WO2018099368A1 - 一种太阳能追踪和定位控制系统及其控制方法 - Google Patents
一种太阳能追踪和定位控制系统及其控制方法 Download PDFInfo
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- WO2018099368A1 WO2018099368A1 PCT/CN2017/113346 CN2017113346W WO2018099368A1 WO 2018099368 A1 WO2018099368 A1 WO 2018099368A1 CN 2017113346 W CN2017113346 W CN 2017113346W WO 2018099368 A1 WO2018099368 A1 WO 2018099368A1
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D3/00—Control of position or direction
- G05D3/12—Control of position or direction using feedback
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E10/00—Energy generation through renewable energy sources
- Y02E10/50—Photovoltaic [PV] energy
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- the invention relates to a solar energy tracking and positioning control system and a control method thereof, and belongs to the field of solar power generation.
- Existing solar tracking control systems typically use the light intensity data of the solar radiation sensor to obtain the azimuth and elevation angles of the solar light, or to capture changes in the solar image to analyze the angle of incidence and azimuth of the sunlight.
- the above control system is placed on an unstable plane (such as the water surface) or the overall moving platform (such as photovoltaic power generation system), because the tracking reference is small (only tracking the sun), resulting in frequent jittering of the tracking results or even the result can not converge.
- the Chinese patent publication CN103840757A discloses a solar tracking method and device for a photovoltaic power generation device, and the solar tracking method and device for the photovoltaic power generation device adopts the calculation of the sun image information to obtain the incident direction of the sunlight. Angle and elevation.
- a three-dimensional positioning system is also needed to measure the position and direction of the device in real time.
- the prior art usually adopts satellite positioning, ultrasonic or laser measurement.
- the technical means are realized by distance, but the satellite positioning technology has the problems of low precision and easy drifting jitter, and the ultrasonic ranging positioning technology has the problem of being susceptible to environmental noise.
- Positioning generally measures the distance by capturing the intensity of the feedback signals of laser, ultrasonic, and radio. The measurement accuracy is easily affected by external factors such as haze, wind speed, temperature, humidity, etc., and a complicated compensation mechanism needs to be introduced.
- the present invention provides a solar tracking and positioning control system and a control method thereof, and the solar tracking and positioning control system and the control method thereof use the visual recognition technology to simultaneously realize three-dimensional positioning and solar ray angle tracking, which can not only improve Controlling the accuracy and immunity of positioning and tracking can also reduce the cost of construction and maintenance.
- a solar tracking and positioning control system includes a visual positioning device and a solar platform control device; the visual positioning device includes at least three fixed reference light sources, a panoramic image collector, and a processing analyzer that are not on the same line; the solar platform control device
- the utility model comprises a carrying platform and a deflection driving unit; the panoramic image collecting device is arranged on the carrying platform, the solar energy panel is further arranged on the carrying platform, the panoramic image collecting device is linked with the solar panel; the reference light source is arranged outside the carrying platform; the processing analyzer respectively and The panoramic image collector and the deflection driving unit are communicably connected; the panoramic image collector collects image information around itself; the processing analyzer receives the image information sent by the panoramic image collector and sends the tracking control instruction information to the deflection driving unit after calculation; the deflection driving The unit drives the biaxial rotation of the solar panel or the uniaxial rotation of the solar panel and the rotation of the carrying platform to track the solar incident angle and the solar azimuth.
- the processing analyzer includes a digital processing analysis hardware, a standard time system, and a calculation analysis software, and the digital processing analysis hardware is used to support the software operation of the calculation analysis algorithm; the processing analysis device is calculated and analyzed according to the standard time system and the calculation analysis software. Solar energy absorbs the required deflection angle of the panel.
- the yaw drive unit comprises a dual-axis tracking bracket device disposed at a lower portion of the solar panel.
- the yaw drive unit comprises a single-axis tracking bracket device disposed at a lower portion of the solar panel and a power device disposed under the carrying platform, and the single-axis tracking bracket device and the power device jointly implement dual-axis tracking of the solar panel to sunlight .
- the panoramic image collector is disposed on the dual-axis tracking bracket or disposed on the single-axis tracking bracket device to implement linkage with the solar panel.
- a solar tracking and positioning control method includes the following steps in sequence:
- the panoramic image collector collects image information in real time, and the panoramic image collector sends the collected image information to the processing analyzer;
- the processing analyzer receives the image information sent by the panoramic image collector, and instantly calculates an angle ⁇ , ⁇ , ⁇ of the connection between the optional three reference light sources and the panoramic image collector;
- the processing analyzer obtains a relative distance between the three reference light sources according to the geographical coordinates of the selected three reference light sources, and then selects an angle between the three reference light sources and the panoramic image collector according to step S2.
- the processing analyzer calculates the real-time geographic coordinates of the panoramic image collector on the carrying platform;
- step S5 obtaining an instant time according to the standard time system, and real-time geographic coordinates of the bearer platform obtained in step S3, and the processing analyzer calculates the current solar incident angle and azimuth angle of the geographic location of the bearer platform;
- the processing analyzer calculates the orientation information of the solar absorption panel.
- the processing analyzer calculates the deflection angle of the solar absorption panel
- the processing analyzer sends the calculated deflection angle information of the solar absorption panel to the deflection drive.
- the moving unit, the yaw drive unit controls the rotation of the solar absorbing panel so that the solar absorbing panel is always perpendicular to the sun's rays.
- step S2 the angle between the three reference light sources and the panoramic image collector is calculated in step S2; the following substeps are performed in sequence:
- the processing analyzer knows the field of view information of the panoramic image collector, and can determine the projection position of the picture in the observation coordinate system;
- the processing analyzer uses the visual recognition technology to identify and distinguish the position of each reference light source in the image, thereby determining the position A', B', C' of the projection point of the reference light source on the image in the observation coordinate system. ;
- the processing analyzer determines an orientation of a straight line of each reference light source and the panoramic image collector in the observation coordinate system; thereby determining an angle ⁇ , ⁇ , ⁇ of the connection between each reference light source and the panoramic image collector.
- step S6 the orientation information of the solar absorption panel is obtained in step S6; and the following substeps are performed in sequence:
- the processing analyzer can obtain the coordinates of the reference light source in the observation coordinate system.
- the processing analyzer can calibrate the position of the panoramic image collector in the actual geographic coordinate system and observe the coordinate system in actual geography.
- the orientation in the coordinate system, the solar absorption panel is linked with the panoramic image collector, and the processing analyzer calculates the orientation information of the solar absorption panel.
- the panoramic image collector in step S3 acquires real-time geographic coordinates; and includes the following sub-steps:
- the reference light source includes a first light generating device, a second light generating device, and a third light emitting device.
- the positioning coordinates of the first light generating device, the second light generating device, and the third light generating device are respectively A, B, and C, and the three flat points ABC are formed by three points A, B, and C;
- step S3-5 according to the values of a 1 , b 1 and c 1 obtained in step S3-4, it is also known that the coordinates of the positioning points of the first light generating device, the second light generating device and the third light generating device are respectively A, B, C, according to the two-point distance formula in the space, the real-time geographic coordinates of the panoramic image collector can be obtained.
- the invention adopts visual recognition technology to simultaneously realize three-dimensional positioning and solar angle tracking, which not only improves the accuracy and anti-interference ability of control positioning and tracking, but also reduces the cost of construction and maintenance.
- the invention combines the positioning system and the tracking system into one, avoiding separately constructing two systems to realize the functions of solar light angle tracking and three-dimensional positioning of the carrying platform, which not only reduces system construction and maintenance costs, but also reduces equipment. Increase the overall reliability of the system.
- the invention effectively improves the accuracy of the tracking control system, adopts multiple reference light sources as reference objects, avoids using only sunlight as a single reference object, and can significantly improve the tracking control system by adding reference objects.
- the accuracy can better solve the problem that the tracking system frequently jitters or even the result cannot converge.
- the invention improves the anti-interference ability of the tracking control system, and adopts a synthetic high-stability light source instead of receiving light source according to the receiving sunlight, which is susceptible to uncontrollable factors such as fog and cloudy weather, and can It is better to improve the anti-interference ability of the tracking control system, and also avoid complex compensation algorithms that need to be affected by the environment.
- the invention improves the accuracy and anti-interference ability of the positioning system.
- the system adopts three-point positioning on the ground, and does not require the reference objects to be in a plane and does not require a specific angle and position.
- the tracking effect is good, and the satellite positioning technology can be solved.
- Figure 1 is a schematic view of the overall structure of the present invention
- FIG. 2 is a schematic view of an embodiment of a deflection driving unit of the present invention.
- FIG. 3 is a schematic view of another embodiment of a deflection drive unit of the present invention.
- Figure 4 is a schematic view of the observation coordinate system of the present invention.
- Figure 5 is a schematic view showing the observation of the angle of view of the camera of the present invention.
- FIG. 6 is a schematic diagram of coordinate calculation of the panoramic image collector of the present invention.
- 1-bearing platform 11-solar panel, 2-reference light source, 3-panoramic image collector, 4-processing analyzer, 6-double-axis tracking bracket device, 6-single-axis tracking bracket device, 7-power unit .
- a solar tracking and positioning control system including a visual positioning device and solar energy Stage control device;
- the visual positioning device comprises at least three fixed reference light sources 2, a panoramic image collector 3 and a processing analyzer 4 which are not on the same straight line;
- the solar platform control device comprises a carrying platform 1 and a deflection driving unit, and panoramic image acquisition
- the panoramic image collector 3 is disposed on the carrying platform 1 , and the panoramic image collector 3 is disposed in the center of the carrying platform 1 .
- the receiving platform 1 is further provided with a solar panel 11 , and the panoramic image collector 3 is linked with the solar panel 11 , that is, the panoramic image.
- the collector 3 and the solar panel 11 are fixed in a mutually oriented relationship; further, the panoramic image collector 3 and the solar absorption panel are both disposed on the yoke of the yaw drive unit, and the orientation is consistent with the orientation of the solar panel 11 and is driven by the yaw.
- the unit synchronizes the control deflection.
- the reference light source 2 is disposed at a distance away from the carrying platform 1, the position of each reference light source 2 is determined, the geographical coordinates and altitude of the position are known, and the light source information can always be collected by the panoramic image collector 3;
- the reference light source 2 has different image features, such as different spectral features or shape features, which can be recognized by the processing analyzer 4 as a reference object;
- the reference light source 2 includes at least three, and each reference can be arbitrarily selected three references.
- the light source 2 is used as a reference and finally averaged.
- the reference light source 2 is provided with a light source, which can emit light signals such as visible light or invisible light for a long time without interruption or according to needs.
- the light source on the reference light source 2 adopts a synthetic high-stability light source, and has strong anti-interference ability instead of adopting the sun.
- the light source is susceptible to being positioned as a reference by a light source that is uncontrollable by natural environments such as haze or cloudy; the panoramic image collector 3 is communicatively coupled to the processing analyzer 4; the processing analyzer 4 and the yaw drive unit are communicatively coupled.
- the panoramic image collector 3 collects image information around itself; the processing analyzer 4 receives the image information sent by the panoramic image collector 3 and transmits tracking control instruction information to the deflection driving unit, and calculates the real-time geographic coordinates of the carrier platform 1 and the carrier platform. 1 current solar incident angle and azimuth; the deflection drive unit drives the biaxial rotation of the solar panel 11 Or the uniaxial rotation of the solar panel 11 and the self-rotation of the carrier platform 1 to track the solar incident angle and the solar azimuth.
- the solar tracking and positioning control system combines the positioning system and the tracking system to simplify the existing system, which not only reduces the system construction and maintenance costs, but also increases the overall system reliability due to the reduction of equipment.
- the yaw drive unit includes a dual-axis tracking bracket device 5 disposed at a lower portion of the solar panel 11, and the dual-axis tracking bracket device 5 controls the vertical axis of the vertical carrier platform 1 and is parallel to the carrier platform 1.
- the rotation of the horizontal axis controls the deflection of the solar panel 11 to achieve tracking of the solar incident angle and the solar azimuth;
- the yaw drive unit includes a single-axis tracking bracket device 6 disposed at a lower portion of the solar panel 11 and
- the power unit 7 disposed under the carrying platform 1 controls the rotation of the horizontal axis parallel to the carrying platform 1 to track the incident angle of the sun, and the power device 7 controls the rotation of the carrying platform 1 itself in the horizontal plane. Tracking the solar azimuth; the single-axis tracking bracket device 6 and the power unit 7 together enable the solar panel 11 to track the sunlight.
- the carrying platform 1 may be a floating water surface photovoltaic power generation platform or a photovoltaic power generation platform disposed on the land.
- the panoramic image collector 3 is provided with four symmetrically mounted cameras covering various orientations, the central field of view of the camera is kept consistent, and the center of the field of view remains vertical or opposite;
- the center of the field of view of two mutually perpendicular cameras constructs an observation coordinate system perpendicular to the direction of their central field of view, so that the captured image can form a unique projection in the observation coordinate system;
- the panoramic image collector 3 can The information formed by visible or invisible light in various directions is collected continuously for a long time or as needed, and the obtained image information is sent to the processing analyzer 4 together.
- the processing analyzer 4 includes digital processing analysis hardware, a standard time system, and a meter.
- the analysis software, the digital processing analysis hardware is used to support the software operation of the calculation analysis algorithm, and the processing analysis device 4 receives the image information collected by the panoramic image collector 3, and combines the known field of view information and reference information to calculate and analyze the panoramic image.
- the orientation information and the relationship between the orientation of the panoramic image collector 3 and the orientation of the solar absorption panel 11 can be used to calculate the required deflection angle of the solar absorption panel 11.
- a solar tracking and positioning control method includes the following steps in sequence:
- the panoramic image collector 3 collects image information in real time, the panoramic image collector 3 sends the collected image information to the processing analyzer 4;
- the processing analyzer 4 receives the image information sent by the panoramic image collector 3, and instantly calculates the angle ⁇ , ⁇ , ⁇ of the connection between the three reference light sources 2 and the panoramic image collector 3.
- the processing analyzer 4 obtains the relative distance between the three reference light sources 2, and then the three reference light sources 2 and the panoramic image collector 3 obtained according to step S2. The angle of the connection, the processing analyzer 4 calculates the real-time geographic coordinates of the panoramic image collector 3 on the carrier platform 1;
- step S5 obtaining the real time according to the standard time system, and the real-time geographic coordinates of the bearer platform 1 obtained in step S3, and the processing analyzer 4 calculates the current solar incident angle and azimuth angle of the geographic location of the bearer platform 1 by calculation;
- the processing analyzer 4 can obtain the parameters.
- the test light source 2 is in the observation coordinate system coordinates A, B, C; combined with the actual geographical coordinates of the known reference light sources 2 and the coordinates of the obtained reference light source 2 in the observation coordinate system, the processing analyzer 4 can calibrate the panoramic image collector 3
- the position in the actual geographic coordinate system and the orientation of the observed coordinate system in the actual geographic coordinate system that is, the orientation of the panoramic image collector 3 in the actual geographic coordinate system
- the solar absorption panel 11 is linked with the panoramic image collector 3, Obtaining orientation information of the solar absorption panel 11;
- the processing analyzer 4 calculates the deflection angle of the solar absorption panel 11;
- the processing analyzer 4 transmits the calculated deflection angle information of the solar absorption panel 11 to the deflection driving unit, and the deflection driving unit controls the solar absorption panel 11 to rotate so that the solar absorption panel 11 is always perpendicular to the solar rays.
- step S2 the angles ⁇ , ⁇ , ⁇ of the connection between the three reference light sources 2 and the panoramic image collector 3 are calculated in step S2; the following substeps are performed in sequence:
- the processing analyzer 4 knows the field of view information of the panoramic image collector 3, and can determine the projection position of the picture in the observation coordinate system; specifically, the processing analyzer 4 knows the field of view angle ⁇ of a camera.
- the size of the picture taken by the camera can determine the distance p of the picture projection position from the camera; thereby determining the projection position of the four pictures in the observation coordinate system composed of four cameras;
- the processing analyzer 4 uses the visual recognition technology to identify and distinguish the position of each reference light source 2 in the image, thereby determining the position A', B' of the projection point of the reference light source 2 on the image in the observation coordinate system. , C';
- the processing analyzer 4 determines the orientation of the straight line of each reference light source 2 and the panoramic image collector 3 in the observation coordinate system; thereby determining the angle ⁇ between the reference light source 2 and the panoramic image collector 3, ⁇ , ⁇ .
- the panoramic image collector 3 in step S3 acquires real-time geographic coordinates; and includes the following sub-steps:
- the reference light source 2 includes a first light generating device, a second light generating device, and a third light generating device.
- the coordinates of the positioning points of the first light generating device, the second light generating device, and the third light generating device are respectively A. , B, C, consisting of three points A, B, C to form a single plane triangle ABC;
- the processing analyzer 4 calculates to obtain the value of a 1 , the value of c 1 , the value of b 1 ;
- step S3-5 according to the values of a 1 , b 1 and c 1 obtained in step S3-4, it is also known that the coordinates of the positioning points of the first light generating device, the second light generating device and the third light generating device are respectively A, B, C, according to the two-point distance formula in the space, the real-time geographic coordinates of the panoramic image collector 3 can be obtained.
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Abstract
Description
Claims (9)
- 一种太阳能追踪和定位控制系统,其特征在于:包括视觉定位装置和太阳能平台控制装置;视觉定位装置包括至少三个不在同一直线上的固定式的参考光源(2)、全景图像采集器(3)以及处理分析器(4);太阳能平台控制装置包括承载平台(1)和偏转驱动单元;全景图像采集器(3)设置于承载平台(1)上,承载平台(1)上还设置有太阳能面板(11),全景图像采集器(3)与太阳能面板(11)联动;参考光源(2)设置于承载平台(1)的外部;处理分析器(4)分别和全景图像采集器(3)以及偏转驱动单元通信连接;全景图像采集器(3)采集自身四周的图像信息;处理分析器(4)接收全景图像采集器(3)发送的图像信息并在计算后发送跟踪控制指令信息给偏转驱动单元;偏转驱动单元驱动太阳能面板(11)的双轴转动或太阳能面板(11)的单轴转动及承载平台(1)的自身转动来追踪太阳入射角和太阳方位角。
- 根据权利要求1所述的太阳能追踪和定位控制系统,其特征在于:所述处理分析器(4)包括数字处理分析硬件、标准时间系统以及计算分析软件,数字处理分析硬件用于支撑计算分析算法的软件运行;处理分析装置(4)根据标准时间系统和计算分析软件计算分析得出太阳能吸收面板(11)所需偏转角度。
- 根据权利要求2所述的太阳能追踪和定位控制系统,其特征在于:所述偏转驱动单元包括设置在太阳能面板(11)下部的双轴追光支架设备(5)。
- 根据权利要求2所述的太阳能追踪和定位控制系统,其特征在于:所述偏转驱动单元包括设置在太阳能面板(11)下部的单轴追光支架设备(6)以及设置于承载平台(1)下方的动力装置(7),单轴追光支架设备(6)和动力装置(7)共同实现太阳能面板(11)对太阳光的双轴追踪。
- 根据权利要求3或4所述的太阳能追踪和定位控制系统,其特征在于: 所述全景图像采集器(3)设置于双轴追光支架(5)上或设置于单轴追光支架设备(6)上,以实现与太阳能面板(11)的联动。
- 一种太阳能追踪和定位控制方法,采用如权利要求1-5所述的太阳能追踪和定位控制系统,其特征在于:包括以下依序进行的步骤:S1、全景图像采集器(3)实时采集图像信息,全景图像采集器(3)将采集到的图像信息发送到处理分析器(4);S2、处理分析器(4)接收全景图像采集器(3)发送的图像信息,即时计算得出任选的三个参考光源(2)与全景图像采集器(3)的连线的夹角α,β,γ;S3、根据已选择的预知的三个参考光源(2)的地理坐标,处理分析器(4)得到三个参考光源(2)之间的相对距离,再根据步骤S2得到的三个参考光源(2)与全景图像采集器(3)连线的夹角,处理分析器(4)计算得出承载平台(1)上的全景图像采集器(3)的实时地理坐标;S4、多次重复S2至S3,以求得多种情况的平均值,实现精确定位;S5、根据标准时间系统取得即时时间,和步骤S3得出的承载平台(1)实时地理坐标,处理分析器(4)通过计算得出承载平台(1)所处地理位置当前的太阳入射角和方位角;S6、处理分析器(4)计算得出太阳能吸收面板(11)的取向信息;S7、根据步骤S3得出的太阳的入射角和方位角以及步骤S6得出的太阳能吸收面板的取向,处理分析器(4)计算得出太阳能吸收面板(11)的偏转角度;S8、处理分析器(4)将计算出的太阳能吸收面板(11)的偏转角度信息发送给偏转驱动单元,偏转驱动单元控制太阳能吸收面板(11)转动,使太阳能 吸收面板(11)始终与太阳光线垂直。
- 根据权利要求6所述的太阳能追踪和定位控制方法,其特征在于:步骤S2中的计算三个参考光源(2)与全景图像采集器(3)的连线的夹角;包括以下依序进行的子步骤:S2-1、处理分析器(4)已知全景图象采集器(3)的视场信息,可以确定图片在观察坐标系中的投影位置;S2-2、处理分析器(4)利用视觉识别技术,识别和区别出各参考光源(2)在图像中的位置,从而确定参考光源(2)在图像上的投影点在观察坐标系中的位置A’,B’,C’;S2-3、处理分析器(4)确定各参考光源(2)与全景图像采集器(3)所在直线在观察坐标系中的取向;可以由此确定各参考光源(2)与全景图像采集器(3)连线的夹角α,β,γ。
- 根据权利要求7所述的太阳能追踪和定位控制方法,其特征在于:步骤S6中得出太阳能吸收面板(11)的取向信息;包括以下依序进行的子步骤:S6-1、根据步骤S3得到的各参考光源(2)与全景图像采集器(3)的距离,以及参考光源(2)在图像上的投影点在观察坐标系中的位置,处理分析器(4)可以得到参考光源(2)在观察坐标系中坐标A,B,C;S6-2、结合已知的各参考光源(2)的实际地理坐标和所得参考光源(2)在观察坐标系中坐标,处理分析器(4)可以标定全景图像采集器(3)在实际地理坐标系中的位置以及观察坐标系在实际地理坐标系中的取向,太阳能吸收面板(11)与全景图像采集器(3)联动,处理分析器(4)计算得出太阳能吸收面板(11)的取向信息。
- 根据权利要求8所述的太阳能追踪和定位控制方法,其特征在于:步骤S3中的全景图像采集器(3)获取实时地理坐标;包括以下依序进行的子步骤:S3-1、参考光源(2)包括第一光线发生设备、第二光线发生设备和第三光线发生设备;第一光线发生设备、第二光线发生设备和第三光线发生设备的定位点坐标分别为A、B、C,由A、B、C三点构成唯一一个平面三角形ABC;S3-2、处理分析器(4)获得全景图像采集器(3)所在点坐标O,通过步骤S2得出O点与A、B、C三点的夹角,即角∠AOC=γ、∠AOB=α、∠BOC=β;S3-3、处理分析器(4)获得第一光线发生设备和第三光线发生设备的距离AC=c,第一光线发生设备和第三光线发生设备的距离AB=a、第二光线发生设备和第三光线发生设备的距离BC=b;S3-4、设全景图像采集器(3)与第一光线发生设备距离AO=a1,全景图像采集器(3)与第三光线发生设备距离CO=c1,全景图像采集器(3)与第二光线发生设备距离BO=b1,根据公式: 处理分析器(4)计算从而求得a1的值,c1的值,b1的值;S3-5、根据步骤S3-4得到的a1、b1和c1的值,又已知第一光线发生设备、第二光线发生设备和第三光线发生设备的定位点坐标分别为A、B、C,根据空间中两点距离公式列方程,可得出全景图像采集器(3)的实时地理坐标。
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