A method for determining the optimal position of mobile measurement and control equipment

Abstract

The present invention provides a method for determining the optimal position of a mobile measurement and control device, comprising: obtaining the score of each mobile measurement and control device in this iteration according to satellite orbit data, measurement and control requirements, measurement and control constraints, and the position of each mobile measurement and control device in combination with a given score function; correcting the speed of each mobile measurement and control device according to the score, and updating the position of each mobile measurement and control device according to the speed of each mobile measurement and control device after this correction, and repeating this cycle until the iteration termination condition is reached, and then outputting the optimal position of each mobile measurement and control device. The present invention provides a method for determining the optimal position of a mobile measurement and control device, based on a particle swarm algorithm, treating the mobile measurement and control device as a "bird" for prey, treating the quality of the measurement and control conditions as the amount of food at each position, simulating the placement of a large number of mobile measurement and control devices in a certain area, and finding the optimal measurement and control position that meets the measurement and control requirements by simulating the group predation process.

Description

Technical Field

[0001] The present invention belongs to the technical field of spacecraft measurement and control, and in particular relates to a method for determining the optimal position of a mobile measurement and control device. Background Art

[0002] In aerospace measurement and control, mobile measurement and control equipment has unique advantages. Mobile measurement and control equipment includes vehicle-mounted measurement and control equipment, measurement ships, etc., which can maneuver in a large range and can adaptively select positions according to different flight trajectories of spacecraft. Therefore, how to reasonably design measurement and control points for different flight trajectories to achieve the best measurement and control effect is a very meaningful issue.

[0003] In the actual implementation of measurement and control, the flight trajectory of the spacecraft is often designed in advance, and a time-based orbital data file is given, such as the OEM file format agreed upon by CCSDS. At present, determining the measurement and control points of mobile measurement and control equipment based on orbital data files has the following problems: since orbital data files cannot be differentiated, if the orbital equation is inferred from the orbital file, there are many perturbation force equations that need to be clarified, resulting in very complex equations. When the measurement and control points are optimized through the equations, the optimization algorithm is very cumbersome due to the complexity of the equations. Therefore, a simple, efficient and reliable mobile measurement and control equipment position optimization algorithm is needed to easily obtain the optimal position of the mobile measurement and control equipment through flight orbit data. Summary of the invention

[0004] In view of the defects in the prior art, the present invention provides a method for determining the optimal position of a mobile measurement and control device, which can effectively solve the above problems.

[0005] The technical solution adopted by the present invention is as follows:

[0006] The present invention provides a method for determining the optimal position of a mobile measurement and control device, comprising the following steps:

[0007] Step S1: Given the initial deployment range and deployment quantity of mobile measurement and control equipment ;

[0008] Step S2, randomly assigning an initial position and an initial speed to each mobile measurement and control device within the initial deployment range;

[0009] Step S3, determining measurement and control requirements and measurement and control constraints;

[0010] Step S4, obtaining the score of each mobile measurement and control device in this iteration according to the satellite orbit data, measurement and control requirements, measurement and control constraints and the position of each mobile measurement and control device in combination with a given score function;

[0011] Step S5, correcting the speed of each mobile measurement and control device according to the score of each mobile measurement and control device, to obtain the corrected speed of each mobile measurement and control device;

[0012] Step S6, updating the position of each mobile measurement and control device according to the speed of each mobile measurement and control device after the current correction, to obtain the position of each mobile measurement and control device after the current update;

[0013] Step S7, based on the updated position of each mobile measurement and control device, return to step S4, and execute steps S4 to S6 in a loop; until the iteration termination condition is reached, the optimal position of each mobile measurement and control device is output.

[0014] Preferably, in step S3, the measurement and control requirement is: the minimum measurement and control coverage time is ; The measurement and control constraints are: the minimum elevation angle of the mobile measurement and control equipment is ;The highest elevation angle of the mobile measurement and control equipment is .

[0015] Preferably, step S4 is specifically:

[0016] Step S4.1, satellite orbit data ;

[0017] in, … Indicates time, specifically relative to the specified starting time T0;

[0018] Represents the three-dimensional position of the satellite orbit at the corresponding time, that is: at time , … , the three-dimensional position of the satellite orbit is ;

[0019] Step S4.2, assuming that the current iteration is the mth iteration, where m is the number of iterations parameter that increases by 1 starting from 0;

[0020] For mobile measurement and control equipment, … , its current position coordinates are , respectively represent the longitude, latitude and altitude of mobile measurement and control equipment i;

[0021] Step S4.3, based on the position coordinates of the mobile measurement and control device i And satellite orbit data , get at each time , the distance of the mobile tracking and control equipment i tracking satellite , azimuth and pitch angle , forming a measurement and control arc segment, thus obtaining the measurement and control arc segment set :

[0022]

[0023] Step S4.4, according to the measurement and control constraints: the minimum elevation angle of the mobile measurement and control equipment is , the highest elevation angle of the mobile measurement and control equipment is , from the measurement and control arc segment set The measurement and control arc segments whose elevation angles meet the measurement and control constraints are selected to obtain the selected measurement and control arc segment set. :

[0024]

[0025] Step S4.5: Use the following formula to obtain the measurement and control demand satisfaction score of mobile measurement and control equipment i: :

[0026]

[0027] in:

[0028] Indicates the length of the measurement and control time. The longer the time, the higher the score.

[0029] Indicates whether the measurement and control start time covers the required starting point. If the starting point is later than , then a penalty of -1000 points will be given. is a symbolic function defined as , where the penalty factor is -1000, that is, if the measurement and control starting point requirements are not met, -1000 points;

[0030] Step S4.6, using the following formula, obtain the telemetry elevation angle penalty score of mobile telemetry equipment i: :

[0031]

[0032] in, Indicates the set of measurement and control arc segments The highest elevation angle value; this formula means that if the elevation angle is greater than , a penalty of -1000 points will be given;

[0033] Step S4.7, use the following formula to get the final score of mobile measurement and control device i in this iteration: :

[0034]

[0035] Thus, the final score of mobile measurement and control device i in this iteration is obtained .

[0036] Preferably, step S5 is specifically:

[0037] Step S5.1, the current number of iterations is m;

[0038] Step S5.2, the final score of mobile measurement and control device i at the mth iteration is ; Use the following formula to correct the speed of mobile measurement and control equipment i:

[0039]

[0040] in:

[0041] is the speed of mobile measurement and control device i before correction at the mth iteration;

[0042] is the corrected speed of mobile measurement and control device i at the mth iteration;

[0043] is the position of mobile measurement and control device i before correction at the mth iteration;

[0044] It indicates the position with the highest score of mobile measurement and control equipment i;

[0045] Indicates the position with the highest score among all current mobile measurement and control equipment;

[0046] , and , respectively represent the updated weight values ​​of the own speed, the speed to the optimal position of the own, and the speed to the optimal position of the group.

[0047] Preferably, step S6 specifically comprises:

[0048] Use the following formula to correct the position of the mobile measurement and control equipment i:

[0049]

[0050] in:

[0051] is the corrected position of the mobile measurement and control device i at the mth iteration.

[0052] The method for determining the optimal position of a mobile measurement and control device provided by the present invention has the following advantages:

[0053] The present invention provides a method for determining the optimal position of mobile measurement and control equipment. Based on the particle swarm algorithm, the mobile measurement and control equipment is regarded as a "bird" for hunting, and the quality of the measurement and control conditions is regarded as the amount of food at each position. A large number of mobile measurement and control equipment are simulated and placed in a certain area. By simulating the group predation process, the optimal measurement and control position that meets the measurement and control needs is found. BRIEF DESCRIPTION OF THE DRAWINGS

[0054] Figure 1 A schematic flow chart of a method for determining an optimal position of a mobile measurement and control device provided by the present invention;

[0055] Figure 2 A schematic diagram of a hypothetical satellite orbit provided by the present invention;

[0056] Figure 3 A schematic diagram of a given location area provided by the present invention;

[0057] Figure 4 A schematic diagram of speed correction provided by the present invention;

[0058] Figure 5 The position diagram of each mobile measurement and control equipment after 10 iterations provided by the present invention;

[0059] Figure 6 The position diagram of each mobile measurement and control equipment after 50 iterations provided by the present invention;

[0060] Figure 7 The position diagram of each mobile measurement and control device after 100 iterations provided by the present invention;

[0061] Figure 8 This is a schematic diagram of the optimal position obtained provided by the present invention. DETAILED DESCRIPTION

[0062] In order to make the technical problems, technical solutions and beneficial effects solved by the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0063] In the field of aerospace measurement and control, mobile measurement and control equipment is often required to be deployed in locations that are not often reached to meet the measurement and control needs of a specified arc segment. For mobile measurement and control equipment, such as vehicle-mounted measurement and control equipment, survey ships, etc., due to their mobility, they can be deployed within a certain range to achieve the best measurement and control effect. Therefore, how to optimize the measurement and control points of mobile measurement and control equipment is a problem faced by the overall measurement and control design.

[0064] Particle swarm optimization is an optimization algorithm that simulates bird flock predation. It has the advantages of simple calculation method, forward calculation, and no need for gradient information. When selecting the deployment points of mobile measurement and control equipment, the mobile measurement and control equipment is regarded as a "bird" that hunts. A large number of mobile measurement and control equipment are placed in a certain area. The better the measurement and control conditions, the more food there is at that location. The mobile measurement and control equipment is allowed to simulate the process of "predation" of a flock of birds, so as to find the optimal mobile deployment location.

[0065] The invention has a clear mechanism and a simple implementation process, does not require derivation and equation solving, has flexible condition setting, and can conveniently obtain the optimal position that meets different engineering requirements through forward calculation, thus providing strong support for the position design of mobile measurement and control equipment.

[0066] like Figure 1 As shown, the present invention provides a method for determining the optimal position of a mobile measurement and control device, comprising the following steps:

[0067] Step S1: Given the initial deployment range and deployment quantity of mobile measurement and control equipment ;

[0068] For example, longitude1~longitude2, latitude1~latitude2, represent the initial deployment range of mobile measurement and control equipment, such as 63°~66° east longitude and -3°~+3° north latitude.

[0069] Number of mobile measurement and control equipment deployed , optional number=200, 300, 500, etc.

[0070] Step S2, randomly assigning an initial position and an initial speed to each mobile measurement and control device within the initial deployment range;

[0071] For example, for mobile measurement and control equipment i, … , whose initial position coordinates are , respectively represent the longitude, latitude and altitude of mobile measurement and control equipment i; The subscript 0 represents the initial position coordinates used in the 0th iteration; with the iterative optimization, its position coordinates are continuously optimized and updated.

[0072] In practical applications, the astronomical longitude and latitude coordinates of the mobile measurement and control device i can be for: That is, let the astronomical longitude take the geodetic longitude value, which can meet the measurement and control coverage calculation accuracy requirements. At the same time, because most mobile measurement and control equipment is maneuvered on plains or oceans, the altitude is relatively low, so it can be assumed that , which is convenient for calculation and can meet the measurement and control coverage calculation accuracy requirements

[0073] Step S3, determining measurement and control requirements and measurement and control constraints;

[0074] The measurement and control requirements are: the minimum measurement and control coverage time is Therefore, measurement and control need to cover The longer the measurement and control coverage time, the better.

[0075] The measurement and control constraints are: the minimum elevation angle of the mobile measurement and control equipment is ;The highest elevation angle of the mobile measurement and control equipment is For example, you can set , The specific angle can be flexibly set according to needs.

[0076] Step S4, obtaining the score of each mobile measurement and control device in this iteration according to the satellite orbit data, measurement and control requirements, measurement and control constraints and the position of each mobile measurement and control device in combination with a given score function;

[0077] Step S4 is specifically as follows:

[0078] Step S4.1, satellite orbit data ;

[0079] in, … Indicates time, specifically relative to the specified starting time T0; =500s means 500s after T0. T0 is usually the specified starting time.

[0080] Represents the three-dimensional position of the satellite orbit at the corresponding time, that is: at time , … , the three-dimensional position of the satellite orbit is ; The three-dimensional position coordinates are generally the position information under the Earth-centered Earth-fixed coordinate system (ECF coordinate system).

[0081] Step S4.2, assuming that the current iteration is the mth iteration, where m is the number of iterations parameter that increases by 1 starting from 0;

[0082] For mobile measurement and control equipment, … , its current position coordinates are , respectively represent the longitude, latitude and altitude of mobile measurement and control equipment i;

[0083] Step S4.3, based on the position coordinates of the mobile measurement and control device i And satellite orbit data , get at each time , the distance of the mobile tracking and control equipment i tracking satellite , azimuth and pitch angle , forming a measurement and control arc segment, thus obtaining the measurement and control arc segment set :

[0084]

[0085] In this step, the mobile measurement and control device i tracks the distance of the satellite , azimuth and pitch angle This can be determined by:

[0086] Step S4.3.1, correlation constant represents the semi-major axis of the Earth ellipsoid, Represents the square of the first eccentricity of the Earth ellipsoid.

[0087] Step S4.3.2, define the coordinate transformation rotation matrix , and :

[0088]

[0089]

[0090]

[0091] Where: Coordinate transformation rotation matrix Meaning: indicates rotation along the X-axis, in accordance with the right-hand rotation rule, with the thumb pointing to the X-axis, rotation along the direction of the four fingers of the right hand is positive, and rotation against the direction of the four fingers of the right hand is negative.

[0092] Meaning: It means rotation along the Y axis, which conforms to the right-hand rotation rule. The thumb points to the Y axis, and rotation along the direction of the four fingers of the right hand is positive, and rotation against the direction of the four fingers of the right hand is negative.

[0093] Meaning: It means rotation along the Z axis, which conforms to the right-hand rotation rule. The thumb points to the Z axis, and rotation along the direction of the four fingers of the right hand is positive, and rotation against the direction of the four fingers of the right hand is negative.

[0094] Step S4.3.3, based on the position coordinates of the mobile measurement and control device i , get the Earth-centered Earth-fixed coordinates of mobile measurement and control equipment i

[0095]

[0096] represents the intermediate variable;

[0097] Step S4.3.4, calculate the vertical measurement coordinates of the satellite on the mobile measurement and control device i :

[0098] remember The first, second, and third columns in are, , ,

[0099] Get the coordinates of the vertical line

[0100] Step S4.3.5, obtain the distance of the mobile measurement and control device i tracking the satellite by measuring the coordinates through the vertical line , azimuth and pitch angle :

[0101]

[0102] Step S4.4, according to the measurement and control constraints: the minimum elevation angle of the mobile measurement and control equipment is , the highest elevation angle of the mobile measurement and control equipment is , from the measurement and control arc segment set The measurement and control arc segments whose elevation angles meet the measurement and control constraints are selected to obtain the selected measurement and control arc segment set. :

[0103]

[0104] Step S4.5, measurement and control requirements cover seconds, and the more measurement and control arcs are covered, the better. The following formula is used to obtain the measurement and control demand satisfaction score of mobile measurement and control equipment i: :

[0105]

[0106] in:

[0107] Indicates the length of the measurement and control time. The longer the time, the higher the score.

[0108] Indicates whether the measurement and control start time covers the required starting point. If the starting point is later than , then a penalty of -1000 points will be given. is a symbolic function defined as , where the penalty factor is -1000, that is, if the measurement and control starting point requirements are not met, -1000 points;

[0109] Step S4.6, using the following formula, obtain the telemetry elevation angle penalty score of mobile telemetry equipment i: :

[0110]

[0111] in, Indicates the set of measurement and control arc segments The highest elevation angle value; this formula means that if the elevation angle is greater than , a penalty of -1000 points will be given;

[0112] Step S4.7, use the following formula to get the final score of mobile measurement and control device i in this iteration: :

[0113]

[0114] Thus, the final score of mobile measurement and control device i in this iteration is obtained .

[0115] Step S5, therefore, due to Each mobile measurement and control device will receive a final score. = 0, the score calculated is the score of each mobile measurement and control device at the initial position, that is, ; Iterative optimization will be carried out later.

[0116] According to the score of each mobile measurement and control device, the speed of each mobile measurement and control device is corrected to obtain the corrected speed of each mobile measurement and control device;

[0117] Step S5 is specifically as follows:

[0118] Step S5.1, the current number of iterations is m;

[0119] Step S5.2, the final score of mobile measurement and control device i at the mth iteration is ; Use the following formula to correct the speed of mobile measurement and control equipment i:

[0120]

[0121] in:

[0122] is the speed of mobile measurement and control device i before correction at the mth iteration; when m=0, Randomly given, , there are speeds in both longitude and latitude directions.

[0123] is the corrected speed of mobile measurement and control device i at the mth iteration;

[0124] is the position of mobile measurement and control device i before correction at the mth iteration;

[0125] It indicates the position with the highest score of mobile measurement and control equipment i;

[0126] Indicates the position with the highest score among all current mobile measurement and control equipment;

[0127] , and , respectively represent the updated weight values ​​of the own speed, the speed to the optimal position of the own, and the speed to the optimal position of the group.

[0128] Step S6, updating the position of each mobile measurement and control device according to the speed of each mobile measurement and control device after the current correction, to obtain the position of each mobile measurement and control device after the current update;

[0129] Step S6 is specifically as follows:

[0130] Use the following formula to correct the position of the mobile measurement and control equipment i:

[0131]

[0132] in:

[0133] is the corrected position of the mobile measurement and control device i at the mth iteration.

[0134] Step S7, based on the updated position of each mobile measurement and control device, return to step S4, and execute steps S4 to S6 in a loop; until the iteration termination condition is reached, the optimal position of each mobile measurement and control device is output.

[0135] For example, after setting a number of iterations, such as m=500 times, the position of the mobile measurement and control equipment gradually converges, and the best position in each mobile measurement and control equipment is selected as the optimal design position of the mobile measurement and control equipment.

[0136] Below through Figure 2 The examples are given in the following for specific implementation examples.

[0137] Figure 2 This is a schematic diagram of the sub-satellite point of a hypothetical satellite flight orbit. In this example, the satellite operates in a sun-synchronous orbit with an orbital inclination of 97° and an altitude of 500km.

[0138] 1. Clarify measurement and control requirements and constraints:

[0139] It is required to cover the satellite orbit start time T0+2600s to the subsequent tracking and control arc segment, and the more subsequent coverage arc segments, the better. The minimum tracking and control elevation angle of the mobile tracking and control equipment cannot be less than 5° and the maximum cannot exceed 75°.

[0140] 2. Given the range of available mobile measurement and control equipment.

[0141] Longitude 63°~66° east, latitude between -3°~+3° north, assuming that there are 500 sets of mobile measurement and control equipment involved in the calculation. Randomly assign positions and speeds to the 500 sets of mobile measurement and control equipment within a given range. Figure 3 shown.

[0142] 3. Calculate the visibility of each mobile measurement and control equipment, and calculate the score function based on the visibility. The score function consists of three parts, among which the measurement and control end time minus the measurement and control start time; if the measurement and control start time is later than T0+2600s, the score function is -1000 points; if the maximum measurement and control elevation angle is greater than 75°, the score function is -1000 points.

[0143] 4. Calculate according to steps S4 to S6 in the Summary of the Invention, where the weight w=0.9, =0.95, =0.95. The calculation result can be obtained.

[0144] The results of 10, 50 and 100 iterations of the calculation process are as follows Figure 5 , Figure 6 , Figure 7 shown.

[0145] Finally, the mobile measurement and control equipment converged to 61.31° east longitude and -3.66° south latitude. The measurement and control started at T0+2600s and ended at T0+3069.8s. The total length of the measurement and control arc was 469.8s, and the highest elevation angle was 74.99°, which was able to meet the measurement and control requirements.

[0146] The optimal position obtained by the method of the present invention is consistent with the theoretical position and also consistent with experience, that is, in order to cover as many arcs as possible after T0+2600s, it is necessary to be as close to the flight trajectory as possible on the basis of covering the points of 2600s, so that the coverage time of the mobile measurement and control equipment is the longest when it is close to the highest elevation angle. The optimal position that finally converges is as follows Figure 8 shown.

[0147] The present invention uses a particle swarm algorithm to simulate the mobile measurement and control equipment as a "bird" that hunts, and simulates the search for the optimal position of the mobile measurement and control equipment as the process of birds looking for food. The measurement and control point scores can be set in a targeted manner, and the measurement and control demand satisfaction and measurement and control constraints can be integrated into the scoring function. Finally, the measurement and control points are optimized through the process of "predation" by a group of mobile measurement and control equipment. The algorithm has a clear principle, simple condition setting, no need to calculate gradients, and has good adaptability to various measurement and control requirements and measurement and control constraints, and can provide good support for the points of mobile measurement and control equipment.

[0148] The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principle of the present invention. These improvements and modifications should also be considered as the scope of protection of the present invention.

Claims

1. A method for determining the optimal position of a mobile measurement and control device, characterized in that: The following steps are involved: Step S1: Given the initial deployment range and deployment quantity of mobile measurement and control equipment ; Step S2, randomly assigning an initial position and an initial speed to each mobile measurement and control device within the initial deployment range; Step S3, determine the measurement and control requirements and measurement and control constraints; the measurement and control requirements are: the minimum measurement and control coverage time is ; The measurement and control constraints are: the minimum elevation angle of the mobile measurement and control equipment is ;The highest elevation angle of the mobile measurement and control equipment is ; Step S4, obtaining the score of each mobile measurement and control device in this iteration according to the satellite orbit data, measurement and control requirements, measurement and control constraints and the position of each mobile measurement and control device in combination with a given score function; Step S4 is specifically as follows: Step S4.1, satellite orbit data ; in, … Indicates time, specifically relative to the specified starting time T0; Represents the three-dimensional position of the satellite orbit at the corresponding time, that is: at time , … , the three-dimensional position of the satellite orbit is ; Step S4.2, set the current m Iterations, m It is the number of iterations parameter that increases by 1 starting from 0; For mobile measurement and control equipment i , … , its current position coordinates are , representing mobile measurement and control equipment i longitude, latitude, and altitude; Step S4.3, according to the mobile measurement and control equipment i Location coordinates And satellite orbit data , get at each time , mobile measurement and control equipment i Tracking satellite distance , azimuth and pitch angle , forming a measurement and control arc segment, thus obtaining the measurement and control arc segment set : ; Step S4.4, according to the measurement and control constraints: the minimum elevation angle of the mobile measurement and control equipment is , the highest elevation angle of the mobile measurement and control equipment is , from the measurement and control arc segment set The measurement and control arc segments whose elevation angles meet the measurement and control constraints are selected to obtain the selected measurement and control arc segment set. : Step S4.5, use the following formula to obtain the mobile measurement and control equipment i The measurement and control demand satisfaction score : ;in: Indicates the length of the measurement and control time. The longer the time, the higher the score. Indicates whether the measurement and control start time covers the required starting point ， If the starting point is later than ， A penalty of -1000 points will be given ， is a symbolic function defined as , where the penalty factor is -1000, that is, if the measurement and control starting point requirements are not met, -1000 points; Step S4.6, use the following formula to obtain the mobile measurement and control equipment i TT&C elevation angle penalty score : ;in, Indicates the set of measurement and control arc segments The highest elevation angle value; this formula means that if the elevation angle is greater than , a penalty of -1000 points will be given; Step S4.7, use the following formula to get the mobile measurement and control equipment at this iteration i Final score : ; Thus, we can obtain the mobile measurement and control equipment i The final score at this iteration ; Step S5, correcting the speed of each mobile measurement and control device according to the score of each mobile measurement and control device, to obtain the corrected speed of each mobile measurement and control device; Step S6, updating the position of each mobile measurement and control device according to the speed of each mobile measurement and control device after the current correction, to obtain the position of each mobile measurement and control device after the current update; Step S7, based on the updated position of each mobile measurement and control device, return to step S4, and execute steps S4 to S6 in a loop; until the iteration termination condition is reached, the optimal position of each mobile measurement and control device is output.

2. A method for determining the optimal position of a mobile measurement and control device according to claim 1, characterized in that: Step S5 is specifically as follows: Step S5.1, the current number of iterations is m ; Step S5.2, mobile measurement and control equipment i In the m The final score at iteration is ; Use the following formula to measure and control the mobile equipment i The speed is corrected: ;in: For the m Mobile measurement and control equipment i The speed before correction; For the m Mobile measurement and control equipment i The corrected speed of For the m Mobile measurement and control equipment i The position before correction; Indicates mobile measurement and control equipment i The highest scoring position of all time; Indicates the position with the highest score among all current mobile measurement and control equipment; , and , respectively represent the updated weight values ​​of the own speed, the speed to the optimal position of the own, and the speed to the optimal position of the group.

3. A method for determining the optimal position of a mobile measurement and control device according to claim 2, characterized in that: Step S6 is specifically as follows: Use the following formula to measure the mobile measurement and control equipment i Correct the position: ;in: For the m Mobile measurement and control equipment i The corrected position.

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