fix+

jihongshun

2025-09-15 137609815a89f21386e5b73d0686bf5c43258b50

fix+

 src/views/system/flightRouteSimulation/index.vue

@@ -106,7 +106,11 @@
      id: 'frustumOutline',
      positionProperty : new Cesium.SampledPositionProperty(),
      orientation : new Cesium.SampledProperty(Cesium.Quaternion),//无人机朝向
      sztOrientation : new Cesium.SampledProperty(Cesium.Quaternion),//云台朝向
      // sztOrientation : new Cesium.SampledProperty(Cesium.Quaternion),//云台朝向
      holderHeadingProperty : new Cesium.SampledProperty(Number),//云台朝向heading
      holderPitchProperty : new Cesium.SampledProperty(Number),//云台朝向pitch
      holderRollProperty : new Cesium.SampledProperty(Number),//云台朝向roll
      // flyHeadingProperty : new Cesium.SampledProperty(Number),//无人机heading
    }
  },
  mounted() {
@@ -171,7 +175,7 @@
            roll:item.roll || 0,
            // speed: speeds[index] || 0,
            speed: 80,
            // flyHeading:item.flyHeading
            flyHeading:item.flyHeading
          };
        });
        this.trajectoryData = result
@@ -453,13 +457,16 @@
        //     Cesium.Math.toRadians(data.roll)
        // );
        const hpr = new Cesium.HeadingPitchRoll(
            Cesium.Math.toRadians(0),
            Cesium.Math.toRadians(data.flyHeading),
            Cesium.Math.toRadians(0),
            Cesium.Math.toRadians(0)
        );
        const quaternion = Cesium.Transforms.headingPitchRollQuaternion(position, hpr);
        
        // // 添加飞机朝向采样
        this.orientation.addSample(time, quaternion);
        //无人机heading
        //  this.flyHeadingProperty.addSample(time, data.flyHeading)
        //云台
        const szthpr = new Cesium.HeadingPitchRoll(
            Cesium.Math.toRadians(data.heading),
@@ -470,8 +477,11 @@
        // console.log( Cesium.Math.toRadians(data.heading))
        const sztquaternion = Cesium.Transforms.headingPitchRollQuaternion(position, szthpr);
        console.log(sztquaternion)
        this.sztOrientation.addSample(time, sztquaternion);
        console.log(this.sztOrientation)
        // this.sztOrientation.addSample(time, sztquaternion);
        this.holderHeadingProperty.addSample(time, data.heading)
        this.holderPitchProperty.addSample(time, data.pitch)
        this.holderRollProperty.addSample(time, data.roll)
        // console.log(this.sztOrientation)
        // console.log(this.orientation)
      })
      // console.log(">> positionProperty:",this.positionProperty );
@@ -505,6 +515,11 @@
          trailTime: 60
        },
        orientation:this.orientation
        // orientation: {
        //   heading: Cesium.Math.toRadians(this.flyHeadingProperty),
        //   pitch: Cesium.Math.toRadians(0),
        //   roll: Cesium.Math.toRadians(0),
        // }
      })
    },
     // 更新视锥体位置和朝向
@@ -554,7 +569,7 @@
    },
    getCurrentPosition() {
      let viewer =  window['cesiumContainer'].viewer;
      console.log(this.sztOrientation)
      // console.log(this.sztOrientation)
      // 获取当前时间
      const currentTime = viewer.clock.currentTime;
      console.log("当前时间：", Cesium.JulianDate.toDate(currentTime));
@@ -579,53 +594,54 @@
        this.currentHeight = cartographicPosition.height;
        this.c3Position = Cesium.Cartesian3.fromDegrees(this.currentLongitude, this.currentLatitude,this.currentHeight)
        //相机变化
        const quaternion = this.orientation.getValue(currentTime)
        // if(quaternion) {
        //   const hpr111 = Cesium.HeadingPitchRoll.fromQuaternion(quaternion)
        //   console.log('相机的   ' +Cesium.Math.toDegrees(hpr111.heading).toFixed(2))
        // }
        //云台变化
        const sztquaternion = this.sztOrientation.getValue(currentTime)
        console.log(sztquaternion)
        if (sztquaternion) {
          const hpr = Cesium.HeadingPitchRoll.fromQuaternion(sztquaternion)
          console.log(hpr)
          this.heading = (Cesium.Math.toDegrees(hpr.heading).toFixed(2)-143.32384000000002 )
          // this.heading = 180
          this.pitch = (Cesium.Math.toDegrees(hpr.pitch).toFixed(2) - 14.33)
          // this.roll = Cesium.Math.toDegrees(hpr.roll).toFixed(2)
          this.roll = 0
          // console.log('当前位置 - heading ' + this.heading)
          console.log(`当前位置 - heading: ${this.heading}, pitch: ${this.pitch}, roll: ${this.roll}`);
        const holderUavHeading = this.holderHeadingProperty.getValue(currentTime)
        if(holderUavHeading) {
          this.heading = holderUavHeading
        }
        //云台变化
        // const sztquaternion = this.sztOrientation.getValue(currentTime)
        // console.log(sztquaternion)
        // if (sztquaternion) {
        //   const hpr = Cesium.HeadingPitchRoll.fromQuaternion(sztquaternion)
        //   console.log(hpr)
        //   this.heading = (Cesium.Math.toDegrees(hpr.heading).toFixed(2)-143.32384000000002 )
        //   // this.heading = 180
        //   this.pitch = (Cesium.Math.toDegrees(hpr.pitch).toFixed(2) - 14.33)
        //   // this.roll = Cesium.Math.toDegrees(hpr.roll).toFixed(2)
        //   this.roll = 0
        //   // console.log('当前位置 - heading ' + this.heading)
        //   console.log(`当前位置 - heading: ${this.heading}, pitch: ${this.pitch}, roll: ${this.roll}`);
        // }
        const holderYtHeading = this.holderHeadingProperty.getValue(currentTime)
        const holderYtPitch = this.holderPitchProperty.getValue(currentTime)
        const holderYtRoll = this.holderRollProperty.getValue(currentTime)
        if(holderYtHeading) {
          // this.heading = Cesium.Math.toDegrees(holderYtHeading).toFixed(2) 
          // this.pitch = Cesium.Math.toDegrees(holderYtPitch).toFixed(2) 
          // this.roll = Cesium.Math.toDegrees(holderYtRoll).toFixed(2)
          this.heading = holderYtHeading
          this.pitch = holderYtPitch
          this.roll = holderYtRoll
           console.log('当前位置 - heading ' + this.heading)
           console.log(`当前位置 - heading: ${this.heading}, pitch: ${this.pitch}, roll: ${this.roll}`);
        }
        // console.log(sztquaternion)
        // if (sztquaternion) {
        //   const hpr = Cesium.HeadingPitchRoll.fromQuaternion(sztquaternion)
        //   console.log(hpr)
        //   this.heading = (Cesium.Math.toDegrees(hpr.heading).toFixed(2)-143.32384000000002 )
        //   // this.heading = 180
        //   this.pitch = (Cesium.Math.toDegrees(hpr.pitch).toFixed(2) - 14.33)
        //   // this.roll = Cesium.Math.toDegrees(hpr.roll).toFixed(2)
        //   this.roll = 0
        //   // console.log('当前位置 - heading ' + this.heading)
        //   console.log(`当前位置 - heading: ${this.heading}, pitch: ${this.pitch}, roll: ${this.roll}`);
        // }
        
        this.updateFrustum();
      } else {
        console.log("无法获取当前位置");
      }
    },
    quaternionToHeadingPitchRoll(quaternion) {
        const x = quaternion.x;
        const y = quaternion.y;
        const z = quaternion.z;
        const w = quaternion.w;

        // 构建旋转矩阵元素
        const m11 = 1 - 2 * (y * y + z * z);
        const m12 = 2 * (x * y - w * z);
        const m13 = 2 * (x * z + w * y);
        const m21 = 2 * (x * y + w * z);
        const m22 = 1 - 2 * (x * x + z * z);
        const m23 = 2 * (y * z - w * x);
        const m31 = 2 * (x * z - w * y);
        const m32 = 2 * (y * z + w * x);
        const m33 = 1 - 2 * (x * x + y * y);

        const heading = Math.atan2(m21, m11);
        const pitch = Math.asin(-m31);
        const roll = Math.atan2(m32, m33);

        return new Cesium.HeadingPitchRoll(heading, pitch, roll);
    },
    showGZ(){
      let viewer = window['cesiumContainer'].viewer;