public ProccessedTrack ProccessTrack(Track track)
{
ProccessedTrack pTrack = new ProccessedTrack("Фильтр Калмана",false);
pTaL = new double[3];
InitializeP();
NormalRandom normRand = new NormalRandom();
aX = Parameters[0].DoubleValue;
aY = Parameters[1].DoubleValue;
r = Parameters[2].DoubleValue;
double predLatForAdd = 0;
double predLonForAdd = 0;
for (int i = 0; i < track.TrackItems.Length; i++)
{
DateTime date = track.TrackItems[i].Date;
double[] kTal = new double[2];
for (int j = 0; j < 2; j++)
{
kTal[j] = pTaL[j] / (pTaL[j] + r);
/*pTaL[j] = (1 - kTal[j]) * pTaL[j];*/
pTaL[j] -= (pTaL[j] > r) ? r : 0;
}
double predLat = predLatForAdd + aX * normRand.Next();
double predLon = predLonForAdd + aY * normRand.Next();
predLatForAdd = predLat + kTal[0] * (track.TrackItems[i].Latitude - predLat);
predLonForAdd = predLon + kTal[1] * (track.TrackItems[i].Longitude - predLon);
ProccessedTrackItem temp = new ProccessedTrackItem(track.TrackItems[i],predLatForAdd, predLonForAdd);
pTrack.AddProccessedTrackItem(temp);
}
return pTrack;
}
/// <summary>
/// получение обработанного трека
/// </summary>
/// <param name="track">Исходный трек</param>
/// <returns>Обработанный трек</returns>
public ProccessedTrack ProccessTrack(Track track)
{
ProccessedTrack pTrack = new ProccessedTrack(Message);
avg = Parameters[0].IntegerValue;
TrackItem[] trackItems = track.TrackItems;
for (int i = 0; i < avg / 2; i++)
{
ProccessedTrackItem pItem = new ProccessedTrackItem(trackItems[i], trackItems[i].Latitude, trackItems[i].Longitude);
pTrack.AddProccessedTrackItem(pItem);
}
for (int i = avg / 2; i < trackItems.Length - avg / 2; i++)
{
double sumLat = 0;
double sumLon = 0;
for (int j = i - avg / 2; j <= i + avg / 2; j++)
{
sumLat += trackItems[j].Latitude;
sumLon += trackItems[j].Longitude;
}
sumLat /= avg + (avg + 1) % 2;
sumLon /= avg + (avg + 1) % 2;
ProccessedTrackItem pItem = new ProccessedTrackItem(trackItems[i], sumLat, sumLon);
pTrack.AddProccessedTrackItem(pItem);
}
for (int i = trackItems.Length - avg / 2; i < trackItems.Length; i++)
{
ProccessedTrackItem pItem = new ProccessedTrackItem(trackItems[i], trackItems[i].Latitude, trackItems[i].Longitude);
pTrack.AddProccessedTrackItem(pItem);
}
return pTrack;
}
/// <summary>
/// Показать форму
/// </summary>
/// <param name="pTrack">Обработанный трек</param>
public void Show(ProccessedTrack pTrack)
{
this.pTrack = pTrack;
this.Text = pTrack.MethodName;
from = 1;
to = pTrack.ProccessedTrackItems.Length;
FillTable();
Show();
}
/// <summary>
/// Создание трека по прогнозу
/// </summary>
/// <param name="track">Исходный трек</param>
/// <returns>Прогнозируемый трек</returns>
public ProccessedTrack ProccessTrack(Track track)
{
avg = Parameters[0].IntegerValue;
ProccessedTrack res = GetDifferences(track);
res = GetAvgDifferences(res, track);
res = GetAverageFromDiffrences(res, track);
ProccessedTrackItem[] pItems = res.ProccessedTrackItems;
TrackItem[] trackItems = track.TrackItems;
ProccessedTrack pTrack = new ProccessedTrack("ARIMAX");
int vars = Parameters[1].IntegerValue;
int eqCount = Parameters[2].IntegerValue;
eqCount = eqCount < vars ? vars : eqCount;
for (int i = 0; i < vars+eqCount;i++ )
{
pTrack.AddProccessedTrackItem(new ProccessedTrackItem(trackItems[i], trackItems[i].Latitude, trackItems[i].Longitude));
}
for (int i = vars+eqCount; i < pItems.Length;i++ )
{
double[,] mriLat = new double[eqCount, vars];
double[,] mriLon = new double[eqCount, vars];
double[] vecLat = new double[eqCount];
double[] vecLon = new double[eqCount];
for (int x = 0; x < eqCount; x++)
{
for (int y = 0; y < vars; y++)
{
mriLat[x, y] = pItems[i - 2 - x - y].ProccessedLatitude;
mriLon[x, y] = pItems[i - 2 - x - y].ProccessedLongitude;
}
vecLat[x] = pItems[i - 1 - x].ProccessedLatitude;
vecLon[x] = pItems[i - 1 - x].ProccessedLongitude;
}
double[] coefsLat = Solver.SolveLSM(mriLat, vecLat);
double[] coefsLon = Solver.SolveLSM(mriLon, vecLon);
double resLat = 0;
double resLon = 0;
if (double.IsNaN(coefsLat[0]) || double.IsNaN(coefsLon[0]))
{
resLat = trackItems[i].Latitude;
resLon = trackItems[i].Longitude;
}
else
{
for (int count = 0; count < vars; count++)
{
resLat += pItems[i - 1 - count].ProccessedLatitude * coefsLat[count];
resLon += pItems[i - 1 - count].ProccessedLongitude * coefsLon[count];
}
}
pTrack.AddProccessedTrackItem(new ProccessedTrackItem(trackItems[i], resLat, resLon));
}
return pTrack;
}
public ProccessedTrack ProccessTrack(Track track)
{
ProccessedTrack pTrack = new ProccessedTrack(Message, false);
foreach (TrackItem item in track.TrackItems)
{
double[] vec = new double[] {item.Longitude,item.Latitude };
double[] newVec = CalcEstimation(vec);
ProccessedTrackItem pItem = new ProccessedTrackItem(item, newVec[1], newVec[0]);
pTrack.AddProccessedTrackItem(pItem);
}
return pTrack;
}
private Route ProccessedTrackToRoute(ProccessedTrack pTrack)
{
Route res = new Route(pTrack.MethodName);
ProccessedTrackItem[] pItems = pTrack.ProccessedTrackItems;
for (int i = 0; i < pItems.Length; i++)
{
RoutePoint rp = new RoutePoint(pItems[i].ProccessedLatitude, pItems[i].ProccessedLongitude, pItems[i].MeasureDate, i + 1);
res.AddPoint(rp);
}
return res;
}
/// <summary>
/// Показать обработанный трек на форме
/// </summary>
/// <param name="pTrack">Обработанный трек</param>
private void ShowProccessedTrackTable(ProccessedTrack pTrack)
{
if (pTrack.IsVector)
{
}
else
{
ProccessedForm pf = new ProccessedForm();
pf.Show(pTrack);
}
}
private double GetAvgDist(ProccessedTrack pTrack)
{
int total = pTrack.ProccessedTrackItems.Length;
double sum = 0;
foreach (ProccessedTrackItem item in pTrack.ProccessedTrackItems)
{
sum += item.Distance / total;
}
return sum;
}
/// <summary>
/// Нарисовать обработанный трек и расстояния пунктиром
/// </summary>
/// <param name="pTrack">Обрабоатнные трек</param>
/// <param name="color">Цвет</param>
/// <returns>JavaScript код, рисующий линию</returns>
private String CreatePolyLines(ProccessedTrack pTrack, String color)
{
StringBuilder sb = new StringBuilder();
StringBuilder sb2 = new StringBuilder();
StringBuilder markersSB = new StringBuilder();
//sb.Append("L.polyline([");
sb2.Append("L.polyline([");
int endPos = this.end == 0 ? pTrack.ProccessedTrackItems.Length : this.end;
for (int i = this.start-1; i < endPos-1;i+=this.skip )
{
ProccessedTrackItem pItem = pTrack.ProccessedTrackItems[i];
String popupHtml = pTrack.MethodName+": <b>" + (i+1).ToString() + "</b><br/>Широта: <b>" + pItem.ProccessedLatitude.ToString() + "</b><br/>Долгота: <b>" + pItem.ProccessedLongitude.ToString() + "</b><br/>Время: <b>" + pItem.MeasureDate.ToString() + "</b><br/>Расстояние до исходной точки: <b>"+pItem.Distance.ToString("0.000")+" м</b>";
markersSB.AppendLine("L.marker([" + pItem.ProccessedLatitude.ToString().Replace(',', '.') + ", " + pItem.ProccessedLongitude.ToString().Replace(',', '.') + "],{icon:L.divIcon({html:'<div style=\"width:2px;height:2px;font-size:6pt\">" + (i+1).ToString() + "</div>'})}).bindPopup('" + popupHtml + "').addTo(map);");
sb.AppendLine("L.polyline([[" + pItem.OriginalLatitude.ToString().Replace(',', '.') + ", " + pItem.OriginalLongitude.ToString().Replace(',', '.') + "],[" + pItem.ProccessedLatitude.ToString().Replace(',', '.') + "," + pItem.ProccessedLongitude.ToString().Replace(',', '.') + "]],{color:'" + color + "',dashArray: [3, 10]}).addTo(map);");
sb2.Append("[" + pItem.ProccessedLatitude.ToString().Replace(',', '.') + ", " + pItem.ProccessedLongitude.ToString().Replace(',', '.') + "], ");
}
String popupHtmlLast = pTrack.MethodName + ": <b>" + (endPos ).ToString() + "</b><br/>Широта: <b>" + pTrack.ProccessedTrackItems[endPos - 1].ProccessedLatitude.ToString() + "</b><br/>Долгота: <b>" + pTrack.ProccessedTrackItems[endPos - 1].ProccessedLongitude.ToString() + "</b><br/>Время: <b>" + pTrack.ProccessedTrackItems[endPos - 1].MeasureDate.ToString() + "</b><br/>Расстояние до исходной точки: <b>" + pTrack.ProccessedTrackItems[endPos - 1].Distance.ToString("0.000") + " м</b>";
markersSB.AppendLine("L.marker([" + pTrack.ProccessedTrackItems[endPos - 1].ProccessedLatitude.ToString().Replace(',', '.') + ", " + pTrack.ProccessedTrackItems[endPos - 1].ProccessedLongitude.ToString().Replace(',', '.') + "],{icon:L.divIcon({html:'<div style=\"width:2px;height:2px;font-size:6pt\">" + (endPos ).ToString() + "</div>'})}).bindPopup('" + popupHtmlLast + "').addTo(map);");
sb.AppendLine("L.polyline([[" + pTrack.ProccessedTrackItems[endPos - 1].OriginalLatitude.ToString().Replace(',', '.') + ", " + pTrack.ProccessedTrackItems[endPos - 1].OriginalLongitude.ToString().Replace(',', '.') + "],[" + pTrack.ProccessedTrackItems[endPos - 1].ProccessedLatitude.ToString().Replace(',', '.') + ", " + pTrack.ProccessedTrackItems[endPos - 1].ProccessedLongitude.ToString().Replace(',', '.') + "]],{color:'" + color + "',dashArray: [3, 10]}).addTo(map);");
sb2.AppendLine("[" + pTrack.ProccessedTrackItems[endPos - 1].ProccessedLatitude.ToString().Replace(',', '.') + ", " + pTrack.ProccessedTrackItems[endPos - 1].ProccessedLongitude.ToString().Replace(',', '.') + "]], {color:'" + color + "'}).addTo(map);");
sb2.Append(sb.ToString());
sb2.Append(markersSB.ToString());
return sb2.ToString();
}
/// <summary>
/// Нарисовать оригинаьный трек по датчику
/// </summary>
/// <param name="pTrack">Обрабоатнный трек</param>
/// <param name="color">Цвет</param>
/// <returns>JavaScript код, рисующий линию</returns>
private String CreateOriginal(ProccessedTrack pTrack, String color)
{
StringBuilder sb = new StringBuilder();
sb.Append("L.polyline([");
StringBuilder markersSB = new StringBuilder();
int endPos = this.end == 0 ? pTrack.ProccessedTrackItems.Length : this.end;
for (int i = this.start-1; i < endPos-1;i+=this.skip )
{
ProccessedTrackItem pItem = pTrack.ProccessedTrackItems[i];
String popupHtml = "Исходный трек: <b>" + (i+1).ToString() + "</b><br/>Широта: <b>" + pItem.OriginalLatitude.ToString() + "</b><br/>Долгота: <b>" + pItem.OriginalLongitude.ToString() + "</b><br/>Время: <b>" + pItem.MeasureDate.ToString() + "</b>";
markersSB.AppendLine("L.marker([" + pItem.OriginalLatitude.ToString().Replace(',', '.') + ", " + pItem.OriginalLongitude.ToString().Replace(',', '.') + "],{icon:L.divIcon({html:'<div style=\"width:2px;height:2px;font-size:6pt\">" + (i+1).ToString() + "</div>'})}).bindPopup('" + popupHtml + "').addTo(map);");
sb.Append("[" + pItem.OriginalLatitude.ToString().Replace(',', '.') + ", " + pItem.OriginalLongitude.ToString().Replace(',', '.')+"], ");
}
String popupHtmlLast = "Исходный трек: <b>" + (endPos).ToString() + "</b><br/>Широта: <b>" + pTrack.ProccessedTrackItems[endPos - 1].OriginalLatitude.ToString() + "</b><br/>Долгота: <b>" + pTrack.ProccessedTrackItems[endPos - 1].OriginalLongitude.ToString() + "</b><br/>Время: <b>" + pTrack.ProccessedTrackItems[endPos - 1].MeasureDate.ToString() + "</b>";
markersSB.AppendLine("L.marker([" + pTrack.ProccessedTrackItems[endPos - 1].OriginalLatitude.ToString().Replace(',', '.') + ", " + pTrack.ProccessedTrackItems[endPos - 1].OriginalLongitude.ToString().Replace(',', '.') + "],{icon:L.divIcon({html:'<div style=\"width:2px;height:2px;font-size:6pt\">" + (endPos ).ToString() + "</div>'})}).bindPopup('" + popupHtmlLast + "').addTo(map);");
sb.AppendLine("[" + pTrack.ProccessedTrackItems[endPos - 1].OriginalLatitude.ToString().Replace(',', '.') + ", " + pTrack.ProccessedTrackItems[endPos - 1].OriginalLongitude.ToString().Replace(',', '.') + "]],{color:'" + color + "'}).addTo(map);");
sb.Append(markersSB.ToString());
return sb.ToString();
}
/// <summary>
/// Показать форму
/// </summary>
/// <param name="pTrack">Обработанный трек</param>
public void Show(ProccessedTrack pTrack)
{
this.pTrack = pTrack;
this.Text = pTrack.MethodName;
}
public void SaveFilteredProccessedTrack(ProccessedTrack pTrack, int from, int to, String fileName)
{
List<ProccessedTrack> pTracks = new List<ProccessedTrack>();
pTracks.Add(pTrack);
WriteExcelFile(null, pTracks, fileName, from, to, WriteMode.OnlyProccessedTrack);
}
/// <summary>
/// обработать таблицу с обработанным треком
/// </summary>
/// <param name="dataTable">Таблица</param>
/// <returns>Обработанный трек</returns>
private ProccessedTrack ParseProccessedDataTable(DataTable dataTable)
{
bool isVector = dataTable.Columns.Count > 7;
ProccessedTrack pTrack = new ProccessedTrack(dataTable.TableName.Replace('_', ' ').Replace("$", ""), isVector);
DataRow[] dataRows = dataTable.Select();
if (isVector)
{
foreach (DataRow row in dataRows)
{
double stlat = (double)row[1];
double stlon = (double)row[2];
DateTime stdate = (DateTime)row[3];
double enlat = (double)row[4];
double enlon = (double)row[5];
DateTime endate = (DateTime)row[6];
TimeSpan lapse = endate - stdate;
double oSpeed = (double)row[8];
double pSpeed = (double)row[9];
double oDist = (double)row[10];
double pDist = (double)row[11];
double oHead = (double)row[12];
double pHead = (double)row[13];
TrackItem stItem = new TrackItem(stlat, stlon, stdate);
TrackItem enItem = new TrackItem(enlat, enlon, endate);
TrackVectorItem vItem = new TrackVectorItem(stItem, enItem);
ProccessedTrackVectorItem pVector = new ProccessedTrackVectorItem(vItem, pSpeed, pDist, pHead);
pTrack.AddProccedTrackVectorItem(pVector);
}
}
else
{
foreach (DataRow row in dataRows)
{
double lat = (double)row[1];
double lon = (double)row[2];
DateTime date = (DateTime)row[3];
double plat = (double)row[4];
double plon = (double)row[5];
double dist = (double)row[6];
TrackItem item = new TrackItem(lat, lon, date);
ProccessedTrackItem pItem = new ProccessedTrackItem(item, plat, plon);
pTrack.AddProccessedTrackItem(pItem);
}
}
return pTrack;
}
/// <summary>
/// Получить трек с разностями
/// </summary>
/// <param name="track">Исходный трек</param>
/// <returns>Трек с разносятми</returns>
private ProccessedTrack GetDifferences(Track track)
{
ProccessedTrack res = new ProccessedTrack("Разности");
if (track.TrackItems.Length>0)
{
res.AddProccessedTrackItem(new ProccessedTrackItem(track.TrackItems[0], track.TrackItems[0].Latitude, track.TrackItems[0].Longitude));
}
TrackItem[] trackItems = track.TrackItems;
for (int i = 1; i < trackItems.Length; i++)
{
res.AddProccessedTrackItem(new ProccessedTrackItem(trackItems[i], trackItems[i].Latitude - trackItems[i - 1].Latitude, trackItems[i].Longitude - trackItems[i - 1].Longitude));
}
return res;
}
/// <summary>
/// Получить трек со средними разносятми
/// </summary>
/// <param name="pTrack">Трек с разносятми</param>
/// <param name="track">Исходный трек</param>
/// <returns>Трек со средними разносятми</returns>
private ProccessedTrack GetAvgDifferences(ProccessedTrack pTrack, Track track)
{
ProccessedTrackItem[] pItems = pTrack.ProccessedTrackItems;
ProccessedTrack res = new ProccessedTrack("Средние разности");
for (int i = 0; i < avg / 2 + 1;i++ )
{
res.AddProccessedTrackItem(pItems[i]);
}
TrackItem[] trackItems = track.TrackItems;
for (int i = avg / 2 + 1;i<pItems.Length-avg/2 ; i++)
{
double sumLat = 0;
double sumLon = 0;
for (int j = i - avg / 2; j <= i + avg / 2; j++)
{
sumLat += pItems[j].ProccessedLatitude;
sumLon += pItems[j].ProccessedLongitude;
}
sumLat /= avg;
sumLon /= avg;
ProccessedTrackItem pItem = new ProccessedTrackItem(trackItems[i], sumLat, sumLon);
res.AddProccessedTrackItem(pItem);
}
for (int i = trackItems.Length - avg / 2; i < trackItems.Length; i++)
{
res.AddProccessedTrackItem(pItems[i]);
}
return res;
}
/// <summary>
/// Получить среднее скользящее по средним разностям
/// </summary>
/// <param name="pTrack">Трек со средними разностями</param>
/// <param name="track">Исходный трек</param>
/// <returns>Трек со средним скользящим</returns>
private ProccessedTrack GetAverageFromDiffrences(ProccessedTrack pTrack, Track track)
{
ProccessedTrackItem[] pItems = pTrack.ProccessedTrackItems;
ProccessedTrack res = new ProccessedTrack("Среднее из разностей");
TrackItem[] trackItems = track.TrackItems;
if (pItems.Length > 0)
{
res.AddProccessedTrackItem(pItems[0]);
}
for (int i = 1; i < pItems.Length; i++)
{
res.AddProccessedTrackItem(new ProccessedTrackItem(trackItems[i], res.ProccessedTrackItems[i - 1].ProccessedLatitude + pItems[i].ProccessedLatitude, res.ProccessedTrackItems[i - 1].ProccessedLongitude + pItems[i].ProccessedLongitude));
}
return res;
}