CN114217355B - Flow gravimeter control method and flow gravimeter handheld terminal - Google Patents
Flow gravimeter control method and flow gravimeter handheld terminal Download PDFInfo
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Abstract
The invention provides a flow gravimeter control method which comprises wireless connection, basic setting, measurement parameter setting, rapid measurement and file processing. The invention also provides a mobile gravimeter hand-held terminal which comprises a shell, wherein a touch screen is arranged at the front part of the shell, a battery bin is arranged at the lower part of the shell, a communication antenna is arranged at the top part of the shell, a circuit board is sealed in the shell, an ARM core processor, a touch screen controller, a communication module and a Bluetooth module are integrated on the circuit board, the touch screen controller, the communication module and the Bluetooth module are electrically connected with the ARM core processor, the ARM core processor is electrically connected with a USB port through a USB management chip, and a power supply, the communication antenna and the touch screen in the battery bin are respectively electrically connected with the circuit board. The invention can establish connection with the flow gravimeter in a wireless communication mode, realize man-machine separation control measurement and avoid interference of human factors on the work of measuring equipment.
Description
Technical Field
The invention relates to a flow gravimeter control method and a flow gravimeter handheld terminal, and belongs to the technical field of geological observation.
Background
A flow type relative gravimeter is called a flow gravimeter for short, and is an earth detection instrument used in the technical fields of earth science, mine engineering technology, energy science technology, environment science technology and resource science. The flow gravimeter has large volume, multiple functions and complex operation, and a long-distance multi-point closed-loop measurement mode is often adopted in field measurement. Because the single-point measurement time is short (generally within 30 minutes), the requirement on the measurement accuracy is high (generally the lattice value accuracy is required to be less than 5 micro gamma, and the repeatability standard deviation is less than 20 micro gamma), the following problems exist in the conventional operation:
firstly, measurement operation control needs to be carried out on a panel of the flow gravimeter body. The measurement precision of the instrument is affected by the operation and walking of personnel, and each measurement needs to be waited for a long time, so that the measurement time is prolonged.
And secondly, manually adjusting foundation screws and observing the bubble centering degree for determining the leveling, and the manual adjustment error exists in each adjustment to influence the instrument.
Thirdly, after the flowing gravimeter body integrates GPS timing, 4G communication and algorithm processing, the power consumption of the instrument is greatly increased, the standby time of the instrument is shortened, and long-time flowing measurement is not facilitated; (the measurement is carried out every day to ensure the stability of the instrument, the instrument is not powered off generally, and the measurement is carried out charging on the same day).
And fourthly, the flowing gravimeter body is not flexible in data processing mode. Generally, after original data is stored through a body, the original data is copied by using a U disk, and secondary analysis processing is carried out by a computer.
Therefore, a device and a method capable of remotely controlling the flow gravimeter to carry out measurement are urgently needed to be provided, which are convenient for man-machine separation in field measurement tasks and avoid interference of human factors on the work of measurement equipment.
Disclosure of Invention
In order to overcome the defects of the prior art, the invention provides a flow gravimeter control method and a flow gravimeter handheld terminal, which can be connected with a flow gravimeter in a wireless communication mode, realize man-machine separation control measurement and avoid interference of human factors on the work of measuring equipment.
The technical scheme adopted by the invention for solving the technical problem is as follows: a flow gravimeter control method is provided, comprising the steps of:
s1, wireless connection: wirelessly connecting the handheld terminal of the flow gravimeter with the flow gravimeter;
s2, basic setting: setting parameters of the flow gravimeter through a handheld terminal of the flow gravimeter, wherein the parameters comprise date manual correction, longitude and latitude manual correction, inclination angle correction, null shift correction, gravity correction, solid tide correction and reference correction;
s3, setting measurement parameters: setting a pre-stored file of the flow gravimeter through a handheld terminal of the flow gravimeter before measurement is started;
s4, rapid measurement: the flow gravimeter is subjected to instrument leveling and measurement through the flow gravimeter handheld terminal, and a file obtained by the flow gravimeter through instrument measurement is transmitted to the flow gravimeter handheld terminal in real time for storage;
s5, file processing: and processing the file in the handheld terminal of the flow gravimeter.
Step S1 is performed by wireless connection using bluetooth communication.
In step S1, the gravity observation data between the handheld terminal of the flow gravimeter and the flow gravimeter is subjected to data interaction via a serial port simulation protocol, and the request and reply information are subjected to data interaction via a galileo communication protocol.
Step S4, leveling the flow gravimeter by the handheld terminal of the flow gravimeter, specifically including the following steps:
a1 obtaining X-axis tilt angle in a three-axis accelerometer of a flow gravimeterXAnd Y tilt angleY；
A2, controlling the left and right screws of the flow gravimeter to rotate through the handheld terminal of the flow gravimeter, and inclining the angle X according to the following relation during the rotationXAnd Y tilt angleYIs converted intoCoordinates of buoy
：
WhereinmainwidthFor the adaptive factor of the width of the buoy,mainheightis a self-adaptive factor for the height of the buoy,driftis an X tilt angleXAnd Y tilt angleYThe resultant angle of (c) is calculated by the following formula:
a3, calculating the rotation number of the left screw needed to achieve the leveling purpose according to the following relational expression:
the number of turns of the right screw needed to achieve the leveling purpose is calculated according to the following relation:
a4 displaying coordinates of buoy in indication map of leveling interface
And the left screw and the right screw respectively need to rotate the number of turns;
a5, repeating the steps A1 to A4 until the buoy coordinate is located at the origin position of the leveling interface indication graph, and finishing leveling.
The zero drift correction in step S2 specifically includes the following steps:
b1, calculating the corresponding solid tide values from the time stamp of each sample point, then expressing the gravity observation data corrected by tide as:
the null shift for each sample point is represented as:
the ideal gravimeter value for each sample point is:
b2 gradient variable quantity matrixA，
：
Wherein
The value of the supplementary value of the square matrix tends to zero; the tide corrected gravity observation data, the null shift and the ideal value of the gravimeter satisfy the following relations:
wherein
For the error produced by the relation, the following distribution is satisfied:
wherein
A covariance matrix which is a Gaussian distribution;
obtained from formulae (10) and (11):
b3, determining prior distribution, likelihood function, edge density function and posterior distribution of null shift:
the zero drift at each time satisfies the following form
Wherein
The actual value is represented by the value of,
the deviation between the estimated value and the true value is represented, the zero drift in the measurement time period obeys the form of a Gaussian process, and the mean matrix and the covariance matrix are calculated through the following process;
assuming that the null shift has continuity in continuous time, the following relationship is satisfied:
wherein
For arrays that tend to zero, the following distribution is satisfied:
wherein
A covariance matrix which is a Gaussian distribution;
the following distribution is obtained from equations (14) and (15):
it is known that
Is a Gaussian process, and is calculated according to the linear property of the Gaussian process
The distribution form of (A) is as follows:
the probability density function of the prior distribution is obtained from equation (17):
the expression for the likelihood function obtained by combining equations (12) and (18) is:
solving the following edge density function to predict the regularization factor of the posterior distribution, the edge density function being:
after solving the regularization factor of the posterior distribution, obtaining the expression of the posterior distribution of the null shift according to a Bayesian formula as follows:
b4, solving posterior distribution, carrying out mean value estimation on the sampling points through the posterior distribution, and taking the mean value of Gaussian distribution as an estimated value of null shift, thereby completing null shift correction; in the process of solving
Using the variance generated by the sample;
is a hyperparameter of zero-shift prior distribution, is determined by increasing the calculation times to obtain a convergence limit, and takes and as an initial value
A number of the same order; and increasing the calculation times to take the posterior distribution of the previous time as the iterative method of the prior distribution of the second time.
In step S4, the file processing includes new creation, addition, deletion, inquiry, and copy operations.
In step S4, the mobile gravimeter handheld terminal is connected to the network center via wireless communication.
The invention also provides a mobile gravimeter handheld terminal based on the control method, which comprises a shell, wherein the front part of the shell is provided with a touch screen, the lower part of the shell is provided with a battery bin, the top part of the shell is provided with a communication antenna, a circuit board is sealed in the shell, an ARM core processor, a touch screen controller, a communication module and a Bluetooth module are integrated on the circuit board, the touch screen controller, the communication module and the Bluetooth module are electrically connected with the ARM core processor, the ARM core processor is electrically connected with a USB port through a USB management chip, and a power supply, the communication antenna and the touch screen in the battery bin are respectively electrically connected with the circuit board.
The ARM core processor is electrically connected with the earphone and the loudspeaker through the audio interface.
The ARM core processor is electrically connected with the GPS antenna and the SIM through the communication module, the ARM core processor is electrically connected with the Ethernet port through the network card, and the ARM core processor is electrically connected with the HDMI port.
The invention has the beneficial effects based on the technical scheme that:
(1) according to the invention, the flow gravimeter is wirelessly controlled through the independent flow gravimeter handheld terminal, so that man-machine separation is realized, and the influence of manual reading and operation on observation precision can be avoided;
(2) the invention can carry out wireless communication through the handheld terminal of the flow gravimeter, and realizes the observation function of regional flow gravity networking.
Drawings
Fig. 1 is a schematic perspective view of a flow gravimeter hand-held terminal.
FIG. 2 is a side view schematic of a flow gravimeter handset.
FIG. 3 is a schematic diagram of the circuit module connections of a flow gravimeter handset terminal.
Fig. 4 is a schematic diagram of a bluetooth connection process.
Fig. 5 is a schematic diagram of a frame format of the RFCOMM.
FIG. 6 is a schematic diagram of a frame format of the Galileo communication protocol.
FIG. 7 is a schematic diagram of the RFCOMM protocol with Galileo base communication protocol.
FIG. 8 is a leveling interface schematic.
Fig. 9 is a schematic diagram of the change of the X and Y tilt angle taking points.
FIG. 10 is a schematic diagram showing the relationship between the required rotation number of the left screw and the inclination angles of X and Y.
FIG. 11 is a schematic diagram showing the relationship between the required number of turns of the right screw and the inclination angles of X and Y.
FIG. 12 is a schematic view of a solid tide correction calculation process.
Fig. 13 is a diagram of the calculation process for converting time data into julian century.
FIG. 14 is a schematic diagram of an iterative process of null-shift.
FIG. 15 is a schematic diagram of the general architecture of the database module.
FIG. 16 is a diagram of the overall functional architecture of a local file.
In the figure, 1-communication antenna, 2-touch screen, 3-battery chamber, 4-shell, 5-starting switch and 6-USB port.
Detailed Description
The invention is further illustrated by the following figures and examples.
The invention provides a flow gravimeter control method, which comprises the following steps:
s1, wireless connection: and wirelessly connecting the handheld terminal of the flow gravimeter with the flow gravimeter.
The embodiment adopts a Bluetooth communication mode to carry out wireless connection. In order to ensure the stability and the confidentiality of data communication, a point-to-point communication mode is adopted, namely, Bluetooth units of two communication parties use one channel, and other Bluetooth units cannot participate in communication after connection is successfully established. Due to the limited communication mode, in order to ensure that the handheld terminal can be connected with the Bluetooth module of the gravimeter, the interference of other devices with Bluetooth is removed. Referring to fig. 4, the specific scheme is as follows:
firstly, available Bluetooth equipment around is scanned through a Bluetooth communication module of a terminal, then a scanning result is filtered through limitation of an equipment name, the filtered result equipment is repeatedly connected, if the connection is successful after the connection exceeds a specified number of times, the connection is regarded as failed, the user is reminded of relevant information, and the connection success can return the equipment serial number of the connected equipment.
After the handheld terminal is connected to the gravimeter through the Bluetooth, data interaction is achieved through a serial port simulation protocol RFCOMM. The RFCOMM is serial port simulation based on a logical link control and adaptation protocol L2CAP, can support 60-path communication connection between two Bluetooth devices, and provides possibility for a terminal to stably receive gravity data obtained by sampling a gravimeter in seconds and minutes. Like other communication protocols, RFCOMM requires data encapsulation, i.e. mapping data to be transmitted into the payload of an encapsulation protocol, which usually contains information such as destination address, control field, data length, data to be transmitted, etc. The encapsulated data packet is also called a data frame and comprises a frame head, a data part and a frame tail. The frame format of the RFCOMM is shown in FIG. 5.
Since the data format in the gravimeter is not single, the data contained in the transmitted data frame is not only observation data of gravity only, but also needs to include response information for sending other requests to the terminal. Including a reply to the acquisition serial number, a reply to the instrument calibration, a reply to the instrument measurement start and end. And when detecting that the command instruction is wrong or the cache overflows to generate errors, returning corresponding error reporting information. In addition, inclinometer readings in the gravimeter are sent along with the instrument readings. Therefore, in order to ensure that the instrument can return correct information in different requests, a layer of communication protocol needs to be added on the basis of the RFCOMM communication protocol, which is the galileo basic communication protocol. The frame format of the galileo communication protocol is divided into two forms of request and reply, and the specific form is shown in fig. 6. The length bit refers to the length of the data frame, the task type is used to indicate whether the data frame is used to request a related operation or reply to a different request, and the related parameter is associated with the task type to indicate the specific purpose of the data frame.
A scheme for how a piece of gravimeter data is sent and received by the hand-held terminal is shown in fig. 7. After the gravity data are obtained, local variables in the codes are re-assigned through logic judgment statements, and corresponding data are placed into preset arrays for classified storage.
S2, basic setting: the parameters of the flow gravimeter are set through the flow gravimeter handheld terminal, and the parameters comprise date manual correction, longitude and latitude manual correction, inclination angle correction, null shift correction, gravity correction, solid tide correction and reference correction.
S3, setting measurement parameters: and setting pre-stored files of the flow gravimeter, such as file name setting, measurement address name setting, measurement time setting, tide correction mode setting, remark adding, measurement point name setting, elevation setting, nominal value setting and measurement mode setting, by the handheld terminal of the flow gravimeter before measurement is started.
S4, rapid measurement: and directly using default parameters of the system to measure without setting related parameters before measurement. The flow gravimeter can be leveled by the flow gravimeter handheld terminal and measured, and a file obtained by measuring the flow gravimeter by the flow gravimeter is transmitted to the flow gravimeter handheld terminal in real time for storage.
The instrument leveling is to judge whether the instrument reaches the level or not through a three-axis accelerometer in the instrument, under the condition of not being horizontal, at least one reading of an X axis and a Y axis is nonzero, the size of an inclination angle of the X axis and the Y axis can be calculated according to the current acceleration value of the Z axis, the inclination angle is used as a mathematical basis for calculating the number of turns of screws rotating the left foot and the right foot, and the mathematical basis is displayed in a leveling interface shown in the figure 8. The leveling range that this interface can demonstrate is that the number of turns that the screw needs to rotate is within 1 turn. The leveling specifically comprises the following processes:
a1 obtaining the X-axis inclination angle in the three-axis accelerometer of the flow gravimeter by the Bluetooth communication modeXAnd Y tilt angleY。
The specific function of the leveling interface is that the amplitude to be adjusted is visually displayed in front of a user in the leveling process, the buoy is required to be stable at the original point position of the interface when the instrument is stable, when any rotation number is greater than 1, the buoy is constantly positioned at the outermost ring, and the specific position of the interface is only required to uniformly reflect the rotation number and the rotation direction. It is specified that when only one screw needs to be rotated to achieve the level of the instrument, the buoy will be on the coordinate axis of the indicator diagram, the X, Y axis corresponds to different screws, and the smaller circle in the middle represents a sub-level state, i.e. the required number of rotations is within 0.1.
After the numerical value of a specific position of the indicator diagram is fixed, other positions can be subjected to fitting analysis in a random point-taking mode. The specific implementation mode is that the required rotation number of turns of one foot screw is fixed to be 0, the other rotation number of turns is gradually increased according to the step length of 0.1, the inclination angle and the expected position coordinate after each change are recorded, and the change relation between the inclination angle and the rotation number of turns and the relation between the inclination angle and the indicating diagram coordinate are integrated under the condition of different numbers of turns. The change of the X and Y tilt angles when the points are taken in the above manner is shown in FIG. 9. As can be seen from the figure, when the number of rotations changes linearly, the X and Y tilt angles also change linearly, although the change slopes are different, but the results can show that the number of rotations and the tilt angles can be regarded as the same type of change. The specific mapping relationship of the left and right foot screws to the X and Y tilt angles needs to be discussed. As can be seen from fig. 9, when only one screw is rotated, the X and Y tilt angles change simultaneously, so that it is necessary to determine the relationship between the current values of the two tilt angles and the number of rotations required for a single screw. The relationship between the number of rotations required for the left screw and the X and Y tilt angles is shown in FIG. 10, in which the counterclockwise direction is positive and the clockwise direction is negative. Similarly, the related conditions of the right screw are studied, and the right screw needs to be rotated for the number of turns and the X-shaped inclination angleXAnd Y tilt angleYThe relationship is shown in FIG. 11.
Fitting is performed according to fig. 10 and fig. 11, respectively, to obtain the number of turns of the left screw required to rotate:
and the number of turns of the right screw is required to be rotated:
the relationship between the position coordinates of the float and the X and Y tilt angles needs to be premised on the radius and center of the circle in a given leveling indication map. Since the use of screen adaptation is considered, an adaptation factor needs to be added to the relationmainwidthAndmainheightfor adjusting the respective width and height. The research method is the same as the research content, and is not redundant. The data analysis shows that the specific moving rule of the buoy is combined with the X-angle and the Y-angledriftIs directly related and the classification discussion is done with the absolute value of the resultant angle as the boundary at 0.05.
A2, based on the calculation, controlling the left screw and the right screw of the flow gravimeter to rotate through the handheld terminal of the flow gravimeter, and during the rotation, inclining the angle X according to the following relationXAnd Y tilt angleYConversion to buoy coordinates
：
WhereinmainwidthFor the adaptive factor of the width of the buoy,mainheightis a self-adaptive factor for the height of the buoy,driftis an X tilt angleXAnd Y tilt angleYThe resultant angle of (c) is calculated by the following formula:
a3, calculating the number of turns of the left screw required to achieve the leveling purpose according to the relation (4), and calculating the number of turns of the right screw required to achieve the leveling purpose according to the relation (5);
a4 displaying coordinates of buoy in indication map of leveling interface
And the left and right screws require a number of turns, respectively.
A5, repeating the steps A1 to A4 until the buoy coordinate is located at the origin position of the leveling interface indication graph, and finishing leveling.
And after the leveling is finished, a signal can be sent to the flowing gravimeter through the handheld terminal of the flowing gravimeter, and the flowing gravimeter is controlled to measure.
After the measurement is finished and the gravity measurement data are obtained, time correction and null shift correction can be carried out in basic setting, and the method specifically comprises the following processes:
and B1, calculating the corresponding solid tide value according to the time stamp of each sampling point, wherein the calculation process is shown in figure 12, and the time data is subjected to five steps to obtain the final solid tide result. The time data is in the form of current year, month, day, hour, minute and second, and is converted into the expression form of julian days, and the year, month, day and time of the time data need to be judged and processed respectively, and the minute and second are converted according to the normal day ratio. After the corresponding julian day is obtained, the current number of hours is also needed, so that the julian century can be obtained. The specific process of converting from time data to julian century is shown in fig. 13.
The gravity observation data corrected for tide is then expressed as:
the null shift for each sample point is represented as:
the ideal gravimeter value for each sample point is:
b2 gradient variable quantity matrixA，
：
Wherein
The value of the supplementary value of the square matrix tends to zero; the tide corrected gravity observation data, the null shift and the ideal value of the gravimeter satisfy the following relations:
wherein
For the error produced by the relation, the following distribution is satisfied:
wherein
A covariance matrix which is a Gaussian distribution;
obtained from formulae (10) and (11):
b3, determining prior distribution, likelihood function, edge density function and posterior distribution of null shift:
the zero drift at each time satisfies the following form
Wherein
The actual value is represented by the value of,
the deviation between the estimated value and the true value is represented, the zero drift in the measurement time period obeys the form of a Gaussian process, and the mean matrix and the covariance matrix are calculated through the following process;
assuming that the null shift has continuity in continuous time, the following relationship needs to be satisfied:
wherein
For arrays that tend to zero, the following distribution is satisfied:
wherein
A covariance matrix which is a Gaussian distribution;
the following distribution is obtained from equations (14) and (15):
it is known that
Is a Gaussian process, and is calculated according to the linear property of the Gaussian process
The distribution form of (A) is as follows:
the probability density function of the prior distribution is obtained from equation (17):
the expression for the likelihood function obtained by combining equations (12) and (18) is:
solving the following edge density function to predict the regularization factor of the posterior distribution, the edge density function being:
after solving the regularization factor of the posterior distribution, obtaining the expression of the posterior distribution of the null shift according to a Bayesian formula as follows:
b4, solving posterior distribution, carrying out mean value estimation on the sampling points through the posterior distribution, and taking the mean value of Gaussian distribution as an estimated value of null shift, thereby completing null shift correction; in the process of solving
Using the variance generated by the sample;
is a hyperparameter of zero-shift prior distribution, is determined by increasing the calculation times to obtain a convergence limit, and takes and as an initial value
A number of the same order; and increasing the calculation times to take the posterior distribution of the previous time as the iterative method of the prior distribution of the second time.
In the iterative scheme in this embodiment, 1440 minute sampling points on the first day are used as the preprocessing data of the algorithm, and after 1000 times of repeated calculation, accurate 1440 null shift values are obtained. The update of the sample array is realized by left shift operation on new sample data, and to ensure that the sample points correspond to the zero shift values one by one, the left shift operation is performed on the diagonal element array in the zero shift mean matrix and the covariance matrix at the same time, as shown in fig. 14.
The precondition that increasing the number of iterations can improve the accuracy of the hyperparameter is that the mean and variance of the zero-shifted posterior distribution converge gradually as the number of iterations increases. The convergence of the hyperparameters may be verified first before the feasibility of the data verification algorithm is performed. The verification method is divided into theoretical verification and data verification, and the process of the theoretical verification is as follows:
for convenience of representation, will
And
being reduced to only one element
Matrix array
And
obtaining:
the posterior distribution variance of the null shift calculated by the Bayes formula is the comprehensive embodiment of the two. After the posterior distribution is used as the prior distribution of the next Bayesian formula, the variance of the obtained second posterior distribution is as follows:
the variance of the nth posterior distribution is:
it can be seen that the posterior distribution variance decreases and goes to zero as the number of layers increases, proving that the posterior distribution convergence is convergent and the convergence limit is 0.
The mean of the posterior distribution is simplified to obtain:
it can be seen that, as the number of layers to be calculated increases,
gradually trend to zero, and the above formula can be obtained
. It is shown that as the number of layers of computation increases, the mean of the null shift converges while the variance of the posterior distribution converges.
After the theoretical verification of convergence is completed, the convergence of the mean value and the variance of the zero drift can be verified through the actual data, and the convergence limit is determined as the final required value.
S5, file processing: the file processing method comprises the steps of processing files in the handheld terminal of the flow gravimeter, wherein the file processing operations comprise new creation, addition, deletion, query and copy operations, and can be realized through database operation. Since the data type to be processed is only text type, the requirement can be realized only by creating a table and then putting the related data into the table for operation. Since the QSqlite database is designed based on SQLite, the SQLite language is required for the operation of the table, and the language is more intuitive compared with other traditional languages, for example, deleting the data named bbb in the table aaa, namely, ' delete from aaa where name = ' bbb ' ″. Since the required version blocks for using the database and the related operations of the database are not unique, the database management module needs to be designed so that the operation modules of the database can be flexibly applied to different version blocks. The module comprises the related operations of the database, such as new creation, naming, closing and the like of the database, and the operations of the tables in the database, such as new creation, addition, deletion, closing and the like of the tables. The general architecture of the database module is shown in fig. 15.
The files stored in the handheld terminal of the flow gravimeter can be divided into two types, namely a gravity data file and a corresponding log file, wherein the gravity data file records the serial number, the sampling date, the longitude and latitude and the elevation of a sampling place of the used instrument and the related data acquired under each timestamp. The log file is generated together with the gravity data file, and records the starting and ending information and the error reporting information which possibly occurs in the middle of the data acquisition process. After the collection, the data files are stored in different folders respectively. The overall functional architecture of the local file is shown in fig. 16.
The flow gravimeter handheld terminal can also be connected with the table network center through a wireless communication mode (such as a 4G mode). And the handheld terminal is used as a server and is interconnected with the central station network used as a client. The virtual IP given by the base station varies from place to place. In order to realize that the central platform network is connected with the handheld terminals in various places on the premise of not being constrained by places, the IP address of the central platform network serving as the client needs to be set in the terminal in advance, so that the purpose of sending the IP address to the specified client when data transmission is carried out outdoors is realized. On the premise of obtaining the address of the server, the client can send a corresponding data request instruction to the server to obtain real-time gravity data. The general idea of realizing interconnection between the handheld terminal and the station network center through the 4G communication module is as follows: firstly, whether each current module is in a working state, whether an SIM card can be checked and whether the used SIM card can be normally connected to the Internet is confirmed through a network environment detection AT instruction. Under the premise that the network environment detects that all the data is normal, the TCP/IP network mode and the TCP/IP address and the port number which are to be sent are set by using the AT command transmitted by the TCP/IP protocol, and the data can be sent on the premise that all the data is normal.
Referring to fig. 1 to 3, the invention also provides a mobile gravimeter handheld terminal based on the control method, which comprises a shell 4, wherein a touch screen 2 is arranged at the front part of the shell, a battery bin 3 is arranged at the lower part of the shell, a communication antenna 1 is arranged at the top part of the shell, a circuit board is packaged in the shell, an ARM core processor, a touch screen controller, a communication module and a bluetooth module are integrated on the circuit board, the touch screen controller, the communication module and the bluetooth module are electrically connected with the ARM core processor, the ARM core processor is electrically connected with a USB port 6 through a USB management chip, a power supply, the communication antenna and the touch screen in the battery bin are respectively electrically connected with the circuit board, and the shell can be further provided with a starting switch 5.
The ARM core processor is electrically connected with the earphone and the loudspeaker through the audio interface.
The ARM core processor is electrically connected with the GPS antenna and the SIM through the communication module, the ARM core processor is electrically connected with the Ethernet port through the network card, and the ARM core processor is electrically connected with the HDMI port.
The flow gravimeter control method and the flow gravimeter handheld terminal provided by the invention can be connected with the flow gravimeter in a wireless communication mode, realize man-machine separation control measurement and avoid interference of human factors on the work of measuring equipment.
Claims (9)
1. A flow gravimeter control method is characterized by comprising the following steps:
s1, wireless connection: wirelessly connecting the handheld terminal of the flow gravimeter with the flow gravimeter;
s2, basic setting: setting parameters of the flow gravimeter through a handheld terminal of the flow gravimeter, wherein the parameters comprise date manual correction, longitude and latitude manual correction, inclination angle correction, null shift correction, gravity correction, solid tide correction and reference correction;
s3, setting measurement parameters: setting a pre-stored file of the flow gravimeter through a handheld terminal of the flow gravimeter before measurement is started;
s4, rapid measurement: the flow gravimeter is subjected to instrument leveling and measurement through the flow gravimeter handheld terminal, and a file obtained by the flow gravimeter through instrument measurement is transmitted to the flow gravimeter handheld terminal in real time for storage; the method is characterized in that the flowing gravimeter is leveled by the handheld terminal of the flowing gravimeter, and the method specifically comprises the following steps:
A1、obtaining X-axis tilt angle in a three-axis accelerometer of a flow gravimeterXAnd Y tilt angleY；
A2, controlling the left and right screws of the flow gravimeter to rotate through the handheld terminal of the flow gravimeter, and inclining the angle X according to the following relation during the rotationXAnd Y tilt angleYConversion to buoy coordinates
：
WhereinmainwidthFor the adaptive factor of the width of the buoy,mainheightis a self-adaptive factor for the height of the buoy,driftis an X tilt angleXAnd Y tilt angleYThe resultant angle of (c) is calculated by the following formula:
a3, calculating the rotation number of the left screw needed to achieve the leveling purpose according to the following relational expression:
the number of turns of the right screw needed to achieve the leveling purpose is calculated according to the following relation:
a4 displaying coordinates of buoy in indication map of leveling interface
And the left screw and the right screw respectively need to rotate the number of turns;
a5, repeating the steps A1 to A4 until the coordinates of the buoy are located at the origin position of the indication graph of the leveling interface, and finishing leveling;
s5, file processing: and processing the file in the handheld terminal of the flow gravimeter.
2. The flow gravimeter control method according to claim 1, characterized in that: step S1 is performed by wireless connection using bluetooth communication.
3. The flow gravimeter control method according to claim 1, characterized in that: in step S1, the gravity observation data between the handheld terminal of the flow gravimeter and the flow gravimeter is subjected to data interaction via a serial port simulation protocol, and the request and reply information are subjected to data interaction via a galileo communication protocol.
4. The flow gravimeter control method according to claim 1, characterized in that: the zero drift correction in step S2 specifically includes the following steps:
b1, calculating the corresponding solid tide values from the time stamp of each sample point, then expressing the gravity observation data corrected by tide as:
the null shift for each sample point is represented as:
the ideal gravimeter value for each sample point is:
b2 gradient variable quantity matrixA，
：
Wherein
The value of the supplementary value of the square matrix tends to zero; the tide corrected gravity observation data, the null shift and the ideal value of the gravimeter satisfy the following relations:
wherein
For the error produced by the relation, the following distribution is satisfied:
wherein
Is a Gauss scoreA covariance matrix of the cloth;
obtained from formulae (10) and (11):
b3, determining prior distribution, likelihood function, edge density function and posterior distribution of null shift:
the zero drift at each time satisfies the following form
Wherein
The actual value is represented by the value of,
the deviation between the estimated value and the true value is represented, the zero drift in the measurement time period obeys the form of a Gaussian process, and the mean matrix and the covariance matrix are calculated through the following process;
assuming that the null shift has continuity in continuous time, the following relationship is satisfied:
wherein
For arrays that tend to zero, the following distribution is satisfied:
wherein
A covariance matrix which is a Gaussian distribution;
the following distribution is obtained from equations (14) and (15):
it is known that
Is a Gaussian process, and is calculated according to the linear property of the Gaussian process
The distribution form of (A) is as follows:
the probability density function of the prior distribution is obtained from equation (17):
the expression for the likelihood function obtained by combining equations (12) and (18) is:
solving the following edge density function to predict the regularization factor of the posterior distribution, the edge density function being:
after solving the regularization factor of the posterior distribution, obtaining the expression of the posterior distribution of the null shift according to a Bayesian formula as follows:
b4, solving posterior distribution, carrying out mean value estimation on the sampling points through the posterior distribution, and taking the mean value of Gaussian distribution as an estimated value of null shift, thereby completing null shift correction; in the process of solving
Using the variance generated by the sample;
is a hyperparameter of zero-shift prior distribution, is determined by increasing the calculation times to obtain a convergence limit, and takes and as an initial value
A number of the same order; and increasing the calculation times to take the posterior distribution of the previous time as the iterative method of the prior distribution of the second time.
5. The flow gravimeter control method according to claim 1, characterized in that: in step S5, the file processing includes new creation, addition, deletion, inquiry, and copy operations.
6. The flow gravimeter control method according to claim 1, characterized in that: in step S5, the mobile gravimeter handheld terminal is connected to the network center via wireless communication.
7. A flow gravimeter hand-held terminal based on the control method of claim 1, characterized in that: the battery pack comprises a shell, wherein a touch screen is arranged at the front part of the shell, a battery bin is arranged at the lower part of the shell, a communication antenna is arranged at the top of the shell, a circuit board is packaged in the shell, an ARM core processor and a touch screen controller, a communication module and a Bluetooth module are integrated on the circuit board, the touch screen controller is electrically connected with the ARM core processor, the ARM core processor is electrically connected with a USB port through a USB management chip, and a power supply, the communication antenna and the touch screen in the battery bin are respectively electrically connected with the circuit board.
8. The flow gravimeter hand-held terminal according to claim 7, characterized in that: the ARM core processor is electrically connected with the earphone and the loudspeaker through the audio interface.
9. The flow gravimeter hand-held terminal according to claim 7, characterized in that: the ARM core processor is electrically connected with the GPS antenna and the SIM through the communication module, the ARM core processor is electrically connected with the Ethernet port through the network card, and the ARM core processor is electrically connected with the HDMI port.
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