CN112987768A - Unmanned aerial vehicle righting device and orientation righting method - Google Patents
Unmanned aerial vehicle righting device and orientation righting method Download PDFInfo
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Abstract
The embodiment of the invention discloses an unmanned aerial vehicle righting device and an orientation righting method. Unmanned aerial vehicle device of reforming includes: the landing platform is used for taking off and landing the unmanned aerial vehicle; the position adjusting device is arranged at the edge of the landing platform and used for adjusting the position of the unmanned aerial vehicle on the landing platform; the rotating platform is arranged in the middle of the landing platform and drives the unmanned aerial vehicle placed on the rotating platform to adjust the orientation through rotation; a controller for controlling the rotation of the rotary platform; the distance sensor is used for scanning to obtain real-time position information of the unmanned aerial vehicle on the rotating platform and sending the real-time position information to the controller; the controller judges the real-time position information according to the preset position information and controls the rotary platform to rotate according to the judgment result. According to the technical scheme, the position and the orientation of the unmanned aerial vehicle are adjusted through the position adjusting device and the rotating platform, and the orientation of the unmanned aerial vehicle is adjusted through the cooperation of the controller and the distance sensor.
Description
Technical Field
The embodiment of the invention relates to the field of unmanned aerial vehicles, in particular to an unmanned aerial vehicle righting device and an orientation righting method.
Background
Unmanned aerial vehicle needs field personnel to use the people remote controller to control unmanned aerial vehicle because the restriction of self wireless communication distance, and the people need arrive the use scene to just can operate the aircraft in certain distance. Unmanned and intelligent remote flight is not completely realized in the aspect of long distance, so that unmanned aerial vehicle stations can be produced at will, unmanned deployment is really realized on site, and remote control and use are realized only by a network at a far end when needed.
After the unmanned aerial vehicle finishes the task, descend the recovery unit platform to the airport, its recovery unit can be through the close cooperation of motion machinery and sensor, shuts down unmanned aerial vehicle, changes actions such as battery. But recovery unit has the requirement to unmanned aerial vehicle's position, and prior art can't its position of accurate adjustment after unmanned aerial vehicle falls.
Disclosure of Invention
Therefore, the embodiment of the invention provides an unmanned aerial vehicle righting device and an orientation righting method, and aims to solve the problems that an unmanned aerial vehicle adjusting device in the prior art cannot accurately adjust the orientation of an unmanned aerial vehicle and the existing unmanned aerial vehicle position adjusting device is complex in structure.
In order to achieve the above object, an embodiment of the present invention provides the following:
in an aspect of an embodiment of the present invention, there is provided an unmanned aerial vehicle righting apparatus, including: the landing platform is used for taking off and landing the unmanned aerial vehicle; the position adjusting device is arranged at the edge of the landing platform and used for adjusting the position of the unmanned aerial vehicle on the landing platform; the rotating platform is arranged in the middle of the landing platform and drives the unmanned aerial vehicle placed on the rotating platform to adjust the orientation through rotation; a controller for controlling the rotation of the rotary platform; the distance sensor is used for scanning to obtain real-time position information of the unmanned aerial vehicle on the rotating platform and sending the real-time position information to the controller; the controller judges the real-time position information according to the preset position information and controls the rotary platform to rotate according to the judgment result.
Further, a characteristic area is arranged on the unmanned aerial vehicle and used for being matched with the distance sensor to scan to obtain position information; the position information includes distance information and direction information of points of the feature area with respect to the distance sensor.
Further, the landing platform is square, and the position adjusting device includes: the front-back adjusting device comprises a front-side push rod and a back-side push rod, the front-side push rod and the back-side push rod are respectively arranged on a group of opposite sides of the landing platform and can move on the surface of the landing platform; the left and right adjusting device comprises a left push rod and a right push rod, the left push rod and the right push rod are respectively arranged on the other pair of edges of the landing platform and can move on the surface of the landing platform; front side push rod, rear side push rod and left side push rod, right side push rod move under adjusting motor drives about and in front adjusting motor respectively to promote unmanned aerial vehicle and carry out position control.
In another aspect of the embodiments of the present invention, there is provided a drone orientation righting method, including: step 1: placing a first unmanned machine on a rotating platform, and determining the orientation of the first unmanned machine; step 2: scanning a first unmanned characteristic area to acquire a first group of position information of the first unmanned machine; and step 3: placing a second drone on a rotating platform; and 4, step 4: scanning a characteristic area of the second unmanned aerial vehicle to obtain a second group of position information of the second unmanned aerial vehicle; and 5: comparing the second set of location information with the first set of location information; step 6: judging that the second group of position information is out of the error allowable range relative to the first group of position information, controlling the rotating platform to drive the second unmanned aerial vehicle to rotate, and repeating the step 4 and the step 5; and 7: and judging that the second group of position information is within the error allowable range relative to the first group of position information, and finishing the orientation righting of the second unmanned aerial vehicle.
Further, in step 2, scanning the first unmanned characteristic area to obtain a first set of location information of the first unmanned system, specifically: step 2-1: establishing a polar coordinate system by taking the distance sensor as a pole and leading out a ray from the pole as a polar axis, wherein the intersection point of the polar axis and the first unmanned characteristic region is used as a value (theta) of a first point in the first group of position information0,r0) Wherein, theta0Is 0 degree, r0The distance from the intersection point to the distance sensor; step 2-2: the distance sensor continuously scans n groups of points of a first unmanned characteristic area by taking a first point as a starting point to obtain a first group of position information:
(θ0,r0),(θ1,r1),(θ2,r2)…(θn,rn)
wherein n is a positive integer, theta0,θ1,θ2…θnFor the arithmetic series, the tolerance is a 1.
Further, in step 4, scanning a characteristic region of the second unmanned aerial vehicle, and acquiring a second group of location information of the second unmanned aerial vehicle, specifically: step 4-1: in the polar coordinate system, the intersection point of the polar axis and the characteristic region of the second unmanned aerial vehicle is used as the value (alpha) of the first point in the second group of position information0,d0) Wherein α is0Is 0 degree, d0The distance from the intersection point of the polar axis and the characteristic region of the second unmanned aerial vehicle to the distance sensor is obtained; step 4-2: the distance sensor uses the crossing point of polar axis and the characteristic region of second unmanned aerial vehicle as the starting point, scans the m group points of the characteristic region of second unmanned aerial vehicle in succession, obtains the second group positional information:
(α0,d0),(α1,d1),(α2,d2)…(αm,dm)
wherein m is a positive integer, alpha0,α1,α2…αmFor the arithmetic series, the tolerance is a 2.
Further, n ═ m; a1 ═ a 2; wherein the values of n and m are less than or equal to 90; the values of a1 and a2 are both 1 degree.
Further, in step 5, comparing the second group of location information with the first group of location information, specifically: step 5-1: establishing a function of a first set of location information: f (theta)n,rn)＝rn(ii) a Step 5-2: establishing a function of the second set of location information: f (alpha)m,dm)＝dm(ii) a Step 5-3: calculating the distance of the corresponding point in the two groups of data according to the polar coordinates of the corresponding point in the first group of position information and the second group of position information: bn＝f(αn,dn)-f(θn,rn) (ii) a Step 5-4: calculating the average value of the distances of the corresponding points in the two groups of data according to the polar coordinates of the corresponding points in the first group of position information and the second group of position information:
step 5-5: calculating the total standard deviation sigma of the two groups of data of the first group of position information and the second group of position information according to a standard deviation formula,
and 5-6: will be sigma and sigma0A comparison is made, where σ0Is a fixed value.
Further, in step 6, it is determined that the second group of location information is outside the allowable error range with respect to the first group of location information, specifically: sigma is greater than sigma0(ii) a In step 7, it is determined that the second group of location information is within the allowable error range with respect to the first group of location information, specifically: sigma is less than sigma0。
Further, the error data in the second set of scanned location information is filtered:
establishing a function f (alpha) of a second set of position informationm,dm)＝dm(ii) a Judgment of f (. alpha.) (m,dm)>f(αm-1,dm-1) And (alpha)m,dm)>f(αm+1,dm+1) If true, f (alpha) ism+1,dm+1) Is assigned to f (α)m,dm) (ii) a Judgment of f (. alpha.) (m,dm)>f(αm-1,dm-1) And (alpha)m,dm)>f(αm+1,dm+1) If not, f (alpha) is not changedm,dm) The value of (c).
The embodiment of the invention has the following advantages:
the embodiment of the invention discloses an unmanned aerial vehicle righting device and an orientation righting method.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below. It should be apparent that the drawings in the following description are merely exemplary, and that other embodiments can be derived from the drawings provided by those of ordinary skill in the art without inventive effort.
The structures, ratios, sizes, and the like shown in the present specification are only used for matching with the contents disclosed in the specification, so as to be understood and read by those skilled in the art, and are not used to limit the conditions that the present invention can be implemented, so that the present invention has no technical significance, and any structural modifications, changes in the ratio relationship, or adjustments of the sizes, without affecting the effects and the achievable by the present invention, should still fall within the range that the technical contents disclosed in the present invention can cover.
Fig. 1 is a schematic structural diagram of an unmanned aerial vehicle righting device according to an embodiment of the present invention;
fig. 2 is another schematic structural diagram of an unmanned aerial vehicle righting device according to an embodiment of the present invention;
fig. 3 is a schematic flowchart of an orientation normalization method for an unmanned aerial vehicle according to an embodiment of the present invention.
In the figure: 100-unmanned aerial vehicle righting device, 10-landing platform, 20-position adjusting device, 21-front and back adjusting motor, 22-left and right adjusting motor, 30-rotating platform, 40-height adjusting device and 50-distance sensor.
Detailed Description
The present invention is described in terms of particular embodiments, other advantages and features of the invention will become apparent to those skilled in the art from the following disclosure, and it is to be understood that the described embodiments are merely exemplary of the invention and that it is not intended to limit the invention to the particular embodiments disclosed. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
In the present specification, the terms "upper", "lower", "left", "right", "middle", and the like are used for clarity of description, and are not intended to limit the scope of the present invention, and changes or modifications in the relative relationship may be made without substantial changes in the technical content.
Examples
Referring to the unmanned aerial vehicle righting device 100 shown in fig. 1 and 2, an embodiment of the present invention provides an unmanned aerial vehicle righting device 100, including: the landing platform 10 is used for taking off and landing the unmanned aerial vehicle; the position adjusting device 20 is arranged at the edge of the landing platform 10 and used for adjusting the position of the unmanned aerial vehicle on the landing platform 10; the rotating platform 30 is arranged in the middle of the landing platform 10, and the rotating platform 30 drives the unmanned aerial vehicle placed on the rotating platform 30 to adjust the orientation through rotation; a controller for controlling the rotation of the rotary platform 30; and the distance sensor 50 is used for scanning to acquire the real-time position information of the unmanned aerial vehicle on the rotating platform 30 and sending the real-time position information to the controller.
The controller judges the real-time position information according to the preset position information and controls the rotary platform to rotate according to the judgment result. Specifically, the controller passes through distance sensor 50 and acquires unmanned aerial vehicle's real-time orientation information, compare with the inside predetermined orientation information of storage at the controller through comparing real-time orientation information, compare in when predetermineeing orientation information in error range when predetermineeing when orientation information when real-time orientation information, then accomplish the adjustment to the unmanned aerial vehicle orientation, when outside error range, then controller control rotary platform 30 rotates, the unmanned aerial vehicle of placing on rotary platform is driven and is rotated, further carry out the adjustment of orientation.
Specifically, the unmanned aerial vehicle is provided with a characteristic area, and the characteristic area is used for being matched with the distance sensor 50 to scan to obtain position information; the position information includes distance information and direction information of points of the feature area with respect to the distance sensor 50.
As shown in fig. 1 and 2, the landing platform 10 has a square shape, and the position adjusting device 20 includes: the front and back adjusting device comprises a front push rod and a back push rod, the front push rod and the back push rod are respectively arranged on a group of opposite sides of the landing platform and can move on the surface of the landing platform 10; and the left and right adjusting device comprises a left push rod and a right push rod, the left push rod and the right push rod are respectively arranged on the other pair of edges of the landing platform, and can move on the surface of the landing platform 10.
Wherein, front side push rod, rear side push rod and left side push rod, right side push rod move under adjusting motor 21 and controlling the driving of adjusting motor 22 around respectively to promote unmanned aerial vehicle and carry out position control. Rotary platform 30 sets up in the middle part of descending platform 10, consequently, position adjustment device 20 can promote the unmanned aerial vehicle that descends on descending platform 10 on rotary platform 30 through under the cooperation of front side push rod, rear side push rod and left side push rod, right side push rod.
Specifically, the unmanned aerial vehicle device 100 that reforms still includes height adjustment device 40, and height adjustment device 40 sets up in rotary platform 30 week side, drives rotary platform 30 and carries out the adjustment of height.
As shown in the flowchart of the unmanned aerial vehicle orientation restoring method in fig. 3, an embodiment of the present invention provides an unmanned aerial vehicle orientation restoring method, including:
step 1: placing the first unmanned aerial vehicle on the rotating platform 30, and determining the orientation of the first unmanned aerial vehicle, specifically, the orientation of the first unmanned aerial vehicle can be set according to the orientation requirement of the recovery device on the unmanned aerial vehicle; step 2: scanning a first unmanned characteristic area, acquiring a first group of position information of the first unmanned machine, and further storing the first group of position information in a controller; and step 3: placing the second unmanned aerial vehicle on the rotary platform 30, specifically, pushing the second unmanned aerial vehicle landed on the landing platform 10 onto the rotary platform 30 through the position adjusting device 20; and 4, step 4: scanning a characteristic area of the second unmanned aerial vehicle, acquiring a second group of position information of the second unmanned aerial vehicle, and optionally sending the second group of position information to the controller; and 5: comparing the second set of location information with the first set of location information, optionally, the controller comparing the second set of location information with the stored first set of location information; step 6: judging that the second group of position information is out of the error allowable range relative to the first group of position information, controlling the rotating platform 30 to drive the second unmanned aerial vehicle to rotate, and repeating the step 4 and the step 5; and 7: and judging that the second group of position information is within the error allowable range relative to the first group of position information, and finishing the orientation righting of the second unmanned aerial vehicle.
Further, after the orientation of the second unmanned aerial vehicle is corrected, the position of the second unmanned aerial vehicle is adjusted by the position adjusting device 20.
In step 2 of the unmanned aerial vehicle orientation correcting method, scanning a first unmanned aerial vehicle feature area to obtain a first group of position information of the first unmanned aerial vehicle, specifically:
step 2-1: establishing a polar coordinate system by taking the distance sensor 50 as a pole and leading out a ray from the pole as a polar axis, wherein the intersection point of the polar axis and the first unmanned characteristic region is used as a value (theta) of a first point in the first group of position information0,r0) Wherein, theta0Is 0 degree, r0The distance from the intersection to the distance sensor 50;
step 2-2: the distance sensor 50 continuously scans n sets of points of the first unmanned characteristic region with the first point as a starting point to obtain a first set of position information:
(θ0,r0),(θ1,r1),(θ2,r2)…(θn,rn)
wherein n is a positive integer, theta0,θ1,θ2…θnFor the arithmetic series, the tolerance is a 1.
In step 4 of the unmanned aerial vehicle orientation correcting method, scanning a characteristic area of a second unmanned aerial vehicle to acquire a second group of position information of the second unmanned aerial vehicle, specifically:
step 4-1: in the polar coordinate system, the intersection point of the polar axis and the characteristic region of the second unmanned aerial vehicle is used as the value (alpha) of the first point in the second group of position information0,d0) Wherein α is0Is 0 degree, d0The distance from the intersection point of the polar axis and the characteristic region of the second unmanned aerial vehicle to the distance sensor 50;
step 4-2: the distance sensor 50 uses the intersection point of the polar axis and the characteristic region of the second unmanned aerial vehicle as a starting point, continuously scans m groups of points of the characteristic region of the second unmanned aerial vehicle, and obtains a second group of position information:
(α0,d0),(α1,d1),(α2,d2)…(αm,dm)
wherein m is a positive integer, alpha0,α1,α2…αmFor the arithmetic series, the tolerance is a 2.
Optionally, n ═ m; a1 ═ a 2; wherein the values of n and m are less than or equal to 90; the values of a1 and a2 are both 1 degree.
In step 5 of the unmanned aerial vehicle orientation correcting method, comparing the second group of position information with the first group of position information, specifically:
step 5-1: establishing a function of a first set of location information: f (theta)n,rn)＝rn；
Step 5-2: establishing a function of the second set of location information: f (alpha)m,dm)＝dm；
Step 5-3: calculating the distance of the corresponding point in the two groups of data according to the polar coordinates of the corresponding point in the first group of position information and the second group of position information: bn＝f(αn,dn)-f(θn,rn)；
Step 5-4: calculating the average value of the distances of the corresponding points in the two groups of data according to the polar coordinates of the corresponding points in the first group of position information and the second group of position information:
step 5-5: calculating the total standard deviation sigma of the two groups of data of the first group of position information and the second group of position information according to a standard deviation formula,
and 5-6: will be sigma and sigma0A comparison is made, where σ0Is a fixed value.
In step 6 of the unmanned aerial vehicle orientation correcting method, it is determined that the second group of position information is outside an error allowable range with respect to the first group of position information, specifically: sigma is greater than sigma0；
In step 7 of the unmanned aerial vehicle orientation correcting method, it is determined that the second group of position information is within an error allowable range with respect to the first group of position information, specifically: sigma is less than sigma0。
In the unmanned aerial vehicle orientation correcting method, after the second group of position information is obtained, error data in the second group of position information obtained by scanning is filtered:
establishing a function f (alpha) of a second set of position informationm,dm)＝dm；
Judgment of f (. alpha.) (m,dm)>f(αm-1,dm-1) And (alpha)m,dm)>f(αm+1,dm+1) If true, f (alpha) ism+1,dm+1) Is assigned to f (α)m,dm)；
Judgment of f (. alpha.) (m,dm)>f(αm-1,dm-1) And (alpha)m,dm)>f(αm+1,dm+1) If not, f (alpha) is not changedm,dm) The value of (c).
Optionally, in the filtering of error data in the second set of location information, the determination is made
f(αm,dm)<f(αm-1,dm-1) And (alpha)m,dm)<f(αm+1,dm+1) If true, f (alpha) ism+1,dm+1) Is assigned to f (α)m,dm) Optionally, mixing f (alpha)m-1,dm-1) Is assigned to f (α)m,dm)。
Although the invention has been described in detail above with reference to a general description and specific examples, it will be apparent to one skilled in the art that modifications or improvements may be made thereto based on the invention. Accordingly, such modifications and improvements are intended to be within the scope of the invention as claimed.
Claims (10)
1. An unmanned aerial vehicle righting device (100), comprising:
the landing platform (10), the landing platform (10) is used for taking off and landing of the unmanned aerial vehicle;
the position adjusting device (20) is arranged at the edge of the landing platform (10) and used for adjusting the position of the unmanned aerial vehicle on the landing platform (10);
the rotating platform (30) is arranged in the middle of the landing platform (10), and the rotating platform (30) drives the unmanned aerial vehicle placed on the rotating platform (30) to be adjusted in the direction through rotation;
a controller controlling rotation of the rotary platform (30);
the distance sensor (50) is used for scanning and acquiring real-time position information of the unmanned aerial vehicle on the rotating platform (30) and sending the real-time position information to the controller;
the controller judges the real-time position information according to preset position information and controls the rotary platform to rotate according to a judgment result.
2. The unmanned aerial vehicle righting device of claim 1,
the unmanned aerial vehicle is provided with a characteristic area, and the characteristic area is used for being matched with the distance sensor (50) to scan to acquire position information;
the position information comprises distance information and orientation information of points of the characteristic region relative to the distance sensor (50).
3. Unmanned aerial vehicle device of reforming as claimed in claim 1, wherein the landing platform (10) is square, and the position adjustment device (20) comprises:
the front-back adjusting device comprises a front-side push rod and a back-side push rod, the front-side push rod and the back-side push rod are respectively arranged on a group of opposite sides of the landing platform and can move on the surface of the landing platform (10);
the left and right adjusting device comprises a left push rod and a right push rod, the left push rod and the right push rod are respectively arranged on the other pair of edges of the landing platform and can move on the surface of the landing platform (10);
the front side push rod the rear side push rod with the left side push rod the right side push rod moves under adjusting motor (21) and controlling adjusting motor (22) drive in the front and back respectively, and promotes unmanned aerial vehicle carries out position control.
4. An unmanned aerial vehicle orientation reforming method is characterized by comprising the following steps:
step 1: placing a first drone on a rotating platform (30), determining an orientation of the first drone;
step 2: scanning the first unmanned characteristic region to acquire a first group of position information of the first unmanned machine;
and step 3: placing a second drone on the rotating platform (30);
and 4, step 4: scanning a characteristic area of the second unmanned aerial vehicle to acquire a second group of position information of the second unmanned aerial vehicle;
and 5: comparing the second set of location information with the first set of location information;
step 6: judging that the second group of position information is out of an error allowable range relative to the first group of position information, controlling the rotating platform (30) to drive the second unmanned aerial vehicle to rotate, and repeating the step 4 and the step 5;
and 7: and judging that the second group of position information is within an error allowable range relative to the first group of position information, and finishing the orientation righting of the second unmanned aerial vehicle.
5. The unmanned aerial vehicle orientation righting method of claim 4, wherein in step 2, scanning the first unmanned aerial vehicle feature area to obtain a first set of location information of the first unmanned aerial vehicle, specifically:
step 2-1: establishing a polar coordinate system by taking a distance sensor (50) as a pole and leading out a ray from the pole as a polar axis, wherein the intersection point of the polar axis and the first unmanned characteristic region is used as the value (theta) of a first point in the first group of position information0，r0) Wherein, theta0Is 0 degree, r0Is the distance of the intersection point to the distance sensor (50);
step 2-2: the distance sensor (50) continuously scans n groups of points of the first unmanned characteristic region by taking the first point as a starting point to obtain the first group of position information:
(θ0，r0)，(θ1，r1)，(θ2，r2)...(θn，rn)
wherein n is a positive integer, theta0，θ1，θ2...θnFor the arithmetic series, the tolerance is a 1.
6. The unmanned aerial vehicle orientation restoration method according to claim 5, wherein in step 4, a characteristic area of the second unmanned aerial vehicle is scanned, and a second set of position information of the second unmanned aerial vehicle is acquired, specifically:
step 4-1: in the polar coordinate system, an intersection point of the polar axis and the characteristic region of the second unmanned aerial vehicle is used as a value (alpha) of a first point in the second set of position information0，d0) Wherein α is0Is 0 degree, d0The distance from the intersection point of the polar axis and the characteristic region of the second unmanned aerial vehicle to the distance sensor (50);
step 4-2: the distance sensor (50) continuously scans m groups of points of the characteristic region of the second unmanned aerial vehicle by taking the intersection point of the polar axis and the characteristic region of the second unmanned aerial vehicle as a starting point to obtain the second group of position information:
(α0，d0)，(α1，d1)，(α2，d2)...(αm，dm)
wherein m is a positive integer, alpha0，α1，α2...αmFor the arithmetic series, the tolerance is a 2.
7. The unmanned aerial vehicle orientation restoration method of claim 6,
n is m; a1 ═ a 2; wherein the values of n and m are less than or equal to 90; the values of a1 and a2 are both 1 degree.
8. The unmanned aerial vehicle orientation righting method of claim 7, wherein in step 5, comparing the second set of location information with the first set of location information specifically comprises:
step 5-1: establishing a function of the first set of location information: f (theta)n，rn)＝rn；
Step 5-2: establishing a function of the second set of location information: f (alpha)m，dm)＝dm；
Step 5-3: calculating the distance of corresponding points in two groups of data according to the polar coordinates of the corresponding points in the first group of position information and the second group of position information: bn＝f(αn，dn)-f(θn，rn)；
Step 5-4: calculating the average value of the distances of the corresponding points in the two groups of data according to the polar coordinates of the corresponding points in the first group of position information and the second group of position information:
step 5-5: calculating the total standard deviation sigma of the two groups of data of the first group of position information and the second group of position information according to a standard deviation formula,
and 5-6: will be sigma and sigma0A comparison is made, where σ0Is a fixed value.
9. The drone orientation righting method of claim 8,
in step 6, it is determined that the second group of location information is outside an error tolerance range with respect to the first group of location information, specifically: sigma is greater than sigma0；
In step 7, it is determined that the second group of location information is within an error tolerance range with respect to the first group of location information, specifically: sigma is less than sigma0。
10. The drone orientation normalization method of claim 6, wherein the error data in the second set of location information scanned is filtered:
establishing a function f (alpha) of a second set of position informationm，dm)＝dm；
Judgment of f (. alpha.) (m，dm)＞f(αm-1，dm-1) And (alpha)m，dm)＞f(αm+1，dm+1) If true, f (alpha) ism+1，dm+1) Is assigned to f (α)m，dm)；
Judgment of f (. alpha.) (m，dm)＞f(αm-1，dm-1) And (alpha)m，dm)＞f(αm+1，dm+1) If not, f (alpha) is not changedm，dm) The value of (c).
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