前言
发现做动态轨迹纠偏还是有点用的，记录一下
实现
LoucsCleanUtil.java
// 数据荡涤
public static List<LocusCoordinate> dataCleanWGS84(List<LocusCoordinate> data) {// 工夫距离 ( 工夫距离)
double T = 1.0 / 900;
// 经度方差 (程度地位)
double JDFX = 5.8;
// 纬度方差 (垂直地位)
double WDFX = 1.3;
// 状态矩阵 (初始值不重要, 会主动更正)
double[][] X_ARRAY = {{Double.parseDouble(data.get(0).getLon())},
{0},
{Double.parseDouble(data.get(0).getLat())},
{0}
};
AtomicReference<Matrix> X = new AtomicReference<>(new Matrix(X_ARRAY));
// 状态协方差矩阵 (初始值不重要, 会主动更正)
double[][] P_ARRAY = {{1, 0, 0, 0},
{0, 1, 0, 0},
{0, 0, 1, 0},
{0, 0, 0, 1}
};
AtomicReference<Matrix> P = new AtomicReference<>(new Matrix(P_ARRAY));
// 状态转移矩阵
double[][] F_ARRAY = {{1, T, 0, 0},
{0, 1, 0, 0},
{0, 0, 1, T},
{0, 0, 0, 1}
};
Matrix F = new Matrix(F_ARRAY);
// 状态转移协方差矩阵 (对偏差忽略不计)
double[][] Q_ARRAY = {{0.0001, 0, 0, 0},
{0, 0.0001, 0, 0},
{0, 0, 0.0001, 0},
{0, 0, 0, 0.0001}
};
Matrix Q = new Matrix(Q_ARRAY);
// 观测矩阵 (观测经度纬度)
double[][] H_ARRAY = {{1, 0, 0, 0},
{0, 0, 1, 0}
};
Matrix H = new Matrix(H_ARRAY);
// 观测噪声方差 (对角线为各维度方差)
double[][] R_ARRAY = {{JDFX, 0},
{0, WDFX},
};
Matrix R = new Matrix(R_ARRAY);
//I 维度为 4
double[][] I_ARRAY = {{1, 0, 0, 0},
{0, 1, 0, 0},
{0, 0, 1, 0},
{0, 0, 0, 1}
};
Matrix I = new Matrix(I_ARRAY);
// List<LocusCoordinate> removeShipList = new ArrayList<>();
AtomicInteger i = new AtomicInteger();
List<LocusCoordinate> tgList = new ArrayList<>();
data.forEach(ship -> {
try {i.getAndIncrement();
//============== 第 1 条式子 ==============
Matrix X_ = F.times(X.get());
//============== 第 2 条式子 ==============
Matrix P_ = F.times(P.get()).times(F.transpose()).plus(Q);
//============== 第 3 条式子 ==============
Matrix K = P_.times(H.transpose()).times(H.times(P_).times(H.transpose()).plus(R).inverse());
//============== 第 4 条式子 ==============
// 程度地位
double Px_tt = Double.parseDouble(ship.getLon());
// 垂直地位
double Py_tt = Double.parseDouble(ship.getLat());
double[][] Z_ARRAY = {{Px_tt},
{Py_tt}
};
Matrix Z = new Matrix(Z_ARRAY);
X.set(X_.plus(K.times(Z.minus(H.times(X_)))));
//============== 第 5 条式子 ==============
P.set(I.minus(K.times(H)).times(P_));
//============== 数据荡涤 ==============
double abs = Math.abs(Double.parseDouble(ship.getLat()) - X.get().get(2, 0));
double abs1 = Math.abs(Double.parseDouble(ship.getLon()) - X.get().get(0, 0));
// 革除噪声
if (abs1 >= 0.8 || abs >= 0.8) {// removeShipList.add(ship);
System.out.println();
System.out.println("\033[32;4m" + "======================================《《filter start》》===================================================" + "\033[0m");
System.out.println("序号:" + i.get() + "old-JD:" + Px_tt + "old-WD:" + Py_tt + "new-JD:" + X.get().get(0, 0) + "new-WD:" + X.get().get(2, 0));
System.out.println("\033[32;4m" + "=============================================================================================================" + "\033[0m");
System.out.println();} else {Double[] wgs84 = GCJ02ToWGS84Util.GCJ02ToWGS84(X.get().get(0, 0), X.get().get(2, 0));
ship.setLon(String.valueOf(wgs84[0]));
ship.setLat(String.valueOf(wgs84[1]));
tgList.add(ship);
System.out.println("序号:" + i.get() + "old-JD:" + Px_tt + "old-WD:" + Py_tt + "new-JD:" + X.get().get(0, 0) + "new-WD:" + X.get().get(2, 0));
}
} catch (Exception e) {e.printStackTrace();
}
});
// System.out.println("count :" + removeShipList.size());
// data.removeAll(removeShipList);
return tgList;
}
public static List<LocusCoordinate> dataCleanGCJ02(List<LocusCoordinate> data) {// 工夫距离 ( 工夫距离)
double T = 1.0 / 900;
// 经度方差 (程度地位)
double JDFX = 5.8;
// 纬度方差 (垂直地位)
double WDFX = 1.3;
// 状态矩阵 (初始值不重要, 会主动更正)
double[][] X_ARRAY = {{Double.parseDouble(data.get(0).getLon())},
{0},
{Double.parseDouble(data.get(0).getLat())},
{0}
};
AtomicReference<Matrix> X = new AtomicReference<>(new Matrix(X_ARRAY));
// 状态协方差矩阵 (初始值不重要, 会主动更正)
double[][] P_ARRAY = {{1, 0, 0, 0},
{0, 1, 0, 0},
{0, 0, 1, 0},
{0, 0, 0, 1}
};
AtomicReference<Matrix> P = new AtomicReference<>(new Matrix(P_ARRAY));
// 状态转移矩阵
double[][] F_ARRAY = {{1, T, 0, 0},
{0, 1, 0, 0},
{0, 0, 1, T},
{0, 0, 0, 1}
};
Matrix F = new Matrix(F_ARRAY);
// 状态转移协方差矩阵 (对偏差忽略不计)
double[][] Q_ARRAY = {{0.0001, 0, 0, 0},
{0, 0.0001, 0, 0},
{0, 0, 0.0001, 0},
{0, 0, 0, 0.0001}
};
Matrix Q = new Matrix(Q_ARRAY);
// 观测矩阵 (观测经度纬度)
double[][] H_ARRAY = {{1, 0, 0, 0},
{0, 0, 1, 0}
};
Matrix H = new Matrix(H_ARRAY);
// 观测噪声方差 (对角线为各维度方差)
double[][] R_ARRAY = {{JDFX, 0},
{0, WDFX},
};
Matrix R = new Matrix(R_ARRAY);
//I 维度为 4
double[][] I_ARRAY = {{1, 0, 0, 0},
{0, 1, 0, 0},
{0, 0, 1, 0},
{0, 0, 0, 1}
};
Matrix I = new Matrix(I_ARRAY);
// List<LocusCoordinate> removeShipList = new ArrayList<>();
AtomicInteger i = new AtomicInteger();
List<LocusCoordinate> tgList = new ArrayList<>();
data.forEach(ship -> {
try {i.getAndIncrement();
//============== 第 1 条式子 ==============
Matrix X_ = F.times(X.get());
//============== 第 2 条式子 ==============
Matrix P_ = F.times(P.get()).times(F.transpose()).plus(Q);
//============== 第 3 条式子 ==============
Matrix K = P_.times(H.transpose()).times(H.times(P_).times(H.transpose()).plus(R).inverse());
//============== 第 4 条式子 ==============
// 程度地位
double Px_tt = Double.parseDouble(ship.getLon());
// 垂直地位
double Py_tt = Double.parseDouble(ship.getLat());
double[][] Z_ARRAY = {{Px_tt},
{Py_tt}
};
Matrix Z = new Matrix(Z_ARRAY);
X.set(X_.plus(K.times(Z.minus(H.times(X_)))));
//============== 第 5 条式子 ==============
P.set(I.minus(K.times(H)).times(P_));
//============== 数据荡涤 ==============
double abs = Math.abs(Double.parseDouble(ship.getLat()) - X.get().get(2, 0));
double abs1 = Math.abs(Double.parseDouble(ship.getLon()) - X.get().get(0, 0));
// 革除噪声
if (abs1 >= 0.8 || abs >= 0.8) {// removeShipList.add(ship);
System.out.println();
System.out.println("\033[32;4m" + "======================================《《filter start》》===================================================" + "\033[0m");
System.out.println("序号:" + i.get() + "old-JD:" + Px_tt + "old-WD:" + Py_tt + "new-JD:" + X.get().get(0, 0) + "new-WD:" + X.get().get(2, 0));
System.out.println("\033[32;4m" + "=============================================================================================================" + "\033[0m");
System.out.println();} else {ship.setLon(String.valueOf(X.get().get(0, 0)));
ship.setLat(String.valueOf(X.get().get(2, 0)));
tgList.add(ship);
System.out.println("序号:" + i.get() + "old-JD:" + Px_tt + "old-WD:" + Py_tt + "new-JD:" + X.get().get(0, 0) + "new-WD:" + X.get().get(2, 0));
}
} catch (Exception e) {e.printStackTrace();
}
});
// System.out.println("count :" + removeShipList.size());
// data.removeAll(removeShipList);
return tgList;
}