package com.xiaopeng.pushMessage.utils;
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import com.alibaba.fastjson2.JSON;
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import com.alibaba.fastjson2.JSONArray;
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import com.alibaba.fastjson2.JSONObject;
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import com.xiaopeng.api.dto.operation.LonLatDto;
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import lombok.extern.slf4j.Slf4j;
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import org.gavaghan.geodesy.Ellipsoid;
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import org.gavaghan.geodesy.GeodeticCalculator;
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import org.gavaghan.geodesy.GeodeticCurve;
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import org.gavaghan.geodesy.GlobalCoordinates;
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import org.springframework.data.geo.Point;
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import java.util.*;
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import java.util.concurrent.*;
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@Slf4j
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public class MapMatchingUtil {
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/**
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* 获取剩余导航数据
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* @param polyline
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* @param longitude
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* @param latitude
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* @return
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*/
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public static Map<String, List<LonLatDto>> getRemainingNavigation(List<LonLatDto> polyline, Double longitude, Double latitude){
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//导航数据只有一个点的情况
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Map<String, List<LonLatDto>> map = new HashMap<>();
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if(polyline.size() == 1){
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LonLatDto lonLatDto = polyline.get(0);
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GlobalCoordinates source1 = new GlobalCoordinates(lonLatDto.getLatitude(), lonLatDto.getLongitude());
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GlobalCoordinates target1 = new GlobalCoordinates(latitude, longitude);
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GeodeticCurve geoCurve1 = new GeodeticCalculator().calculateGeodeticCurve(Ellipsoid.WGS84, source1, target1);
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double distance =geoCurve1.getEllipsoidalDistance();
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//判断距离小于5米，则可以返回空数据
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if(5 >= distance){
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map.put("unserved", new ArrayList<>());
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map.put("served", new ArrayList<>());
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return map;
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}
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//大于5米的情况，将车子当前位置添加进结果中
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map.put("unserved", polyline);
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map.put("served", new ArrayList<>());
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return map;
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}
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//多个点位的情况，需要找出当前点位处于那两个点位之间，然后截取掉超出的部分轨迹
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return getRecentlyPoint(polyline, longitude, latitude);
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}
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/**
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* 判断点位在轨迹线路中的点位之间
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* 返回截取后的剩余轨迹
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* @param polyline
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* @param longitude
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* @param latitude
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* @return
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*/
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public static Map<String, List<LonLatDto>> getRecentlyPoint(List<LonLatDto> polyline, Double longitude, Double latitude){
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Map<String, List<LonLatDto>> map = new HashMap<>();
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for (int i = 0; i < polyline.size(); i++) {
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if(i == polyline.size() - 1){
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break;
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}
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LonLatDto lonLatDto1 = polyline.get(i);
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//车辆到第一个点位的距离
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GlobalCoordinates source1 = new GlobalCoordinates(lonLatDto1.getLatitude(), lonLatDto1.getLongitude());
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GlobalCoordinates target1 = new GlobalCoordinates(latitude, longitude);
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GeodeticCurve geoCurve1 = new GeodeticCalculator().calculateGeodeticCurve(Ellipsoid.WGS84, source1, target1);
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double distance1 =geoCurve1.getEllipsoidalDistance();
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//车辆到第二个点位的距离
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LonLatDto lonLatDto2 = polyline.get(i + 1);
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GlobalCoordinates source2 = new GlobalCoordinates(lonLatDto2.getLatitude(), lonLatDto2.getLongitude());
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GlobalCoordinates target2 = new GlobalCoordinates(latitude, longitude);
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GeodeticCurve geoCurve2 = new GeodeticCalculator().calculateGeodeticCurve(Ellipsoid.WGS84, source2, target2);
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double distance2 =geoCurve2.getEllipsoidalDistance();
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//第一个点位到第二个点位的距离
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GlobalCoordinates source3 = new GlobalCoordinates(lonLatDto1.getLatitude(), lonLatDto1.getLongitude());
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GlobalCoordinates target3 = new GlobalCoordinates(lonLatDto2.getLatitude(), lonLatDto2.getLongitude());
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GeodeticCurve geoCurve3 = new GeodeticCalculator().calculateGeodeticCurve(Ellipsoid.WGS84, source3, target3);
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double distance3 =geoCurve3.getEllipsoidalDistance();
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//车辆位置在第二个点位的前面
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//这种情况需要从第二个点位开始截取，最终剩余的轨迹从第三个点位开始
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if(distance1 > distance2 && distance1 > distance3){
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//继续向前找，找车辆处于那一段点位中间
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continue;
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}
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//车辆位置在两点之间的情况
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//车辆位置到上一个点的距离+车辆位置到下一个点的距离 = 上一个点到下一个点的距离
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//车辆位置到上一个点的距离+车辆位置到下一个点的距离 <= 上一个点到下一个点的距离 + 5米的漂移量
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if ((distance1 + distance2) == distance3 || (distance1 + distance2) <= distance3 + 5) {
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//剩余未服务的点位
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List<LonLatDto> unserved = new ArrayList<>(polyline.subList(i + 1, polyline.size()));
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List<LonLatDto> served = new ArrayList<>(polyline.subList(0, i + 1));
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map.put("unserved", unserved);
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map.put("served", served);
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System.err.println("车辆在两点之间，从第二个开始截取 : " + i);
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return map;
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}
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}
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//所有数据遍历完后任然没有合适的数据则返回原始数据
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map.put("unserved", polyline);
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map.put("served", new ArrayList<>());
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return map;
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}
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public static Map<String, List<LonLatDto>> getRemainingNavigationByAngle(List<LonLatDto> polyline, Double longitude, Double latitude){
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//导航数据只有一个点的情况
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Map<String, List<LonLatDto>> map = new HashMap<>();
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if(polyline.size() < 3){
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map.put("unserved", new ArrayList<>());
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map.put("served", polyline);
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return map;
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}
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for (int i = 0; i < polyline.size(); i++) {
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if(i+1 == polyline.size()){
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break;
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}
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LonLatDto centerPoint = polyline.get(i);
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LonLatDto nextPoint = polyline.get(i+1);
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// 定义三个点
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// Point A
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double[] pointA = {nextPoint.getLongitude(), nextPoint.getLatitude()};
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// Point B: 中间点
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double[] pointB = {centerPoint.getLongitude(), centerPoint.getLatitude()};
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// Point C
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double[] pointC = {longitude, latitude};
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//正向夹角
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double angle = calculateAngle(pointA, pointB, pointC);
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// 定义三个点
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// Point A
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double[] pointA1 = {centerPoint.getLongitude(), centerPoint.getLatitude()};
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// Point B: 中间点
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double[] pointB1 = {nextPoint.getLongitude(), nextPoint.getLatitude()};
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// Point C
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double[] pointC1 = {longitude, latitude};
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//反向夹角
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double angle1 = calculateAngle(pointA1, pointB1, pointC1);
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//正向夹角和反向夹角都小于90度，则认为车辆在两点之间
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if(90 >= angle && 90 >= angle1){
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double lon = centerPoint.getLongitude();
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double lat = centerPoint.getLatitude();
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if(angle < angle1){
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lon = nextPoint.getLongitude();
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lat = nextPoint.getLatitude();
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}
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//计算距离，定位偏移10米内
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GlobalCoordinates source3 = new GlobalCoordinates(lat, lon);
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GlobalCoordinates target3 = new GlobalCoordinates(latitude, longitude);
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GeodeticCurve geoCurve3 = new GeodeticCalculator().calculateGeodeticCurve(Ellipsoid.WGS84, source3, target3);
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double distance3 =geoCurve3.getEllipsoidalDistance();
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if(distance3 > 10){
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continue;
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}
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map.put("unserved", polyline.subList(i, polyline.size()));
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map.put("served", polyline.subList(0, i));
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System.err.println("车辆在两点之间，点位夹角 : " + angle + " " + i);
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return map;
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}
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}
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map.put("unserved", polyline);
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map.put("served", new ArrayList<>());
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return map;
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}
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public static void main(String[] args) {
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String json = "[{\n" +
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"\t\"latitude\": 23.155130575839845,\n" +
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"\t\"longitude\": 113.3843844686235\n" +
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"}, {\n" +
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"\t\"latitude\": 23.155210151679693,\n" +
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"\t\"longitude\": 113.38426593724698\n" +
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"}, {\n" +
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"\t\"latitude\": 23.155289727519538,\n" +
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"\t\"longitude\": 113.38414740587048\n" +
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"}, {\n" +
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"\t\"latitude\": 23.15529,\n" +
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"\t\"longitude\": 113.384147\n" +
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"}, {\n" +
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"\t\"latitude\": 23.155362958389055,\n" +
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"\t\"longitude\": 113.38402358903004\n" +
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"}, {\n" +
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"\t\"latitude\": 23.155435916778114,\n" +
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"\t\"longitude\": 113.38390017806007\n" +
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"}, {\n" +
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"\t\"latitude\": 23.15550887516717,\n" +
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"\t\"longitude\": 113.3837767670901\n" +
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"}, {\n" +
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"\t\"latitude\": 23.155581833556226,\n" +
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"\t\"longitude\": 113.38365335612013\n" +
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"}, {\n" +
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"\t\"latitude\": 23.155585,\n" +
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"\t\"longitude\": 113.383648\n" +
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"}, {\n" +
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"\t\"latitude\": 23.155542,\n" +
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"\t\"longitude\": 113.383621\n" +
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"}, {\n" +
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"\t\"latitude\": 23.155312,\n" +
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"\t\"longitude\": 113.383648\n" +
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"}, {\n" +
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"\t\"latitude\": 23.155180919552134,\n" +
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"\t\"longitude\": 113.3836848841087\n" +
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"}, {\n" +
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"\t\"latitude\": 23.155081,\n" +
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"\t\"longitude\": 113.383713\n" +
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"}, {\n" +
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"\t\"latitude\": 23.15495796304221,\n" +
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"\t\"longitude\": 113.38377424506344\n" +
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"}, {\n" +
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"\t\"latitude\": 23.154856,\n" +
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"\t\"longitude\": 113.383825\n" +
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"}, {\n" +
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"\t\"latitude\": 23.154741004509642,\n" +
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"\t\"longitude\": 113.38390239240225\n" +
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"}, {\n" +
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"\t\"latitude\": 23.154626009019285,\n" +
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"\t\"longitude\": 113.38397978480451\n" +
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"}, {\n" +
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"\t\"latitude\": 23.154593,\n" +
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"\t\"longitude\": 113.384002\n" +
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"}, {\n" +
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"\t\"latitude\": 23.154488868635756,\n" +
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"\t\"longitude\": 113.3840956684042\n" +
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"}, {\n" +
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"\t\"latitude\": 23.15438473727151,\n" +
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"\t\"longitude\": 113.3841893368084\n" +
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"}, {\n" +
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"\t\"latitude\": 23.153869,\n" +
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"\t\"longitude\": 113.384732\n" +
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"}, {\n" +
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"\t\"latitude\": 23.153783434325412,\n" +
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"\t\"longitude\": 113.38484554532484\n" +
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"}, {\n" +
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"\t\"latitude\": 23.153697868650823,\n" +
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"\t\"longitude\": 113.38495909064967\n" +
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"}, {\n" +
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"\t\"latitude\": 23.153612302976235,\n" +
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"\t\"longitude\": 113.3850726359745\n" +
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"}, {\n" +
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"\t\"latitude\": 23.153606,\n" +
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"\t\"longitude\": 113.385081\n" +
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"}, {\n" +
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"\t\"latitude\": 23.15352802191651,\n" +
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"\t\"longitude\": 113.38520076538181\n" +
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"}, {\n" +
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"\t\"latitude\": 23.153450043833022,\n" +
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"\t\"longitude\": 113.38532053076364\n" +
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"}, {\n" +
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"\t\"latitude\": 23.153397,\n" +
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"\t\"longitude\": 113.385402\n" +
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"}, {\n" +
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"\t\"latitude\": 23.15332878835048,\n" +
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"\t\"longitude\": 113.38552854437049\n" +
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"}, {\n" +
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"\t\"latitude\": 23.15326057670096,\n" +
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"\t\"longitude\": 113.38565508874098\n" +
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"}, {\n" +
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"\t\"latitude\": 23.153252,\n" +
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"\t\"longitude\": 113.385671\n" +
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"}, {\n" +
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"\t\"latitude\": 23.153190501345524,\n" +
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"\t\"longitude\": 113.3858015058656\n" +
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"}, {\n" +
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"\t\"latitude\": 23.15312900269105,\n" +
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"\t\"longitude\": 113.38593201173121\n" +
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"}, {\n" +
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"\t\"latitude\": 23.15308,\n" +
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"\t\"longitude\": 113.386036\n" +
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"}, {\n" +
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"\t\"latitude\": 23.15306,\n" +
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"\t\"longitude\": 113.386128\n" +
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"}]";
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List<LonLatDto> polyline = JSON.parseArray(json, LonLatDto.class);
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String xcgj = "[{\"longitude\":113.38358194444445,\"latitude\":23.15508361111111}]";
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List<LonLatDto> lonLatDtos = JSON.parseArray(xcgj, LonLatDto.class);
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for (LonLatDto lonLatDto : lonLatDtos) {
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Map<String, List<LonLatDto>> remainingNavigation = getRemainingNavigation(polyline, lonLatDto.getLongitude(), lonLatDto.getLatitude());
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List<LonLatDto> unserved = remainingNavigation.get("unserved");
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List<LonLatDto> served = remainingNavigation.get("served");
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System.err.println(JSON.toJSONString(served));
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polyline = unserved;
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}
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System.err.println("------------------------------------");
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polyline = JSON.parseArray(json, LonLatDto.class);
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for (LonLatDto lonLatDto : lonLatDtos) {
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Map<String, List<LonLatDto>> remainingNavigation = getRemainingNavigationByAngle(polyline, lonLatDto.getLongitude(), lonLatDto.getLatitude());
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List<LonLatDto> unserved = remainingNavigation.get("unserved");
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List<LonLatDto> served = remainingNavigation.get("served");
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System.err.println(JSON.toJSONString(served));
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polyline = unserved;
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}
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// JSONArray objects = JSON.parseArray("[{\n" +
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// "\t\"latitude\": 23.155130575839845,\n" +
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// "\t\"longitude\": 113.3843844686235\n" +
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// "}, {\n" +
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// "\t\"latitude\": 23.155210151679693,\n" +
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// "\t\"longitude\": 113.38426593724698\n" +
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// "}, {\n" +
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// "\t\"latitude\": 23.155289727519538,\n" +
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// "\t\"longitude\": 113.38414740587048\n" +
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// "}, {\n" +
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// "\t\"latitude\": 23.15529,\n" +
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// "\t\"longitude\": 113.384147\n" +
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// "}, {\n" +
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// "\t\"latitude\": 23.155362958389055,\n" +
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// "\t\"longitude\": 113.38402358903004\n" +
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// "}, {\n" +
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// "\t\"latitude\": 23.155435916778114,\n" +
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// "\t\"longitude\": 113.38390017806007\n" +
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// "}, {\n" +
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// "\t\"latitude\": 23.15550887516717,\n" +
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// "\t\"longitude\": 113.3837767670901\n" +
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// "}, {\n" +
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// "\t\"latitude\": 23.155581833556226,\n" +
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// "\t\"longitude\": 113.38365335612013\n" +
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// "}, {\n" +
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// "\t\"latitude\": 23.155585,\n" +
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// "\t\"longitude\": 113.383648\n" +
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// "}, {\n" +
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// "\t\"latitude\": 23.155542,\n" +
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// "\t\"longitude\": 113.383621\n" +
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// "}, {\n" +
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// "\t\"latitude\": 23.155312,\n" +
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// "\t\"longitude\": 113.383648\n" +
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// "}, {\n" +
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// "\t\"latitude\": 23.155180919552134,\n" +
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// "\t\"longitude\": 113.3836848841087\n" +
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// "}, {\n" +
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// "\t\"latitude\": 23.155081,\n" +
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// "\t\"longitude\": 113.383713\n" +
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// "}, {\n" +
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// "\t\"latitude\": 23.15495796304221,\n" +
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// "\t\"longitude\": 113.38377424506344\n" +
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// "}, {\n" +
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// "\t\"latitude\": 23.154856,\n" +
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// "\t\"longitude\": 113.383825\n" +
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// "}, {\n" +
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// "\t\"latitude\": 23.154741004509642,\n" +
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// "\t\"longitude\": 113.38390239240225\n" +
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// "}, {\n" +
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// "\t\"latitude\": 23.154626009019285,\n" +
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// "\t\"longitude\": 113.38397978480451\n" +
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// "}, {\n" +
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// "\t\"latitude\": 23.154593,\n" +
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// "\t\"longitude\": 113.384002\n" +
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// "}, {\n" +
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// "\t\"latitude\": 23.154488868635756,\n" +
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// "\t\"longitude\": 113.3840956684042\n" +
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// "}, {\n" +
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// "\t\"latitude\": 23.15438473727151,\n" +
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// "\t\"longitude\": 113.3841893368084\n" +
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// "}, {\n" +
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// "\t\"latitude\": 23.153869,\n" +
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// "\t\"longitude\": 113.384732\n" +
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// "}, {\n" +
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// "\t\"latitude\": 23.153783434325412,\n" +
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// "\t\"longitude\": 113.38484554532484\n" +
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// "}, {\n" +
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// "\t\"latitude\": 23.153697868650823,\n" +
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// "\t\"longitude\": 113.38495909064967\n" +
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// "}, {\n" +
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// "\t\"latitude\": 23.153612302976235,\n" +
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// "\t\"longitude\": 113.3850726359745\n" +
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// "}, {\n" +
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// "\t\"latitude\": 23.153606,\n" +
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// "\t\"longitude\": 113.385081\n" +
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// "}, {\n" +
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// "\t\"latitude\": 23.15352802191651,\n" +
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// "\t\"longitude\": 113.38520076538181\n" +
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// "}, {\n" +
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// "\t\"latitude\": 23.153450043833022,\n" +
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// "\t\"longitude\": 113.38532053076364\n" +
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// "}, {\n" +
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// "\t\"latitude\": 23.153397,\n" +
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// "\t\"longitude\": 113.385402\n" +
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// "}, {\n" +
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// "\t\"latitude\": 23.15332878835048,\n" +
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// "\t\"longitude\": 113.38552854437049\n" +
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// "}, {\n" +
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// "\t\"latitude\": 23.15326057670096,\n" +
|
// "\t\"longitude\": 113.38565508874098\n" +
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// "}, {\n" +
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// "\t\"latitude\": 23.153252,\n" +
|
// "\t\"longitude\": 113.385671\n" +
|
// "}, {\n" +
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// "\t\"latitude\": 23.153190501345524,\n" +
|
// "\t\"longitude\": 113.3858015058656\n" +
|
// "}, {\n" +
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// "\t\"latitude\": 23.15312900269105,\n" +
|
// "\t\"longitude\": 113.38593201173121\n" +
|
// "}, {\n" +
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// "\t\"latitude\": 23.15308,\n" +
|
// "\t\"longitude\": 113.386036\n" +
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// "}, {\n" +
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// "\t\"latitude\": 23.15306,\n" +
|
// "\t\"longitude\": 113.386128\n" +
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// "}]");
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// String str = "[";
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// for (int i = 0; i < objects.size(); i++) {
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// JSONObject jsonObject = objects.getJSONObject(i);
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// str += "[" + jsonObject.getDouble("longitude") + "," + jsonObject.getDouble("latitude") + "],";
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// }
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// System.err.println(str + "]");
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}
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private static final double EARTH_RADIUS_KM = 6371.0; // 地球平均半径 (公里)
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/**
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* 计算由三个经纬度点构成的夹角
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*
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* @param pointA 经纬度点 A (格式: {经度, 纬度})
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* @param pointB 经纬度点 B (格式: {经度, 纬度}) - 此点为夹角的顶点
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* @param pointC 经纬度点 C (格式: {经度, 纬度})
|
* @return 夹角 ABC 的大小，单位为度
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*/
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public static double calculateAngle(double[] pointA, double[] pointB, double[] pointC) {
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// 1. 将经纬度（度）转换为弧度
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double lat1 = Math.toRadians(pointA[1]);
|
double lon1 = Math.toRadians(pointA[0]);
|
double lat2 = Math.toRadians(pointB[1]);
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double lon2 = Math.toRadians(pointB[0]);
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double lat3 = Math.toRadians(pointC[1]);
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double lon3 = Math.toRadians(pointC[0]);
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// 2. 计算各点对之间的中心角 (angular distance)
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double angularDist_AB = haversineDistanceInRadians(lat1, lon1, lat2, lon2);
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double angularDist_BC = haversineDistanceInRadians(lat2, lon2, lat3, lon3);
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double angularDist_AC = haversineDistanceInRadians(lat1, lon1, lat3, lon3);
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// 3. 使用球面余弦定律计算夹角 B (angle at point B)
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// cos(B) = (cos(b) - cos(c) * cos(a)) / (sin(c) * sin(a))
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// 其中 a 是 BC 的中心角, b 是 AC 的中心角, c 是 AB 的中心角
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double cos_angle_B = (
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Math.cos(angularDist_AC) -
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Math.cos(angularDist_AB) * Math.cos(angularDist_BC)
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) / (
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Math.sin(angularDist_AB) * Math.sin(angularDist_BC)
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);
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// 4. 防止由于浮点数精度问题导致的无效输入 (例如 cos_angle_B > 1 或 < -1)
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cos_angle_B = Math.max(-1.0, Math.min(1.0, cos_angle_B));
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// 5. 计算夹角 B 并转换为度
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double angle_B_rad = Math.acos(cos_angle_B);
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double angle_B_deg = Math.toDegrees(angle_B_rad);
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return angle_B_deg;
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}
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/**
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* 使用 Haversine 公式计算两个经纬度点之间的中心角 (弧度)
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* 此函数计算的是球心角，不是地面距离
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*/
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private static double haversineDistanceInRadians(double lat1, double lon1, double lat2, double lon2) {
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double delta_lat = lat2 - lat1;
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double delta_lon = lon2 - lon1;
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double a = Math.sin(delta_lat / 2) * Math.sin(delta_lat / 2) +
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Math.cos(lat1) * Math.cos(lat2) *
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Math.sin(delta_lon / 2) * Math.sin(delta_lon / 2);
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double c = 2 * Math.atan2(Math.sqrt(a), Math.sqrt(1 - a));
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return c; // 返回中心角 (弧度)
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}
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// --- 示例 ---
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// public static void main(String[] args) {
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// // 定义三个点
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// // Point A: 北京天安门广场附近
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// double[] pointA = {113.3836848841087,23.155180919552134};
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// // Point B: 北京某个中间点
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// double[] pointB = {113.383713,23.155081};
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// // Point C: 北京另一个方向的点
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// double[] pointC = {113.38368194444445,23.15508361111111};
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//
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// double angle = calculateAngle(pointA, pointB, pointC);
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//
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// System.out.printf("由点 A(%f, %f), B(%f, %f), C(%f, %f) 构成的夹角 ABC 为: %.2f 度%n",
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// pointA[0], pointA[1], pointB[0], pointB[1], pointC[0], pointC[1], angle);
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// }
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}
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