CN110530324A - A kind of modular architectural modular unit deformation performance detection method - Google Patents
A kind of modular architectural modular unit deformation performance detection method Download PDFInfo
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B21/00—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant
- G01B21/32—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant for measuring the deformation in a solid
Abstract
The present invention provides a kind of modular architectural modular unit deformation performance detection methods, and first the deformation performance of the construction stage according to locating for modular unit and required measurement, comprehensive selection modular unit need to carry out deformation measurement position；Measurement sensor is fixed on corresponding position, and forms train；It is in inverse ratio between measurement sensor spacing and the measurement accuracy；After to sensor installation, processing measurement data is analyzed using computer acquisition, and measurement sensor is sent a signal to by the computer in system；Measurement sensor carries out azimuth and the three pose states that fusion calculation measures measurement sensor, finally the data obtained are exported to display equipment, this method can measure relative storey displacement or story drift of the full construction period of modular unit index relevant to deformation and service stage modular unit etc..Uninterrupted measurement in 24 hours may be implemented simultaneously, and tens even secondary duplicate measurements up to a hundred can be carried out within one day, substantially increase the timeliness of measurement data.
Description
Technical field
The present invention relates to a kind of modular architectural modular unit deformation performance detection methods, belong to building detection engineering neck
Domain.
Background technique
It is transported by haulage vehicle to construction site in the modular unit that factory completes, just with lifting equipment lifting
Position connects key structure node and intermodule pipeline, and after completing joint treatment, the building built up is known as modular assembly formula
Building, also referred to as box integration module building.Modular assembly formula building is a kind of height assembling building, and prefabricated ratio reaches
To 85%~95%, and remaining project amount is mainly the work such as field basic construction, modular unit installation connection.Modularization is built
This feature built, causes conventional quality determining method to be no longer desirable for modular architectural.
The transport and lifting of modular unit are the Main Stages of modular architectural construction.Modular unit bulk is larger,
It is self-possessed also larger, in modular unit transport, hoisting process, space can be generated in the load actions lower die module unit such as dead load
Deformation, causes modular unit main body steel skeleton and building enclosure deformation, door and window and peripheral hardware components collsion damage.It is transporting
It is defeated, real-time detection by the geometric distortion to modular unit, the change of the control module that takes measures unit are needed in hoisting process
Shape.Conventional detection method is no longer desirable for the detection of modular unit hoisting process geometric distortion.
Modular unit installation deviation will affect the stress performance of modular architectural.Modular unit and modular architectural it is vertical
Degree and plane curvature are the important deformation indexs of modular architectural, and the conventional method of inspection is not easy to multilayer and high-rise module
Change building to measure, and modular architectural inner cylinder can not then measure, while not can guarantee with successively fitting into
Row real time monitoring.Also can not to modular architectural in service stage, overall deformation (relative storey displacement, story drift etc.) index into
Row real-time monitoring.
Chinese invention patent application CN105937901A disclose a kind of network inclination measurement system based on clusters of sensors and
Its tilt measurement generates inclination by the deformation that the measuring cell of embedment can follow directly after fender body or surrounding soil, makes to survey
It is more accurate to measure data.But this tilt measurement is not applied for the measurement of modular architectural modular unit deformed finger target.
Summary of the invention
It is an object of the invention to solve above-mentioned technical problem, a kind of modularization based on sensors in series system is provided
Building block element deformation method for testing performance, it is suitable for the transport of modular architectural modular unit, lifting, installation, use
The monitoring method of the deformation performance in stage.
The purpose of the present invention is achieved through the following technical solutions:
A kind of modular architectural modular unit deformation performance detection method, the method are analyzed using computer data acquiring
System and the measurement sensor system of connecting being electrically connected with the data collection and analysis computer are detected, and the series connection is surveyed
Include the measurement sensor of several communication connections in quantity sensor system, be provided in the measurement sensor microprocessor and
Sensor.
Specifically comprise the following steps:
The deformation performance of S1, the construction stage according to locating for modular unit and required measurement, comprehensive selection modular unit need
Carry out the position of deformation measurement；
S2, measurement sensor is fixed on to corresponding position, and forms train；The measurement sensor spacing with it is described
It is in inverse ratio between measurement accuracy；The fixation can use fixed frame or directly be pasted with structure glue；
S3, after installing to sensor, processing measurement data is analyzed using computer acquisition, and pass through the meter in system
Calculation machine sends a signal to measurement sensor；
S4, measurement sensor carry out azimuth and the three pose states that fusion calculation measures measurement sensor, the fusion meter
The interval of sampling between calculation is sampled and is calculated according to prefixed time interval, can also be carried out continuous sampling and be calculated；
S5, the data obtained are exported to corresponding display equipment.
Preferably, the measurement sensor is multiaxis digital acceleration sensor, and each measurement sensor is pacified in the same direction
Dress.
Preferentially, in the S1 modular unit deformation measurement position, applied according to locating for modular architectural modular unit
The deformation index of work stage and required measurement is determined, comprising:
S11, modular unit transport, lifting stage, the deformation of modular unit skeleton beam column, smallpox floor, ground floor is
It is main；
S12, modular unit erection stage want index based on modular unit verticality, plane bend curvature；
S13, modular unit service stage, modular unit relative storey displacement or angle of displacement are main indicator；
Preferably, fusion calculation includes the following steps: in the S3
S31, sensor use multi-shaft acceleration transducer, each sensor series aiding connection installation, by sensor
The acceleration of tri- axis of X, Y, Z is g under accelerometer measures stationary statex、gy、 gz, using with acceleration of gravity and its in three axis
The component relationship of the X ' of acceleration transducer, Y ', three axis of Z ', calculate the angle of each axis Yu acceleration of gravity direction, thus
Three-dimensional dip (i.e. 3 d pose) α, β, γ of measurement sensor out:
Sin α=gx/ g, sin β=gy/ g, cos γ=gz/g
In formula,
Three-dimensional dip calculation formula can be obtained:
X ' axis and natural X-axis angle:
Y ' axis and natural Y-axis angle:
Z ' axis and natural Z axis angle:
The threshold value of the microprocessor according to the precision setting of accelerometer, if the shake of measurement numerical value is more than threshold values,
Abandon this measurement data and resampling；
When measurement sensor of connecting is not installed in the same direction, each measurement sensor is needed through magnetometer measures azimuth；But
When magnetometer is not in horizontal position, deviation will occur in the azimuth measured, just need to utilize measurement sensor at this time
Current 3 d pose angle number obtains true azimuth according to fusion calculation is carried out；
Following formula is substituted into according to by calculated result before first, calculates Heading value.
Xh=Xcos α+Ysin β sin α-Zcos β sin α
Yh=Xcos β+Zsin β；
Further according to following equation computer azimuth angle:
for(Xh> 0, Yh> 0)=- [arctan (Yh/Xh)*180°/π]
for(Xh< 0, Yh> 0)=180 °-[arctan (Yh/Xh)*180°/π]
for(Xh< 0, Yh< 0)=180 °+[arctan (Yh/Xh)*180°/π]
for(Xh> 0, Yh< 0)=360 °-[arctan (Yh/Xh)*180°/π]
for(Xh=0, Yh> 0)=90 °
for(Xh=0, Yh< 0)=270 °.
Preferably, the measurement data in different time periods in the S4 is compared, and specifically comprises the following steps:
S41, measurement sensor are installed standing a period of time, after each measurement sensor is stablized, whithin a period of time
Acquisition data are simultaneously averaged, and are calculated as a reference value under the attitude angle of all measurement sensors and storage, later every time
The data of measurement are made comparisons with a reference value, and the attitude angle variable quantity of measurement sensor is calculated；
According to the spacing between the attitude angle variable quantity before and after measurement sensor and each measurement sensor of combination, not in the same direction
The measurement sensor of installation should also combine its azimuth, according to following methods determining module unitary space posture geometric locus, or
Go out the deformation direction and deflection of modular unit by trigonometric function approximate calculation.
S42, modular unit plane inner bending curvature are larger radius of curvature relative to measuring point spacing, can be used between adjacent measuring point
Circular arc comes approximate.Geometric locus building is with known point QiCalculate unknown point Qi+1Coordinate, wherein QiAt point coordinate and this two o'clock
Curve tangent vector (i.e. posture of the measuring cell longitudinal axis Y ' in the point) is it is known that for convenience of describing, if fixed coordinates origin is in Qi, Qi
Putting tangent vector is Qi+1Putting tangent vector isThen
Due to QiPoint is it is known that coordinate is (Xqi, Yqi, Zqi), Qi+1Point is dynamic point, withVector is as circular arc
The normal vector of place plane counts its directional cosine vectorFor (z1, z2, z3).Temporal coordinate X is established on that planeiYiZi, withFor XiDirection,For ZiY is established by right-hand rule in directioniDirection, then YiDirection vector isIt is denoted as (y1, y2,
y3), then in circular arc QiQi+1In XiQiYiIn plane, point Q can be obtained according to plane circular curve fit correlationi+1In XiYiZiInterior
Coordinate is (θ/2 Δ s × cos, Δ s × sin θ/2,0), and wherein θ isWithAngle, Δ s be measuring point spacing.
Q in order to obtaini+1Coordinate value (X of the point in fixed coordinate systemqi+1, Yqi+1, Zqi+1), it needs to carry out space right-angle
Coordinate conversion.X in temporal coordinate systemi、Yi、ZiThe corresponding direction cosines of axisIt is fixed coordinate system expression
, it is directional cosine vector of the reference axis of temporal coordinate system in fixed coordinate system.Then turned according to rectangular space coordinate
Change type has:
It to measure origin of the starting point as fixed coordinates, can be passed by above formula, obtain the spatial value of each point, each point
Between can connect to obtain spatial attitude curve by straight line or arc section.
S43, horizontal distortion calculate, and take point on the basis of certain point of end, measuring point measures one by one since datum mark, often
Just there are 1,2,3. ..., j measuring point every a measurement spacing, is then each water before it in the horizontal distortion total amount of j-th of measuring point
Flat deformation is piecewise cumulative from end to j measuring point.Then horizontal distortion δ of the jth measuring point in X-direction, Y-directionjx、δjyIt counts as the following formula
It calculates:
Wherein, δxi、δyiRespectively the i-th measuring point is along x-axis, Y direction horizontal distortion；αi、βiRespectively the i-th measuring point and x-axis,
Y direction inclination angle；svFor the spacing of measurement sensor.
Preferably, the sensor is magnetometer sensor, multiaxis digital acceleration sensor, gyro sensor or two
The combination of the above sensor of person or both.
Beneficial effects of the present invention: this method can measure the full construction period of modular unit index relevant to deformation, i.e.,
Transport, the deformation of lifting stage module unit steel skeleton, smallpox floor and ground floor；Erection stage modular unit it is vertical
Degree, plane bend curvature；And relative storey displacement or the story drift etc. of service stage modular unit.It may be implemented 24 hours simultaneously
Uninterrupted measurement, and tens even secondary duplicate measurements up to a hundred can be carried out within one day, substantially increase the timeliness of measurement data
Property.
Detailed description of the invention
Fig. 1 is declinometer nomogram.
Fig. 2 is point coordinate reckoning figure after spatial attitude geometric locus.
Fig. 3 is horizontal distortion schematic diagram calculation.
Fig. 4 is sensors in series system attachment structure schematic diagram of the invention.
Fig. 5 is lifting stage module unit sensors in series arrangement schematic diagram 1 of the invention.
Fig. 6 is lifting stage module unit sensors in series arrangement schematic diagram 2 of the invention.
Fig. 7 is erection stage modular unit sensors in series arrangement schematic diagram of the invention.
Fig. 8 is installation of the invention, service stage modular unit sensors in series arrangement schematic diagram.
Specific embodiment
The present invention specifically discloses a kind of modular architectural modular unit deformation performance detection method, and the detection method is logical
Cross the series connection measurement sensor system including computer data acquiring analysis system 1 and data collection and analysis computer connection
2 are detected.It include the measurement sensor in the same direction 3 of several communication connections, the survey in the series connection measurement sensor system 2
It can be carried out, can also be connected by wireless network 5 by wired network 4 between quantity sensor 3.
Microprocessor and sensor are provided in the measurement sensor 3, the sensor is magnetometer sensor, multiaxis
The combination of the above sensor of digital acceleration sensor, gyro sensor or both or both.
In steel structure module unit, measurement sensor can directly select no magnetometer sensor, but pass according to magnetic force
Sensor can produce it when periphery is magnetic substance since magnetometer sensor is to be measured by earth magnetic field azimuthal
Raw interference, so all measurement sensors should be installed in the same direction, meanwhile, in order to guarantee the accuracy of measurement data, magnetometer is passed
The measurement data of sensor is not involved in fusion calculation.
In conjunction with shown in Fig. 5-8, the steel structure module element deformation performance detection above based on sensors in series system is utilized
Method includes the following steps:
The deformation performance of S1, the construction stage according to locating for modular unit and required measurement, comprehensive selection modular unit need
Carry out deformation measurement position；
S11, modular unit transport, lifting stage, the deformation of modular unit skeleton beam column, smallpox floor, ground floor is
It is main；
S12, modular unit erection stage want index based on modular unit verticality, plane bend curvature；
S13, modular unit service stage, modular unit relative storey displacement or angle of displacement are main indicator；
S2, measurement sensor is fixed to (using fixing rack for sensor or directly pasted with structure glue) in corresponding position, and
Form train；It is in inverse ratio between the measurement sensor spacing and the measurement accuracy；Its train can use
Shown in Fig. 4.
S3, after being installed to sensor, using computer acquisition analysis system processes measurement data, and pass through in system
Computer send a signal to measurement sensor；
S31, sensor use multi-shaft acceleration transducer, each sensor series aiding connection installation, by sensor
The acceleration of tri- axis of X, Y, Z is g under accelerometer measures stationary statex、gy、 gz, using with acceleration of gravity and its in three axis
The component relationship of the X ' of acceleration transducer, Y ', three axis of Z ', calculate the angle of each axis Yu acceleration of gravity direction, thus
Three-dimensional dip (i.e. 3 d pose) α, β, γ of measurement sensor out:
Sin α=gx/ g, sin β=gy/ g, cos γ=gz/g
In formula,
Three-dimensional dip calculation formula can be obtained:
X ' axis and natural X-axis angle:
Y ' axis and natural Y-axis angle:
Z ' axis and natural Z axis angle:
The threshold value of the microprocessor according to the precision setting of accelerometer, if the shake of measurement numerical value is more than threshold values,
Abandon this measurement data and resampling.
When measurement sensor of connecting is not installed in the same direction, each measurement sensor is needed through magnetometer measures azimuth；But
When magnetometer is not in horizontal position, deviation will occur in the azimuth measured, just need to utilize measurement sensor at this time
Current 3 d pose angle number obtains true azimuth according to fusion calculation is carried out；
As shown in Figure 1, substituting into following formula according to by calculated result before first, Heading value is calculated.
Xh=Xcos α+Ysin β sin α-Zcos β sin α
Yh=Xcos β+Zsin β；
Further according to following equation computer azimuth angle:
for(Xh> 0, Yh> 0)=- [arctan (Yh/Xh)*180°/π]
for(Xh< 0, Yh> 0)=180 °-[arctan (Yh/Xh)*180°/π]
for(Xh< 0, Yh< 0)=180 °+[arctan (Yh/Xh)*180°/π]
for(Xh> 0, Yh< 0)=360 °-[arctan (Yh/Xh)*180°/π]
for(Xh=0, Yh> 0)=90 °
for(Xh=0, Yh< 0)=270 °
S4, measurement sensor carry out azimuth and the three pose states that fusion calculation measures measurement sensor, the fusion meter
The interval of sampling between calculation is sampled and is calculated according to prefixed time interval, can also be carried out continuous sampling and be calculated；
S41, measurement sensor are installed standing a period of time, after each measurement sensor is stablized, whithin a period of time
Acquisition data are simultaneously averaged, and are calculated as a reference value under the attitude angle of all measurement sensors and storage, later every time
The data of measurement are made comparisons with a reference value, and the attitude angle variable quantity of measurement sensor is calculated；
According to the spacing between the attitude angle variable quantity before and after measurement sensor and each measurement sensor of combination, not in the same direction
The measurement sensor of installation should also in conjunction with its azimuth, according to the spatial attitude geometric locus of following methods determining module unit,
Or go out the deformation direction and deflection of modular unit by trigonometric function approximate calculation.
S42, combination as shown in Fig. 2, modular unit plane inner bending curvature relative to measuring point spacing be larger radius of curvature, phase
It can be with circular arc come approximate between adjacent measuring point.Geometric locus building is with known point QiCalculate unknown point Qi+1Coordinate, wherein QiPoint is sat
Be marked with and this two o'clock at curve tangent vector (i.e. posture of the measuring cell longitudinal axis Y ' in the point) it is known that for convenience of describing, if fixed
Coordinate origin is in Qi, QiPutting tangent vector isQi+1Putting tangent vector isThen
Due to QiPoint is it is known that coordinate is (Xqi, Yqi, Zqi), Qi+1Point is dynamic point, withVector is as circular arc
The normal vector of place plane counts its directional cosine vectorFor (z1, z2, z3).Temporal coordinate X is established on that planeiYiZi, withFor XiDirection,For ZiY is established by right-hand rule in directioniDirection, then YiDirection vector isIt is denoted as (y1, y2,
y3), as shown in Fig. 3.Then in circular arc QiQi+1In XiQiYiIn plane, point Q can be obtained according to plane circular curve fit correlationi+1
In XiYiZiInterior coordinate is (θ/2 Δ s × cos, Δ s × sin θ/2,0), and wherein θ isWithAngle, Δ s be measurement
Sensor spacing.The Δ s full-length is 0.50m, can also require to choose according to required measurement accuracy.
Q in order to obtaini+1Coordinate value (X of the point in fixed coordinate systemqi+1, Yqi+1, Zqi+1), it needs to carry out space right-angle
Coordinate conversion.X in temporal coordinate systemi、Yi、ZiThe corresponding direction cosines of axisIt is fixed coordinate system expression
, it is directional cosine vector of the reference axis of temporal coordinate system in fixed coordinate system.Then turned according to rectangular space coordinate
Change type has:
To measure origin of the starting point as fixed coordinates, recursion can be carried out by above formula, obtain the spatial value of each point, respectively
It can connect to obtain spatial attitude curve by straight line or arc section between point.
S43, as shown in connection with fig. 3, horizontal distortion calculate, take point on the basis of certain point of end, survey one by one since datum mark
Point measures, and just has 1,2,3. ..., j measuring point every a measurement spacing, then in the horizontal distortion total amount of j-th of measuring point,
Be before it each horizontal distortion it is piecewise cumulative from end to j measuring point.Then horizontal distortion of the jth measuring point in X-direction, Y-direction
δjx、δjyIt is calculated as follows:
Wherein, δxi、δyiRespectively the i-th measuring point is along x-axis, Y direction horizontal distortion；αi、βiRespectively the i-th measuring point and x-axis,
Y direction inclination angle；svFor the spacing of measurement sensor.
S5, the data obtained are exported to corresponding display equipment, completes the detection of whole deformation performance.
Still there are many specific embodiments by the present invention.All all skills formed using equivalent replacement or equivalent transformation
Art scheme, all falls within the scope of protection of present invention.
Claims (5)
1. a kind of modular architectural modular unit deformation performance detection method, includes the following steps:
The deformation performance of S1, the construction stage according to locating for modular unit and required measurement, comprehensive selection modular unit need into
Row deformation measurement position；
S2, measurement sensor is fixed on to corresponding position, and forms train；The measurement sensor spacing and the measurement
It is in inverse ratio between precision；
S3, after installing to sensor, processing measurement data is analyzed using computer acquisition, and pass through the computer in system
Send a signal to measurement sensor；
S4, measurement sensor carry out fusion calculation measure measurement sensor azimuth and three pose states, the fusion calculation it
Between sampling interval according to prefixed time interval carry out or be carried out continuously；
S5, the data obtained are exported to corresponding display equipment.
2. a kind of modular architectural modular unit deformation performance detection method as described in claim 1, it is characterised in that: described
Measurement sensor is multiaxis digital acceleration sensor, and the measurement sensor is installed in the same direction.
3. a kind of modular architectural modular unit deformation performance detection method as described in claim 1, it is characterised in that: described
The deformation performance of modular unit locates in S1, according to construction stage locating for modular architectural modular unit and required measurement
Deformation index determined；Including,
S11, modular unit transport, lifting stage, with the vertical deformation of modular unit skeleton beam column, smallpox floor, ground floor
Based on；
S12, modular unit erection stage want index based on modular unit verticality, plane bend curvature；
S13, modular unit service stage, using modular unit relative storey displacement or angle of displacement as main indicator.
4. a kind of modular architectural modular unit deformation performance detection method as described in claim 1, it is characterised in that: described
Fusion calculation includes the following steps: in S3
Firstly, being g by the acceleration of tri- axis of X, Y, Z under the accelerometer measures stationary state in sensorx、gy、gz, utilize
With acceleration of gravity and its in the component relationship of three axis of X ', Y ', Z ' of 3-axis acceleration sensor, calculate each axis and add with gravity
The angle of directional velocity, to obtain three-dimensional dip α, β, γ of measurement sensor:
Sin α=gx/ g, sin β=gy/ g, cos γ=gz/g
In formula,
Three-dimensional dip calculation formula can be obtained:
X ' axis and natural X-axis angle:
Y ' axis and natural Y-axis angle:
Z ' axis and natural Z axis angle:
Then, the threshold value of the microprocessor according to the precision setting of accelerometer, if the shake of measurement numerical value is more than threshold values,
Abandon this measurement data and resampling；
Then, it according to the separation delta s between the attitude angle variable quantity before and after measurement sensor and each measurement sensor of combination, determines
The spatial attitude geometric locus of modular unit, or go out by trigonometric function approximate calculation deformation direction and the deformation of modular unit
Amount；
When measurement sensor is not installed in the same direction, each measurement sensor is needed through magnetometer measures azimuth；But work as magnetometer
When being not in horizontal position, deviation will occur in the azimuth measured, need the three-dimensional current using measurement sensor at this time
Attitude angle data carry out fusion calculation, obtain true azimuth；
Following formula is substituted into according to by calculated result before first, calculates Heading value；
Xh=Xcos α+Ysin β sin α-Zcos β sin α
Yh=Xcos β+Zsin β
Further according to following equation computer azimuth angle:
for(Xh> 0, Yh> 0)=- [arctan (Yh/Xh)*180°/π]
for(Xh< 0, Yh> 0)=180 °-[arctan (Yh/Xh)*180°/π]
for(Xh< 0, Yh< 0)=180 °+[arctan (Yh/Xh)*180°/π]
for(Xh> 0, Yh< 0)=360 °-[arctan (Yh/Xh)*180°/π]
for(Xh=0, Yh> 0)=90 °
for(Xh=0, Yh< 0)=270 °.
5. a kind of modular architectural modular unit deformation performance detection method as described in claim 1, it is characterised in that: described
Measurement data in different time periods in S4 is compared, and specifically comprises the following steps:
S41, measurement sensor are installed standing to after each measurement sensor is stablized, and acquisition data are gone forward side by side whithin a period of time
Row is average, calculates the attitude angle of all measurement sensors, is used as a reference value after storage, and the data measured every time later are and base
Quasi- value is made comparisons, and the attitude angle variable quantity of measurement sensor is calculated；
According to the spacing between the attitude angle variable quantity before and after measurement sensor and each measurement sensor of combination, installation in the same direction
Measurement sensor should also determine geometric locus according to following methods, or pass through trigonometric function approximate calculation in conjunction with its azimuth
The deformation direction and deflection of modular unit out；
S42, modular unit plane inner bending curvature are larger radius of curvature relative to measuring point spacing, can use circular arc between adjacent measuring point
Next approximate, geometric locus is constructed with known point QiCalculate unknown point Qi+1Coordinate, wherein QiCurve is cut at point coordinate and this two o'clock
Vector is it is known that the tangent vector is posture of the measuring cell longitudinal axis Y ' in the point, if fixed coordinates origin is in Qi, QiPoint tangent vector
ForQi+1Putting tangent vector isThen:
Due to QiPoint is it is known that coordinate is (Xqi, Yqi, Zqi), Qi+1Point is dynamic point, withVector is as where circular arc
The normal vector of plane counts its directional cosine vectorFor (z1, z2, z3)；Temporal coordinate X is established on that planeiYiZi, withFor
XiDirection,For ZiY is established by right-hand rule in directioniDirection, then YiDirection vector isIt is denoted as (y1, y2, y3), In
Circular arc QiQi+1In XiQiYiIn plane, point Q can be obtained according to plane circular curve fit correlationi+1In XiYiZiInterior coordinate is
(θ/2 Δ s × cos, Δ s × sin θ/2,0), wherein θ isWithAngle, Δ s be measuring point spacing；
Q in order to obtaini+1Coordinate value (X of the point in fixed coordinate systemqi+1, Yqi+1, Zqi+1), it needs to carry out rectangular space coordinate
It converts, X in temporal coordinate systemi、Yi、ZiThe corresponding direction cosines of axisIt is what fixed coordinate system was expressed, is
Directional cosine vector of the reference axis of temporal coordinate system in fixed coordinate system.Change type is then turned according to rectangular space coordinate
Have:
To measure origin of the starting point as fixed coordinates, recursion can be carried out by above formula, obtain the spatial value of each point, each point it
Between can connect to obtain space curve by straight line or arc section；
S43, horizontal distortion calculate, and take point on the basis of certain point of end, measuring point measures one by one since datum mark, Mei Geyi
A measurement spacing just has 1,2,3 ..., j measuring point then in the horizontal distortion total amount of j-th of measuring point be each before it horizontal become
Shape is piecewise cumulative from end to j measuring point.Then horizontal distortion δ of j-th of measuring point in X-direction, Y-directionjx、δjyIt is calculated as follows:
Wherein, δxi、δyiRespectively the i-th measuring point is along x-axis, Y direction horizontal distortion；αi、βiRespectively the i-th measuring point and x-axis, Y-axis
Direction inclination angle；svFor the spacing of measurement sensor.
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| CN113074807A (en) * | 2021-03-18 | 2021-07-06 | 中国水产科学研究院黄海水产研究所 | Real-time monitoring system for vibration and deformation of cultivation fence facility structure |
| CN113942622A (en) * | 2021-11-19 | 2022-01-18 | 博迈科海洋工程股份有限公司 | Motion compensation method suitable for FPSO upper module lifting installation process |
| CN116609548A (en) * | 2023-07-20 | 2023-08-18 | 山东省科学院激光研究所 | Three-dimensional optical fiber acceleration sensor system capable of measuring inclination angle |
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