package com.jisuan.controller;
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//import Jama.Matrix;
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//import Jama.SingularValueDecomposition;
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import cn.hutool.json.JSONObject;
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//import cn.hx.tools;
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//import com.hxzk.pojo.TbSystem;
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//import com.hxzk.pojo.tb_jingwei;
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//import com.hxzk.service.SystemService;
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import com.jisuan.Jama.Matrix;
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import com.jisuan.Jama.SingularValueDecomposition;
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import com.jisuan.pojo.tb_jingwei;
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import com.jisuan.util.tools;
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import org.springframework.beans.factory.annotation.Autowired;
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import org.springframework.web.bind.annotation.*;
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import org.springframework.web.servlet.ModelAndView;
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import javax.servlet.http.HttpServletRequest;
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import javax.servlet.http.HttpServletResponse;
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import java.text.DecimalFormat;
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import java.text.SimpleDateFormat;
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import java.util.Date;
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import java.util.List;
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import static com.jisuan.util.tools.dd2ddmm;
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//import static cn.hx.tools.dd2ddmm;
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@RestController
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@RequestMapping("/")
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public class SystemController {
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static double a=6378.137;//地球半径
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static double e=0.0818192;//地球曲率
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static double k0=0.9996;
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static double e2=e*e;//e的平方
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static double e4=e2*e2;//e的4次方
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static double e6=e4*e2;//e的6次方
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static double E0=500;
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static double N0=0;
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// @Autowired
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// SystemService systemService;/
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// @GetMapping("findsystem")
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// public List<TbSystem> findsystem(){
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// return systemService.findsystem();
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// }
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//修改大屏默认显示地图
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// @PostMapping("updaping")
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// public void updaping(String baoliu28){
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// systemService.updaping(baoliu28);
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// }
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@GetMapping({"ddmm2d"})
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public String dfConversion(String df) {
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return tools.ddmm2d(df);
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}
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@GetMapping({"dd2ddmm"})
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public String dudegreeConversion(String du) {
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return dd2ddmm(du);
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}
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@GetMapping({"toplane"})
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public String zuobiao(String posPlane, String posPointCloud, String posPointCloudCheck) {
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return toplane(posPlane, posPointCloud, posPointCloudCheck);
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}
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@GetMapping({"gnssToxy"})
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public String[] coordinate(String gnssa, String gnssb, String gnsslat, String gnsslog) {
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return tools.gnssToxy(gnssa, gnssb, gnsslat, gnsslog);
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}
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public String gettime(){
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Date now = new Date();
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// 创建日期格式化对象，设置格式为 "yyyy-MM-dd HH:mm"
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SimpleDateFormat sdf = new SimpleDateFormat("yyyy-MM-dd HH:mm");
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// 格式化日期对象，输出字符串结果
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String formattedDate = sdf.format(now);
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return formattedDate;
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}
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@RequestMapping(value = {"jingweijuli.do"}, method = {RequestMethod.POST, RequestMethod.GET})
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public ModelAndView tojisuan1(HttpServletRequest request, HttpServletResponse response) {
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ModelAndView modelAndView = new ModelAndView();
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modelAndView.setViewName("jisuan1.jsp");
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return modelAndView;
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}
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@ResponseBody
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@RequestMapping(
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value = {"jisuanjingwei2.do"},
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method = {RequestMethod.POST, RequestMethod.GET}
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)
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public JSONObject jisuanjingwei2(String str) {
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JSONObject json = new JSONObject();
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String[] split = str.split(";");
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double[] sy = gpstodu(split[1], split[0]);
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String str2 = sy[1] + ";" + sy[0];
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json.put("jieguo", str2);
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return json;
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}
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@ResponseBody
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@RequestMapping(
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value = {"jisuanjingwei3.do"},
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method = {RequestMethod.POST, RequestMethod.GET}
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)
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public JSONObject jisuanjingwei3(HttpServletRequest request) {
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JSONObject json = new JSONObject();
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String qidian = request.getParameter("qidian");
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String zhongdian = request.getParameter("zhongdian");
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String[] qidians = qidian.split(",");
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String[] zhongdians = zhongdian.split(",");
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String str = qidians[2] + ";" + qidians[4] + ";" + zhongdians[2] + ";" + zhongdians[4];
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String disab = disab(str);
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String[] split = str.split(";");
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String qishi = split[1] + "/" + split[0];
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String zhongzhi = split[3] + "/" + split[2];
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tb_jingwei jingwei = new tb_jingwei();
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SimpleDateFormat simpleDateFormat = new SimpleDateFormat("yyyy-MM-dd HH:mm:ss");
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String format = simpleDateFormat.format(new Date());
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jingwei.setQishi(qishi);
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jingwei.setZhongzhi(zhongzhi);
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jingwei.setJieguo(disab);
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jingwei.setAddtime(format);
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json.put("jieguo", disab);
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return json;
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}
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@ResponseBody
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@RequestMapping(value = {"jisuanjingwei.do"}, method = {RequestMethod.POST, RequestMethod.GET})
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public static JSONObject jisuanjingwei(String str) {
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// 3954.4464;11618.4476;3954.4464;11624.969
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JSONObject json = new JSONObject();
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String disab = disab(str);
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String[] split = str.split("");
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String qishi = split[1] + "/" + split[0];
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String zhongzhi = split[3] + "/" + split[2];
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tb_jingwei jingwei = new tb_jingwei();
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SimpleDateFormat simpleDateFormat = new SimpleDateFormat("yyyy-MM-dd HH:mm:ss");
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String format = simpleDateFormat.format(new Date());
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jingwei.setQishi(qishi);
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jingwei.setZhongzhi(zhongzhi);
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jingwei.setJieguo(disab);
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jingwei.setAddtime(format);
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json.put("jieguo", disab);
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return json;
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}
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@ResponseBody
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@RequestMapping(
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value = {"jisuanbaowen.do"},
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method = {RequestMethod.POST, RequestMethod.GET}
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)
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public static JSONObject jisuanbaowen(String gnggA, String gnggB) {
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String weiduA = gnggA.split(",")[2];
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String jingduA = gnggA.split(",")[4];
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String weiduB = gnggB.split(",")[2];
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String jingduB = gnggB.split(",")[4];
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String str = weiduA + ";" + jingduA + ";" + weiduB + ";" + jingduB;
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JSONObject json = new JSONObject();
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String disab = disab(str);
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String[] split = str.split("");
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String qishi = split[1] + "/" + split[0];
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String zhongzhi = split[3] + "/" + split[2];
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tb_jingwei jingwei = new tb_jingwei();
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SimpleDateFormat simpleDateFormat = new SimpleDateFormat("yyyy-MM-dd HH:mm:ss");
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String format = simpleDateFormat.format(new Date());
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jingwei.setQishi(qishi);
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jingwei.setZhongzhi(zhongzhi);
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jingwei.setJieguo(disab);
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jingwei.setAddtime(format);
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json.put("jieguo", disab);
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return json;
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}
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@ResponseBody
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@RequestMapping(value = {"jisuandubaowen.do"}, method = {RequestMethod.POST, RequestMethod.GET})
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public static JSONObject jisuandubaowen(String dugnggA ,String dugnggB) {
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String weiduA = dd2ddmm(dugnggA.split(";")[0]);
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String jingduA = dd2ddmm(dugnggA.split(";")[1]);
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String weiduB = dd2ddmm(dugnggB.split(";")[0]);
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String jingduB = dd2ddmm(dugnggB.split(";")[1]);
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// String weiduA = gnggA.split(",")[2];
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// String jingduA = gnggA.split(",")[4];
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// String weiduB = gnggB.split(",")[2];
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// String jingduB = gnggB.split(",")[4];
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String str = weiduA + ";" + jingduA + ";" + weiduB + ";" + jingduB;
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JSONObject json = new JSONObject();
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String disab = disab(str);
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String[] split = str.split("");
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String qishi = split[1] + "/" + split[0];
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String zhongzhi = split[3] + "/" + split[2];
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tb_jingwei jingwei = new tb_jingwei();
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SimpleDateFormat simpleDateFormat = new SimpleDateFormat("yyyy-MM-dd HH:mm:ss");
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String format = simpleDateFormat.format(new Date());
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jingwei.setQishi(qishi);
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jingwei.setZhongzhi(zhongzhi);
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jingwei.setJieguo(disab);
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jingwei.setAddtime(format);
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json.put("jieguo", disab);
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return json;
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}
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@PostMapping({"HouTai"})
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public ModelAndView HouTai(String username) {
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ModelAndView modelAndView = new ModelAndView();
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if (username != null) {
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modelAndView.setViewName("/HouTai/HouTai.jsp");
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} else {
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modelAndView.setViewName("/index.jsp");
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}
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return modelAndView;
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}
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public static String todufen(String Du, String Fen, String Miao) {
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Float strDu = Float.valueOf(Du);
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Float strFen = Float.valueOf(Fen) / 60.0F;
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Float strMiao = Float.valueOf(Miao) / 60.0F;
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Float dufenmiao = strDu + strFen + strMiao;
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String format = String.format("%.6f", dufenmiao);
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return format;
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}
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public static double[] gpstodu(String gps_weidu, String gps_jingdu) {
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double[] a = new double[]{0.0, 0.0};
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String weidu = todufen(gps_weidu.substring(0, 2), gps_weidu.substring(2, 4), gps_weidu.substring(4));
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String jingdu = todufen(gps_jingdu.substring(0, 3), gps_jingdu.substring(3, 5), gps_jingdu.substring(5));
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a[0] = Double.parseDouble(weidu);
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a[1] = Double.parseDouble(jingdu);
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return a;
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}
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public static String disab(String jwd) {
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System.out.println("打印数据============》》》》》》》》》》");
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DecimalFormat df = new DecimalFormat("0.00");
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String[] bb = jwd.split(";");
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double jd0 = Double.parseDouble(bb[1]);
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double wd0 = Double.parseDouble(bb[0]);
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double jd1 = Double.parseDouble(bb[3]);
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double wd1 = Double.parseDouble(bb[2]);
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// double[] a = run_gps2xyurt(wd0, jd0, wd1, jd1);
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// double disa = a[0] * a[0] + a[1] * a[1];
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// double dis = Math.sqrt(Math.abs(disa)) * 100.0;
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// String temp = df.format(dis);
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// double num1 = Double.parseDouble(jd0);
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// double num2 = Double.parseDouble(gnssb);
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// double num3 = Double.parseDouble(gnsslat);
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// double num4 = Double.parseDouble(gnsslog);
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String temp = distance2(jd0,wd0,jd1,wd1);
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System.out.println(jwd + "的距离是：" + temp);
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// return distance2(jd0,wd0,jd1,wd1);
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return temp;
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}
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// public static String disab(String jwd) {
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// DecimalFormat df = new DecimalFormat("0.00");
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// String[] bb = jwd.split(";");
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// double jd0 = Double.parseDouble(bb[1]);
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// double wd0 = Double.parseDouble(bb[0]);
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// double jd1 = Double.parseDouble(bb[3]);
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// double wd1 = Double.parseDouble(bb[2]);
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// double[] a = run_gps2xyurt(wd0, jd0, wd1, jd1);
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// double disa = a[0] * a[0] + a[1] * a[1];
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// double dis = Math.sqrt(Math.abs(disa)) * 100.0;
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// String temp = df.format(dis);
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// return temp;
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// }
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public static double[] run_gps2xyurt(double lat0, double lon0, double lat, double lon) {
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int[] realxy = new int[2];
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double[] xycs = initiize_ublox_zeropoint(lat0, lon0, 0.0);
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double x0 = xycs[0];
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double y0 = xycs[1];
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double c = xycs[2];
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double s = xycs[3];
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double[] xy = new double[2];
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double x = ubloxraw2xy(lat, lon)[0] - x0;
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double y = ubloxraw2xy(lat, lon)[1] - y0;
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xy[0] = c * x - s * y;
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xy[1] = s * x + c * y;
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return xy;
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}
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public static String toplane(String posPlane1, String posPointCloud1, String posPointCloudCheck1) {
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double[][] posPlane = string2doubleArr(posPlane1, 1);
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double[][] posPointCloud = string2doubleArr(posPointCloud1, 100);
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double[][] posPointCloudCheck = string2doubleArr(posPointCloudCheck1, 100);
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String returnDate = "";
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double[][] var7 = posPlane;
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int var8 = posPlane.length;
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for(int var9 = 0; var9 < var8; ++var9) {
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double[] row = var7[var9];
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row[1] = -row[1];
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}
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Matrix A = new Matrix(posPlane);
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Matrix B = new Matrix(posPointCloud);
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Matrix C = new Matrix(posPointCloudCheck);
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Matrix[] matrices = rigidTransform3D(A, B);
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if (matrices == null) {
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return "选点有问题,请重新选点";
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} else {
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Matrix R = matrices[0];
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Matrix T = matrices[1];
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Matrix posPlaneCheckCalc = R.transpose().times(C.transpose().minus(T));
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Matrix transpose = posPlaneCheckCalc.transpose();
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double[][] transposeArray = transpose.getArray();
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for(int i = 0; i < transposeArray.length; ++i) {
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for(int j = 0; j < transposeArray[0].length; ++j) {
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double v = 0.0;
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if (j == 1) {
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v = -transposeArray[i][j];
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} else {
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v = transposeArray[i][j];
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}
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returnDate = returnDate + v + ";";
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}
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}
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return returnDate;
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}
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}
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public static Matrix[] rigidTransform3D(Matrix A, Matrix B) {
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Matrix centroid_A = mean(A);
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Matrix centroid_B = mean(B);
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int N = A.getRowDimension();
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Matrix H = A.minus(repmat(centroid_A, N, 1)).transpose().times(B.minus(repmat(centroid_B, N, 1)));
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SingularValueDecomposition svd = H.svd();
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Matrix U = svd.getU();
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Matrix S = svd.getS();
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Matrix V = svd.getV();
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Matrix R = V.times(U.transpose());
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if (R.det() < 0.0) {
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return null;
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} else {
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Matrix T = R.times(centroid_A.transpose()).times(-1.0).plus(centroid_B.transpose());
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return new Matrix[]{R, T};
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}
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}
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private static Matrix mean(Matrix matrix) {
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int m = matrix.getRowDimension();
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int n = matrix.getColumnDimension();
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double[] columnMeans = new double[n];
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for(int j = 0; j < n; ++j) {
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for(int i = 0; i < m; ++i) {
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columnMeans[j] += matrix.get(i, j);
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}
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columnMeans[j] /= (double)m;
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}
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return (new Matrix(columnMeans, n)).transpose();
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}
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private static Matrix repmat(Matrix matrix, int N, int M) {
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Matrix result = new Matrix(N, M * matrix.getColumnDimension());
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for(int i = 0; i < N; ++i) {
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result.setMatrix(i, i, 0, matrix.getColumnDimension() - 1, matrix);
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}
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return result;
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}
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private static double[][] string2doubleArr(String input, int num) {
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String[] rows = input.split(";");
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double[][] result = new double[rows.length][];
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for(int i = 0; i < rows.length; ++i) {
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String[] columns = rows[i].trim().split(",\\s*");
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result[i] = new double[columns.length];
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for(int j = 0; j < columns.length; ++j) {
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result[i][j] = Double.parseDouble(columns[j]) * (double)num;
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}
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}
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return result;
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}
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public static String distance2(double lon_y0, double lat_x0, double lon, double lat) {
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System.out.println(lon_y0);
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System.out.println(lat_x0);
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System.out.println(lon);
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System.out.println(lat);
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double[] xycs = initiize_ublox_zeropoint(lat_x0, lon_y0, 0.0);
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double x0 = xycs[0];
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double y0 = xycs[1];
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double c = xycs[2];
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double s = xycs[3];
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double[] xy = new double[2];
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double x = ubloxraw2xy(lat, lon)[0] - x0;
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double y = ubloxraw2xy(lat, lon)[1] - y0;
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xy[0] = c * x - s * y;
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xy[1] = s * x + c * y;
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double disd = Math.sqrt(xy[0] * xy[0] + xy[1] * xy[1]) * 100.0;
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return disd + "";
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}
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/**初始化原点位置和方向
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* 输出原点以米为单位的xy坐标, cos值, sin值*/
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public static double[] initiize_ublox_zeropoint(double lat, double lon, double th){
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double[] xycs=new double[4];
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xycs[0]=ubloxraw2xy(lat,lon)[0];
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xycs[1]=ubloxraw2xy(lat,lon)[1];
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double th1=th*Math.PI/180;//x轴与正北方向夹角th(单位是度)
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xycs[2]=Math.cos(th1);
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xycs[3]=Math.sin(th1);
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return xycs;
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}
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/**输入ublox的度分经纬度，输出xy,单位米*/
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public static double[] ubloxraw2xy(double lat, double lon) {
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double[] xy=new double[3];
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double lond = ublox_dm2d(lon);
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double latd = ublox_dm2d(lat);
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double[] dxy = utm(latd, lond);
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xy[0]= dxy[0]* 1000;
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xy[1]= dxy[1]* 1000;
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xy[2]= dxy[2];
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return xy;
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}
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public static double ublox_dm2d(double ddmm_dot_m) {
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double d0=Math.floor(ddmm_dot_m/100);//取整
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double d=d0+(ddmm_dot_m-d0*100)/60;
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return d;
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}
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public static double[] utm(double lat,double lon) {
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double[] dxy=new double[3];
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double zonenum1=lon/6;
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//floor是地板的意思，表示向下取整
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if(zonenum1>0) {
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zonenum1=Math.floor(zonenum1);
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}else {//向上取整
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zonenum1=Math.ceil(zonenum1);//向上取整
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}
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double Zonenum=zonenum1+31;
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double lambda0=((Zonenum-1)*6-180+3)*(Math.PI)/180;
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double phi=lat*(Math.PI)/180;
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double lambda=lon*(Math.PI)/180;
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double v=1/Math.sqrt((1-e2*Math.pow(Math.sin(phi),2)));
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double A=(lambda-lambda0)* Math.cos(phi);
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double A2=A*A;
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double A3=A2*A;
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double A4=A3*A;
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double A5=A4*A;
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double A6=A5*A;
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double T=Math.tan(phi)* Math.tan(phi);
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double T2=T*T;
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double C=e2* Math.cos(phi)* Math.cos(phi)/(1-e2);
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double C2=C*C;
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double s=(1-e2/4-3*e4/64-5*e6/256)* phi-
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(3*e2/8+3*e4/32+45*e6/1024)* Math.sin(2*phi)+
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(15*e4/256+45*e6/1024)* Math.sin(4* phi)-35*e6/3072* Math.sin(6*phi);
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dxy[0]=E0+k0*a*v*(A+(1-T+C)*A3/6+(5-18*T+T2)*A5/120);
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dxy[1]=N0+k0*a*(s+v* Math.tan(phi)*(A2/2+(5-T+9*C+4*C2)*A4/24+(61-58*T+T2)*A6/720));
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dxy[2]=Zonenum;
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return dxy;
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}
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}
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