ID</returns>
        [HttpPost]
        public async Task<AjaxResult<PosRes>> PosX1D1NoXlNoParAsync(X1D1NoXlNoParPosDto 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 ephMain = EphHelper.Calc(xlInfo1.TwoLine, dto.SigTime);
                var cgRes = db.CgRes.Add(new CgRes()
                {
                    SigTime = dto.SigTime,
                    DtoCdb = dto.XdDto * 1e6,
                    DfoCdb = dto.XdDfo * 1e6,
                    SnrCdb = dto.XdSnr,
                    MainX = ephMain.X,
                    MainY = ephMain.Y,
                    MainZ = ephMain.Z,
                });

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

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

                double[] res = new double[6];
                double[] mainSat = new double[3] { cgRes.MainX, cgRes.MainY, cgRes.MainZ };
                double[] satStation = new double[3] { dto.StationResInfo.SatTxLon, dto.StationResInfo.SatTxLat, 0 };
                double[] cdbStation = new double[3] { dto.StationResInfo.CdbTxLon, dto.StationResInfo.CdbTxLat, 0 };
                double[] cxStation = new double[3] { dto.StationResInfo.CxLon, dto.StationResInfo.CxLat, 0 };
                double[] refStation = new double[3] { dto.StationResInfo.RefLon, dto.StationResInfo.RefLat, 0 };
                double[] zone = new double[] { -85, 85, -180, 180 }; //定位区域
                double theta = cxRes.Fx;//单位°
                PosApi.X1D1_POS2023_Core(mainSat, satStation, cdbStation, cxStation, refStation, zone, theta, cgRes.DtoCdb.Value / 1e6, cgRes.YbMain.Value / 1e6, res);
                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],
                };
                db.PosRes.Add(posRes);
                await db.SaveChangesAsync();
                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 ephMain = EphHelper.Calc(xlInfo1.TwoLine, dto.SigTime);
                //var ephAdja = EphHelper.Calc(xlInfo2.TwoLine, dto.SigTime);
                var cgRes = db.CgRes.Add(new Model.CgRes()
                {
                    SigTime = dto.SigTime,
                    DtoSx = dto.SxDto * 1e6,
                    DfoSx = dto.SxDfo * 1e6,
                    SnrSx = dto.SxSnr,
                    DtoCdb = dto.XdDto * 1e6,
                    DfoCdb = dto.XdDfo * 1e6,
                    SnrCdb = dto.XdSnr,
                    MainX = ephMain.X,
                    MainY = ephMain.Y,
                    MainZ = ephMain.Z,
                    AdjaX = ephAdja.X,
                    AdjaY = ephAdja.Y,
                    AdjaZ = ephAdja.Z,
                });

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

                double[] res = new double[6];
                double[] mainSat = new double[3] { cgRes.MainX, cgRes.MainY, cgRes.MainZ };
                double[] adjaSat = new double[3] { cgRes.AdjaX, cgRes.AdjaY, cgRes.AdjaZ };
                double[] satStation = new double[3] { dto.StationResInfo.SatTxLon, dto.StationResInfo.SatTxLat, 0 };
                double[] cdbStation = new double[3] { dto.StationResInfo.CdbTxLon, dto.StationResInfo.CdbTxLat, 0 };
                double[] cxStation = new double[3] { dto.StationResInfo.CxLon, dto.StationResInfo.CxLat, 0 };
                double[] refStation = new double[3] { dto.StationResInfo.RefLon, dto.StationResInfo.RefLat, 0 };
                double[] zone = new double[] { -85, 85, -180, 180 }; //定位区域
                PosApi.X2D1_POS_Core(mainSat, adjaSat, cdbStation, satStation, satStation, satStation, satStation, satStation, refStation, zone, cgRes.DtoSx.Value / 1e6, cgRes.DtoCdb.Value / 1e6, cgRes.YbMain.Value / 1e6, cgRes.YbAdja.Value / 1e6, res);
                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],
                };
                db.PosRes.Add(posRes);
                await db.SaveChangesAsync();
                return Success(posRes);
            }
        }

        /// <summary>
        /// 融合无参定位(无星历)
        /// </summary>
        /// <returns>返回定位结果ID</returns>
        [HttpPost]
        public async Task<AjaxResult<PosRes>> PosRhNoXlNoParAsync(RHNoXlNoParPosDto 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 ephMain = EphHelper.Calc(xlInfo1.TwoLine, dto.SigTime);
                //var ephAdja = EphHelper.Calc(xlInfo2.TwoLine, dto.SigTime);
                var cgRes = db.CgRes.Add(new CgRes()
                {
                    SigTime = dto.SigTime,
                    DtoSx = dto.SxDto * 1e6,
                    DfoSx = dto.SxDfo * 1e6,
                    SnrSx = dto.SxSnr,
                    DtoCdb = dto.XdDto * 1e6,
                    DfoCdb = dto.XdDfo * 1e6,
                    SnrCdb = dto.XdSnr,
                    MainX = ephMain.X,
                    MainY = ephMain.Y,
                    MainZ = ephMain.Z,
                    AdjaX = ephAdja.X,
                    AdjaY = ephAdja.Y,
                    AdjaZ = ephAdja.Z,
                });

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

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

                double[] resX1D1 = new double[6];
                double[] resX2D1 = new double[6];
                double[] mainSat = new double[3] { cgRes.MainX, cgRes.MainY, cgRes.MainZ };
                double[] adjaSat = new double[3] { cgRes.AdjaX, cgRes.AdjaY, cgRes.AdjaZ };
                double[] satStation = new double[3] { dto.StationResInfo.SatTxLon, dto.StationResInfo.SatTxLat, 0 };
                double[] cdbStation = new double[3] { dto.StationResInfo.CdbTxLon, dto.StationResInfo.CdbTxLat, 0 };
                double[] cxStation = new double[3] { dto.StationResInfo.CxLon, dto.StationResInfo.CxLat, 0 };
                double[] refStation = new double[3] { dto.StationResInfo.RefLon, dto.StationResInfo.RefLat, 0 };
                double[] zone = new double[] { -85, 85, -180, 180 }; //定位区域
                double theta = cxRes.Fx;//单位°

                PosApi.X1D1_POS2023_Core(mainSat, satStation, cdbStation, cxStation, refStation, zone, theta, cgRes.DtoCdb.Value / 1e6, cgRes.YbMain.Value / 1e6, resX1D1);

                PosApi.X2D1_POS_Core(mainSat, adjaSat, cdbStation, satStation, satStation, satStation, satStation, satStation, refStation, zone, cgRes.DtoSx.Value / 1e6, cgRes.DtoCdb.Value / 1e6, cgRes.YbMain.Value / 1e6, cgRes.YbAdja.Value / 1e6, resX2D1);

                double[] res = new double[] { 999, 999, 0, 999, 999, 0 };
                if (PosApi.IsGeoPoint(resX1D1) && PosApi.IsGeoPoint(resX2D1))
                {
                    res = new double[6] {
                    (resX1D1[0] + resX2D1[0]) / 2 + 0.003,
                    (resX1D1[1] + resX2D1[1]) / 2 - 0.002,
                    (resX1D1[2] + resX2D1[2]) / 2,
                    (resX1D1[3] + resX2D1[3]) / 2 + 0.003,
                    (resX1D1[4] + resX2D1[4]) / 2 - 0.002,
                    (resX1D1[5] + resX2D1[5]) / 2,
                };
                }
                else if (PosApi.IsGeoPoint(resX1D1))
                {
                    res = new double[6]
                    {
                    resX1D1[0] + 0.003,
                    resX1D1[1] - 0.002,
                    resX1D1[2],
                    resX1D1[3] + 0.003,
                    resX1D1[4] - 0.002,
                    resX1D1[5],

                    };
                }
                else if (PosApi.IsGeoPoint(resX2D1))
                {
                    res = new double[6]
                   {
                    resX2D1[0] + 0.003,
                    resX2D1[1] - 0.002,
                    resX2D1[2],
                    resX2D1[3] + 0.003,
                    resX2D1[4] - 0.002,
                    resX2D1[5],

                   };
                }
                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 = Math.Round(res[0], 4),
                    PosLat = Math.Round(res[1], 4),
                    MirrLon = Math.Round(res[3], 4),
                    MirrLat = Math.Round(res[4], 4),
                };
                db.PosRes.Add(posRes);
                await db.SaveChangesAsync();
                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!");
        }

    }
}