/// <summary>
/// 如果有效，则直接返回，如果无效则重置先验值重新计算。
/// </summary>
/// <param name="epochInfo"></param>
/// <param name="result"></param>
/// <returns></returns>
private SingleSiteGnssResult CheckOrRecaculate(EpochInformation epochInfo, SingleSiteGnssResult result)
{
if (Geo.Algorithm.Vector.IsValid(result.ResultMatrix.StdOfEstimatedParam))
{
return(result);
}
var lastOkIndex = PrevResults.LastKey;
var differIndex = CurrentIndex - lastOkIndex;
var newAprioriIndex = PrevResults.LastKey - differIndex;
while (newAprioriIndex > 0)
{
if (PrevResults.Contains(newAprioriIndex))
{
var product = PrevResults[newAprioriIndex];
this.SetProduct(product);
if (differIndex > 5)
{
//this.MatrixBuilder.IsResetCovaOfApriori = true;
}
break;
}
newAprioriIndex--;
}
return(base.CaculateKalmanFilter(epochInfo, this.CurrentProduct));
}
public override SingleSiteGnssResult CaculateKalmanFilter(EpochInformation epochInfo, SingleSiteGnssResult lastResult)
{
CurrentIndex++;
var result = base.CaculateKalmanFilter(epochInfo, lastResult);
if (CurrentProduct != null)
{
if (XYZ.IsValueValid(CurrentProduct.EstimatedXyzRms))
{
LastValidXyzRms = CurrentProduct.EstimatedXyzRms;
}
}
result = CheckOrRecaculate(epochInfo, result);
if (!XYZ.IsValueValid(result.EstimatedXyzRms))
{
log.Error("RMS 检核未通过 " + result.EstimatedXyzRms);
return(null);
}
//if (LastValidXyzRms != null
// && CurrentIndex > 10 //先让其浪一会儿
// && (result.EstimatedXyzRms.Length > LastValidXyzRms.Length * 50))
//{
// log.Error("RMS 检核未通过 " + result.EstimatedXyzRms);
// return null;
//}
//ok
PrevResults.Add(CurrentIndex, result);
return(result);
}
private PrevResults m_PRes = null; // Previous buffer and related data.
/// <param name="i_wNoiseLevel">16-bit value for noise level. Default is 1600.</param>
/// <param name="i_iEndpointInMilliSeconds">Amount of trailing silence in miliseconds before determining end of speech.</param>
public EnergyDetector(Int16 i_wNoiseLevel, Int32 i_iEndpointInMilliSeconds)
{
m_wNoiseLevel = i_wNoiseLevel;
m_iEndpointInBytes = ConvertMilliSecondsToBytes(i_iEndpointInMilliSeconds);
m_aiPcmData = new Int16[FRAME_SIZE_MIN]; // Pre-alloc array for converting muLaw to PCM.
m_PRes = new PrevResults();
Reset();
}
