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- using DevExpress.Utils.Drawing.Helpers;
- using DevExpress.Utils.Extensions;
- using DevExpress.XtraEditors;
- using DevExpress.XtraExport.Helpers;
- using DevExpress.XtraGrid.Views.Grid;
- using DevExpress.XtraMap;
- using DevExpress.XtraTreeList.Data;
- using DxHelper;
- using System;
- using System.Collections.Generic;
- using System.ComponentModel;
- using System.Data;
- using System.Data.Entity;
- using System.Drawing;
- using System.IO;
- using System.Linq;
- using System.Text;
- using System.Threading;
- using System.Threading.Tasks;
- using System.Windows.Controls;
- using System.Windows.Documents;
- using System.Windows.Forms;
- using XdCxRhDW.App.Api.时差粗值预测;
- using XdCxRhDW.App.Api.时差线;
- using XdCxRhDW.App.DTO;
- using XdCxRhDW.App.UserControl;
- using XzXdDw.App.Api;
- using XzXdDw.App.Api.星地GDOP误差椭圆;
- using XzXdDw.App.EditForms;
- using XzXdDw.App.EFContext;
- using XzXdDw.App.Model;
- namespace XzXdDw.App.UserControl
- {
- /// <summary>
- /// 星地定位
- /// </summary>
- public partial class CtrlPosXd : DevExpress.XtraEditors.XtraUserControl
- {
- DtXDParam dtxdctrl = null;
- public CtrlPosXd()
- {
- InitializeComponent();
- }
- private async void CtrlXdPos_Load(object sender, EventArgs e)
- {
- try
- {
- gridPos.Init().UseMultiSelect().UseFilter().UseRowNumber().UseExportXlsx()
- .AddMenu("删除", SvgHelper.CreateClose(), async () =>
- {
- try
- {
- if (XtraMessageBox.Show("确认删除?(Ctrl+A可全选删除)", "确认", MessageBoxButtons.YesNo, MessageBoxIcon.Question) != DialogResult.Yes)
- {
- return;
- }
- var ids = gridView1.GetSelectedRows();
- List<XDPosRes> deletePos = new List<XDPosRes>();
- using (RHDWContext db = new RHDWContext())
- {
- foreach (var id in ids)
- {
- var item = gridView1.GetRow(id) as XDPosRes;
- var delItem = await db.XDPosRes.Where(p => p.ID == item.ID).FirstOrDefaultAsync();
- if (delItem != null)
- {
- db.XDPosRes.Remove(delItem);
- }
- deletePos.Add(item);
- }
- await db.SaveChangesAsync();
- }
- gridView1.DeleteSelectedRows();
- mapControl1.DelPosItem(deletePos);
- }
- catch (Exception ex)
- {
- Serilog.Log.Error("删除结果失败", ex);
- XtraMessageBox.Show("删除结果失败");
- }
- })
- .AddMenu("手动定位", SvgHelper.LoadFromFile("Image\\Pos.svg"), XdPos)
- .AddMenu("绘制时差线", SvgHelper.LoadFromFile("Image\\DrawLine.svg"), DrawDtoLine)
- .AddMenu("加载仿真数据", SvgHelper.LoadFromFile("Image\\LoadData.svg"), LoadSimulationData)
- .AddMenu("绘制误差椭圆", SvgHelper.LoadFromFile("Image\\误差椭圆.svg"), DrawErrorEllipse2X1D)
- .AddMenu("停止加载", SvgHelper.LoadFromFile("Image\\Stop.svg"), () => stoped = true);
- mapControl1.UseDefalutOptions()
- //.UseCluster()//定位点使用内置聚合
- .UseClearAll()
- .UseDistanceLine()
- .UseMarkDot()
- //.UseExportImg()
- //.UseExportXlsx()
- //.UseExportCsv()
- .UseDrawRect(rect =>
- {
- if (dtxdctrl != null)
- {
- dtxdctrl.rect = rect;
- }
- });
- //MapMenu为地图瓦片上右键菜单
- //AddPosMenu为定位点上右键菜单
- //RectMenu为框选的区域上右键菜单
- mapControl1.AddMapMenu("加载仿真数据", SvgHelper.LoadFromFile("Image\\LoadData.svg"), (lon, lat) => LoadSimulationData())
- .AddMapMenu("停止加载", SvgHelper.LoadFromFile("Image\\Stop.svg"), (lon, lat) => stoped = true)
- .AddMapMenu("GDOP分析", SvgHelper.LoadFromFile("Image\\GDOP.svg"), (lon, lat) =>
- {
- var ctrl = new X2D1GDOPParam();
- PopupHelper.ShowPopup(ctrl, mapControl1, mapControl1.Width / 4, onHide: hideReason =>
- {
- if (hideReason == HideReason.Defalut) return;
- var model = ctrl.Model;
- var (listSat, data) = GdopHelper.Gdop2Sat1DRef(new double[] { model.StationLon, model.StationLat },
- new double[] { model.RefLon, model.RefLat }, model.TleMain, model.TleAdja, model.CapTime, model.DtousErr, model.SatLocErr);
- if (data == null)
- {
- return;
- }
- if (listSat != null)//画卫星
- {
- foreach (var sat in listSat)
- {
- mapControl1.Invoke(new Action(() =>
- {
- string satCode = sat.SatCode == null ? "未知" : sat.SatCode.ToString();
- 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}°");
- }));
- }
- }
- foreach (var errLins in data)//画GDOP
- {
- foreach (var line in errLins.MapLines)
- {
- var newLine = SampleDots(line);
- mapControl1.Invoke(new Action(() =>
- {
- var mapLines = newLine.Line.Select(p => (errLins.ErrDistanceKm, p.Lon, p.Lat));
- mapControl1.DrawGdopLine(mapLines);
- }));
- }
- }
- });
- })
- .AddPosMenu<XDPosRes>("误差椭圆", SvgHelper.LoadFromFile("Image\\误差椭圆.svg"), item =>
- {
- 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";
- PopupHelper.ShowPopup(new MsgUserControl(msg), mapControl1, mapControl1.Width / 4, onHide: hideReason =>
- {
- if (hideReason == HideReason.Defalut)
- {
- var (listSat, data) = ErrEllipseHelper.ErrEllipse2SatDtoDfoRef(TestData.TleMain, TestData.TleAdja1, DateTime.Now, 1000, 500, 2225, 2225,
- new double[] { TestData.TarLon, TestData.TarLat },
- new double[] { TestData.RefLon, TestData.RefLat },
- out double R1, out double R2);
- if (data == null)
- {
- return;
- }
- if (listSat != null)//画卫星
- {
- foreach (var sat in listSat)
- {
- mapControl1.Invoke(new Action(() =>
- {
- string satCode = sat.SatCode == null ? "未知" : sat.SatCode.ToString();
- 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}°");
- }));
- }
- }
- foreach (var errLins in data)//画误差椭圆
- {
- foreach (var line in errLins.MapLines)
- {
- var newLine = SampleDots(line);
- mapControl1.Invoke(new Action(() =>
- {
- var mapLines = newLine.Line.Select(p => (p.Lon, p.Lat));
- mapControl1.DrawErrEllipse(R1, R2, mapLines);
- }));
- }
- }
- }
- });
- })
- .AddRectMenu<XDPosRes>("时差初值预估", SvgHelper.LoadFromFile("Image\\初值预估.svg"), items =>
- {
- var rect = mapControl1.GetCurrentRect();
- if (dtxdctrl == null)
- {
- dtxdctrl = new DtXDParam();
- }
- dtxdctrl.rect = rect;
- PopupHelper.ShowPopup(dtxdctrl, mapControl1, mapControl1.Width / 4);
- });
- //查询已有的定位记录
- using (RHDWContext db = new RHDWContext())
- {
- List<XDPosRes> list = await db.XDPosRes.ToListAsync();
- this.gridPos.DataSource = list;
- mapControl1.SetPosDataSource(list);
- }
- }
- catch (Exception ex)
- {
- Serilog.Log.Error("查询定位结果失败", ex);
- XtraMessageBox.Show("查询定位结果失败");
- }
- }
- bool stoped = false;
- private async void LoadSimulationData()
- {
- SimulationEditor editor = new SimulationEditor();
- if (editor.ShowDialog() != DialogResult.OK)
- {
- return;
- }
-
- //"Simulation_Data2023.dat"
- string simulationFile = editor.SimulationFile;
- stoped = false;
- //在列表控件中全选+右键可以删除所有测试结果
- using (RHDWContext db = new RHDWContext())
- {
- var listTx = db.TxInfos.ToList();
- var lines = File.ReadAllLines(simulationFile);
- Random r = new Random();
- foreach (var item in lines)
- {
- if (stoped) break;
- var items = item.Split(" ".ToCharArray(), StringSplitOptions.RemoveEmptyEntries);
- if (items.Length != 13) continue;
- var sxDto = Convert.ToDouble(items[0]);
- var xdDto = Convert.ToDouble(items[1]);
- var mainYbDto = Convert.ToDouble(items[2]);
- var adjaYbDto = Convert.ToDouble(items[3]);
- var mainX = Convert.ToDouble(items[7]);
- var mainY = Convert.ToDouble(items[8]);
- var mainZ = Convert.ToDouble(items[9]);
- var adjaX = Convert.ToDouble(items[10]);
- var adjaY = Convert.ToDouble(items[11]);
- var adjaZ = Convert.ToDouble(items[12]);
- var cgRes = new CgRes()
- {
- SigTime = DateTime.Now,
- DtoSx = sxDto * 1e6,
- DfoSx = 200 + r.Next(1, 5) + Math.Round(r.NextDouble(), 3),
- SnrSx = r.Next(18, 24) + Math.Round(r.NextDouble(), 1),
- DtoCdb = xdDto * 1e6,
- DfoCdb = 600 + r.Next(1, 5) + Math.Round(r.NextDouble(), 3),
- SnrCdb = r.Next(22, 32) + Math.Round(r.NextDouble(), 1),
- YbMain = mainYbDto * 1e6,
- YbAdja = adjaYbDto * 1e6,
- MainX = mainX,
- MainY = mainY,
- MainZ = mainZ,
- AdjaX = adjaX,
- AdjaY = adjaY,
- AdjaZ = adjaZ,
- };
- var cg = db.CgRes.Add(cgRes);//参估结果入库
- await db.SaveChangesAsync();
- var res = PosApi.X2D1_POS(cgRes, listTx);
- XDPosRes posRes = new XDPosRes()
- {
- SigTime = cgRes.SigTime,
- CgResID = cgRes.ID,
- TarName = "未知目标",
- TsName = "tar1",
- PosLon = res[0],
- PosLat = res[1],
- MirrLon = res[3],
- MirrLat = res[4]
- };
- db.XDPosRes.Add(posRes);//定位结果入库
- await db.SaveChangesAsync();
- //更新定位结果UI列表和地图
- var currentTask = gridView1.GetFocusedRow() as TaskInfo;
- var ds = this.gridPos.DataSource as List<XDPosRes>;
- ds.Insert(0, posRes);
- this.Invoke(new Action(() =>
- {
- gridView1.RefreshData();
- mapControl1.AddPosItem(posRes);
- }));
- await Task.Delay(200);
- }
- }
- }
- private async void XdPos()
- {
- try
- {
- var ids = gridView1.GetSelectedRows();
- if (ids.Length <= 0)
- {
- XtraMessageBox.Show("请选择需要手动定位的数据信息!");
- return;
- }
- var item = gridView1.GetRow(ids[0]) as XDPosRes;
- List<TxInfo> listTx = new List<TxInfo>();
- CgRes cg;
- using (RHDWContext db = new RHDWContext())
- {
- listTx = db.TxInfos.ToList();
- cg = await db.CgRes.Where(m => m.ID == item.CgResID).FirstOrDefaultAsync();
- }
- X2D1PosParamEditor frm = new X2D1PosParamEditor(item, cg, listTx, () =>
- {
- gridView1.RefreshData();
- if (item.PosLon > 180 || item.PosLon < -180)
- {
- item.PosLon = 0;
- item.PosLat = 0;
- }
- mapControl1.UpdatePosItem(item);
- });
- frm.ShowDialog();
- }
- catch (Exception ex)
- {
- Serilog.Log.Error("手动定位失败", ex);
- XtraMessageBox.Show("手动定位失败");
- }
- }
- private async void DrawDtoLine()
- {
- try
- {
- var ids = gridView1.GetSelectedRows();
- if (ids.Length <= 0)
- {
- XtraMessageBox.Show("请选择需要绘制时差线的定位数据信息!");
- return;
- }
- var item = gridView1.GetRow(ids[0]) as XDPosRes;
- List<TxInfo> listTx = new List<TxInfo>();
- List<Model.SatInfo> listSat = new List<Model.SatInfo>();
- CgRes cg;
- using (RHDWContext db = new RHDWContext())
- {
- listTx = db.TxInfos.ToList();
- listSat = db.SatInfos.ToList();
- cg = await db.CgRes.Where(m => m.ID == item.CgResID).FirstOrDefaultAsync();
- }
- if (cg == null)
- {
- XtraMessageBox.Show($"未找到定位相关的计算[{item.CgResID}]信息");
- return;
- }
- var satTx = listTx.Find(p => p.TxType == EnumTxType.MainSat);
- var satNTx = listTx.Find(p => p.TxType == EnumTxType.AdjaSat);
- var cdbTx = listTx.Find(p => p.TxType == EnumTxType.Cdb);
- var refTx = listTx.Find(p => p.TxType == EnumTxType.Ref);
- DtoLineXdOption dtoLineXd = new DtoLineXdOption();
- dtoLineXd.MsEph = new double[] { cg.MainX, cg.MainY, cg.MainZ, 0, 0, 0 };
- dtoLineXd.MsAnt = new double[] { satTx.Lon, satTx.Lat, 0 };
- dtoLineXd.CDBAnt = new double[] { cdbTx.Lon, cdbTx.Lat, 0 };
- dtoLineXd.RefGeod = new double[] { refTx.Lon, refTx.Lat, 0 };
- dtoLineXd.xdDto = cg.DtoCdb;
- dtoLineXd.RefDto = cg.YbMain;
- dtoLineXd.PosLon = item.PosLon;
- dtoLineXd.PosLat = item.PosLat;
- var xdDtoLine = DrawDtoLineHelper.DtoLineXd(dtoLineXd);
- mapControl1.DrawDtoPonit($"星地[{listSat.FirstOrDefault(m => m.ID == satTx.ID)?.Sat},{listSat.FirstOrDefault(m => m.ID == cdbTx.ID)?.Sat}]时差线", xdDtoLine);
- DtoLineTwoStartOption twoStartOption = new DtoLineTwoStartOption();
- twoStartOption.MsEph = new double[] { cg.MainX, cg.MainY, cg.MainZ, 0, 0, 0 };
- twoStartOption.NsEph = new double[] { cg.AdjaX, cg.AdjaY, cg.AdjaZ, 0, 0, 0 };
- twoStartOption.MsAnt = new double[] { satTx.Lon, satTx.Lat, 0 };
- twoStartOption.NsAnt = new double[] { satNTx.Lon, satNTx.Lat, 0 };
- twoStartOption.RefGeod = new double[] { refTx.Lon, refTx.Lat, 0 };
- twoStartOption.TargetDto = cg.DtoSx;
- twoStartOption.RefDto = cg.YbMain - cg.YbAdja;
- twoStartOption.PosLon = item.PosLon;
- twoStartOption.PosLat = item.PosLat;
- var tsDtoLine = DrawDtoLineHelper.DtoLineXDTwoStart(twoStartOption);
- mapControl1.DrawDtoPonit($"双星[{listSat.FirstOrDefault(m => m.ID == satTx.ID)?.Sat},{listSat.FirstOrDefault(m => m.ID == satNTx.ID)?.Sat}]时差线", tsDtoLine);
- }
- catch (Exception ex)
- {
- Serilog.Log.Error("绘制时差线失败", ex);
- XtraMessageBox.Show($"绘制时差线失败,失败信息:{ex.Message}");
- }
- }
- private async void DrawErrorEllipse2X1D()
- {
- try
- {
- var ids = gridView1.GetSelectedRows();
- if (ids.Length <= 0)
- {
- XtraMessageBox.Show("请选择需要绘制误差椭圆线的定位数据信息!");
- return;
- }
- var item = gridView1.GetRow(ids[0]) as XDPosRes;
- List<TxInfo> listTx = new List<TxInfo>();
- List<Model.SatInfo> listSat = new List<Model.SatInfo>();
- CgRes cg;
- using (RHDWContext db = new RHDWContext())
- {
- listTx = db.TxInfos.ToList();
- listSat = db.SatInfos.ToList();
- cg = await db.CgRes.Where(m => m.ID == item.CgResID).FirstOrDefaultAsync();
- }
- if (cg == null)
- {
- XtraMessageBox.Show($"未找到定位相关的计算[{item.CgResID}]信息");
- return;
- }
- var satTx = listTx.Find(p => p.TxType == EnumTxType.MainSat);
- var satNTx = listTx.Find(p => p.TxType == EnumTxType.AdjaSat);
- var cdbTx = listTx.Find(p => p.TxType == EnumTxType.Cdb);
- var refTx = listTx.Find(p => p.TxType == EnumTxType.Ref);
- XzXdDw.App.Api.低轨GDOP误差椭圆.ErrorEllipseDTO2X1DOption Option = new XzXdDw.App.Api.低轨GDOP误差椭圆.ErrorEllipseDTO2X1DOption();
- Option.MsEph = new double[] { cg.MainX, cg.MainY, cg.MainZ, 0, 0, 0 };
- Option.NsEph = new double[] { cg.AdjaX, cg.AdjaY, cg.AdjaZ, 0, 0, 0 };
- Option.CDBAnt = new double[] { cdbTx.Lon, cdbTx.Lat, 0 };
- Option.RefGeod = new double[] { refTx.Lon, refTx.Lat, 0 };
- Option.SelectPoint = new double[3] { item.PosLon, item.PosLat, 0 };
- Option.DtoErr = 1.0e-6;
- Option.EphErr = 1.0e3;
- /*Option.MsEph = new double[] { -41250768, 5295530, 6825975, 0, 0, 0 };
- Option.NsEph = new double[] { -38198363, 17843895, 8881, 0, 0, 0 };
- Option.CDBAnt = new double[] { 115, 10, 0 };
- Option.RefGeod = new double[] { 121, 32, 0 };
- Option.SelectPoint = new double[3] { -180, -85, 0 };
- Option.DtoErr = 1.0e-6; //*****目标时差,单位是秒
- Option.EphErr = 1.0e3;*/
- var points = XzXdDw.App.Api.低轨GDOP误差椭圆.ErrEllipseHelper.ErrorEllipse2X1D(Option);
- mapControl1.DrawDtoPonit($"双星[{listSat.FirstOrDefault(m => m.ID == satTx.ID)?.Sat},{listSat.FirstOrDefault(m => m.ID == satNTx.ID)?.Sat}]误差椭圆线", points);
- }
- catch (Exception ex)
- {
- Serilog.Log.Error("绘制误差椭圆线失败", ex);
- XtraMessageBox.Show($"绘制误差椭圆线失败,失败信息:{ex.Message}");
- }
- }
- public XdCxRhDW.App.DTO.MapLine SampleDots(XdCxRhDW.App.DTO.MapLine line)
- {
- var dots = line.Line;
- if (dots.Count < 30) return line;
- var tmp = dots.Count / 30;
- var newLine = new XdCxRhDW.App.DTO.MapLine();
- for (int i = 0; i < dots.Count; i += tmp)
- {
- newLine.Line.Add(dots[i]);
- }
- if (!newLine.Line.Contains(dots.Last()))
- newLine.Line.Add(dots.Last());
- return newLine;
- }
- }
- }
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