From 1d2de0f2873c66bf7a9567eb7f2b4bee7330ff6c Mon Sep 17 00:00:00 2001
From: liusuyi <1951119284@qq.com>
Date: Fri, 12 Dec 2025 15:16:12 +0800
Subject: [PATCH] 优化禁飞区距离算法
---
ard-system/src/main/java/com/ard/data/noflyzone/utils/NoFlyZoneUtils.java | 282 +++++++++++++++++++++++++++++++++++++++++++-------------
1 files changed, 217 insertions(+), 65 deletions(-)
diff --git a/ard-system/src/main/java/com/ard/data/noflyzone/utils/NoFlyZoneUtils.java b/ard-system/src/main/java/com/ard/data/noflyzone/utils/NoFlyZoneUtils.java
index 350b3d4..26fc38f 100644
--- a/ard-system/src/main/java/com/ard/data/noflyzone/utils/NoFlyZoneUtils.java
+++ b/ard-system/src/main/java/com/ard/data/noflyzone/utils/NoFlyZoneUtils.java
@@ -2,104 +2,256 @@
import com.ard.data.noflyzone.domain.ArdNoFlyBox;
import com.ard.data.noflyzone.domain.ArdNoFlyZone;
+import com.ard.data.noflyzone.domain.FeatureCollection;
import com.ard.data.noflyzone.domain.Vertex;
+import org.locationtech.jts.geom.Coordinate;
+import org.locationtech.jts.geom.GeometryFactory;
+import org.locationtech.jts.geom.LineString;
+import org.locationtech.jts.geom.Polygon;
+import java.util.ArrayList;
+import java.util.Arrays;
import java.util.List;
public class NoFlyZoneUtils {
+
/**
- * 判断点是否在禁飞区集合中
- *
- * @param point 目标点
- * @param zones 禁飞区集合
- * @return true: 点在任意禁飞区内
+ * 计算点到多边形的最近距离（米）
*/
- public static boolean isInNoFlyZones(Vertex point, List<ArdNoFlyZone> zones) {
- if (point == null || zones == null || zones.isEmpty()) {
- return false;
+ public static double pointToPolygonDistance(Vertex point, List<Vertex> polygon) {
+
+ // 如果在多边形内部，距离为 0
+ if (isPointInPolygon(point, polygon)) {
+ return 0;
}
- for (ArdNoFlyZone zone : zones) {
- // 1️⃣ 先快速判断外接矩形
- if (zone.getArdNoFlyBox() != null &&
- !isInBox(point, zone.getArdNoFlyBox())) {
- continue; // 点不在外接矩形内，跳过
- }
+ double minDistance = Double.MAX_VALUE;
+ int n = polygon.size();
- // 2️⃣ 多边形判断
- List<Vertex> vertices = zone.getVertices();
- if (vertices != null && !vertices.isEmpty()) {
- if (isPointInPolygon(point, vertices)) {
- return true;
- }
+ for (int i = 0; i < n; i++) {
+ Vertex a = polygon.get(i);
+ Vertex b = polygon.get((i + 1) % n); // 下一点，最后一条边连接第一个点
+
+ double dist = pointToSegmentDistanceHaversine(point, a, b);
+ minDistance = Math.min(minDistance, dist);
+ }
+
+ return minDistance;
+ }
+
+ /**
+ * 计算点到线段的距离（米）使用Haversine公式
+ */
+ public static double pointToSegmentDistanceHaversine(Vertex p, Vertex a, Vertex b) {
+ // 将经纬度换算成以 p 点为参考的局部平面米坐标
+ double[] pa = latLonToXY(a, p.y, p.x);
+ double[] pb = latLonToXY(b, p.y, p.x);
+ double[] pp = latLonToXY(p, p.y, p.x);
+
+ double dx = pb[0] - pa[0];
+ double dy = pb[1] - pa[1];
+
+ double t = ((pp[0] - pa[0]) * dx + (pp[1] - pa[1]) * dy) / (dx * dx + dy * dy);
+
+ double nearestX, nearestY;
+ if (t < 0) {
+ nearestX = pa[0];
+ nearestY = pa[1];
+ } else if (t > 1) {
+ nearestX = pb[0];
+ nearestY = pb[1];
+ } else {
+ nearestX = pa[0] + t * dx;
+ nearestY = pa[1] + t * dy;
+ }
+
+ double distX = pp[0] - nearestX;
+ double distY = pp[1] - nearestY;
+
+ return Math.sqrt(distX * distX + distY * distY);
+ }
+
+ /**
+ * 将经纬度转换为局部平面坐标（米）
+ * originLat、originLon 是参考点，经纬度转换到以参考点为原点的平面坐标
+ */
+ public static double[] latLonToXY(Vertex point, double originLat, double originLon) {
+ double R = 6371000; // 地球半径，单位米
+ double dLat = Math.toRadians(point.y - originLat);
+ double dLon = Math.toRadians(point.x - originLon);
+ double x = R * dLon * Math.cos(Math.toRadians(originLat));
+ double y = R * dLat;
+ return new double[]{x, y};
+ }
+
+
+
+ /**
+ * 判断点是否在多边形内（射线法）
+ */
+ public static boolean isPointInPolygon(Vertex point, List<Vertex> polygon) {
+ int n = polygon.size();
+ boolean inside = false;
+ for (int i = 0, j = n - 1; i < n; j = i++) {
+ Vertex vi = polygon.get(i);
+ Vertex vj = polygon.get(j);
+ boolean intersect = ((vi.y > point.y) != (vj.y > point.y)) &&
+ (point.x < (vj.x - vi.x) * (point.y - vi.y) / (vj.y - vi.y) + vi.x);
+ if (intersect) inside = !inside;
+ }
+ return inside;
+ }
+
+ /**
+ * 判断线段是否与多边形相交
+ */
+ public static boolean isLineIntersectPolygon(Vertex p1, Vertex p2, List<Vertex> polygon) {
+ int n = polygon.size();
+ for (int i = 0; i < n; i++) {
+ Vertex a = polygon.get(i);
+ Vertex b = polygon.get((i + 1) % n);
+ if (isSegmentsIntersect(p1, p2, a, b)) {
+ return true;
}
}
return false;
}
/**
- * 判断点是否在矩形框内
+ * 判断两条线段是否相交
*/
- private static boolean isInBox(Vertex point, ArdNoFlyBox box) {
- return point.x >= box.getMinx() && point.x <= box.getMaxx() &&
- point.y >= box.getMiny() && point.y <= box.getMaxy();
- }
+ private static boolean isSegmentsIntersect(Vertex p1, Vertex p2, Vertex p3, Vertex p4) {
+ double d1 = cross(p3, p4, p1);
+ double d2 = cross(p3, p4, p2);
+ double d3 = cross(p1, p2, p3);
+ double d4 = cross(p1, p2, p4);
- /**
- * 射线法判断点是否在多边形内
- */
- private static boolean isPointInPolygon(Vertex point, List<Vertex> vertices) {
- if (point == null || vertices == null || vertices.size() < 3) {
- return false;
+ if (((d1 > 0 && d2 < 0) || (d1 < 0 && d2 > 0)) &&
+ ((d3 > 0 && d4 < 0) || (d3 < 0 && d4 > 0))) {
+ return true;
}
- int count = 0;
- int n = vertices.size();
- double epsilon = 1e-9;
+ // 处理共线情况
+ if (d1 == 0 && onSegment(p3, p4, p1)) return true;
+ if (d2 == 0 && onSegment(p3, p4, p2)) return true;
+ if (d3 == 0 && onSegment(p1, p2, p3)) return true;
+ if (d4 == 0 && onSegment(p1, p2, p4)) return true;
- for (int i = 0; i < n; i++) {
- Vertex v1 = vertices.get(i);
- Vertex v2 = vertices.get((i + 1) % n);
+ return false;
+ }
- // 点就是顶点
- if (v1.IsSame(point)) {
- return true;
- }
+ private static double cross(Vertex p1, Vertex p2, Vertex p3) {
+ return (p2.x - p1.x) * (p3.y - p1.y) - (p3.x - p1.x) * (p2.y - p1.y);
+ }
- double minX = Math.min(v1.x, v2.x);
- double maxX = Math.max(v1.x, v2.x);
- double minY = Math.min(v1.y, v2.y);
- double maxY = Math.max(v1.y, v2.y);
+ private static boolean onSegment(Vertex p1, Vertex p2, Vertex q) {
+ return q.x <= Math.max(p1.x, p2.x) && q.x >= Math.min(p1.x, p2.x)
+ && q.y <= Math.max(p1.y, p2.y) && q.y >= Math.min(p1.y, p2.y);
+ }
- // 水平线段
- if (Math.abs(minY - maxY) < epsilon) {
- if (Math.abs(point.y - minY) < epsilon && point.x >= minX && point.x <= maxX) {
- return true;
- } else {
- continue;
- }
- }
- // 点不在纵向范围
- if (point.y < minY || point.y > maxY) {
+ /**
+ * 判断点是否在矩形内
+ */
+ public static boolean isInsideBox(Vertex point, ArdNoFlyBox box) {
+ if (point == null || box == null) return false;
+ return point.x >= box.getMinx() &&
+ point.x <= box.getMaxx() &&
+ point.y >= box.getMiny() &&
+ point.y <= box.getMaxy();
+ }
+
+
+ /**
+ * 根据 GeoJSON（FeatureCollection）计算外接矩形
+ */
+ @SuppressWarnings("unchecked")
+ public static ArdNoFlyBox getArdNoFlyBox(FeatureCollection featureCollection) {
+ if (featureCollection == null || featureCollection.getFeatures() == null) {
+ return null;
+ }
+
+ double minx = Double.MAX_VALUE;
+ double miny = Double.MAX_VALUE;
+ double maxx = Double.MIN_VALUE;
+ double maxy = Double.MIN_VALUE;
+
+ for (FeatureCollection.Feature feature : featureCollection.getFeatures()) {
+ FeatureCollection.Geometry geometry = feature.getGeometry();
+ if (geometry == null || geometry.getCoordinates() == null) {
continue;
}
- double xIntersect = v1.x + (point.y - v1.y) * (v2.x - v1.x) / (v2.y - v1.y);
+ String type = geometry.getType();
+ Object coords = geometry.getCoordinates();
- if (Math.abs(xIntersect - point.x) < epsilon) {
- return true; // 点在边界
+ if ("Polygon".equalsIgnoreCase(type)) {
+ // Polygon: [[[lon, lat], [lon, lat], ...]]
+ List<List<List<Double>>> rings = (List<List<List<Double>>>) coords;
+ for (List<List<Double>> ring : rings) {
+ for (List<Double> point : ring) {
+ if (point.size() < 2) {
+ continue;
+ }
+ double x = point.get(0);
+ double y = point.get(1);
+ minx = Math.min(minx, x);
+ miny = Math.min(miny, y);
+ maxx = Math.max(maxx, x);
+ maxy = Math.max(maxy, y);
+ }
+ }
}
- if (xIntersect > point.x) {
- count++;
- }
-
- if (Math.abs(point.y - minY) < epsilon) {
- count--;
+ else if ("MultiPolygon".equalsIgnoreCase(type)) {
+ // MultiPolygon: [[[[lon, lat], ...]], ...]
+ List<List<List<List<Double>>>> polygons = (List<List<List<List<Double>>>>) coords;
+ for (List<List<List<Double>>> polygon : polygons) {
+ for (List<List<Double>> ring : polygon) {
+ for (List<Double> point : ring) {
+ if (point.size() < 2) {
+ continue;
+ }
+ double x = point.get(0);
+ double y = point.get(1);
+ minx = Math.min(minx, x);
+ miny = Math.min(miny, y);
+ maxx = Math.max(maxx, x);
+ maxy = Math.max(maxy, y);
+ }
+ }
+ }
}
}
- return count % 2 != 0;
+ return new ArdNoFlyBox(minx, miny, maxx, maxy);
+ }
+
+ /**
+ * 将 GeoJSON Polygon 的外环坐标转换成 Vertex 列表
+ */
+ public static List<Vertex> toVertexes(FeatureCollection featureCollection) {
+ List<Vertex> vertexes = new ArrayList<>();
+ if (featureCollection == null || featureCollection.getFeatures() == null || featureCollection.getFeatures().isEmpty()) {
+ return vertexes;
+ }
+ FeatureCollection.Feature feature = featureCollection.getFeatures().get(0);
+ if (feature.getGeometry() != null) {
+ List<List<List<Double>>> coords = feature.getGeometry().getCoordinates();
+ if (coords != null && !coords.isEmpty()) {
+ List<List<Double>> outerRing = coords.get(0);
+ for (List<Double> point : outerRing) {
+ if (point.size() >= 2) {
+ vertexes.add(new Vertex(point.get(0), point.get(1)));
+ }
+ }
+ }
+ }
+ return vertexes;
+ }
+
+ public static double degDistanceToMeter(double deg, double lat) {
+ // 1° ≈ 111320 米，但是经度和纬度不一样，这里用纬度做修正
+ return deg * 111320.0 * Math.cos(Math.toRadians(lat));
}
}
--
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