CN111400851B - Node layout method and system - Google Patents
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- CN111400851B CN111400851B CN201811634943.4A CN201811634943A CN111400851B CN 111400851 B CN111400851 B CN 111400851B CN 201811634943 A CN201811634943 A CN 201811634943A CN 111400851 B CN111400851 B CN 111400851B
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- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
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Abstract
The invention provides a node layout method and a node layout system. The node layout method comprises the following steps: receiving the distance between the first measuring node and each second measuring node, the distance between the known offset node and the first measuring node, the deflection angle of the measuring line and the deflection angle between the first measuring node and the known offset node; measuring the distance between the known offset node and the unknown offset node and the offset angle between the known offset node and the unknown offset node, and respectively inputting the data into an offset model and an offset angle model to obtain the offset of the unknown offset node and each second measurement node in the vertical direction and the offset angle between the unknown offset node and each second measurement node; when the offset is smaller than or equal to the offset threshold value and the offset angle is smaller than or equal to the offset angle threshold value, calculating the coordinates of the unknown offset node, otherwise, re-distributing the unknown offset node; and outputting the pile number of the second measurement node corresponding to the unknown offset node and the coordinates of the unknown offset node, so that the construction links can be reduced, and the construction efficiency can be improved.
Description
Technical Field
The invention relates to the field of exploration, in particular to a node layout method and system.
Background
Currently, due to popularization of green exploration, the node unit is increasingly applied to the petroleum exploration industry with the technical advantages of low field labor intensity, low power consumption, environmental friendliness and the like, but certain limitations are also presented in the field production process: under complex terrains such as jungle, the node units often cannot be accurately placed at the positions of stake marks. At this time, the node unit needs to match the pile number by means of the GPS positioning coordinates recorded by the node unit, and the node unit may not be able to receive the GPS positioning coordinates in the compact forest area, so that the node unit cannot construct the building, and cannot efficiently and quickly traverse the complex ground surface area by using a wired instrument. The node layout modes can generate positioning deviation, pile number matching is wrong, construction efficiency is reduced, and construction progress is affected.
Disclosure of Invention
The embodiment of the invention mainly aims to provide a node layout method and system for accurately positioning nodes and matching pile numbers, so that construction links are reduced, and construction efficiency is improved.
In order to achieve the above object, an embodiment of the present invention provides a node layout method, including:
receiving a distance between the first measurement node and each second measurement node, a distance between the known offset node and the first measurement node, an offset angle of the measurement line, and an offset angle of the first measurement node and the known offset node; the first measuring node and each second measuring node are positioned on the measuring line;
Measuring the distance between the known offset node and the unknown offset node, and the offset angle of the known offset node and the unknown offset node;
creating an offset model and an offset angle model;
inputting the distance between the first measurement node and each second measurement node, the distance between the known offset node and the first measurement node, the distance between the known offset node and the unknown offset node, the deflection angle of the measuring line, the deflection angle of the first measurement node and the known offset node, and the deflection angle of the known offset node and the unknown offset node into an offset model, so as to obtain the offset of the unknown offset node and each second measurement node in the vertical direction;
inputting the distance between the first measurement node and each second measurement node, the distance between the known offset node and the first measurement node, the distance between the known offset node and the unknown offset node, the deflection angle of the measuring line, the deflection angle between the first measurement node and the known offset node, and the deflection angle between the known offset node and the unknown offset node into a deflection angle model to obtain the deflection angle between the unknown offset node and each second measurement node;
judging whether the offset of the unknown offset node and each second measurement node in the vertical direction is smaller than or equal to an offset threshold value or not, and judging whether the offset angle of the unknown offset node and each second measurement node is smaller than or equal to an offset angle threshold value or not;
When the offset of the unknown offset node and one of the second measurement nodes in the vertical direction is smaller than or equal to an offset threshold value, and the offset angle of the unknown offset node and the second measurement node is smaller than or equal to an offset angle threshold value, inputting the coordinates of the known offset node, the distance between the known offset node and the unknown offset node and the offset angle of the known offset node and the unknown offset node into a preset coordinate model to obtain the coordinates of the unknown offset node, otherwise, rearranging the unknown offset node until the offset of the unknown offset node and one of the second measurement nodes in the vertical direction is smaller than or equal to the offset threshold value, and the offset angle of the unknown offset node and the second measurement node is smaller than or equal to the offset angle threshold value;
and outputting the pile number of the second measurement node corresponding to the unknown offset node and the coordinates of the unknown offset node.
The embodiment of the invention also provides a node layout system, which comprises:
a receiving unit, configured to receive a distance between the first measurement node and each second measurement node, a distance between the known offset node and the first measurement node, an offset angle of the measurement line, and an offset angle of the first measurement node and the known offset node; the first measuring node and each second measuring node are positioned on the measuring line;
A measurement unit for measuring a distance between the known offset node and the unknown offset node, and a deflection angle of the known offset node and the unknown offset node;
the model creation unit is used for creating an offset model and an offset angle model;
the offset unit is used for inputting the distance between the first measurement node and each second measurement node, the distance between the known offset node and the first measurement node, the distance between the known offset node and the unknown offset node, the deflection angle of the measuring line, the deflection angle of the first measurement node and the known offset node, and the deflection angle of the known offset node and the unknown offset node into the offset model to obtain the offset of the unknown offset node and each second measurement node in the vertical direction;
the offset angle unit is used for inputting the distance between the first measurement node and each second measurement node, the distance between the known offset node and the first measurement node, the distance between the known offset node and the unknown offset node, the offset angle of the measuring line, the offset angle between the first measurement node and the known offset node, and the offset angle between the known offset node and the unknown offset node into an offset angle model to obtain the offset angle between the unknown offset node and each second measurement node;
The judging unit is used for judging whether the offset of the unknown offset node and each second measuring node in the vertical direction is smaller than or equal to an offset threshold value or not and judging whether the offset angle of the unknown offset node and each second measuring node is smaller than or equal to an offset angle threshold value or not;
the coordinate unit of the unknown offset node is used for inputting the coordinates of the known offset node, the distance between the known offset node and the unknown offset node and the offset angle between the known offset node and the unknown offset node into a preset coordinate model to obtain the coordinates of the unknown offset node;
the layout unit is used for re-laying unknown offset nodes;
and the output unit is used for outputting the pile number of the second measurement node corresponding to the unknown offset node and the coordinates of the unknown offset node.
The embodiment of the invention also provides a computer device, which comprises a memory, a processor and a computer program stored on the memory and capable of running on the processor, wherein the processor realizes the following steps when executing the computer program:
receiving a distance between the first measurement node and each second measurement node, a distance between the known offset node and the first measurement node, an offset angle of the measurement line, and an offset angle of the first measurement node and the known offset node; the first measuring node and each second measuring node are positioned on the measuring line;
Measuring the distance between the known offset node and the unknown offset node, and the offset angle of the known offset node and the unknown offset node;
creating an offset model and an offset angle model;
inputting the distance between the first measurement node and each second measurement node, the distance between the known offset node and the first measurement node, the distance between the known offset node and the unknown offset node, the deflection angle of the measuring line, the deflection angle of the first measurement node and the known offset node, and the deflection angle of the known offset node and the unknown offset node into an offset model, so as to obtain the offset of the unknown offset node and each second measurement node in the vertical direction;
inputting the distance between the first measurement node and each second measurement node, the distance between the known offset node and the first measurement node, the distance between the known offset node and the unknown offset node, the deflection angle of the measuring line, the deflection angle between the first measurement node and the known offset node, and the deflection angle between the known offset node and the unknown offset node into a deflection angle model to obtain the deflection angle between the unknown offset node and each second measurement node;
judging whether the offset of the unknown offset node and each second measurement node in the vertical direction is smaller than or equal to an offset threshold value or not, and judging whether the offset angle of the unknown offset node and each second measurement node is smaller than or equal to an offset angle threshold value or not;
When the offset of the unknown offset node and one of the second measurement nodes in the vertical direction is smaller than or equal to an offset threshold value, and the offset angle of the unknown offset node and the second measurement node is smaller than or equal to an offset angle threshold value, inputting the coordinates of the known offset node, the distance between the known offset node and the unknown offset node and the offset angle of the known offset node and the unknown offset node into a preset coordinate model to obtain the coordinates of the unknown offset node, otherwise, rearranging the unknown offset node until the offset of the unknown offset node and one of the second measurement nodes in the vertical direction is smaller than or equal to the offset threshold value, and the offset angle of the unknown offset node and the second measurement node is smaller than or equal to the offset angle threshold value;
and outputting the pile number of the second measurement node corresponding to the unknown offset node and the coordinates of the unknown offset node.
The embodiment of the invention also provides a computer readable storage medium, on which a computer program is stored, which when being executed by a processor, realizes the following steps:
receiving a distance between the first measurement node and each second measurement node, a distance between the known offset node and the first measurement node, an offset angle of the measurement line, and an offset angle of the first measurement node and the known offset node; the first measuring node and each second measuring node are positioned on the measuring line;
Measuring the distance between the known offset node and the unknown offset node, and the offset angle of the known offset node and the unknown offset node;
creating an offset model and an offset angle model;
inputting the distance between the first measurement node and each second measurement node, the distance between the known offset node and the first measurement node, the distance between the known offset node and the unknown offset node, the deflection angle of the measuring line, the deflection angle of the first measurement node and the known offset node, and the deflection angle of the known offset node and the unknown offset node into an offset model, so as to obtain the offset of the unknown offset node and each second measurement node in the vertical direction;
inputting the distance between the first measurement node and each second measurement node, the distance between the known offset node and the first measurement node, the distance between the known offset node and the unknown offset node, the deflection angle of the measuring line, the deflection angle between the first measurement node and the known offset node, and the deflection angle between the known offset node and the unknown offset node into a deflection angle model to obtain the deflection angle between the unknown offset node and each second measurement node;
judging whether the offset of the unknown offset node and each second measurement node in the vertical direction is smaller than or equal to an offset threshold value or not, and judging whether the offset angle of the unknown offset node and each second measurement node is smaller than or equal to an offset angle threshold value or not;
When the offset of the unknown offset node and one of the second measurement nodes in the vertical direction is smaller than or equal to an offset threshold value, and the offset angle of the unknown offset node and the second measurement node is smaller than or equal to an offset angle threshold value, inputting the coordinates of the known offset node, the distance between the known offset node and the unknown offset node and the offset angle of the known offset node and the unknown offset node into a preset coordinate model to obtain the coordinates of the unknown offset node, otherwise, rearranging the unknown offset node until the offset of the unknown offset node and one of the second measurement nodes in the vertical direction is smaller than or equal to the offset threshold value, and the offset angle of the unknown offset node and the second measurement node is smaller than or equal to the offset angle threshold value;
and outputting the pile number of the second measurement node corresponding to the unknown offset node and the coordinates of the unknown offset node.
The node layout method and the system of the embodiment of the invention firstly receive the distance between the first measurement node and each second measurement node, the distance between the known offset node and the first measurement node, the deflection angle of the measuring line, the deflection angle between the first measurement node and the known offset node, the distance between the known offset node and the unknown offset node, and the deflection angle between the known offset node and the unknown offset node, and respectively input the data into an offset model and an offset angle model to respectively obtain the offset of the unknown offset node and each second measurement node in the vertical direction and the deflection angle of the unknown offset node and each second measurement node; when the offset is smaller than or equal to the offset threshold value and the offset angle is smaller than or equal to the offset angle threshold value, inputting the coordinates of the known offset node, the distance between the known offset node and the unknown offset node and the offset angle between the known offset node and the unknown offset node into a preset coordinate model to obtain the coordinates of the unknown offset node, otherwise, rearranging the unknown offset node until the offset is smaller than or equal to the offset threshold value and the offset angle is smaller than or equal to the offset angle threshold value, and finally outputting the pile number of the second measurement node corresponding to the unknown offset node and the coordinates of the unknown offset node, so that the accurate positioning and pile number matching of the nodes can be performed, the construction links are reduced, and the construction efficiency is improved.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings that are needed in the description of the embodiments will be briefly described below, it being obvious that the drawings in the following description are only some embodiments of the present invention, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a flow chart of a node layout method according to an embodiment of the invention;
FIG. 2 is a schematic diagram of one of the node layout models according to an embodiment of the present invention;
FIG. 3 is a schematic diagram of one of the node layout models in accordance with another embodiment of the present invention;
FIG. 4 is a block diagram of a system for reflection time correction of seismic traces in an embodiment of the invention.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
In view of the fact that positioning deviation and pile number matching errors possibly occur in the prior art, construction efficiency is reduced, construction progress is affected, and the node layout method is provided in the embodiment of the invention, so that accurate positioning and pile number matching are carried out on nodes, construction links are reduced, and construction efficiency is improved. The present invention will be described in detail with reference to the accompanying drawings.
FIG. 1 is a flow chart of a node layout method according to an embodiment of the invention. As shown in fig. 1, the node layout method includes:
s101: receiving a distance between the first measurement node and each second measurement node, a distance between the known offset node and the first measurement node, an offset angle of the measurement line, and an offset angle of the first measurement node and the known offset node; the first measuring nodes and each second measuring node are located on the measuring line.
S102: the distance between the known offset node and the unknown offset node, and the offset angle of the known offset node and the unknown offset node are measured.
The distance between the known offset node and the unknown offset node can be accurately measured by using a laser ranging unit in the unknown offset node.
S103: an offset model and an offset angle model are created.
S104: and inputting the distance between the first measurement node and each second measurement node, the distance between the known offset node and the first measurement node, the distance between the known offset node and the unknown offset node, the deflection angle of the measuring line, the deflection angle of the first measurement node and the known offset node, and the deflection angle of the known offset node and the unknown offset node into an offset model to obtain the offset of the unknown offset node and each second measurement node in the vertical direction.
S105: and inputting the distance between the first measurement node and each second measurement node, the distance between the known offset node and the first measurement node, the distance between the known offset node and the unknown offset node, the deflection angle of the measuring line, the deflection angle of the first measurement node and the known offset node, and the deflection angle of the known offset node and the unknown offset node into a deflection angle model to obtain the deflection angle of the unknown offset node and each second measurement node.
S106: and judging whether the offset of the unknown offset node and each second measurement node in the vertical direction is smaller than or equal to an offset threshold value or not, and judging whether the offset angle of the unknown offset node and each second measurement node is smaller than or equal to an offset angle threshold value or not.
S107: when the offset of the unknown offset node and one of the second measurement nodes in the vertical direction is smaller than or equal to an offset threshold value, and the offset angle of the unknown offset node and the second measurement node is smaller than or equal to an offset angle threshold value, inputting the coordinates of the known offset node, the distance between the known offset node and the unknown offset node, and the offset angle of the known offset node and the unknown offset node into a preset coordinate model to obtain the coordinates of the unknown offset node, otherwise, rearranging the unknown offset node until the offset of the unknown offset node and one of the second measurement nodes in the vertical direction is smaller than or equal to the offset threshold value, and the offset angle of the unknown offset node and the second measurement node is smaller than or equal to the offset angle threshold value.
S108: and outputting the pile number of the second measurement node corresponding to the unknown offset node and the coordinates of the unknown offset node.
The node arrangement method shown in fig. 1 may be executed by a computer. As can be seen from the flow shown in fig. 1, the node layout method in the embodiment of the present invention firstly receives the distance between the first measurement node and each second measurement node, the distance between the known offset node and the first measurement node, the offset angle of the measurement line, and the offset angle between the first measurement node and the known offset node, measures the distance between the known offset node and the unknown offset node, and the offset angle between the known offset node and the unknown offset node, and respectively inputs the above data into an offset model and an offset angle model to obtain the offset of the unknown offset node and each second measurement node in the vertical direction and the offset angle of the unknown offset node and each second measurement node; when the offset is smaller than or equal to the offset threshold value and the offset angle is smaller than or equal to the offset angle threshold value, inputting the coordinates of the known offset node, the distance between the known offset node and the unknown offset node and the offset angle between the known offset node and the unknown offset node into a preset coordinate model to obtain the coordinates of the unknown offset node, otherwise, rearranging the unknown offset node until the offset is smaller than or equal to the offset threshold value and the offset angle is smaller than or equal to the offset angle threshold value, and finally outputting the pile number of the second measurement node corresponding to the unknown offset node and the coordinates of the unknown offset node, so that the accurate positioning and pile number matching of the nodes can be performed, the construction links are reduced, and the construction efficiency is improved.
In one embodiment, the offset of the unknown offset node and the second measurement node in the vertical direction is obtained by using the following offset model:
wherein h is the offset of the unknown offset node and the second measurement node in the vertical direction, d c D is the distance between the first measuring node and the second measuring node 0 For the distance between the known offset node and the first measurement node, d 1 For the distance between the known offset node and the unknown offset node, α is the offset angle of the measuring line, β is the offset angle of the first measuring node and the known offset node, and θ is the offset angle of the known offset node and the unknown offset node.
In one embodiment, the offset angle of the unknown offset node and the second measurement node is obtained by the following offset angle model:
wherein eta is the offset angle of the unknown offset node and the second measurement node, d c For the first measurementDistance between node and second measurement node, d 0 For the distance between the known offset node and the first measurement node, d 1 For the distance between the known offset node and the unknown offset node, α is the offset angle of the measuring line, β is the offset angle of the first measuring node and the known offset node, and θ is the offset angle of the known offset node and the unknown offset node.
In one embodiment, the coordinates of the unknown offset node are obtained by a coordinate model as follows:
Where (x, y) is the coordinates of the unknown offset node, x 0 Is the abscissa of the known offset node, y 0 Is the ordinate of the known offset node, d 1 For the distance between the known offset node and the unknown offset node, θ is the offset angle of the known offset node and the unknown offset node.
FIG. 2 is a schematic diagram of one of the node layout models according to an embodiment of the present invention. As shown in fig. 2, a is a first measurement node, B is one of the second measurement nodes (the other second measurement nodes are all in line, not shown in fig. 2), a 0 To know the offset node, B 0 For unknown offset node d c For track distance, i.e. distance between AB (distance between first measuring node and second measuring node), d 0 Is A 0 Distance between a (distance between known offset node and first measurement node), d 1 Is A 0 B 0 The distance between the two offset nodes (the distance between the known offset node and the unknown offset node), alpha is the deflection angle of the measuring line, and beta is A and A 0 And θ is A 0 And B is connected with 0 (offset angle of known offset node and unknown offset node). In the figure, the dotted lines are in the north-south direction or the east-west direction, A 0 Is (x) 0 ,y 0 )，B 0 The coordinates of (x, y), the node, i.e., node cell.
As shown in fig. 2, |a 1 A|＝d 0 sinβ，|A 0 A 1 |＝d 0 cosβ；
The offset h of the unknown offset node and the second measurement node in the vertical direction is as follows:
the offset angle eta of the unknown offset node and the second measurement node is as follows:
unknown offset node B 0 The coordinates of (2) are:
FIG. 3 is a schematic diagram of one of the node layout models in accordance with another embodiment of the present invention. D when the known offset node is routed to the location of the first measurement node 0 =0, β=0, node layout model as shown in fig. 3:a is a first measurement node, B is one of the second measurement nodes (the other second measurement nodes are all on the line, not shown in FIG. 3), B 0 For unknown offset node d c For track distance, i.e. distance between AB (distance between first measuring node and second measuring node), d 1 Is AB 0 The distance between the two offset nodes (the distance between the known offset node and the unknown offset node), alpha is the deflection angle of the measuring line, and beta is A and A 0 And θ is A 0 And B is connected with 0 (offset angle of the first measurement node from the unknown offset node). In the figure, the dotted lines are in the north-south direction or the east-west direction, A 0 Is (x) 0 ,y 0 )，B 0 The coordinates of (c) are (x, y).
As shown in fig. 3, the offset h of the unknown offset node and the second measurement node in the vertical direction is:
The offset angle eta of the unknown offset node and the second measurement node is as follows:
unknown offset node B 0 The coordinates of (2) are:
the specific flow of the embodiment of the invention is as follows:
1. receiving a distance between the first measurement node and each second measurement node, a distance between the known offset node and the first measurement node, an offset angle of the measurement line, and an offset angle of the first measurement node and the known offset node; the first measuring nodes and each second measuring node are located on the measuring line.
2. A laser is used to measure the distance between the known offset node and the unknown offset node, and the offset angle of the known offset node and the unknown offset node. The accuracy of the distance needs to reach the accuracy (in cm) of RTK (Real-time kinematic).
3. An offset model and an offset angle model are created.
4. Obtaining the offset of the unknown offset node and the second measurement node in the vertical direction through the following offset model:
wherein h is the offset of the unknown offset node and the second measurement node in the vertical direction, d c D is the distance between the first measuring node and the second measuring node 0 For the distance between the known offset node and the first measurement node, d 1 For the distance between the known offset node and the unknown offset node, α is the offset angle of the measuring line, β is the offset angle of the first measuring node and the known offset node, and θ is the offset angle of the known offset node and the unknown offset node.
5. Obtaining the offset angle of the unknown offset node and the second measurement node through the following offset angle model:
wherein eta is the offset angle of the unknown offset node and the second measurement node, d c D is the distance between the first measuring node and the second measuring node 0 For the distance between the known offset node and the first measurement node, d 1 For the distance between the known offset node and the unknown offset node, α is the offset angle of the measuring line, β is the offset angle of the first measuring node and the known offset node, and θ is the offset angle of the known offset node and the unknown offset node.
6. And judging whether the offset of the unknown offset node and each second measurement node in the vertical direction is smaller than or equal to an offset threshold value or not, and judging whether the offset angle of the unknown offset node and each second measurement node is smaller than or equal to an offset angle threshold value or not.
7. When the unknown offset node and each second measurement node do not meet the condition that the offset of the unknown offset node and the second measurement node in the vertical direction is smaller than or equal to an offset threshold value, and the offset angle of the unknown offset node and the second measurement node is smaller than or equal to an offset angle threshold value, indicating that the position of the unknown offset node does not meet the construction requirement, sending out an alarm signal at the moment, and re-distributing the unknown offset node, repeating the steps 1-6 until the offset of the unknown offset node and one of the second measurement nodes in the vertical direction is smaller than or equal to the offset threshold value, and the offset angle of the unknown offset node and the second measurement node is smaller than or equal to the offset angle threshold value.
8. When the offset of the unknown offset node and one of the second measurement nodes in the vertical direction is smaller than or equal to an offset threshold value, and the offset angle of the unknown offset node and the second measurement node is smaller than or equal to an offset angle threshold value, the position of the unknown offset node is indicated to meet the construction requirement, and at the moment, the coordinates of the unknown offset node are obtained through the following coordinate model:
where (x, y) is the coordinates of the unknown offset node, x 0 Is the abscissa of the known offset node, y 0 Is the ordinate of the known offset node, d 1 For the distance between the known offset node and the unknown offset node, θ is the offset angle of the known offset node and the unknown offset node.
In summary, the node layout method of the embodiment of the present invention receives the distance between the first measurement node and each second measurement node, the distance between the known offset node and the first measurement node, the offset angle of the measurement line, the offset angle between the first measurement node and the known offset node, and the distance between the known offset node and the unknown offset node, and the offset angle between the known offset node and the unknown offset node, and inputs the above data into the offset model and the offset angle model, respectively, to obtain the offset of the unknown offset node and each second measurement node in the vertical direction and the offset angle of the unknown offset node and each second measurement node; when the offset is smaller than or equal to the offset threshold value and the offset angle is smaller than or equal to the offset angle threshold value, inputting the coordinates of the known offset node, the distance between the known offset node and the unknown offset node and the offset angle between the known offset node and the unknown offset node into a preset coordinate model to obtain the coordinates of the unknown offset node, otherwise, rearranging the unknown offset node until the offset is smaller than or equal to the offset threshold value and the offset angle is smaller than or equal to the offset angle threshold value, and finally outputting the pile number of the second measurement node corresponding to the unknown offset node and the coordinates of the unknown offset node, so that the accurate positioning and pile number matching of the nodes can be performed, the construction links are reduced, and the construction efficiency is improved.
The node layout method provided by the embodiment of the invention has the following beneficial effects:
(1) When node units are laid in the field, the pile numbers of the measurement nodes can be matched without depending on GPS for positioning, and the method is particularly suitable for seismic exploration construction in areas without GPS signals, such as deep ditches, jungles and the like;
(2) The positioning accuracy is high, the accuracy and the reliability are high, the checking work of pile numbers is not needed to be manually carried out, the matching accuracy of the pile numbers can be effectively improved, and the construction efficiency is further improved;
(3) And when the position of the unknown offset node does not meet the construction requirement, an alarm signal is sent out, so that the complicated procedure of manual check is avoided, the construction operation intensity is effectively reduced, and the construction efficiency is improved.
Based on the same inventive concept, the embodiment of the invention also provides a node layout system, and because the principle of solving the problem of the system is similar to that of the node layout method, the implementation of the system can be referred to the implementation of the method, and the repetition is omitted.
FIG. 4 is a block diagram of a node layout system in accordance with an embodiment of the present invention. As shown in fig. 4, the node arrangement system includes:
a receiving unit, configured to receive a distance between the first measurement node and each second measurement node, a distance between the known offset node and the first measurement node, an offset angle of the measurement line, and an offset angle of the first measurement node and the known offset node; the first measuring node and each second measuring node are positioned on the measuring line;
A measurement unit for measuring a distance between the known offset node and the unknown offset node, and a deflection angle of the known offset node and the unknown offset node;
the model creation unit is used for creating an offset model and an offset angle model;
the offset unit is used for inputting the distance between the first measurement node and each second measurement node, the distance between the known offset node and the first measurement node, the distance between the known offset node and the unknown offset node, the deflection angle of the measuring line, the deflection angle of the first measurement node and the known offset node, and the deflection angle of the known offset node and the unknown offset node into the offset model to obtain the offset of the unknown offset node and each second measurement node in the vertical direction;
the offset angle unit is used for inputting the distance between the first measurement node and each second measurement node, the distance between the known offset node and the first measurement node, the distance between the known offset node and the unknown offset node, the offset angle of the measuring line, the offset angle between the first measurement node and the known offset node, and the offset angle between the known offset node and the unknown offset node into an offset angle model to obtain the offset angle between the unknown offset node and each second measurement node;
The judging unit is used for judging whether the offset of the unknown offset node and each second measuring node in the vertical direction is smaller than or equal to an offset threshold value or not and judging whether the offset angle of the unknown offset node and each second measuring node is smaller than or equal to an offset angle threshold value or not;
the coordinate unit of the unknown offset node is used for inputting the coordinates of the known offset node, the distance between the known offset node and the unknown offset node and the offset angle between the known offset node and the unknown offset node into a preset coordinate model to obtain the coordinates of the unknown offset node;
the layout unit is used for re-laying unknown offset nodes;
and the output unit is used for outputting the pile number of the second measurement node corresponding to the unknown offset node and the coordinates of the unknown offset node.
In one embodiment, the offset of the unknown offset node and the second measurement node in the vertical direction is obtained by using the following offset model:
wherein h is the offset of the unknown offset node and the second measurement node in the vertical direction, d c D is the distance between the first measuring node and the second measuring node 0 For the distance between the known offset node and the first measurement node, d 1 For the distance between the known offset node and the unknown offset node, α is the offset angle of the measuring line, β is the offset angle of the first measuring node and the known offset node, and θ is the offset angle of the known offset node and the unknown offset node.
In one embodiment, the offset angle of the unknown offset node from the second measurement node is obtained by the following offset angle model:
wherein eta is the offset angle of the unknown offset node and the second measurement node, d c D is the distance between the first measuring node and the second measuring node 0 For the distance between the known offset node and the first measurement node, d 1 For the distance between the known offset node and the unknown offset node, α is the offset angle of the measuring line, β is the offset angle of the first measuring node and the known offset node, and θ is the offset angle of the known offset node and the unknown offset node.
In one embodiment, the coordinates of the unknown offset node are obtained by a coordinate model as follows:
where (x, y) is the coordinates of the unknown offset node, x 0 Is the abscissa of the known offset node, y 0 Is the ordinate of the known offset node, d 1 For the distance between the known offset node and the unknown offset node, θ is the offset angle of the known offset node and the unknown offset node.
In summary, the node layout system of the embodiment of the present invention receives the distance between the first measurement node and each second measurement node, the distance between the known offset node and the first measurement node, the offset angle of the measurement line, the offset angle between the first measurement node and the known offset node, and the distance between the known offset node and the unknown offset node, and the offset angle between the known offset node and the unknown offset node, and inputs the above data into the offset model and the offset angle model, respectively, to obtain the offset of the unknown offset node and each second measurement node in the vertical direction and the offset angle of the unknown offset node and each second measurement node; when the offset is smaller than or equal to the offset threshold value and the offset angle is smaller than or equal to the offset angle threshold value, inputting the coordinates of the known offset node, the distance between the known offset node and the unknown offset node and the offset angle between the known offset node and the unknown offset node into a preset coordinate model to obtain the coordinates of the unknown offset node, otherwise, rearranging the unknown offset node until the offset is smaller than or equal to the offset threshold value and the offset angle is smaller than or equal to the offset angle threshold value, and finally outputting the pile number of the second measurement node corresponding to the unknown offset node and the coordinates of the unknown offset node, so that the accurate positioning and pile number matching of the nodes can be performed, the construction links are reduced, and the construction efficiency is improved.
The embodiment of the invention also provides a computer device, which comprises a memory, a processor and a computer program stored on the memory and capable of running on the processor, wherein the processor realizes the following steps when executing the computer program:
receiving a distance between the first measurement node and each second measurement node, a distance between the known offset node and the first measurement node, an offset angle of the measurement line, and an offset angle of the first measurement node and the known offset node; the first measuring node and each second measuring node are positioned on the measuring line;
measuring the distance between the known offset node and the unknown offset node, and the offset angle of the known offset node and the unknown offset node;
creating an offset model and an offset angle model;
inputting the distance between the first measurement node and each second measurement node, the distance between the known offset node and the first measurement node, the distance between the known offset node and the unknown offset node, the deflection angle of the measuring line, the deflection angle of the first measurement node and the known offset node, and the deflection angle of the known offset node and the unknown offset node into an offset model, so as to obtain the offset of the unknown offset node and each second measurement node in the vertical direction;
Inputting the distance between the first measurement node and each second measurement node, the distance between the known offset node and the first measurement node, the distance between the known offset node and the unknown offset node, the deflection angle of the measuring line, the deflection angle between the first measurement node and the known offset node, and the deflection angle between the known offset node and the unknown offset node into a deflection angle model to obtain the deflection angle between the unknown offset node and each second measurement node;
judging whether the offset of the unknown offset node and each second measurement node in the vertical direction is smaller than or equal to an offset threshold value or not, and judging whether the offset angle of the unknown offset node and each second measurement node is smaller than or equal to an offset angle threshold value or not;
when the offset of the unknown offset node and one of the second measurement nodes in the vertical direction is smaller than or equal to an offset threshold value, and the offset angle of the unknown offset node and the second measurement node is smaller than or equal to an offset angle threshold value, inputting the coordinates of the known offset node, the distance between the known offset node and the unknown offset node and the offset angle of the known offset node and the unknown offset node into a preset coordinate model to obtain the coordinates of the unknown offset node, otherwise, rearranging the unknown offset node until the offset of the unknown offset node and one of the second measurement nodes in the vertical direction is smaller than or equal to the offset threshold value, and the offset angle of the unknown offset node and the second measurement node is smaller than or equal to the offset angle threshold value;
And outputting the pile number of the second measurement node corresponding to the unknown offset node and the coordinates of the unknown offset node.
In summary, the computer device of the embodiment of the present invention receives the distance between the first measurement node and each second measurement node, the distance between the known offset node and the first measurement node, the offset angle of the measurement line, and the offset angle between the first measurement node and the known offset node, measures the distance between the known offset node and the unknown offset node, and the offset angle between the known offset node and the unknown offset node, and inputs the above data into the offset model and the offset angle model, respectively, to obtain the offset of the unknown offset node and each second measurement node in the vertical direction, and the offset angle of the unknown offset node and each second measurement node; when the offset is smaller than or equal to the offset threshold value and the offset angle is smaller than or equal to the offset angle threshold value, inputting the coordinates of the known offset node, the distance between the known offset node and the unknown offset node and the offset angle between the known offset node and the unknown offset node into a preset coordinate model to obtain the coordinates of the unknown offset node, otherwise, rearranging the unknown offset node until the offset is smaller than or equal to the offset threshold value and the offset angle is smaller than or equal to the offset angle threshold value, and finally outputting the pile number of the second measurement node corresponding to the unknown offset node and the coordinates of the unknown offset node, so that the accurate positioning and pile number matching of the nodes can be performed, the construction links are reduced, and the construction efficiency is improved.
The embodiment of the invention also provides a computer readable storage medium, which stores a computer program, and the computer program realizes the following steps when being executed by a processor:
receiving a distance between the first measurement node and each second measurement node, a distance between the known offset node and the first measurement node, an offset angle of the measurement line, and an offset angle of the first measurement node and the known offset node; the first measuring node and each second measuring node are positioned on the measuring line;
measuring the distance between the known offset node and the unknown offset node, and the offset angle of the known offset node and the unknown offset node;
creating an offset model and an offset angle model;
inputting the distance between the first measurement node and each second measurement node, the distance between the known offset node and the first measurement node, the distance between the known offset node and the unknown offset node, the deflection angle of the measuring line, the deflection angle of the first measurement node and the known offset node, and the deflection angle of the known offset node and the unknown offset node into an offset model, so as to obtain the offset of the unknown offset node and each second measurement node in the vertical direction;
inputting the distance between the first measurement node and each second measurement node, the distance between the known offset node and the first measurement node, the distance between the known offset node and the unknown offset node, the deflection angle of the measuring line, the deflection angle between the first measurement node and the known offset node, and the deflection angle between the known offset node and the unknown offset node into a deflection angle model to obtain the deflection angle between the unknown offset node and each second measurement node;
Judging whether the offset of the unknown offset node and each second measurement node in the vertical direction is smaller than or equal to an offset threshold value or not, and judging whether the offset angle of the unknown offset node and each second measurement node is smaller than or equal to an offset angle threshold value or not;
when the offset of the unknown offset node and one of the second measurement nodes in the vertical direction is smaller than or equal to an offset threshold value, and the offset angle of the unknown offset node and the second measurement node is smaller than or equal to an offset angle threshold value, inputting the coordinates of the known offset node, the distance between the known offset node and the unknown offset node and the offset angle of the known offset node and the unknown offset node into a preset coordinate model to obtain the coordinates of the unknown offset node, otherwise, rearranging the unknown offset node until the offset of the unknown offset node and one of the second measurement nodes in the vertical direction is smaller than or equal to the offset threshold value, and the offset angle of the unknown offset node and the second measurement node is smaller than or equal to the offset angle threshold value;
and outputting the pile number of the second measurement node corresponding to the unknown offset node and the coordinates of the unknown offset node.
In summary, the computer readable storage medium of the embodiment of the present invention receives a distance between a first measurement node and each second measurement node, a distance between a known offset node and the first measurement node, an offset angle of a measurement line, and an offset angle between the first measurement node and the known offset node, measures a distance between the known offset node and the unknown offset node, and an offset angle between the known offset node and the unknown offset node, and inputs the data to an offset model and an offset angle model, respectively, to obtain an offset of the unknown offset node and each second measurement node in a vertical direction and an offset angle of the unknown offset node and each second measurement node; when the offset is smaller than or equal to the offset threshold value and the offset angle is smaller than or equal to the offset angle threshold value, inputting the coordinates of the known offset node, the distance between the known offset node and the unknown offset node and the offset angle between the known offset node and the unknown offset node into a preset coordinate model to obtain the coordinates of the unknown offset node, otherwise, rearranging the unknown offset node until the offset is smaller than or equal to the offset threshold value and the offset angle is smaller than or equal to the offset angle threshold value, and finally outputting the pile number of the second measurement node corresponding to the unknown offset node and the coordinates of the unknown offset node, so that the accurate positioning and pile number matching of the nodes can be performed, the construction links are reduced, and the construction efficiency is improved.
The foregoing description of the embodiments has been provided for the purpose of illustrating the general principles of the invention, and is not meant to limit the scope of the invention, but to limit the invention to the particular embodiments, and any modifications, equivalents, improvements, etc. that fall within the spirit and principles of the invention are intended to be included within the scope of the invention.
Claims (4)
1. A node arrangement method, comprising:
receiving a distance between a first measurement node and each second measurement node, a distance between a known offset node and the first measurement node, an offset angle of a measurement line, and an offset angle of the first measurement node and the known offset node; the first measuring nodes and each second measuring node are positioned on the measuring line;
measuring a distance between the known offset node and an unknown offset node, and a deflection angle of the known offset node and the unknown offset node;
creating an offset model and an offset angle model;
inputting the distance between the first measurement node and each second measurement node, the distance between the known offset node and the first measurement node, the distance between the known offset node and the unknown offset node, the deflection angle of the measuring line, the deflection angle of the first measurement node and the known offset node, and the deflection angle of the known offset node and the unknown offset node into the offset model, and obtaining the offset of the unknown offset node and each second measurement node in the vertical direction;
Inputting the distance between the first measurement node and each second measurement node, the distance between the known offset node and the first measurement node, the distance between the known offset node and the unknown offset node, the deflection angle of the measuring line, the deflection angle of the first measurement node and the known offset node, and the deflection angle of the known offset node and the unknown offset node into the deflection angle model, and obtaining the deflection angle of the unknown offset node and each second measurement node;
judging whether the offset of the unknown offset node and each second measurement node in the vertical direction is smaller than or equal to an offset threshold value or not, and judging whether the offset angle of the unknown offset node and each second measurement node is smaller than or equal to an offset angle threshold value or not;
when the offset of the unknown offset node and one of the second measurement nodes in the vertical direction is smaller than or equal to an offset threshold value, and the offset angle of the unknown offset node and the second measurement node is smaller than or equal to an offset angle threshold value, inputting the coordinates of the known offset node, the distance between the known offset node and the unknown offset node and the offset angle of the known offset node and the unknown offset node into a preset coordinate model to obtain the coordinates of the unknown offset node, otherwise, re-distributing the unknown offset node until the offset of the unknown offset node and one of the second measurement nodes in the vertical direction is smaller than or equal to the offset threshold value, and the offset angle of the unknown offset node and the second measurement node is smaller than or equal to the offset angle threshold value;
Outputting a pile number of a second measurement node corresponding to the unknown offset node and coordinates of the unknown offset node;
obtaining the offset of the unknown offset node and the second measurement node in the vertical direction through the following offset model:
wherein h is the offset of the unknown offset node and the second measurement node in the vertical direction, d c D, for the distance between the first measurement node and the second measurement node 0 D is the distance between the known offset node and the first measurement node 1 For the distance between the known offset node and the unknown offset node, α is the offset angle of the measuring line, β is the offset angle of the first measuring node and the known offset node, θ is the offset angle of the known offset node and the unknown offset node;
obtaining the offset angle of the unknown offset node and the second measurement node through the following offset angle model:
wherein η is the unknown offsetOffset angle of the mobile node and the second measurement node, d c D, for the distance between the first measurement node and the second measurement node 0 D is the distance between the known offset node and the first measurement node 1 For the distance between the known offset node and the unknown offset node, α is the offset angle of the measuring line, β is the offset angle of the first measuring node and the known offset node, θ is the offset angle of the known offset node and the unknown offset node;
the coordinates of the unknown offset node are obtained by the following coordinate model:
wherein (x, y) is the coordinates of the unknown offset node, x 0 Y is the abscissa of the known offset node 0 D, the ordinate of the known offset node 1 And θ is the offset angle between the known offset node and the unknown offset node, which is the distance between the known offset node and the unknown offset node.
2. A node routing system, comprising:
a receiving unit, configured to receive a distance between a first measurement node and each second measurement node, a distance between a known offset node and the first measurement node, an offset angle of a measurement line, and an offset angle of the first measurement node and the known offset node; the first measuring nodes and each second measuring node are positioned on the measuring line;
a measurement unit configured to measure a distance between the known offset node and an unknown offset node, and a deflection angle of the known offset node and the unknown offset node;
The model creation unit is used for creating an offset model and an offset angle model;
the offset unit is used for inputting the distance between the first measurement node and each second measurement node, the distance between the known offset node and the first measurement node, the distance between the known offset node and the unknown offset node, the deflection angle of the measuring line, the deflection angle of the first measurement node and the known offset node, and the deflection angle of the known offset node and the unknown offset node into the offset model to obtain the offset of the unknown offset node and each second measurement node in the vertical direction;
the offset angle unit is used for inputting the distance between the first measurement node and each second measurement node, the distance between the known offset node and the first measurement node, the distance between the known offset node and the unknown offset node, the offset angle of the measuring line, the offset angle between the first measurement node and the known offset node, and the offset angle between the known offset node and the unknown offset node into the offset angle model, so as to obtain the offset angle between the unknown offset node and each second measurement node;
The judging unit is used for judging whether the offset of the unknown offset node and each second measuring node in the vertical direction is smaller than or equal to an offset threshold value or not and judging whether the offset angle of the unknown offset node and each second measuring node is smaller than or equal to an offset angle threshold value or not; when the offset of the unknown offset node and one of the second measurement nodes in the vertical direction is smaller than or equal to an offset threshold value, and the offset angle of the unknown offset node and the second measurement node is smaller than or equal to an offset angle threshold value, inputting the coordinates of the known offset node, the distance between the known offset node and the unknown offset node and the offset angle of the known offset node and the unknown offset node into a preset coordinate model to obtain the coordinates of the unknown offset node, otherwise, re-distributing the unknown offset node until the offset of the unknown offset node and one of the second measurement nodes in the vertical direction is smaller than or equal to the offset threshold value, and the offset angle of the unknown offset node and the second measurement node is smaller than or equal to the offset angle threshold value;
the output unit is used for outputting the pile number of the second measurement node corresponding to the unknown offset node and the coordinates of the unknown offset node;
Obtaining the offset of the unknown offset node and the second measurement node in the vertical direction through the following offset model:
wherein h is the offset of the unknown offset node and the second measurement node in the vertical direction, d c D, for the distance between the first measurement node and the second measurement node 0 D is the distance between the known offset node and the first measurement node 1 For the distance between the known offset node and the unknown offset node, α is the offset angle of the measuring line, β is the offset angle of the first measuring node and the known offset node, θ is the offset angle of the known offset node and the unknown offset node;
obtaining the offset angle of the unknown offset node and the second measurement node through the following offset angle model:
wherein η is the offset angle between the unknown offset node and the second measurement node, d c D, for the distance between the first measurement node and the second measurement node 0 D is the distance between the known offset node and the first measurement node 1 For the distance between the known offset node and the unknown offset node, α is the offset angle of the measuring line, β is the offset angle of the first measuring node and the known offset node, θ is the offset angle of the known offset node and the unknown offset node;
The coordinates of the unknown offset node are obtained by the following coordinate model:
wherein (x, y) is the coordinates of the unknown offset node, x 0 Y is the abscissa of the known offset node 0 D, the ordinate of the known offset node 1 And θ is the offset angle between the known offset node and the unknown offset node, which is the distance between the known offset node and the unknown offset node.
3. A computer device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, characterized in that the processor implements the following steps when executing the computer program:
receiving a distance between a first measurement node and each second measurement node, a distance between a known offset node and the first measurement node, an offset angle of a measurement line, and an offset angle of the first measurement node and the known offset node; the first measuring nodes and each second measuring node are positioned on the measuring line;
measuring a distance between the known offset node and an unknown offset node, and a deflection angle of the known offset node and the unknown offset node;
creating an offset model and an offset angle model;
Inputting the distance between the first measurement node and each second measurement node, the distance between the known offset node and the first measurement node, the distance between the known offset node and the unknown offset node, the deflection angle of the measuring line, the deflection angle of the first measurement node and the known offset node, and the deflection angle of the known offset node and the unknown offset node into the offset model, and obtaining the offset of the unknown offset node and each second measurement node in the vertical direction;
inputting the distance between the first measurement node and each second measurement node, the distance between the known offset node and the first measurement node, the distance between the known offset node and the unknown offset node, the deflection angle of the measuring line, the deflection angle of the first measurement node and the known offset node, and the deflection angle of the known offset node and the unknown offset node into the deflection angle model, and obtaining the deflection angle of the unknown offset node and each second measurement node;
judging whether the offset of the unknown offset node and each second measurement node in the vertical direction is smaller than or equal to an offset threshold value or not, and judging whether the offset angle of the unknown offset node and each second measurement node is smaller than or equal to an offset angle threshold value or not;
When the offset of the unknown offset node and one of the second measurement nodes in the vertical direction is smaller than or equal to an offset threshold value, and the offset angle of the unknown offset node and the second measurement node is smaller than or equal to an offset angle threshold value, inputting the coordinates of the known offset node, the distance between the known offset node and the unknown offset node and the offset angle of the known offset node and the unknown offset node into a preset coordinate model to obtain the coordinates of the unknown offset node, otherwise, re-distributing the unknown offset node until the offset of the unknown offset node and one of the second measurement nodes in the vertical direction is smaller than or equal to the offset threshold value, and the offset angle of the unknown offset node and the second measurement node is smaller than or equal to the offset angle threshold value;
outputting a pile number of a second measurement node corresponding to the unknown offset node and coordinates of the unknown offset node;
obtaining the offset of the unknown offset node and the second measurement node in the vertical direction through the following offset model:
wherein h is the offset of the unknown offset node and the second measurement node in the vertical direction, d c D, for the distance between the first measurement node and the second measurement node 0 To be the instituteDistance d between the known offset node and the first measurement node 1 For the distance between the known offset node and the unknown offset node, α is the offset angle of the measuring line, β is the offset angle of the first measuring node and the known offset node, θ is the offset angle of the known offset node and the unknown offset node;
obtaining the offset angle of the unknown offset node and the second measurement node through the following offset angle model:
wherein η is the offset angle between the unknown offset node and the second measurement node, d c D, for the distance between the first measurement node and the second measurement node 0 D is the distance between the known offset node and the first measurement node 1 For the distance between the known offset node and the unknown offset node, α is the offset angle of the measuring line, β is the offset angle of the first measuring node and the known offset node, θ is the offset angle of the known offset node and the unknown offset node;
the coordinates of the unknown offset node are obtained by the following coordinate model:
wherein (x, y) is the coordinates of the unknown offset node, x 0 Y is the abscissa of the known offset node 0 D, the ordinate of the known offset node 1 And θ is the offset angle between the known offset node and the unknown offset node, which is the distance between the known offset node and the unknown offset node.
4. A computer readable storage medium having stored thereon a computer program, characterized in that the computer program when executed by a processor realizes the steps of:
receiving a distance between a first measurement node and each second measurement node, a distance between a known offset node and the first measurement node, an offset angle of a measurement line, and an offset angle of the first measurement node and the known offset node; the first measuring nodes and each second measuring node are positioned on the measuring line;
measuring a distance between the known offset node and an unknown offset node, and a deflection angle of the known offset node and the unknown offset node;
creating an offset model and an offset angle model;
inputting the distance between the first measurement node and each second measurement node, the distance between the known offset node and the first measurement node, the distance between the known offset node and the unknown offset node, the deflection angle of the measuring line, the deflection angle of the first measurement node and the known offset node, and the deflection angle of the known offset node and the unknown offset node into the offset model, and obtaining the offset of the unknown offset node and each second measurement node in the vertical direction;
Inputting the distance between the first measurement node and each second measurement node, the distance between the known offset node and the first measurement node, the distance between the known offset node and the unknown offset node, the deflection angle of the measuring line, the deflection angle of the first measurement node and the known offset node, and the deflection angle of the known offset node and the unknown offset node into the deflection angle model, and obtaining the deflection angle of the unknown offset node and each second measurement node;
judging whether the offset of the unknown offset node and each second measurement node in the vertical direction is smaller than or equal to an offset threshold value or not, and judging whether the offset angle of the unknown offset node and each second measurement node is smaller than or equal to an offset angle threshold value or not;
when the offset of the unknown offset node and one of the second measurement nodes in the vertical direction is smaller than or equal to an offset threshold value, and the offset angle of the unknown offset node and the second measurement node is smaller than or equal to an offset angle threshold value, inputting the coordinates of the known offset node, the distance between the known offset node and the unknown offset node and the offset angle of the known offset node and the unknown offset node into a preset coordinate model to obtain the coordinates of the unknown offset node, otherwise, re-distributing the unknown offset node until the offset of the unknown offset node and one of the second measurement nodes in the vertical direction is smaller than or equal to the offset threshold value, and the offset angle of the unknown offset node and the second measurement node is smaller than or equal to the offset angle threshold value;
Outputting a pile number of a second measurement node corresponding to the unknown offset node and coordinates of the unknown offset node;
obtaining the offset of the unknown offset node and the second measurement node in the vertical direction through the following offset model:
wherein h is the offset of the unknown offset node and the second measurement node in the vertical direction, d c D, for the distance between the first measurement node and the second measurement node 0 D is the distance between the known offset node and the first measurement node 1 For the distance between the known offset node and the unknown offset node, α is the offset angle of the measuring line, β is the offset angle of the first measuring node and the known offset node, θ is the offset angle of the known offset node and the unknown offset node;
obtaining the offset angle of the unknown offset node and the second measurement node through the following offset angle model:
wherein η is the unknown offsetOffset angle of the mobile node and the second measurement node, d c D, for the distance between the first measurement node and the second measurement node 0 D is the distance between the known offset node and the first measurement node 1 For the distance between the known offset node and the unknown offset node, α is the offset angle of the measuring line, β is the offset angle of the first measuring node and the known offset node, θ is the offset angle of the known offset node and the unknown offset node;
the coordinates of the unknown offset node are obtained by the following coordinate model:
wherein (x, y) is the coordinates of the unknown offset node, x 0 Y is the abscissa of the known offset node 0 D, the ordinate of the known offset node 1 And θ is the offset angle between the known offset node and the unknown offset node, which is the distance between the known offset node and the unknown offset node.
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