基于js的高德地图无人机编队航行规划-一字型编队、随意设置点

企业开发 2023-07-11 22:00:53 阅读次数: 0

基于js的高德地图无人机编队航行规划-一字型编队、随意设置点

横移飞

function oneword(n, lnglat, long, item, markers, marker, polyliness, text, index) {
    
    
    if (n == 1) {
    
    
        return;
    }
    for (var k = 0; k < n - 1; k++) {
    
    
        var p = k + 2;
        var lnglat0 = null;
        if (position.length == 0) {
    
    
            lnglat0 = getLngAndLat(lnglat[0], lnglat[1], 180, long * (k + 1));
        } else {
    
    
            lnglat0 = [keepSixDecimal(lnglat[0] - (position[index][0][0] - position[index][k + 1][0])),
                keepSixDecimal(lnglat[1] - (position[index][0][1] - position[index][k + 1][1]))];
        }
        item.push(lnglat0);
        var marker1 = null;
        if (isno1) {
    
    
            marker1 = new AMap.Marker({
    
    
                position: new AMap.LngLat(lnglat0[0], lnglat0[1]),
                icon: "https://webapi.amap.com/theme/v1.3/markers/n/mark_b" + p + ".png",
                offset: new AMap.Pixel(-13, -30),
                draggable: true,//是否可拖拽移动
                extData: {
    
    
                    xid: k + 1,
                },
                map: map,
            });
        } else {
    
    
            marker1 = new AMap.Marker({
    
    
                position: new AMap.LngLat(lnglat0[0], lnglat0[1]),
                icon: "https://webapi.amap.com/theme/v1.3/markers/n/mark_b" + p + ".png",
                offset: new AMap.Pixel(-13, -30),
                map: map,
            });
        }
        var polyline1 = new AMap.Polyline({
    
    
            path: [item[item.length-2], lnglat0],
            strokeColor: "#336600",
            strokeOpacity: 1,
            strokeWeight: 1,
            strokeStyle: "dashed",
            strokeDasharray: [10, 5],
            map: map,
        });
        markers.push(marker1);
        polyliness.push(polyline1);
        if (isno1) {
    
    
            marker1.on('dragging', showInfoMO);
            var text1 = new AMap.Text({
    
    
                text: '',
                style: {
    
    
                    'border-color': '#e1f5fe',
                    'font-size': '12px'
                }
            });
            text.push(text1);
            map.add(text1);
            computeDis(markers[markers.length - 2], marker1, polyline1, text1);
        }
    }
}

第一个点拖动

function oneword1(n, lnglat, item, markers, marker, polyliness, text, index) {
    
    
    if (n == 1) {
    
    
        return;
    }
    var num = n - 1;
    for (var k = 0; k < num; k++) {
    
    
        var lnglat1 = [keepSixDecimal(lnglat[0] - (position[index][0][0] - position[index][k + 1][0])), keepSixDecimal(lnglat[1] - (position[index][0][1] - position[index][k + 1][1]))];
        var marker1 = null;
        var p = k + 2;
        if (isno1) {
    
    
            marker1 = new AMap.Marker({
    
    
                position: new AMap.LngLat(lnglat1[0], lnglat1[1]),
                icon: "https://webapi.amap.com/theme/v1.3/markers/n/mark_b" + p + ".png",
                offset: new AMap.Pixel(-13, -30),
                draggable: true,//是否可拖拽移动
                extData: {
    
    
                    xid: k + 1,
                },
            });
        } else {
    
    
            marker1 = new AMap.Marker({
    
    
                position: new AMap.LngLat(lnglat1[0], lnglat1[1]),
                icon: "https://webapi.amap.com/theme/v1.3/markers/n/mark_b" + p + ".png",
                offset: new AMap.Pixel(-13, -30),
            });
        }
        map.add(marker1);
        marker1.on('dragging', showInfoMO);
        var polyline1 = new AMap.Polyline({
    
    
            path: [lnglat, lnglat1],
            strokeColor: "#336600",
            strokeOpacity: 1,
            strokeWeight: 1,
            strokeStyle: "dashed",
            strokeDasharray: [10, 5],
        });
        map.add(polyline1);
        markers.push(marker1);
        polyliness.push(polyline1);
        if (isno1) {
    
    
            var text1 = new AMap.Text({
    
    
                text: '',
                style: {
    
    
                    'border-color': '#e1f5fe',
                    'font-size': '12px'
                }
            });
            text.push(text1);
            map.add(text1);
            computeDis(markers[markers.length - 2], marker1, polyline1, text1);
        }
        item.push(lnglat1);
    }
}

设置第一个点不能移动

function oneword3(n, lnglat, marker) {
    
    
    map.remove(markersList[0]);
    marker = new AMap.Marker({
    
    
        position: new AMap.LngLat(lnglat[0], lnglat[1]),
        icon: "https://webapi.amap.com/theme/v1.3/markers/n/mark_b1.png",
        offset: new AMap.Pixel(-13, -30),
    });
    map.add(marker);
    markersList[0].splice(0, 1, marker);
    if (n != 1) {
    
    
        for (var k = 0; k < n-1; k++) {
    
    
            var lnglat1 = [keepSixDecimal(lnglat[0] - (position[0][0][0] - position[0][k + 1][0])),
                keepSixDecimal(lnglat[1] - (position[0][0][1] - position[0][k + 1][1]))];
            var p = k + 2;
            var marker1 = new AMap.Marker({
    
    
                position: new AMap.LngLat(lnglat1[0], lnglat1[1]),
                icon: "https://webapi.amap.com/theme/v1.3/markers/n/mark_b" + p + ".png",
                offset: new AMap.Pixel(-13, -30),
            });
            map.add(marker1);
            markersList[0].splice(k + 1, 1, marker1);
        }
    }
}

次marker移动事件

function showInfoMO(e) {
    
    
    var num = e.target.getExtData().xid;
    var lng = e.lnglat.getLng(); //获取经度
    var lat = e.lnglat.getLat(); //获取纬度
    var lnglat1 = [lng, lat];
    if (num < position[0].length - 1) {
    
    
        map.remove(markersList[0][num]);
        map.remove(polylines[0][num - 1]);
        map.remove(polylines[0][num]);
        map.remove(texts[0][num - 1]);
        map.remove(texts[0][num]);
        var p = num + 1;
        var marker1 = new AMap.Marker({
    
    
            position: new AMap.LngLat(lng, lat),
            icon: "https://webapi.amap.com/theme/v1.3/markers/n/mark_b" + p + ".png",
            offset: new AMap.Pixel(-13, -30),
            draggable: true,//是否可拖拽移动
            extData: {
    
    
                xid: num,
            },
        });
        marker1.on('dragging', showInfoMO);
        map.add(marker1);
        var polyline1 = new AMap.Polyline({
    
    
            path: [position[0][num - 1], lnglat1],
            strokeColor: "#336600",
            strokeOpacity: 1,
            strokeWeight: 1,
            strokeStyle: "dashed",
            strokeDasharray: [10, 5],
        });
        var polyline2 = new AMap.Polyline({
    
    
            path: [lnglat1, position[0][num + 1]],
            strokeColor: "#336600",
            strokeOpacity: 1,
            strokeWeight: 1,
            strokeStyle: "dashed",
            strokeDasharray: [10, 5],
        });
        map.add([polyline1, polyline2]);
        var text1 = new AMap.Text({
    
    
            text: '',
            style: {
    
    
                'border-color': '#e1f5fe',
                'font-size': '12px'
            }
        });
        var text2 = new AMap.Text({
    
    
            text: '',
            style: {
    
    
                'border-color': '#e1f5fe',
                'font-size': '12px'
            }
        });
        map.add([text1, text2]);
        computeDis(markersList[0][num - 1], marker1, polyline1, text1);
        computeDis(marker1, markersList[0][num + 1], polyline2, text2);
        position[0].splice(num, 1, lnglat1);
        markersList[0].splice(num, 1, marker1);
        polylines[0].splice(num - 1, 1, polyline1);
        polylines[0].splice(num, 1, polyline2);
        texts[0].splice(num - 1, 1, text1);
        texts[0].splice(num, 1, text2);
    } else {
    
    
        map.remove(markersList[0][num]);
        map.remove(polylines[0][polylines[0].length - 1]);
        map.remove(texts[0][texts[0].length - 1]);
        var p = num + 1;
        var marker1 = new AMap.Marker({
    
    
            position: new AMap.LngLat(lng, lat),
            icon: "https://webapi.amap.com/theme/v1.3/markers/n/mark_b" + p + ".png",
            offset: new AMap.Pixel(-13, -30),
            draggable: true,//是否可拖拽移动
            extData: {
    
    
                xid: num,
            },
        });
        marker1.on('dragging', showInfoMO);
        map.add(marker1);
        var polyline1 = new AMap.Polyline({
    
    
            path: [position[0][position.length - 2], lnglat1],
            strokeColor: "#336600",
            strokeOpacity: 1,
            strokeWeight: 1,
            strokeStyle: "dashed",
            strokeDasharray: [10, 5],
        });
        map.add(polyline1);
        var text1 = new AMap.Text({
    
    
            text: '',
            style: {
    
    
                'border-color': '#e1f5fe',
                'font-size': '12px'
            }
        });
        map.add(text1);
        computeDis(markersList[0][markersList[0].length - 2], marker1, polyline1, text1);
        position[0].splice(num, 1, lnglat1);
        markersList[0].splice(num, 1, marker1);
        polylines[0].splice(polylines[0].length - 1, 1, polyline1);
        texts[0].splice(texts[0].length - 1, 1, text1);
    }
}

工具类

/**
 * 度换成弧度
 * @param  {Float} d  度
 * @return {[Float}   弧度
 */
function rad (d){
    
    
    return d * Math.PI / 180.0;
};
/**
 * 弧度换成度
 * @param  {Float} x 弧度
 * @return {Float}   度
 */
function deg (x){
    
    
    return x * 180 / Math.PI;
};
/**
 *
 * @param {*} lng 经度 113.3960698
 * @param {*} lat 纬度 22.941386
 * @param {*} brng 方位角 45   ---- 正北方：000°或360°  正东方：090° 正南方：180°  正西方：270°
 * @param {*} dist 距离 9000
 *
 */
function getLngAndLat (lng,lat,brng,dist){
    
    
    //大地坐标系资料WGS-84 长半径a=6378137 短半径b=6356752.3142 扁率f=1/298.2572236
    var a=6378137;
    var b=6356752.3142;
    var f=1/298.257223563;

    var alpha1 = rad(brng);
    var sinAlpha1 = Math.sin(alpha1);
    var cosAlpha1 = Math.cos(alpha1);

    var tanU1 = (1 - f) * Math.tan(rad(lat));
    var cosU1 = 1 / Math.sqrt((1 + tanU1 * tanU1));
    var sinU1 = tanU1 * cosU1;
    var sigma1 = Math.atan2(tanU1, cosAlpha1);
    var sinAlpha = cosU1 * sinAlpha1;
    var cosSqAlpha = 1 - sinAlpha * sinAlpha;
    var uSq = cosSqAlpha * (a * a - b * b) / (b * b);
    var A = 1 + uSq / 16384 * (4096 + uSq * (-768 + uSq * (320 - 175 * uSq)));
    var B = uSq / 1024 * (256 + uSq * (-128 + uSq * (74 - 47 * uSq)));

    var cos2SigmaM=0;
    var sinSigma=0;
    var cosSigma=0;
    var sigma = dist / (b * A), sigmaP = 2 * Math.PI;
    while (Math.abs(sigma - sigmaP) > 1e-12) {
    
    
        cos2SigmaM = Math.cos(2 * sigma1 + sigma);
        sinSigma = Math.sin(sigma);
        cosSigma = Math.cos(sigma);
        var deltaSigma = B * sinSigma * (cos2SigmaM + B / 4 * (cosSigma * (-1 + 2 * cos2SigmaM * cos2SigmaM)
            - B / 6 * cos2SigmaM * (-3 + 4 * sinSigma * sinSigma) * (-3 + 4 * cos2SigmaM * cos2SigmaM)));
        sigmaP = sigma;
        sigma = dist / (b * A) + deltaSigma;
    }

    var tmp = sinU1 * sinSigma - cosU1 * cosSigma * cosAlpha1;
    var lat2 = Math.atan2(sinU1 * cosSigma + cosU1 * sinSigma * cosAlpha1,
        (1 - f) * Math.sqrt(sinAlpha * sinAlpha + tmp * tmp));
    var lambda = Math.atan2(sinSigma * sinAlpha1, cosU1 * cosSigma - sinU1 * sinSigma * cosAlpha1);
    var C = f / 16 * cosSqAlpha * (4 + f * (4 - 3 * cosSqAlpha));
    var L = lambda - (1 - C) * f * sinAlpha
        * (sigma + C * sinSigma * (cos2SigmaM + C * cosSigma * (-1 + 2 * cos2SigmaM * cos2SigmaM)));

    var revAz = Math.atan2(sinAlpha, -tmp); // final bearing
    var lngLatObj = [keepSixDecimal(lng+deg(L)),keepSixDecimal(deg(lat2))];
    return lngLatObj;
}

function keepSixDecimal(num) {
    
    
    var result = Math.round(num * 1000000) / 1000000;
    return result;
};

//两点间距离
function computeDis(m1, m2, line, text) {
    
    
    var p1 = m1.getPosition();
    var p2 = m2.getPosition();
    var textPos = p1.divideBy(2).add(p2.divideBy(2));
    var distance = Math.round(p1.distance(p2));
    var path = [p1, p2];
    line.setPath(path);
    text.setText(distance + '米');
    text.setPosition(textPos);
};

/*
 * 计算两点对于正北方向的朝向角度 [0,360]
 * @param {*} start format:{'latitude': 30, 'longitude': 120 }
 * @param {*} end
 */
function bearing(start, end) {
    
    
    let rad = Math.PI / 180,
        lat1 = start[1] * rad,
        lat2 = end[1] * rad,
        lon1 = start[0] * rad,
        lon2 = end[0] * rad;
    const a = Math.sin(lon2 - lon1) * Math.cos(lat2);
    const b = Math.cos(lat1) * Math.sin(lat2) -
        Math.sin(lat1) * Math.cos(lat2) * Math.cos(lon2 - lon1);
    let angle = radiansToDegrees(Math.atan2(a, b));
    if (angle < 0) {
    
    
        angle=360+angle;
    }
    return angle;
}

/*
 * 弧度转换为角度
 */
function radiansToDegrees(radians) {
    
    
    const degrees = radians % (2 * Math.PI);
    return degrees * 180 / Math.PI;
}

function getSinDeg(sin) {
    
    
    var result = Math.asin(sin) / (Math.PI / 180);
    result = Math.round(result);
    return result;
}

//两点之间距离 m
function getDistance( lat1,  lng1,  lat2,  lng2){
    
    
    var radLat1 = lat1*Math.PI / 180.0;
    var radLat2 = lat2*Math.PI / 180.0;
    var a = radLat1 - radLat2;
    var  b = lng1*Math.PI / 180.0 - lng2*Math.PI / 180.0;
    var s = 2 * Math.asin(Math.sqrt(Math.pow(Math.sin(a/2),2) +
        Math.cos(radLat1)*Math.cos(radLat2)*Math.pow(Math.sin(b/2),2)));
    s = s *6378.137 ;// EARTH_RADIUS;
    s = Math.round(s * 10000) / 10000 * 1000;
    return s;
}

猜你喜欢

转载自blog.csdn.net/qq_36580022/article/details/127979199
今日推荐
面壁智能发布 Eurux-8x22B 开源大模型 —— 堪称「理科状元」
开源日报 | 谷歌扶持鸿蒙上位；开源Rabbit R1；Docker加持的安卓手机；微软的焦虑和野心；海尔电器把开放平台关了
中国码农的“35岁魔咒”
蘭雅 CorelDRAW 插件 2024.5.1 国际劳动节版，免费下载
Arc Browser for Windows 1.0 正式 GA
90后程序员开发视频搬运软件、不到一年获利超 700 万，结局很刑！
周排行
OOP第二次作业
java web 乱码问题
android 禁止scrollview 因控件变化自动滚动到底的方法
mysql服务解压版的安装(5.7)
centos7 nginx+tomcat配置https 安装免费SSL Let’s Encrypt
使用Mosquitto遗嘱机制实现感知客户端上下线功能的方法
面向对象之------多态与多态性
开发Teams Tabs应用程序
C# 希尔排序
第2章 Jupyter Notebooks
每日归档
更多
2024-05-06(40)
2024-05-05(0)
2024-05-04(7)
2024-05-03(19)
2024-05-02(0)
2024-05-01(4)
2024-04-30(1)
2024-04-29(40)
2024-04-28(0)
2024-04-27(56)

代码天地 © 2018 codetd.com

境外服务器   最新电视剧2022