CtrlPosXd.cs 22 KB

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  1. using DevExpress.Utils.Drawing.Helpers;
  2. using DevExpress.Utils.Extensions;
  3. using DevExpress.XtraEditors;
  4. using DevExpress.XtraExport.Helpers;
  5. using DevExpress.XtraGrid.Views.Grid;
  6. using DevExpress.XtraMap;
  7. using DevExpress.XtraTreeList.Data;
  8. using DxHelper;
  9. using System;
  10. using System.Collections.Generic;
  11. using System.ComponentModel;
  12. using System.Data;
  13. using System.Data.Entity;
  14. using System.Drawing;
  15. using System.IO;
  16. using System.Linq;
  17. using System.Text;
  18. using System.Threading;
  19. using System.Threading.Tasks;
  20. using System.Windows.Controls;
  21. using System.Windows.Documents;
  22. using System.Windows.Forms;
  23. using XdCxRhDW.App.Api.时差粗值预测;
  24. using XdCxRhDW.App.Api.时差线;
  25. using XdCxRhDW.App.DTO;
  26. using XdCxRhDW.App.UserControl;
  27. using XzXdDw.App.Api;
  28. using XzXdDw.App.Api.星地GDOP误差椭圆;
  29. using XzXdDw.App.EditForms;
  30. using XzXdDw.App.EFContext;
  31. using XzXdDw.App.Model;
  32. namespace XzXdDw.App.UserControl
  33. {
  34. /// <summary>
  35. /// 星地定位
  36. /// </summary>
  37. public partial class CtrlPosXd : DevExpress.XtraEditors.XtraUserControl
  38. {
  39. DtXDParam dtxdctrl = null;
  40. public CtrlPosXd()
  41. {
  42. InitializeComponent();
  43. }
  44. private async void CtrlXdPos_Load(object sender, EventArgs e)
  45. {
  46. try
  47. {
  48. gridPos.Init().UseMultiSelect().UseFilter().UseRowNumber().UseExportXlsx()
  49. .AddMenu("删除", SvgHelper.CreateClose(), async () =>
  50. {
  51. try
  52. {
  53. if (XtraMessageBox.Show("确认删除?(Ctrl+A可全选删除)", "确认", MessageBoxButtons.YesNo, MessageBoxIcon.Question) != DialogResult.Yes)
  54. {
  55. return;
  56. }
  57. var ids = gridView1.GetSelectedRows();
  58. List<XDPosRes> deletePos = new List<XDPosRes>();
  59. using (RHDWContext db = new RHDWContext())
  60. {
  61. foreach (var id in ids)
  62. {
  63. var item = gridView1.GetRow(id) as XDPosRes;
  64. var delItem = await db.XDPosRes.Where(p => p.ID == item.ID).FirstOrDefaultAsync();
  65. if (delItem != null)
  66. {
  67. db.XDPosRes.Remove(delItem);
  68. }
  69. deletePos.Add(item);
  70. }
  71. await db.SaveChangesAsync();
  72. }
  73. gridView1.DeleteSelectedRows();
  74. mapControl1.DelPosItem(deletePos);
  75. }
  76. catch (Exception ex)
  77. {
  78. Serilog.Log.Error("删除结果失败", ex);
  79. XtraMessageBox.Show("删除结果失败");
  80. }
  81. })
  82. .AddMenu("手动定位", SvgHelper.LoadFromFile("Image\\Pos.svg"), XdPos)
  83. .AddMenu("绘制时差线", SvgHelper.LoadFromFile("Image\\DrawLine.svg"), DrawDtoLine)
  84. .AddMenu("加载仿真数据", SvgHelper.LoadFromFile("Image\\LoadData.svg"), LoadSimulationData)
  85. .AddMenu("绘制误差椭圆", SvgHelper.LoadFromFile("Image\\误差椭圆.svg"), DrawErrorEllipse2X1D)
  86. .AddMenu("停止加载", SvgHelper.LoadFromFile("Image\\Stop.svg"), () => stoped = true);
  87. mapControl1.UseDefalutOptions()
  88. //.UseCluster()//定位点使用内置聚合
  89. .UseClearAll()
  90. .UseDistanceLine()
  91. .UseMarkDot()
  92. //.UseExportImg()
  93. //.UseExportXlsx()
  94. //.UseExportCsv()
  95. .UseDrawRect(rect =>
  96. {
  97. if (dtxdctrl != null)
  98. {
  99. dtxdctrl.rect = rect;
  100. }
  101. });
  102. //MapMenu为地图瓦片上右键菜单
  103. //AddPosMenu为定位点上右键菜单
  104. //RectMenu为框选的区域上右键菜单
  105. mapControl1.AddMapMenu("加载仿真数据", SvgHelper.LoadFromFile("Image\\LoadData.svg"), (lon, lat) => LoadSimulationData())
  106. .AddMapMenu("停止加载", SvgHelper.LoadFromFile("Image\\Stop.svg"), (lon, lat) => stoped = true)
  107. .AddMapMenu("GDOP分析", SvgHelper.LoadFromFile("Image\\GDOP.svg"), (lon, lat) =>
  108. {
  109. var ctrl = new X2D1GDOPParam();
  110. PopupHelper.ShowPopup(ctrl, mapControl1, mapControl1.Width / 4, onHide: hideReason =>
  111. {
  112. if (hideReason == HideReason.Defalut) return;
  113. var model = ctrl.Model;
  114. var (listSat, data) = GdopHelper.Gdop2Sat1DRef(new double[] { model.StationLon, model.StationLat },
  115. new double[] { model.RefLon, model.RefLat }, model.TleMain, model.TleAdja, model.CapTime, model.DtousErr, model.SatLocErr);
  116. if (data == null)
  117. {
  118. return;
  119. }
  120. if (listSat != null)//画卫星
  121. {
  122. foreach (var sat in listSat)
  123. {
  124. mapControl1.Invoke(new Action(() =>
  125. {
  126. string satCode = sat.SatCode == null ? "未知" : sat.SatCode.ToString();
  127. mapControl1.DrawFixedImg("sat", sat.SatLat, sat.SatLon, DxHelper.SvgHelper.CreateSat(), new Size(32, 32), $"卫星编号:{satCode}\r\n轨道经度:{sat.SatLon}°\r\n轨道纬度:{sat.SatLat}°");
  128. }));
  129. }
  130. }
  131. foreach (var errLins in data)//画GDOP
  132. {
  133. foreach (var line in errLins.MapLines)
  134. {
  135. var newLine = SampleDots(line);
  136. mapControl1.Invoke(new Action(() =>
  137. {
  138. var mapLines = newLine.Line.Select(p => (errLins.ErrDistanceKm, p.Lon, p.Lat));
  139. mapControl1.DrawGdopLine(mapLines);
  140. }));
  141. }
  142. }
  143. });
  144. })
  145. .AddPosMenu<XDPosRes>("误差椭圆", SvgHelper.LoadFromFile("Image\\误差椭圆.svg"), item =>
  146. {
  147. string msg = "星地我这里只有GDOP和定位\r\n罗博士和黎强应该有相关算法\r\n关闭后将自动绘制高轨双星误差椭圆";
  148. PopupHelper.ShowPopup(new MsgUserControl(msg), mapControl1, mapControl1.Width / 4, onHide: hideReason =>
  149. {
  150. if (hideReason == HideReason.Defalut)
  151. {
  152. var (listSat, data) = ErrEllipseHelper.ErrEllipse2SatDtoDfoRef(TestData.TleMain, TestData.TleAdja1, DateTime.Now, 1000, 500, 2225, 2225,
  153. new double[] { TestData.TarLon, TestData.TarLat },
  154. new double[] { TestData.RefLon, TestData.RefLat },
  155. out double R1, out double R2);
  156. if (data == null)
  157. {
  158. return;
  159. }
  160. if (listSat != null)//画卫星
  161. {
  162. foreach (var sat in listSat)
  163. {
  164. mapControl1.Invoke(new Action(() =>
  165. {
  166. string satCode = sat.SatCode == null ? "未知" : sat.SatCode.ToString();
  167. mapControl1.DrawFixedImg("sat", sat.SatLat, sat.SatLon, DxHelper.SvgHelper.CreateSat(), new Size(32, 32), $"卫星编号:{satCode}\r\n轨道经度:{sat.SatLon}°\r\n轨道纬度:{sat.SatLat}°");
  168. }));
  169. }
  170. }
  171. foreach (var errLins in data)//画误差椭圆
  172. {
  173. foreach (var line in errLins.MapLines)
  174. {
  175. var newLine = SampleDots(line);
  176. mapControl1.Invoke(new Action(() =>
  177. {
  178. var mapLines = newLine.Line.Select(p => (p.Lon, p.Lat));
  179. mapControl1.DrawErrEllipse(R1, R2, mapLines);
  180. }));
  181. }
  182. }
  183. }
  184. });
  185. })
  186. .AddRectMenu<XDPosRes>("时差初值预估", SvgHelper.LoadFromFile("Image\\初值预估.svg"), items =>
  187. {
  188. var rect = mapControl1.GetCurrentRect();
  189. if (dtxdctrl == null)
  190. {
  191. dtxdctrl = new DtXDParam();
  192. }
  193. dtxdctrl.rect = rect;
  194. PopupHelper.ShowPopup(dtxdctrl, mapControl1, mapControl1.Width / 4);
  195. });
  196. //查询已有的定位记录
  197. using (RHDWContext db = new RHDWContext())
  198. {
  199. List<XDPosRes> list = await db.XDPosRes.ToListAsync();
  200. this.gridPos.DataSource = list;
  201. mapControl1.SetPosDataSource(list);
  202. }
  203. }
  204. catch (Exception ex)
  205. {
  206. Serilog.Log.Error("查询定位结果失败", ex);
  207. XtraMessageBox.Show("查询定位结果失败");
  208. }
  209. }
  210. bool stoped = false;
  211. private async void LoadSimulationData()
  212. {
  213. SimulationEditor editor = new SimulationEditor();
  214. if (editor.ShowDialog() != DialogResult.OK)
  215. {
  216. return;
  217. }
  218. //"Simulation_Data2023.dat"
  219. string simulationFile = editor.SimulationFile;
  220. stoped = false;
  221. //在列表控件中全选+右键可以删除所有测试结果
  222. using (RHDWContext db = new RHDWContext())
  223. {
  224. var listTx = db.TxInfos.ToList();
  225. var lines = File.ReadAllLines(simulationFile);
  226. Random r = new Random();
  227. foreach (var item in lines)
  228. {
  229. if (stoped) break;
  230. var items = item.Split(" ".ToCharArray(), StringSplitOptions.RemoveEmptyEntries);
  231. if (items.Length != 13) continue;
  232. var sxDto = Convert.ToDouble(items[0]);
  233. var xdDto = Convert.ToDouble(items[1]);
  234. var mainYbDto = Convert.ToDouble(items[2]);
  235. var adjaYbDto = Convert.ToDouble(items[3]);
  236. var mainX = Convert.ToDouble(items[7]);
  237. var mainY = Convert.ToDouble(items[8]);
  238. var mainZ = Convert.ToDouble(items[9]);
  239. var adjaX = Convert.ToDouble(items[10]);
  240. var adjaY = Convert.ToDouble(items[11]);
  241. var adjaZ = Convert.ToDouble(items[12]);
  242. var cgRes = new CgRes()
  243. {
  244. SigTime = DateTime.Now,
  245. DtoSx = sxDto * 1e6,
  246. DfoSx = 200 + r.Next(1, 5) + Math.Round(r.NextDouble(), 3),
  247. SnrSx = r.Next(18, 24) + Math.Round(r.NextDouble(), 1),
  248. DtoCdb = xdDto * 1e6,
  249. DfoCdb = 600 + r.Next(1, 5) + Math.Round(r.NextDouble(), 3),
  250. SnrCdb = r.Next(22, 32) + Math.Round(r.NextDouble(), 1),
  251. YbMain = mainYbDto * 1e6,
  252. YbAdja = adjaYbDto * 1e6,
  253. MainX = mainX,
  254. MainY = mainY,
  255. MainZ = mainZ,
  256. AdjaX = adjaX,
  257. AdjaY = adjaY,
  258. AdjaZ = adjaZ,
  259. };
  260. var cg = db.CgRes.Add(cgRes);//参估结果入库
  261. await db.SaveChangesAsync();
  262. var res = PosApi.X2D1_POS(cgRes, listTx);
  263. XDPosRes posRes = new XDPosRes()
  264. {
  265. SigTime = cgRes.SigTime,
  266. CgResID = cgRes.ID,
  267. TarName = "未知目标",
  268. TsName = "tar1",
  269. PosLon = res[0],
  270. PosLat = res[1],
  271. MirrLon = res[3],
  272. MirrLat = res[4]
  273. };
  274. db.XDPosRes.Add(posRes);//定位结果入库
  275. await db.SaveChangesAsync();
  276. //更新定位结果UI列表和地图
  277. var currentTask = gridView1.GetFocusedRow() as TaskInfo;
  278. var ds = this.gridPos.DataSource as List<XDPosRes>;
  279. ds.Insert(0, posRes);
  280. this.Invoke(new Action(() =>
  281. {
  282. gridView1.RefreshData();
  283. mapControl1.AddPosItem(posRes);
  284. }));
  285. await Task.Delay(200);
  286. }
  287. }
  288. }
  289. private async void XdPos()
  290. {
  291. try
  292. {
  293. var ids = gridView1.GetSelectedRows();
  294. if (ids.Length <= 0)
  295. {
  296. XtraMessageBox.Show("请选择需要手动定位的数据信息!");
  297. return;
  298. }
  299. var item = gridView1.GetRow(ids[0]) as XDPosRes;
  300. List<TxInfo> listTx = new List<TxInfo>();
  301. CgRes cg;
  302. using (RHDWContext db = new RHDWContext())
  303. {
  304. listTx = db.TxInfos.ToList();
  305. cg = await db.CgRes.Where(m => m.ID == item.CgResID).FirstOrDefaultAsync();
  306. }
  307. X2D1PosParamEditor frm = new X2D1PosParamEditor(item, cg, listTx, () =>
  308. {
  309. gridView1.RefreshData();
  310. if (item.PosLon > 180 || item.PosLon < -180)
  311. {
  312. item.PosLon = 0;
  313. item.PosLat = 0;
  314. }
  315. mapControl1.UpdatePosItem(item);
  316. });
  317. frm.ShowDialog();
  318. }
  319. catch (Exception ex)
  320. {
  321. Serilog.Log.Error("手动定位失败", ex);
  322. XtraMessageBox.Show("手动定位失败");
  323. }
  324. }
  325. private async void DrawDtoLine()
  326. {
  327. try
  328. {
  329. var ids = gridView1.GetSelectedRows();
  330. if (ids.Length <= 0)
  331. {
  332. XtraMessageBox.Show("请选择需要绘制时差线的定位数据信息!");
  333. return;
  334. }
  335. var item = gridView1.GetRow(ids[0]) as XDPosRes;
  336. List<TxInfo> listTx = new List<TxInfo>();
  337. List<Model.SatInfo> listSat = new List<Model.SatInfo>();
  338. CgRes cg;
  339. using (RHDWContext db = new RHDWContext())
  340. {
  341. listTx = db.TxInfos.ToList();
  342. listSat = db.SatInfos.ToList();
  343. cg = await db.CgRes.Where(m => m.ID == item.CgResID).FirstOrDefaultAsync();
  344. }
  345. if (cg == null)
  346. {
  347. XtraMessageBox.Show($"未找到定位相关的计算[{item.CgResID}]信息");
  348. return;
  349. }
  350. var satTx = listTx.Find(p => p.TxType == EnumTxType.MainSat);
  351. var satNTx = listTx.Find(p => p.TxType == EnumTxType.AdjaSat);
  352. var cdbTx = listTx.Find(p => p.TxType == EnumTxType.Cdb);
  353. var refTx = listTx.Find(p => p.TxType == EnumTxType.Ref);
  354. DtoLineXdOption dtoLineXd = new DtoLineXdOption();
  355. dtoLineXd.MsEph = new double[] { cg.MainX, cg.MainY, cg.MainZ, 0, 0, 0 };
  356. dtoLineXd.MsAnt = new double[] { satTx.Lon, satTx.Lat, 0 };
  357. dtoLineXd.CDBAnt = new double[] { cdbTx.Lon, cdbTx.Lat, 0 };
  358. dtoLineXd.RefGeod = new double[] { refTx.Lon, refTx.Lat, 0 };
  359. dtoLineXd.xdDto = cg.DtoCdb;
  360. dtoLineXd.RefDto = cg.YbMain;
  361. dtoLineXd.PosLon = item.PosLon;
  362. dtoLineXd.PosLat = item.PosLat;
  363. var xdDtoLine = DrawDtoLineHelper.DtoLineXd(dtoLineXd);
  364. mapControl1.DrawDtoPonit($"星地[{listSat.FirstOrDefault(m => m.ID == satTx.ID)?.Sat},{listSat.FirstOrDefault(m => m.ID == cdbTx.ID)?.Sat}]时差线", xdDtoLine);
  365. DtoLineTwoStartOption twoStartOption = new DtoLineTwoStartOption();
  366. twoStartOption.MsEph = new double[] { cg.MainX, cg.MainY, cg.MainZ, 0, 0, 0 };
  367. twoStartOption.NsEph = new double[] { cg.AdjaX, cg.AdjaY, cg.AdjaZ, 0, 0, 0 };
  368. twoStartOption.MsAnt = new double[] { satTx.Lon, satTx.Lat, 0 };
  369. twoStartOption.NsAnt = new double[] { satNTx.Lon, satNTx.Lat, 0 };
  370. twoStartOption.RefGeod = new double[] { refTx.Lon, refTx.Lat, 0 };
  371. twoStartOption.TargetDto = cg.DtoSx;
  372. twoStartOption.RefDto = cg.YbMain - cg.YbAdja;
  373. twoStartOption.PosLon = item.PosLon;
  374. twoStartOption.PosLat = item.PosLat;
  375. var tsDtoLine = DrawDtoLineHelper.DtoLineXDTwoStart(twoStartOption);
  376. mapControl1.DrawDtoPonit($"双星[{listSat.FirstOrDefault(m => m.ID == satTx.ID)?.Sat},{listSat.FirstOrDefault(m => m.ID == satNTx.ID)?.Sat}]时差线", tsDtoLine);
  377. }
  378. catch (Exception ex)
  379. {
  380. Serilog.Log.Error("绘制时差线失败", ex);
  381. XtraMessageBox.Show($"绘制时差线失败,失败信息:{ex.Message}");
  382. }
  383. }
  384. private async void DrawErrorEllipse2X1D()
  385. {
  386. try
  387. {
  388. var ids = gridView1.GetSelectedRows();
  389. if (ids.Length <= 0)
  390. {
  391. XtraMessageBox.Show("请选择需要绘制误差椭圆线的定位数据信息!");
  392. return;
  393. }
  394. var item = gridView1.GetRow(ids[0]) as XDPosRes;
  395. List<TxInfo> listTx = new List<TxInfo>();
  396. List<Model.SatInfo> listSat = new List<Model.SatInfo>();
  397. CgRes cg;
  398. using (RHDWContext db = new RHDWContext())
  399. {
  400. listTx = db.TxInfos.ToList();
  401. listSat = db.SatInfos.ToList();
  402. cg = await db.CgRes.Where(m => m.ID == item.CgResID).FirstOrDefaultAsync();
  403. }
  404. if (cg == null)
  405. {
  406. XtraMessageBox.Show($"未找到定位相关的计算[{item.CgResID}]信息");
  407. return;
  408. }
  409. var satTx = listTx.Find(p => p.TxType == EnumTxType.MainSat);
  410. var satNTx = listTx.Find(p => p.TxType == EnumTxType.AdjaSat);
  411. var cdbTx = listTx.Find(p => p.TxType == EnumTxType.Cdb);
  412. var refTx = listTx.Find(p => p.TxType == EnumTxType.Ref);
  413. XzXdDw.App.Api.低轨GDOP误差椭圆.ErrorEllipseDTO2X1DOption Option = new XzXdDw.App.Api.低轨GDOP误差椭圆.ErrorEllipseDTO2X1DOption();
  414. Option.MsEph = new double[] { cg.MainX, cg.MainY, cg.MainZ, 0, 0, 0 };
  415. Option.NsEph = new double[] { cg.AdjaX, cg.AdjaY, cg.AdjaZ, 0, 0, 0 };
  416. Option.CDBAnt = new double[] { cdbTx.Lon, cdbTx.Lat, 0 };
  417. Option.RefGeod = new double[] { refTx.Lon, refTx.Lat, 0 };
  418. Option.SelectPoint = new double[3] { item.PosLon, item.PosLat, 0 };
  419. Option.DtoErr = 1.0e-6;
  420. Option.EphErr = 1.0e3;
  421. /*Option.MsEph = new double[] { -41250768, 5295530, 6825975, 0, 0, 0 };
  422. Option.NsEph = new double[] { -38198363, 17843895, 8881, 0, 0, 0 };
  423. Option.CDBAnt = new double[] { 115, 10, 0 };
  424. Option.RefGeod = new double[] { 121, 32, 0 };
  425. Option.SelectPoint = new double[3] { -180, -85, 0 };
  426. Option.DtoErr = 1.0e-6; //*****目标时差,单位是秒
  427. Option.EphErr = 1.0e3;*/
  428. var points = XzXdDw.App.Api.低轨GDOP误差椭圆.ErrEllipseHelper.ErrorEllipse2X1D(Option);
  429. mapControl1.DrawDtoPonit($"双星[{listSat.FirstOrDefault(m => m.ID == satTx.ID)?.Sat},{listSat.FirstOrDefault(m => m.ID == satNTx.ID)?.Sat}]误差椭圆线", points);
  430. }
  431. catch (Exception ex)
  432. {
  433. Serilog.Log.Error("绘制误差椭圆线失败", ex);
  434. XtraMessageBox.Show($"绘制误差椭圆线失败,失败信息:{ex.Message}");
  435. }
  436. }
  437. public XdCxRhDW.App.DTO.MapLine SampleDots(XdCxRhDW.App.DTO.MapLine line)
  438. {
  439. var dots = line.Line;
  440. if (dots.Count < 30) return line;
  441. var tmp = dots.Count / 30;
  442. var newLine = new XdCxRhDW.App.DTO.MapLine();
  443. for (int i = 0; i < dots.Count; i += tmp)
  444. {
  445. newLine.Line.Add(dots[i]);
  446. }
  447. if (!newLine.Line.Contains(dots.Last()))
  448. newLine.Line.Add(dots.Last());
  449. return newLine;
  450. }
  451. }
  452. }