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室内定位

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var mapPointAddress = getQueryString('mapPointAddress');

var _qValue = 0.001;

var _rValue = 0.01;

//坐标点下标

var coordIndex = 0;

//起点终点坐标

var points = [{

x: 13028218.4785,

y: 4737039.7298,

groupID: 1

},

{

x: 13028218.4785,

y: 4737009.7298,

groupID: 1

}

];

var naviState = false; //导航状态，是否导航中

// 导航对象

var navi = null;

var XYobj = {};

var resultX = 31;

var resultY = 12;

var zhuanhuanXY; //地图坐标

var Ldirection = 180; //浏览器方向

var newCoord = {

x: 0,

y: 0

}

var locationCount = 0;

//获取版本号,设置title

document.title = '室内定位' + fengmap.VERSION;

//定义全局map变量

var map;

var fmapID = 'location-test';

var locationMarker;

//楼层ID

var lastGid = null;

//第一人称、第三人称控制开关；定位跟随开关

var others = true;

var layer = null

window.onload = function() {

var mapCoord = {

x: 13028218.4785,

y: 4737030.7298,

groupID: 1

}; // websocket传过来的坐标信息，经过转换的可直接在地图上显示。

map = new fengmap.FMMap({

//渲染dom

container: document.getElementById('fengMap'),

//地图数据位置

mapServerURL: './data/' + fmapID,

//主题数据位置

mapThemeURL: 'data/theme/',

//设置主题

defaultThemeName: '2001',

// 默认比例尺级别设置为20级

defaultMapScaleLevel: 22,

//开启2维，3维切换的动画显示

viewModeAnimateMode: true,

//方向枚举型。可设置正南、正北、正东、正西、东南、西南等方向值。具体可参考fengmap.ControlsPoseEnum类。NORTH WEST SOUTH

defaultControlsPose: fengmap.FMDirection.NORTH,

defaultViewMode: fengmap.FMViewMode.MODE_2D, //初始二维还是三维状态，三维状态为MODE_3D,

//开发者申请应用下web服务的key

key: '670072019dff394f3f991e88e98024d5',

//开发者申请应用名称

appName: 'innerMap',

});

//打开Fengmap服务器的地图数据和主题

map.openMapById(fmapID);

//显示指北针

map.showCompass = true;

//地图加载完成回调

map.on('loadComplete', function() {

FengZhuangXY();

WebSocketTest();

//初始化导航对象

navi = new fengmap.FMNavigation({

map: map,

// 设置导航线的样式

lineStyle: {

//设置线为导航线样式

lineType: fengmap.FMLineType.FMARROW,

lineWidth: 6,

}

});

var zhuanXY = {

x: resultX,

y: resultY,

}

var coord = CoordTransform(zhuanXY);

coord.groupID = 1;

addlocationMarker(coord);

// 设置导航事件

navi.on('walking', function(data) {

console.log('data', data)

setLocationMakerPosition(data.point, data.angle);

//显示导航展示信息

cardInfo(data);

});

if(mapPointAddress) {

mapPointAddress = JSON.parse(mapPointAddress);

console.log('mapPointAddress', mapPointAddress)

navi.setEndPoint({

x: mapPointAddress.x,

y: mapPointAddress.y,

height: 2,

groupID: mapPointAddress.groupID,

url: 'image/end.png',

size: 32

});

}

});

//设置图片标注点位置信息

function setLocationMakerPosition(coord, angle) {

var data = {

//设置定位点的x坐标

x: coord.x,

//设置定位点的y坐标

y: coord.y,

//设置定位点所在楼层

groupID: coord.groupID,

time: .50,

callback: function() {

//回调函数

},

zOffset: 1

};

//设置定位图标旋转角度

if(angle) {

locationMarker.rotateTo(-angle);

if(others) {

map.rotateTo({

to: angle,

time: 1

});

}

}

//不同楼层

if(lastGid !== coord.groupID) {

lastGid = coord.groupID;

locationMarker.setPosition(data);

}

locationMarker.moveTo(data);

map.moveTo({

x: coord.x,

y: coord.y,

groupID: coord.groupID,

time: 1

});

}

//添加定位点图层

function addlocationMarker(coord) {

locationMarker = new fengmap.FMLocationMarker({

//设置图片的路径

url: 'image/pointer.png',

//设置图片显示尺寸

size: 46,

//设置图片高度

height: 1,

});

//添加定位点标注

map.addLocationMarker(locationMarker);

//设置定位图标位置

setLocationMakerPosition(coord, 180);

return locationMarker;

};

//导航

map.on('mapClickNode', function(event) {

if(event.nodeType == fengmap.FMNodeType.MODEL && navi != undefined) {

var modelLabel = event.label;

var coord;

// 如果拾取的模型没有Label对象，则使用模型中心点的坐标

// 有则使用与模型对应的Label对象的坐标。

if(!modelLabel) {

coord = {

x: event.mapCoord.x,

y: event.mapCoord.y,

groupID: event.groupID

}

} else {

coord = {

x: modelLabel.mapCoord.x,

y: modelLabel.mapCoord.y,

groupID: event.groupID

};

}

navi.clearAll();

navi.setEndPoint({

x: coord.x,

y: coord.y,

height: 2,

groupID: coord.groupID,

url: 'image/end.png',

size: 32

});

}

})

//开始导航

$('#navigation').on('click', function() {

//切换导航与取消导航

if(naviState) {

navi.clearAll();

naviState = false; //修改导航状态

$("#description").hide();

$(".navigation_text").text("去这里");

} else {

var zhuanXY = {

x: resultX,

y: resultY,

}

var coord = CoordTransform(zhuanXY);

coord.groupID = 1;

//获取当前位置

navi.setStartPoint({

x: coord.x,

y: coord.y,

height: 2,

groupID: coord.groupID,

url: 'image/start.png',

size: 32

});

navi.drawNaviLine();

naviState = true; //修改导航状态

$(".navigation_text").text("取消导航");

}

});

function realNavigation(coord) {

navi.locate(coord);

}

function CoordTransform(Coord) {

//创建转换器

var trasformer = new fengmap.MapCoordTransform();

//来至定位系统的参数 定位的原点坐标 已经定位的范围,(矩形对角线的2个点)

var locOrigion = {

'x': 0,

'y': 0

}; //定位坐标原点

var locRange = {

'x': 32.387,

'y': 32.202

}; //定位范围

//根据定位四个角点的地图坐标点

var mapParas = [];

mapParas[0] = {

'x': 13028246.2666,

'y': 4737041.5179

}; //定位原点地图坐标

mapParas[1] = {

'x': 13028214.5795,

'y': 4737041.5179

}; //X轴终点地图坐标

mapParas[2] = {

'x': 13028214.5702,

'y': 4737009.6396

}; //定位原点对角点地图坐标

mapParas[3] = {

'x': 13028246.2666,

'y': 4737009.6302

}; //Y轴终点地

//转换器初始化

trasformer.init(locOrigion, locRange, mapParas);

//定位系统中的定位坐标

var loc = {

'x': Coord.x,

'y': Coord.y

}; //定位系统所返回的坐标点

//转换后的地图坐标

var mapCoord = trasformer.transform(loc);

return mapCoord;

}

function WebSocketTest() {

if("WebSocket" in window) {

var ws = new WebSocket("wss://www.dowino2o.net:8087/api/websocket?openId=map" + 123456);

ws.onopen = function() {

setInterval(function() {

console.log('发送')

ws.send("保持心跳");

}, 50000)

};

ws.onmessage = function(evt) {

var received_msg = evt.data;

console.log('收到消息：', received_msg);

try {

var jsonObj = JSON.parse(received_msg);

console.log('jsonObj', jsonObj)

if(jsonObj.x) {

XYobj = jsonObj;

console.log('XYobj', XYobj)

} else {

return false;

}

//做卡尔曼

var finalXY = suanXY(resultX, resultY, 0, Ldirection, XYobj.x, XYobj.y, _qValue, _rValue)

resultX = finalXY._data[0][0];

resultY = finalXY._data[1][0];

var zhuanXY = {

x: resultX,

y: resultY,

}

var coord = CoordTransform(zhuanXY);

coord.groupID = 1;

console.log('coord', coord)

if(naviState) {

realNavigation(coord);

} else {

setLocationMakerPosition(coord, Ldirection)

}

} catch(err) {}

};

ws.onclose = function() {

console.log('连接已关闭')

};

} else {

alert("您的浏览器不支持 WebSocket!");

}

}

//计步定位

function FengZhuangXY() {

//状态：静止

var STAY = 0;

//状态：运动

var MOVE = 1;

//运动状态判断数组，长度20

var stateValue = new Array(20).fill(0);

//加速度数组 长度100

var Accs = new Array(100).fill(0);;

//每次传入加速度的时间，省去定时器 长度100

var time = new Array(100).fill(0);

//数组下标

var count = 0;

//行走步数

var Step = 0;

//步长

var Length = 0;

//行进距离

var Distance = 0;

var RDistance = 0;

//状态

var State = STAY;

var currentTime, lastTime, timeCount;

//监听方向变化

try {

window.addEventListener("deviceorientation", orientationHandler, false);

function orientationHandler(event) {

Ldirection = Math.round(event.webkitCompassHeading);

console.log('Ldirection1', Ldirection)

Ldirection += 135;

Ldirection += 180;

if(Ldirection > 360) {

Ldirection -= 360;

}

console.log('Ldirection2', Ldirection)

setLocationMakerPosition(null, Ldirection);

}

} catch(e) {

console.log('Ldirection3', Ldirection)

};

//监听加速计变化

if(window.DeviceMotionEvent) {

window.addEventListener('devicemotion', deviceMotionHandler, false);

}

var vibrateSupport = "vibrate" in navigator

if(vibrateSupport) { //兼容不同的浏览器

navigator.vibrate = navigator.vibrate || navigator.webkitVibrate || navigator.mozVibrate || navigator.msVibrate;

}

function deviceMotionHandler(eventData) {

var acceleration = eventData.accelerationIncludingGravity;

var valuesArray = [acceleration.x, acceleration.y, acceleration.z];

if(!lastTime) {

lastTime = new Date().getTime();

}

currentTime = new Date().getTime();

let timeCha = currentTime - lastTime;

if(timeCha > 1500) {

_qValue = 0.001;

_rValue = 0.01;

} else {

_qValue = 0;

_rValue = 1;

}

refreshAcc(valuesArray, currentTime);

}

function refreshAcc(values, timestamp) {

Accs[count] = Math.sqrt(values[0] * values[0] + values[1] * values[1] + values[2] * values[2]);

time[count] = timestamp;

//检查运动状态

stateValue[count % 20] = Accs[count];

checkState();

//设置检测点，检测点的值为到最新数据的距离，如果太近了将无法确定其为波峰波谷

//检测点的作用是来减少计算量

var ckpoint = Accs.length / 5;

//运动状态判断加上判断检测点是否有波谷存在

if(State == MOVE && Accs[(count - ckpoint + Accs.length) % Accs.length] < Accs[(count - ckpoint + Accs.length + 1) % Accs.length] &&

Accs[(count - ckpoint + Accs.length) % Accs.length] <

Accs[(count - ckpoint + Accs.length - 1) % Accs.length]) {

//求均值

var ave0 = 0;

for(var i = 0; i < Accs.length; ++i) {

ave0 += Accs[i];

}

ave0 /= Accs.length;

//调整数组顺序，把新数据放在前面，同时把数据减去均值

var data = new Array(Accs.length).fill(0);

for(var i1 = 0, j = count; i1 < data.length; ++i1, --j) {

if(j < 0) {

j += data.length

};

data[i1] = Accs[j] - ave0;

}

//寻找波峰波谷

var sign = new Array(Accs.length).fill(0);

for(var i2 = 1; i2 < Accs.length - 1; ++i2) {

if(Math.abs(data[i2]) > 0.8 &&

Math.abs(2 * data[i2]) > Math.abs((data[i2 - 1] + data[i2 + 1]))) {

if(data[i2] > 0) {

sign[i2] = 1;

} else {

sign[i2] = -1;

}

}

}

for(var i3 = 1; i3 < sign.length - 1;) {

var idx = i3;

while(++i3 < sign.length - 1 &&

(sign[i3] == 0 || sign[i3] == sign[idx])) {

if(sign[i3] != 0 && Math.abs(data[i3]) > Math.abs(data[idx])) {

sign[idx] = 0;

idx = i3;

} else {

sign[i3] = 0;

}

}

}

//再次判断检测点是否是波谷

if(sign[ckpoint] < 0) {

var index = ckpoint;

//寻找下个波峰

while(++index < sign.length && sign[index] == 0);

if(index < sign.length && sign[index] > 0) {

var peak = index;

//寻找下个波谷

while(++index < sign.length && sign[index] == 0);

if(index < sign.length && sign[index] < 0) {

var valley = index;

//计算H和T

var H = data[peak] - 0.5 * data[ckpoint] - 0.5 * data[valley];

var T = time[(count - ckpoint + time.length) % time.length] - time[(count - valley + time.length) % time.length];

if(H > 1 && T > 300 && T < 1400) {

_qValue = 0;

_rValue = 1;

lastTime = new Date().getTime();

//步长计算

var steplength = 0.35 - 0.000155 * T + 0.1638 * Math.sqrt(H);

//var steplength = 0.65 - 0.000155 * T + 0.1638 * Math.sqrt(H);

Length = (Length + steplength) / 2;

Distance += steplength;

++Step;

//做卡尔曼

var finalXY = suanXY(resultX, resultY, steplength, Ldirection, XYobj.x, XYobj.y, _qValue, _rValue)

resultX = finalXY._data[0][0];

resultY = finalXY._data[1][0];

var zhuanXY = {

x: resultX,

y: resultY,

}

var coord = CoordTransform(zhuanXY);

coord.groupID = 1;

if(naviState) {

realNavigation(coord);

} else {

setLocationMakerPosition(coord, Ldirection)

}

}

}

}

}

}

if(++count == 100) count = 0;

};

//检查运动状态

function checkState() {

var ave = 0;

var Var = 0;

//求均值

for(var i = 0; i < stateValue.length; i++) {

ave += stateValue[i];

}

ave /= stateValue.length;

//求方差

for(var i = 0; i < stateValue.length; i++) {

Var += (stateValue[i] - ave) * (stateValue[i] - ave);

}

Var /= stateValue.length;

//状态判决

State = Var > 0.1 ? MOVE : STAY;

};

//获取当前时间戳

function getCurrentTime() {

var timestamp = new Date().getTime();

return timestamp;

};

};

//显示路径数据

function cardInfo(data) {

//距终点的距离

var distance = data.remain;

var maxEndDistance = 1;

//路线提示信息

var prompt = navi.naviDescriptions[data.index];

//当距离小于距离终点的最大距离时结束导航

if(distance < maxEndDistance) {

distance = 0;

prompt = '到达终点';

//navigation = true;

//楼层控件可点击

//groupControl.enableExpand = true;

//$('#navigation').removeClass('btn-primary');

//map.mapScaleLevel = startNaviScaleLevel; //还原地图为导航前缩放比例

}

//普通人每分钟走80米。

var time = distance / 80;

var m = parseInt(time);

var s = Math.floor((time % 1) * 60);

$("#description").show();

$('#description').html('

距终点：' + distance.toFixed(1) + ' 米

大约需要： ' + m + ' 分钟 ' + s + ' 秒

路线提示：' + prompt + '

');

//$('.layerMask').html('F' + data.groupID);

};

$('#goback').on('click', function() {

window.history.back(-1);

})

};

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