Simulation-based muon angle measurement cross positioning method and device, medium and equipment

Abstract

The embodiment of the invention provides a muon angle measurement cross positioning method and device based on simulation, a medium and equipment, and the method comprises the following steps: constructing a muon flux model based on the distribution of muons on an azimuth angle and a zenith angle; constructing an angle measurement cross positioning model, and calculating the coordinates of the positioning detector through the coordinates of the reference detector and the coordinates of the positions where the muons penetrate through the positioning detector by using the angle measurement cross positioning model; an angle measurement cross positioning error model is constructed based on the angle measurement cross positioning model, and the value of a geometric precision factor is calculated by using the angle measurement cross positioning error model; constructing an angle measurement cross positioning physical simulation model; and operating the angle measurement cross positioning physical simulation model, generating a positioning result based on an effective event output by the angle measurement cross positioning model, and performing precision analysis on the positioning result. According to the scheme, the physical simulation model is positioned through angle measurement cross, so that the efficiency of a verification link before an in-situ experiment is improved, and the experiment cost is reduced.

Description

Technical Field

[0001] The present invention relates to the field of navigation and positioning technology, and in particular to a simulation-based muon angle measurement cross-positioning method, device, medium and equipment. Background Art

[0002] Location-based services are widely used in transportation, logistics, rescue, and other fields. However, traditional navigation and positioning methods have significant limitations in conditions such as signal obstruction and long-term operation. GNSS signals cannot penetrate concrete structures. Indoor positioning technologies such as Wi-Fi, Bluetooth, and UWB have limited transmission range and cannot establish a connection with outdoor coordinate references. Inertial navigation suffers from the problem of error accumulation over time. Muon navigation, as an emerging technology, leverages the penetrating and ubiquitous properties of cosmic ray muons to provide positioning capabilities.

[0003] The technical advantages of navigation and positioning based on cosmic rays and muons are mainly in the following aspects: (1) strong penetrating power, which can penetrate seawater at almost the speed of light, overcoming the defect of rapid attenuation of electromagnetic wave signals in water environment; (2) good concealment. As a natural signal source, cosmic rays are mainly derived from astrophysical events such as supernova explosions and are not easily affected by human or natural interference; (3) easy to observe. Muons are charged particles that are widely present in the atmosphere and can be detected using organic scintillators, gas detectors and other means.

[0004] Geant4 is a large-scale high-energy physics detector simulation framework developed by the European Organization for Nuclear Research (CERN). Written in C++ and using advanced object-oriented programming techniques, it provides a complete set of tools for detector simulation: geometry, detector response, operation, event and track management, graphical display, user interface, etc. It offers a wide range of optional physical processes that users can design according to their needs. It has a wide range of applications in high-energy physics, accelerator physics, and medicine. Summary of the Invention

[0005] In view of this, an embodiment of the present invention provides a simulation-based muon angle measurement cross-positioning method to solve the technical problem in the prior art of being unable to obtain and analyze relevant data related to muons passing through the detector when on-site experimental conditions are insufficient. The method includes: Based on the distribution of muons in azimuth and zenith angle, a muon flux model is constructed, wherein the muon flux model is used to describe the relationship between the flux of the muons and the zenith angle; Constructing an angular cross-positioning model, and using the angular cross-positioning model to calculate the coordinates of the positioning detector by using the coordinates of the reference detector and the coordinates of the position where the muon passes through the positioning detector; Constructing an angular cross positioning error model based on the angular cross positioning model, and calculating a value of a geometric dilution of precision using the angular cross positioning error model; Based on the muon flux model, constructing an angular cross-positioning physical simulation model, wherein the angular cross-positioning physical simulation model is used to simulate the reaction results between particles and matter; Run the angle measurement cross positioning physical simulation model, generate positioning results based on valid events output by the angle measurement cross positioning model, perform accuracy analysis on the positioning results, and output the accuracy analysis results and the value of the geometric precision factor.

[0006] The present invention also provides a simulation-based muon angle measurement and cross-positioning device to address the technical problem in the prior art of being unable to obtain and analyze relevant data on muons passing through a detector when on-site experimental conditions are insufficient. The device includes: Constructing a muon flux model module, for constructing a muon flux model based on the distribution of muons in azimuth and zenith angle, wherein the muon flux model is used to describe the relationship between the flux of the muons and the zenith angle; Constructing an angular cross-positioning model module, constructing an angular cross-positioning model, and using the angular cross-positioning model to calculate the coordinates of the positioning detector by referring to the coordinates of the detector and the coordinates of the position where the muon passes through the positioning detector; Constructing an angle measurement cross positioning error model module, used to construct an angle measurement cross positioning error model based on the angle measurement cross positioning model, and calculate the value of the geometric precision coefficient using the angle measurement cross positioning error model; Constructing an angular cross-positioning physical simulation model module, which is used to construct an angular cross-positioning physical simulation model based on the muon flux model, wherein the angular cross-positioning physical simulation model is used to simulate the reaction results between particles and matter; The positioning result and precision analysis module is used to run the angle measurement cross positioning physical simulation model, generate positioning results based on the valid events output by the angle measurement cross positioning model, perform precision analysis on the positioning results, and output the precision analysis results and the value of the geometric precision factor.

[0007] An embodiment of the present invention also provides a computer device, including a memory, a processor, and a computer program stored in the memory and runnable on the processor. When the processor executes the computer program, it implements any of the above-mentioned simulation-based muon angle measurement cross-positioning methods to solve the technical problem in the prior art that it is impossible to obtain and analyze relevant data of muons passing through the detector when on-site experimental conditions are insufficient.

[0008] An embodiment of the present invention also provides a computer-readable storage medium, which stores a computer program for executing any of the above-mentioned simulation-based muon angle measurement cross-positioning methods, so as to solve the technical problem in the prior art that it is impossible to obtain and analyze relevant data of muons passing through the detector when the on-site experimental conditions are insufficient.

[0009] Compared with the prior art, the at least one technical solution adopted in the embodiments of this specification can achieve the following beneficial effects: By constructing a physical simulation model of angle measurement and cross positioning, the efficiency of the verification link before the on-site experiment was improved and the test cost was reduced. BRIEF DESCRIPTION OF THE DRAWINGS

[0010] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following briefly introduces the drawings required for use in the embodiments. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0011] Figure 1 This is a flow chart of a simulation-based muon angle measurement cross-positioning method provided by an embodiment of the present invention; Figure 2 Schematic diagram of the distribution of muons in azimuth and zenith angles provided by an embodiment of the present invention; Figure 3 1 is a schematic diagram of positioning of angle measurement using n reference stations provided in an embodiment of the present invention; Figure 4 This is a flow chart of Geant4 Monte Carlo simulation design provided by an embodiment of the present invention; Figure 5 is a schematic diagram of an effective muon event provided by an embodiment of the present invention; Figure 6 This is a visualization diagram of Geant4 results provided by an embodiment of the present invention; Figure 7 is a schematic diagram of analyzing simulation results provided by an embodiment of the present invention; Figure 8 This is a structural block diagram of a computer device provided by an embodiment of the present invention; Figure 9 This is a structural block diagram of a simulation-based muon angle measurement and cross-positioning device provided in an embodiment of the present invention. DETAILED DESCRIPTION

[0012] The embodiments of the present application are described in detail below with reference to the accompanying drawings.

[0013] The following describes the embodiments of the present application through specific examples, and those skilled in the art can easily understand other advantages and effects of the present application from the contents disclosed in this specification. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. The present application can also be implemented or applied through other different specific embodiments, and the details in this specification can also be modified or changed in various ways based on different viewpoints and applications without departing from the spirit of the present application. It should be noted that, in the absence of conflict, the features in the following embodiments and embodiments can be combined with each other. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without making creative work are within the scope of protection of this application.

[0014] In an embodiment of the present invention, a simulation-based muon angle measurement cross positioning method is provided, such as Figure 1 As shown, the method includes: Step S101: constructing a muon flux model based on the distribution of muons in azimuth and zenith angle, wherein the muon flux model is used to describe the relationship between the flux of the muons and the zenith angle; Step S102: constructing an angular cross positioning model, and using the angular cross positioning model to calculate the coordinates of the positioning detector by referring to the coordinates of the detector and the coordinates of the position where the muon passes through the positioning detector; Step S103: constructing an angular cross positioning error model based on the angular cross positioning model, and calculating a value of a geometric dilution of precision using the angular cross positioning error model; Step S104: constructing an angular cross-positioning physical simulation model based on the muon flux model, wherein the angular cross-positioning physical simulation model is used to simulate the reaction results between particles and matter; Step S105: running the angle-measurement cross positioning physical simulation model, generating positioning results based on valid events output by the angle-measurement cross positioning model, performing precision analysis on the positioning results, and outputting the precision analysis results and the value of the geometric precision factor.

[0015] In specific implementation, the following steps are performed to construct a muon flux model based on the distribution of muons in azimuth and zenith angles: The distribution of the muons in azimuth and zenith angle is randomly simulated to obtain the muon distribution at a specific time and latitude; the corresponding relationship between the muon flux and the zenith angle is constructed based on the muon distribution; and the muon flux model is constructed based on the corresponding relationship, wherein: , is the zenith angle, is the flux differential of the muon, is the angular differential of the zenith angle.

[0016] Step 1: Figure 2 As shown, the characteristics of muons are analyzed, and the distribution of muons in azimuth and zenith angles is randomly simulated by CRY software to obtain the muon distribution at a specific time and latitude.

[0017] The relationship between the muon flux and the zenith angle is: Where: is the muon flux differential, is the zenith angle differential, is the zenith angle, is the cosine square of the zenith angle, is the sine of the zenith angle.

[0018] In a specific implementation, the following steps are performed to construct an angular cross positioning model. Using the angular cross positioning model, the coordinates of the positioning detector are calculated by referring to the coordinates of the detector and the coordinates of the position where the muon passes through the positioning detector: Constructing a geometric relationship between the reference detector and the target position, the geometric relationship includes and , wherein the target position is the position of the muon passing through the positioning detector obtained by cross-positioning calculation, is the theoretical azimuth, is the theoretical zenith angle, is the azimuth, is the zenith angle, (x, y, z) is the coordinate of the target position, for n The coordinates of the i-th reference detector in the reference detectors; linearize the geometric relationship to generate a linear equation group, and construct a matrix form of the linear equation group according to the linear equation group, wherein the matrix form is , is the theoretical coefficient matrix, is the theoretical three-dimensional coordinate of the muon on the positioning detector, is the theoretical coordinate difference; the least squares solution of the coordinates of the positioning detector is calculated according to the matrix form, and the least squares solution is used as the coordinates of the positioning detector. The least squares solution is ,in, is the least squares solution of the three-dimensional coordinates of the positioning detector, is the coefficient matrix, is the coordinate difference, Transpose the matrix.

[0019] Step 2: Build an angular cross positioning model (including mathematical and physical models. Specifically, after obtaining a series of data in the angular cross positioning physical model, use the angular cross positioning mathematical model to solve and obtain the positioning results). Figure 3 As shown in , it is assumed that there are n groups of reference detectors in space, and n groups of azimuth and elevation angle observation values ​​with the positioning detector. The coordinates of the reference detector are expressed as , the coordinates of the positioning detector are expressed as The target is located in pairs between the reference detector and the localization detector, and n The coordinates of the group are obtained. Since there is a certain deviation between the azimuth angle obtained by the reference detector observing the muon (muon) in the actual positioning environment and the true angle, the positioning direction lines of each detector cannot accurately intersect at one point. The least squares algorithm is used for processing.

[0020] Step 2.1: Construct the geometric relationship between the reference detector and the target position , ,in, , is the theoretical azimuth, is the theoretical zenith angle, is the azimuth, is the zenith angle.

[0021] Step 2.2, consider i When there is a signal from the reference detector, the following linear equations can be obtained from the geometric relationship in 2.1: .make , , the above linear equations can be written in matrix form as , is the theoretical coefficient matrix, is the theoretical three-dimensional coordinate of the muon on the positioning detector, is the theoretical coordinate difference.

[0022] Step 2.3: Since it is impossible to get the exact value during actual measurement and , using the measured value and Instead of the true value, the least squares solution is: , is the least squares solution for the three-dimensional coordinates of the positioning detector, and It is the actual coefficient matrix and coordinate difference matrix calculated using the results obtained from the physical model.

[0023] In a specific implementation, the following steps are performed to construct an angular cross positioning error model based on the angular cross positioning model, and to calculate the value of the geometric precision dilution using the angular cross positioning error model: Build n The matrix form of the relationship between the angle error and the coordinate error of the positioning detector is: ,in, is the error of the azimuth angle and zenith angle from the positioning detector to each of the reference detectors, d is a differential operator, is the positioning error of the positioning detector, (x, y, z) is the coordinate of the muon passing through the positioning detector in the ECEF coordinate system, is the positioning error of the reference detector itself, F is the correlation coefficient matrix, is the azimuth, is the zenith angle; The covariance matrix of the observation error is constructed by the measurement error of the azimuth angle and the measurement error of the pitch angle. ,in, , is the measurement error of the azimuth, is the measurement error of the pitch angle, n is the number of the reference detector, is the expectation of the matrix, is the matrix transpose; the covariance matrix of the positioning error is calculated by the covariance matrix of the observation error ,in, , The coefficient matrix is ​​calculated by the correlation coefficient matrix; the covariance matrix of the positioning error is obtained by Calculate the value of the geometric precision dilution GDOP ,in, , trace is the sum of the diagonal elements of the matrix.

[0024] Step 3: Build a mathematical model of angle measurement cross positioning error.

[0025] Step 3.1. Consider deploying n reference detectors and 1 positioning detector. Assume that the collected information can be transmitted to a computer for processing between the detectors. At a certain point, a muon passes through one of the reference detectors and then passes through the positioning detector, and its differential can be obtained.

[0026]

[0027] Where k is the constant term after differentiation, i is the number of the reference detector, is the differential of the azimuth angle, is the differential of the zenith angle.

[0028] Let the above formula be equal to 0, then we can get the value of k in n groups: .

[0029] Substituting the value of k into the differential equation, we can obtain the relationship between the angle error and coordinate error of n stations, which can be written in matrix form: , which is the error obtained by differential operation.

[0030] Where, To locate the azimuth and zenith angle errors of the detector to each reference detector; is the positioning error of the positioning detector; is the positioning error of the reference detector itself; , F is the correlation coefficient matrix.

[0031] In step 3.2, assuming that the detected signals are independent of each other, the measurement errors of azimuth and elevation angles are and , the measurement error variance of each station is the same as , then the covariance matrix of the observation error can be listed as: , n is the number of the reference detector, is the expectation of the matrix, Transpose the matrix.

[0032] The covariance matrix of the positioning error is expressed as: Where, , is the correlation coefficient matrix The calculated coefficient matrix.

[0033] Step 3.3: Based on the covariance matrix of the positioning error in step 3.2, calculate the value of GDOP (Geometric Dilution of Precision).

[0034] .

[0035] Where trace() is the sum of the diagonal elements of the matrix.

[0036] Step 4 Figure 4 As shown, an angular cross positioning physical model is built based on Geant4 (Geant4 is used for accurate simulation of particle transport processes, which can assist in simulating the behavior of particles in the environment where the positioning system is located and their interaction with matter, providing theoretical support for system design and performance evaluation).

[0037] The purpose of the angular cross-positioning physical model is to construct a simulated physical world similar to the actual one when the on-site conditions are insufficient, and to obtain nearly realistic results of the reaction between particles and matter (positioning detectors or reference detectors). The results include but are not limited to the momentum information (that is, angle information), time information, and coordinate information in the xyz directions when the particle passes through the detector.

[0038] In specific implementation, the following steps are performed to construct an angle measurement cross positioning physical simulation model based on the muon flux model: Initialize particle side, geometry, physics process, action class and visualization management; constructing the geometric body, wherein the geometric body includes a floor, the positioning detector, air, and the reference detector; The momentum, energy, direction and number of the particle are initialized using the muon flux model, and the particle end is set according to the momentum, energy, direction and number of the particle, wherein the particle includes the muon; the physical process is constructed, and the physical process is used to describe the total energy loss generated by the interaction between the particle and the matter, wherein the matter includes the reference detector and the positioning detector; the action class is constructed, and the action class is used to describe the output data and hit information of each step of the particle, and the output data includes the angle information, time information and coordinate information when the particle passes through the matter; a sensitive area is set to obtain the output data of each step of the particle in the sensitive area; the visualization management is constructed, and the visualization management is used to visualize the output data; and a goniometry cross-positioning physical simulation model is constructed through the particle end, the geometric body, the physical process, the action class, the output data and the visualization management.

[0039] Step 4.1. Set up the initialization module to initialize the particle end, geometry, physical process, action class, and visualization management.

[0040] Step 4.2: Construct the geometric bodies, including the floor, detectors, and air. This experiment is set up as an indoor scene, with the floor made of concrete, the detectors made of plastic scintillators, and the rest of the space filled with air.

[0041] Step 4.3: Set up the particle input. Initialize the particle momentum, energy, direction, and number based on the muon flux model obtained in Step 1. Set the particle type to muon (particles include muons, and in this application, particles are muons), set the energy, and set the momentum and direction as in Step 1. Set the number of particles as required.

[0042] Step 4.4: Set up the physical process. The simulation program mainly sets up the ionization interaction. The total energy loss can be expressed as Where, is the total energy loss between particles and matter (matter includes reference detectors and positioning detectors, and in this application, matter refers to reference detectors and positioning detectors), is the energy loss caused by ionization, is the energy loss caused by bremsstrahlung, is the energy loss caused by the generation of electron pairs, is the energy loss caused by the photonuclear effect, and the opacity X in the denominator is the sum of the penetration distance x and the material density. The product of .

[0043] Step 4.5: Set up the action class to control data output and the digitization of impact information, primary particle dynamics information, and program start and end operations to obtain data for each step. A particle's lifecycle, from emission to interaction with the material, and finally to deposition within the material, reaching a stable state, or escaping the simulation geometry, is an event, referred to as an "Event" in Geant4. The interaction between a particle and a material can produce multiple trajectories due to the generation of secondary particles. For example, when a photon interacts with a material, the resulting secondary particles include electrons, which continue to interact with the material, generating a single trajectory. In Geant4, each trajectory of a particle or secondary particle in a material is called a "Track." It should be noted that a particle can interact with a material multiple times; therefore, Geant4 uses each interaction occurring on a track as a node and divides each track into several steps, referred to as "Steps." Each step represents a single interaction between the particle and the material. Generally, most output information is recorded in steps, recording information such as the time, location, and energy deposited for each interaction. A Geant4 simulation is called a "Run". Before the Run, the user needs to set all the input and output items mentioned above. After the Run starts, the user cannot intervene in the Run unless the current Run is interrupted.

[0044] Use StackingAction to change the order of particle simulation, eliminating particles other than muons to speed up the simulation. Use the Hit class to predefine the IDs, times, positions, and momentum directions to be initialized. Use the RunAction class to create tuples to initialize the types of stored data. Use the EventAction class to populate the tuples created in the RunAction class.

[0045] Step 4.6: Based on the sensitive region, obtain the output data for each step in the sensitive region. When constructing the geometry, specify the detector region as the sensitive region. In the SensitiveDetector class, collect each hit (a data collection container) in the sensitive region and temporarily store the output data.

[0046] In specific implementation, the following steps are performed to run the angle measurement cross positioning physical simulation model, generate positioning results based on valid events output by the angle measurement cross positioning model, and perform accuracy analysis on the positioning results: The angular cross-positioning physical simulation model is run to generate output data; the validity of the output data is screened to generate output data of a valid event, wherein the valid event is the same muon passing through the reference detector and the positioning detector at the same time; the output data of the valid event is analyzed to generate a positioning result, and the positioning result is subjected to an accuracy analysis.

[0047] Step 5: Run the simulation model (angle measurement cross positioning physical model) established in step 4. Figure 5 As shown, the output results are filtered and valid events are determined based on EventID and Z value. Figure 6 As shown in the figure, since the arrival of muons is random, it is possible that one muon only passes through the reference detector or only passes through the positioning detector. In this case, the EventID is used to determine whether it is the same muon, and the Z value is used to determine whether the event passes through both detectors at the same time.

[0048] In specific implementation, the following steps are performed to analyze the output data of the valid event to generate a positioning result, and perform accuracy analysis on the positioning result: Obtain the hitting position of the positioning detector in the output data; convert the coordinates (e, n, u) of the hitting position of the positioning detector in the station center coordinate system into coordinates (x, y, z) in the CGCS2000 coordinate system; based on the angular cross positioning model and the angular cross positioning error model, calculate the three-axis error through the coordinates (x, y, z) in the CGCS2000 coordinate system, and use the three-axis error as the accuracy analysis result.

[0049] Step 6: Analyze the positioning results and accuracy of the valid events in step 5.

[0050] The impact position obtained by the detector is the coordinate of the station-centered coordinate system established under the detector system. The defined station-centered coordinate system needs to be converted to the CGCS2000 coordinate system through coordinate transformation. The relative position between the reference detector and the positioning detector can be linked according to the muon (muon) ray track.

[0051] The coordinates (x, y, z) of the impact position of the positioning detector in the station center coordinate system are calculated.

[0052] .

[0053] Where (x0, y0, z0) is the origin of the CGCS2000 coordinate system defined by the user. is the geodetic longitude of the coordinate origin, is the geodetic latitude of the coordinate origin, (e, n, u) is the coordinate of the calculation point in the station center coordinate system, and (x, y, z) is the coordinate of the calculation point in the CGCS2000 coordinate system.

[0054] After completing the coordinate transformation, the positioning results are analyzed based on the mathematical models of steps 2 and 3, and the three-axis errors are plotted to calculate the GDOP value.

[0055] like Figure 6 As shown, the process ran successfully, and then valid events were selected for analysis.

[0056] like Figure 7 As shown in the figure, in a simulated positioning of the detector center point, the mean value in the x-direction is 0.39m, and the RMSE is 1.524m; the mean value in the y-direction is -0.38m, and the RMSE is 1.566m; the mean error in the z-direction is 0.32m, and the RMSE is 0.486m.

[0057] In this embodiment, a computer device is provided, such as Figure 8 As shown, it includes a memory 801, a processor 802 and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, any of the above-mentioned simulation-based muon angle measurement cross-positioning methods is implemented.

[0058] Specifically, the computer device may be a computer terminal, a server or a similar computing device.

[0059] In this embodiment, a computer-readable storage medium is provided, wherein the computer-readable storage medium stores a computer program for executing any of the above-mentioned simulation-based muon angle measurement cross-positioning methods.

[0060] Specifically, computer-readable storage media include permanent and non-permanent, removable and non-removable media, and can be implemented by any method or technology to store information. Information can be computer-readable instructions, data structures, program modules or other data. Examples of computer-readable storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technology, compact disc read-only memory (CD-ROM), digital versatile disc (DVD) or other optical storage, magnetic cassettes, tape disk storage or other magnetic storage devices or any other non-transmission media that can be used to store information that can be accessed by a computing device. As defined herein, computer-readable storage media does not include transitory media such as modulated data signals and carrier waves.

[0061] Based on the same inventive concept, an embodiment of the present invention further provides a muon angle measurement cross-positioning device based on simulation, as described in the following embodiments. Since the principle of solving the problem by the muon angle measurement cross-positioning device based on simulation is similar to that of the muon angle measurement cross-positioning method based on simulation, the implementation of the muon angle measurement cross-positioning device based on simulation can refer to the implementation of the muon angle measurement cross-positioning method based on simulation, and the repetitions will not be repeated. As used below, the term "unit" or "module" can be a combination of software and / or hardware that implements a predetermined function. Although the device described in the following embodiments is preferably implemented in software, implementation in hardware, or a combination of software and hardware, is also possible and conceived.

[0062] Figure 9 This is a structural block diagram of a muon angle measurement cross positioning device based on simulation according to an embodiment of the present invention. Figure 9 As shown, it includes: constructing a muon flux model module 901, constructing an angular cross positioning model module 902, constructing an angular cross positioning error model module 903, constructing an angular cross positioning physical simulation model module 904 and a positioning result and accuracy analysis module 905. The structure is explained below.

[0063] A muon flux model construction module 901 is used to construct a muon flux model based on the distribution of muons in azimuth and zenith angle, wherein the muon flux model is used to describe the relationship between the flux of the muons and the zenith angle; An angular cross positioning model construction module 902 is configured to construct an angular cross positioning model, and utilize the angular cross positioning model to calculate the coordinates of the positioning detector by using the coordinates of the reference detector and the coordinates of the position where the muon passes through the positioning detector. An angular cross positioning error model construction module 903 is configured to construct an angular cross positioning error model based on the angular cross positioning model, and calculate a value of a geometric dilution of precision using the angular cross positioning error model; An angular cross-positioning physical simulation model construction module 904 is configured to construct an angular cross-positioning physical simulation model based on the muon flux model, wherein the angular cross-positioning physical simulation model is configured to simulate the reaction between particles and matter. The positioning result and precision analysis module 905 is used to run the angle measurement cross positioning physical simulation model, generate positioning results based on the valid events output by the angle measurement cross positioning model, perform precision analysis on the positioning results, and output the precision analysis results and the value of the geometric precision factor.

[0064] In one embodiment, constructing a muon flux model module includes: A random simulation unit, configured to perform random simulation on the distribution of the muons in azimuth and zenith angle to obtain the muon distribution at a specific time and latitude; a corresponding relationship constructing unit, configured to construct a corresponding relationship between the flux of the muon and the zenith angle through the muon distribution; A muon flux model construction unit is used to construct the muon flux model through the corresponding relationship, wherein: , is the zenith angle, is the flux differential of the muon, is the angular differential of the zenith angle.

[0065] In one embodiment, building an angle measurement cross positioning model module includes: A geometric relationship building unit is used to build a geometric relationship between the reference detector and the target position, wherein the geometric relationship includes and , wherein the target position is the position of the muon passing through the positioning detector obtained by cross-positioning calculation, is the theoretical azimuth, is the theoretical zenith angle, is the azimuth, is the zenith angle, (x, y, z) is the coordinate of the target position, for n The coordinates of the i-th reference detector among the reference detectors; A matrix form construction unit is used to linearize the geometric relationship to generate a linear equation system, and construct a matrix form of the linear equation system according to the linear equation system, wherein the matrix form is , is the theoretical coefficient matrix, is the theoretical three-dimensional coordinate of the muon on the positioning detector, is the theoretical coordinate difference; A positioning detector coordinate calculation unit is used to calculate the least squares solution of the coordinates of the positioning detector according to the matrix form, and use the least squares solution as the coordinates of the positioning detector. The least squares solution is ,in, is the least squares solution of the three-dimensional coordinates of the positioning detector, is the coefficient matrix, is the coordinate difference, Transpose the matrix.

[0066] In one embodiment, building an angle measurement cross positioning error model module includes: Error matrix form building block for constructing n The matrix form of the relationship between the angle error and the coordinate error of the positioning detector is: ,in, is the error of the azimuth angle and zenith angle from the positioning detector to each of the reference detectors, d is a differential operator, is the positioning error of the positioning detector, (x, y, z) is the coordinate of the muon passing through the positioning detector in the ECEF coordinate system, is the positioning error of the reference detector itself, F is the correlation coefficient matrix, is the azimuth, is the zenith angle; The observation error covariance matrix construction unit is used to construct the observation error covariance matrix through the measurement error of the azimuth angle and the measurement error of the pitch angle. ,in, , is the measurement error of the azimuth, is the measurement error of the pitch angle, n is the number of the reference detector, is the expectation of the matrix, is the matrix transpose; The covariance matrix construction unit of the positioning error is used to calculate the covariance matrix of the positioning error through the covariance matrix of the observation error ,in, , The coefficient matrix calculated for the correlation coefficient matrix; The geometric dilution of precision calculation unit is used to calculate the covariance matrix of the positioning error Calculate the value of the geometric precision dilution GDOP ,in, , trace is the sum of the diagonal elements of the matrix.

[0067] In one embodiment, building an angle measurement cross positioning physical simulation model module includes: Initialization unit, used to initialize particle end, geometry, physical process, action class and visualization management; Constructing the geometric unit, which is used to construct the geometric body, wherein the geometric body includes a floor, the positioning detector, air, and the reference detector; Constructing a particle end unit, configured to initialize the momentum, energy, direction, and quantity of the particle using the muon flux model, and setting the particle end according to the momentum, energy, direction, and quantity of the particle, wherein the particle includes the muon; A physical process construction unit is used to construct the physical process, wherein the physical process is used to describe the total energy loss generated by the interaction between the particle and matter, wherein the matter includes the reference detector and the positioning detector; Constructing an action class unit, for constructing the action class, wherein the action class is used to describe output data and impact information of each step of the particle, wherein the output data includes angle information, time information, and coordinate information when the particle passes through the substance; Constructing a sensitive area output unit, for setting a sensitive area and obtaining the output data of each step of the particle in the sensitive area; Constructing a visualization management unit, for constructing the visualization management, wherein the visualization management is used to visualize the output data; Construct an angular cross-positioning physical simulation model unit, which is used to construct an angular cross-positioning physical simulation model through the particle end, the geometric body, the physical process, the action class, the output data and the visual management.

[0068] In one embodiment, the positioning result and accuracy analysis module includes: An output data generating unit, configured to run the angle measurement cross positioning physical simulation model to generate output data; a validity screening unit, configured to screen the validity of the output data and generate output data of a valid event, wherein the valid event is that the same muon passes through the reference detector and the positioning detector at the same time; The accuracy analysis unit is used to analyze the output data of the valid event to generate a positioning result, and perform accuracy analysis on the positioning result.

[0069] In one embodiment, the precision analysis unit is used to obtain the hitting position of the positioning detector in the output data; convert the coordinates (e, n, u) of the hitting position of the positioning detector in the station center coordinate system into coordinates (x, y, z) in the CGCS2000 coordinate system; based on the angular cross positioning model and the angular cross positioning error model, calculate the three-axis error through the coordinates (x, y, z) in the CGCS2000 coordinate system, and use the three-axis error as the precision analysis result.

[0070] The embodiments of the present invention achieve the following technical effects: The problem of being unable to obtain and analyze relevant data on muons passing through the detector when on-site experimental conditions are insufficient has been solved. Information such as the time, position, momentum direction, etc. of the muons passing through the detector can be obtained through simulation software, which improves the efficiency of the verification link before on-site experiments and reduces the experimental costs.

[0071] Obviously, those skilled in the art should understand that the various modules or steps of the above-mentioned embodiments of the present invention can be implemented using a general-purpose computing device, they can be concentrated on a single computing device, or distributed across a network composed of multiple computing devices. Alternatively, they can be implemented using program code executable by the computing device, so that they can be stored in a storage device and executed by the computing device. In some cases, the steps shown or described can be performed in a different order than herein, or they can be made into separate integrated circuit modules, or multiple modules or steps can be made into a single integrated circuit module for implementation. Thus, the embodiments of the present invention are not limited to any specific combination of hardware and software.

[0072] The foregoing description is merely a preferred embodiment of the present invention and is not intended to limit the present invention. Those skilled in the art will readily appreciate that various modifications and variations of the present invention are possible. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of the present invention are intended to be within the scope of protection of the present invention.

Claims

1. A muon angle measurement cross positioning method based on simulation, characterized in that: include: Based on the distribution of muons in azimuth and zenith angle, a muon flux model is constructed, wherein the muon flux model is used to describe the relationship between the flux of the muons and the zenith angle; Constructing an angular cross-positioning model, and using the angular cross-positioning model to calculate the coordinates of the positioning detector by using the coordinates of the reference detector and the coordinates of the position where the muon passes through the positioning detector; Constructing an angular cross positioning error model based on the angular cross positioning model, and calculating a value of a geometric precision dilution using the angular cross positioning error model; Based on the muon flux model, constructing an angular cross-positioning physical simulation model, wherein the angular cross-positioning physical simulation model is used to simulate the reaction results between particles and matter; Run the angle measurement cross positioning physical simulation model, generate positioning results based on valid events output by the angle measurement cross positioning model, perform accuracy analysis on the positioning results, and output the accuracy analysis results and the value of the geometric precision factor.

2. The simulation-based muon angle measurement cross positioning method according to claim 1, characterized in that: Based on the distribution of muons in azimuth and zenith angles, a muon flux model is constructed, including: Performing random simulation on the distribution of the muons in azimuth and zenith angle to obtain the muon distribution at a specific time and latitude; Constructing a corresponding relationship between the flux of the muon and the zenith angle through the muon distribution; The muon flux model is constructed through the corresponding relationship, where: , is the zenith angle, is the flux differential of the muon, is the angular differential of the zenith angle.

3. The simulation-based muon angle measurement cross positioning method according to claim 1, characterized in that: Constructing an angular cross-positioning model, and using the angular cross-positioning model to calculate the coordinates of the positioning detector by using the coordinates of the reference detector and the coordinates of the position where the muon passes through the positioning detector, including: Constructing a geometric relationship between the reference detector and the target position, the geometric relationship includes and , wherein the target position is the position of the muon passing through the positioning detector obtained by cross-positioning calculation, is the theoretical azimuth, is the theoretical zenith angle, is the azimuth, is the zenith angle, (x, y, z) is the coordinate of the target position, for n The coordinates of the i-th reference detector among the reference detectors; Linearize the geometric relationship to generate a linear equation system, and construct a matrix form of the linear equation system based on the linear equation system, wherein the matrix form is , is the theoretical coefficient matrix, is the theoretical three-dimensional coordinate of the muon on the positioning detector, is the theoretical coordinate difference; The least squares solution of the coordinates of the positioning detector is calculated according to the matrix form, and the least squares solution is used as the coordinates of the positioning detector. The least squares solution is ,in, is the least squares solution of the three-dimensional coordinates of the positioning detector, is the coefficient matrix, is the coordinate difference, Transpose the matrix.

4. The simulation-based muon angle measurement cross positioning method according to claim 1, characterized in that: Constructing an angular cross positioning error model based on the angular cross positioning model, and calculating a value of a geometric dilution of precision using the angular cross positioning error model, including: Build n The matrix form of the relationship between the angle error and the coordinate error of the positioning detector is: ,in, is the error of the azimuth angle and zenith angle from the positioning detector to each of the reference detectors, d is a differential operator, is the positioning error of the positioning detector, (x, y, z) is the coordinate of the muon passing through the positioning detector in the ECEF coordinate system, is the positioning error of the reference detector itself, F is the correlation coefficient matrix, is the azimuth, is the zenith angle; The covariance matrix of the observation error is constructed by the measurement error of the azimuth angle and the measurement error of the pitch angle. ,in, , is the measurement error of the azimuth, is the measurement error of the pitch angle, n is the number of the reference detector, is the expectation of the matrix, is the matrix transpose; The covariance matrix of the positioning error is calculated by the covariance matrix of the observation error: ,in, , The coefficient matrix calculated for the correlation coefficient matrix; The covariance matrix of the positioning error is Calculate the value of the geometric precision dilution GDOP ,in, , trace is the sum of the diagonal elements of the matrix.

5. The simulation-based muon angle measurement cross positioning method according to claim 1, characterized in that: Based on the muon flux model, a physical simulation model of angle measurement cross positioning is constructed, including: Initialize particle side, geometry, physics process, action class and visualization management; constructing the geometric body, wherein the geometric body includes a floor, the positioning detector, air, and the reference detector; Initializing the momentum, energy, direction, and number of the particle using the muon flux model, and setting the particle end according to the momentum, energy, direction, and number of the particle, wherein the particle includes the muon; Constructing the physical process, wherein the physical process is used to describe the total energy loss generated by the interaction between the particle and matter, wherein the matter includes the reference detector and the positioning detector; Constructing the action class, wherein the action class is used to describe the output data and impact information of each step of the particle, wherein the output data includes angle information, time information, and coordinate information when the particle passes through the substance; Setting a sensitive area, and obtaining the output data of each step of the particle in the sensitive area; Constructing the visualization management, wherein the visualization management is used to visualize the output data; A physical simulation model of angle measurement and cross positioning is constructed through the particle end, the geometric body, the physical process, the action class, the output data and the visual management.

6. The simulation-based muon angle measurement cross positioning method according to claim 1, characterized in that: Running the angle measurement cross positioning physical simulation model, generating positioning results based on valid events output by the angle measurement cross positioning model, and performing accuracy analysis on the positioning results, including: Running the angle measurement cross positioning physical simulation model to generate output data; screening the validity of the output data to generate output data of a valid event, wherein the valid event is that the same muon passes through the reference detector and the positioning detector at the same time; The output data of the valid event is analyzed to generate a positioning result, and the accuracy analysis is performed on the positioning result.

7. The simulation-based muon angle measurement cross positioning method according to claim 6, characterized in that: Analyzing the output data of the valid event to generate a positioning result, and performing accuracy analysis on the positioning result, including: obtaining a hitting position of the positioning detector in the output data; Convert the coordinates (e, n, u) of the impact position of the positioning detector in the station center coordinate system to the coordinates (x, y, z) in the CGCS2000 coordinate system; Based on the angular cross positioning model and the angular cross positioning error model, the three-axis error is calculated by the coordinates (x, y, z) in the CGCS2000 coordinate system, and the three-axis error is used as the accuracy analysis result.

8. A simulation-based muon angle measurement cross positioning device, characterized in that: include: Constructing a muon flux model module, for constructing a muon flux model based on the distribution of muons in azimuth and zenith angle, wherein the muon flux model is used to describe the relationship between the flux of the muons and the zenith angle; Constructing an angular cross positioning model module, constructing an angular cross positioning model, and using the angular cross positioning model to calculate the coordinates of the positioning detector by referring to the coordinates of the detector and the coordinates of the position where the muon passes through the positioning detector; Constructing an angle measurement cross positioning error model module, used to construct an angle measurement cross positioning error model based on the angle measurement cross positioning model, and calculate the value of the geometric precision coefficient using the angle measurement cross positioning error model; Constructing an angular cross-positioning physical simulation model module, which is used to construct an angular cross-positioning physical simulation model based on the muon flux model, wherein the angular cross-positioning physical simulation model is used to simulate the reaction results between particles and matter; The positioning result and precision analysis module is used to run the angle measurement cross positioning physical simulation model, generate positioning results based on the valid events output by the angle measurement cross positioning model, perform precision analysis on the positioning results, and output the precision analysis results and the value of the geometric precision factor.

9. A computer device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein: When the processor executes the computer program, the simulation-based muon angle measurement cross-positioning method according to any one of claims 1 to 7 is implemented.

10. A computer-readable storage medium, characterized in that The computer-readable storage medium stores a computer program for executing the simulation-based muon angle measurement cross-positioning method according to any one of claims 1 to 7.

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