500 results about "Control point" patented technology

The invention discloses an assembly type laminated slab installation guiding system and method for a public building special-shaped formwork system, and relates to the technical field of constructions.The assembly type laminated slab installation guiding system comprises a data acquisition module, a calculation decision module, an installation guiding module and a geometric compensation connection module; the system comprises a point cloud acquisition module, a point cloud processing module, a BIM processing module, a point cloud processing module, a BIM processing module, a point cloud processing module, a BIM processing module, a field-BIM coordinate correspondence and output of original measurement data and quality indexes, a calculation decision-making module, a component optimal installation attitude and tolerance distribution and generation of installation instruction parameters, and an installation guiding module, which projects an installation instruction to a field in laser, total station and AR modes, and the geometric compensation connecting module is connected with an edge compressible layer through an adjustable bracket and an oval groove hole to achieve XYZ and angle fine adjustment, reliable locking and post-grouting curing are achieved on the premise that the bearing requirement is met, and the device has the advantage of being high in accuracy.

Methods and systems are described for analyzing images. One or more machine learning models may be trained based on a plurality of images. The one or more machine learning models may comprise a model representing a feature in a scene. The one or more machine learning models may be trained to map input image coordinates to vectors of spline control points. Images may be reconstructed removing the feature from the scene.

To provide a video encoding / decoding method for performing intra-prediction on the basis of availability of a reference pixel so as to improve encoding performance.SOLUTION: An intra-prediction method for a color copy mode checks a reference pixel region designated to obtain correlation information, determines a reference pixel processing setting based on a determination of availability of the reference pixel region, and performs intra-prediction according to the determined reference pixel processing. In addition, a candidate list for motion information prediction of the current block is generated, a control point vector of the current block is derived based on the candidate list and a candidate index, a motion vector of the current block is derived based on the control point vector of the current block, and inter prediction is performed on the current block.SELECTED DRAWING: Figure 14

The invention relates to a node semi-rigid modeling-based complex curved surface reticulated shell multi-objective form optimization method. According to the method, through integration of parametric modeling, numerical simulation and a multi-objective optimization algorithm, efficient optimization design of the irregular boundary free-form surface latticed shell structure is achieved. The control point coordinate matrix of the NURBS curved surface is used for generating a geometric model of the complex curved surface reticulated shell, and high-quality grid division is automatically generated; semi-rigid mechanical behaviors of nodes are simulated through combination of a rigid beam and a spring in a numerical model, semi-rigid characteristics of the nodes are integrated into a rod piece unit, and the mechanical performance of the structure is accurately evaluated; and a non-dominated sorting genetic algorithm is adopted, the minimization of the total strain energy of the structure, the minimization of the total weight of the structure and the maximization of the minimum node configuration degree serve as objective functions, and the multi-objective form optimization design of the complex curved surface reticulated shell is completed. The method is suitable for a single-layer latticed shell structure with any node form and any special-shaped contour boundary, and has wide applicability and good transportability.

The invention relates to the technical field of automatic driving, in particular to a dynamic scene simulation generation method for automatic driving, which comprises the following steps: step 1, scene initialization and static background reconstruction: utilizing an improved 3D Gaussian splash technology, fusing LiDAR point cloud prior information, reconstructing a large-scale static road environment, and performing semantic decoupling on a scene; step 2, dynamic object and behavior injection: endowing each dynamic object with an initial motion track represented by a learnable Bezier curve, outputting an adjustment instruction for behaviors of other traffic participants by using a generative AI model according to the semantic information of the current scene and a self-vehicle planning track, and finely adjusting a control point of the Bezier curve; the interactive authenticity is improved, human driving behaviors are simulated through generative AI, physical reasonability is ensured through explicit tracks, the test efficiency is improved, and the long-tail scene generation efficiency is improved by 50% or above through conditional generation.

The invention relates to the technical field of freeze-drying control, and discloses an automatic control method and system for freeze-drying, rotating and pre-freezing. According to the method, a freeze-drying process dynamic model is constructed by monitoring operation parameters in a rotary pre-freezing stage, and characteristic indexes of the freeze-drying process dynamic model are analyzed; comparing the index with a standard reference value to generate a deviation analysis result, mining abnormal signals, screening key control points, monitoring environmental parameters in real time, and calculating response coefficients of the environmental parameters influencing the key control points; evaluating a potential fault mode based on the response coefficient, positioning a fragile link in the process, and carrying out performance detection to find out a specific problem point; formulating a control planning target according to the problem point, analyzing a corresponding control mode, querying a standard of the control mode, and generating a control operation instruction according to the standard; after the instruction is applied to equipment execution control, freeze-dried product quality data is collected for consistency verification, and finally a process quality report is generated. According to the method, multi-dimensional monitoring, fault early warning and accurate regulation and control of the freeze-drying, rotating and pre-freezing process are achieved.

A three-dimensional parameterization design method for a side slope water interception and drainage ditch mainly comprises the steps that water interception and drainage objects are arranged on a three-dimensional side slope, and the water interception and drainage objects comprise two sub-objects of an axis and sections of different forms; drawing a ditch axis in the three-dimensional space; setting water interception and drainage section attributes; setting an axis control point, and associating section attributes; calculating a project amount according to the axis and the association attribute; and generating a two-dimensional profile map according to the interception and drainage parameters and the three-dimensional geological information. According to the method, a unique method of coupling a three-dimensional axis graph and a section parameter is adopted, the problem that the difference between the section size and the axis length of the ditch is too large in a conventional three-dimensional design is avoided, and the drawing quality of the ditch is kept good during sectioning; a parameterization + non-parameterization coupling sectioning technology is adopted, the problem that a BIM parameterization model and a GIM information model are difficult to integrate on the aspect of sectioning drawing based on a three-dimensional model is solved, and rapid drawing of a two-dimensional section of a slope intercepting and draining ditch on the basis of the three-dimensional model is achieved.

The invention relates to the technical field of computer aided design and BIM (Building Information Model), discloses a BIM ancient building component parameterization design method and system fused with a historical form and system, and aims to solve the problems of parameter distortion, low modeling efficiency, high rework rate and the like caused by disjunction of a historical building rule and a BIM in the prior art. The method comprises the following steps: acquiring a historical shape and system standard text data set; a component-region-geometry triple knowledge graph is constructed; outputting Bezier curve control points conforming to regional characteristics through a lightweight curvature parameter generation network; generating an initial model in the BIM; a dynamic geometric constraint engine is used for verifying whether parameters such as the roll-killing radian and curvature continuity are out of tolerance or not in real time, and visual feedback and correction suggestions are triggered; and the model is automatically updated after user confirmation. The modeling precision and efficiency are remarkably improved, the rework rate is reduced, and the requirements of ancient building protection engineering specifications are met.

The invention discloses an image vectorization method and device based on a neural diffusion curve. According to the method, geometric control point parameters of multiple sections of Bezier curves are predicted from end to end in an input grating image through a deep neural network, and the main contour and color structure of the image are accurately represented in a Bezier curve form; color control points on the two sides of the curve are automatically extracted through a micro color sampling module, and physically consistent diffusion curve representation is constructed; and performing neural approximation on the resolving process of the diffusion equation by adopting a rendering network based on a Fourier neural operator to realize end-to-end micro-reconstruction of the image generated by the prediction curve, thereby reversely optimizing the geometric prediction of the curve by using a reconstruction error. According to the method, manual intervention is not needed, image vector representation which is high in fidelity, infinite in scaling, lossless in editing and capable of supporting natural layering can be automatically generated while physical rendering consistency is kept, precision and efficiency are improved, and the method is suitable for the fields of image vectorization, digital art creation, micro rendering, graphic design and the like.

The invention discloses a PMCR assembly type refrigerating machine room construction simulation optimization method and system, and relates to the technical field of construction simulation, and the method comprises the steps: S1, collecting machine room construction stress data and machine room refrigeration data, and carrying out the preprocessing of the collected data; s2, constructing a coordinate system, forming an initial data set of the structural units, carrying out quantitative evaluation on the stress safety of each structural unit, and dividing stress intervals; s3, a stress ratio data set is solved, stress interval checking is completed, the refrigeration risk is evaluated, and grading instructions are generated for all stress intervals; and S4, when a construction risk prompt instruction is received, generating an initial hoisting passage path sequence, evaluating passage feasibility of each path control point, generating a final hoisting passage path, and outputting a final construction adjustment scheme. The problems that an existing machine room model is emphasized in completion display and operation and maintenance and lacks construction stage modeling and stress simulation, so that the hoisting safety margin is insufficient, and the hidden danger of local cracking of components is caused are solved.

The invention provides a cable-stayed bridge cross brace hoisting monitoring and early warning method, and the method comprises the steps: building a finite element model based on the design parameters of a cable-stayed bridge and a cross brace, and calculating the safety envelope of the displacement, rotation angle and stress of a control point; displacement, strain and cable force sensors and industrial cameras are arranged in a cross brace and an anchoring area, and data and images are collected. Inputting the image into a first convolutional neural network model, extracting attitude parameters such as vertical and lateral offsets and torsion angles of each control point, and adapting to different imaging scales through a scale adaptive convolution module; and aligning and splicing the attitude parameters with sensor displacement, strain and cable force indexes according to time to form a feature sequence, inputting the feature sequence and safety envelope parameters into a second convolutional neural network risk assessment model, outputting a comprehensive risk index reflecting deviation from safety envelope, and generating construction treatment instructions such as hoisting speed reduction and hoisting point stress adjustment. According to the monitoring and early warning method, the construction safety is greatly improved, and monitoring and early warning of the whole process of cross brace hoisting are achieved.

The invention discloses a real-time detection dynamic compensation dispensing method and system, a medium and a product, and relates to the technical field of data processing. According to the method, a dispensing track formed by a plurality of dispensing position points is obtained, height data of the upper surface and the lower surface of the shell are collected at a detection reference position in the dispensing process, and height deviation is calculated and measured. And determining an actual assembly clearance value of the product to be dispensed at the current position in combination with a preset shell standard thickness parameter. And correcting the dispensing position based on the gap value to obtain a target dispensing coordinate containing a corrected horizontal coordinate and a height coordinate. And comparing the actual assembly clearance value with a preset clearance threshold interval, determining a corresponding clearance interval category, and determining an associated dispensing speed parameter according to the category. And finally, the dispensing valve is controlled to execute the dispensing action according to the target dispensing coordinate and the dispensing speed parameter. By implementing the technical scheme provided by the invention, the dispensing efficiency can be improved.

The invention discloses an unstructured high-order grid generation method based on a Loop subdivision format, and the method comprises the steps: firstly reading a linear triangular grid as a basic topological structure, and reading sampling point set data of a target model; secondly, initializing each triangular patch in the basic topological structure into a quartic triangular Bezier surface patch based on a Loop subdivision rule, establishing a mapping relation, and splicing all the surface patches into an initial high-order surface; establishing a sampling point-patch association index through a k-d tree acceleration structure, and updating the global control point based on the mapping relation to obtain a preliminarily optimized global control point; and finally, applying continuous coplanar constraint to the global control points, forming a final parameter curved surface, generating a triangular mesh model and outputting the triangular mesh model. According to the method, the rough linear triangular mesh can be efficiently converted into the continuous high-order curved surface capable of approaching the target sampling data, and the obtained curved surface is high in smoothness and small in fitting error.

The invention belongs to the technical field of space intelligent modeling, and relates to a space intelligent world modeling method based on a global NURBS parameter domain. Consistent mapping and management are carried out on the multi-Patch geometric objects in a global NURBS parameter domain; generating and optimizing a control point matrix and a weight matrix for geometric expression based on a global NURBS parameter domain; realizing automatic smooth transition of the multi-Patch geometry in the splicing area based on a continuity keeping mechanism of curvature and normal constraint; executing NURBS curved surface subdivision operation according to the curvature change rate and the geometric error threshold value; and performing global solution on the control point matrixes of all the Patches, and outputting a space intelligent world model which is continuous and differentiable in a global range and has consistent parameters. According to the method, the continuity and controllability of geometric modeling are remarkably improved. The invention further provides a spatial intelligent world modeling system based on the global NURBS parameter domain.

The invention discloses a linear variation stiffness matrix method for suspension bridge space cable forming form finding, relates to the technical field of bridge numerical simulation, and solves the defects of a stiffness matrix in the process of solving the suspension bridge forming form finding through a segmented catenary method. The method comprises the steps that a suspension bridge is simplified into a space cable system composed of a main span, a side span and an anchor span, and the main span, the side span and the anchor span are sequentially subjected to a bridge forming and shape finding process; the linear change stiffness matrix solved in the bridge forming and shape finding process of the main span is used for representing the linear relation between the displacement change of the control point and the initial force change of the main cable; according to the method, an analytical expression of a linear change stiffness matrix is deduced, and an efficient iterative algorithm is established. According to the algorithm, the initial force correction is directly calculated according to the displacement error of the control point in each iteration.

The invention discloses an indoor unmanned aerial vehicle path planning method, and relates to the technical field of unmanned aerial vehicle path planning, and the method comprises the steps: constructing an indoor Euclidean symbol distance site map of an unmanned aerial vehicle, and generating an initial collision-free discrete path point sequence; constructing a safe flight corridor based on the discrete path point sequence, and generating a control point grid; in combination with a q-calculus theory, calculating a curve tension coefficient q based on a control point grid, and generating a three-dimensional space position path trajectory by using a tensor product q-Bezier curved surface equation; the geometric curvature of the three-dimensional space position path trajectory is calculated, shape parameters are calculated, and a continuous attitude path is generated according to the shape parameters by using a parametric quartic unit quaternion spline interpolation formula; and generating a complete flight path control instruction sequence. According to the method, in a complex indoor environment, a flight path which is highly safe, free of collision, extremely stable, free of oscillation and free of sudden change of angular acceleration is generated, and the flight safety and control quality of the unmanned aerial vehicle are remarkably improved.

The invention provides a parameterized NURBS curve cutter radius compensation method and device, and relates to the technical field of numerical control machine tool machining control, and the method comprises the steps: calculating an offset direction for each original control point of an original NURBS curve, and carrying out the offset of the original control points through combining with a cutter compensation radius, and obtaining offset control points; performing position optimization on the offset control point; if the maximum error value between the offset NURBS curve constructed after position optimization and the ideal offset curve is greater than an error threshold value, adding a new original control point for the original NURBS curve in an error overrun area; after an original control point is added, the steps of control point offset, optimization, error calculation and judgment are repeatedly executed till the maximum error value between the obtained offset NURBS curve and the ideal offset curve is smaller than or equal to an error threshold value, and a final target control point is obtained; and generating a target NURBS curve based on the target control point, and performing smoothing processing on a trajectory self-intersection point and a breakpoint on the target NURBS curve to obtain a final tool path.

This invention discloses a parking trajectory evaluation method, comprising: generating multiple candidate obstacle avoidance paths represented by fourth-order Bézier curves; utilizing the convex hull property of Bézier curves, a graded collision detection mechanism is used to screen candidate paths with no collision risk through preliminary axial bounding box judgment and precise judgment using the separating axis theorem; for safe candidate paths, regression gravity cost, ride comfort cost, and comprehensive safety cost are calculated by analyzing the geometric relationship of control points, wherein the regression gravity cost is based on the alignment degree between the control point evaluation at the curve endpoint and the heading and curvature of the reference path, and the ride comfort cost is calculated based on the discrete bending energy model of the control polygon; the comprehensive evaluation cost is obtained by weighted summation of the costs of the above three dimensions, and the path with the minimum cost is selected as the execution trajectory, wherein the weight coefficients are dynamically adjusted according to the width of the lateral passable space and the vehicle speed. This invention reduces the computational power consumption of planning and achieves smooth regression with the memorized path after obstacle avoidance.

The application discloses a method for designing and calibrating a detection site of an unmanned aerial vehicle based on high-precision positioning, comprising the following steps: S1, setting a main control point and a standard point; S2, performing static relative measurement and free station measurement, and outputting a reference coordinate data set; S3, introducing a Boolean sand model, calculating accurate three-dimensional coordinate values of the main control point, evaluating residual errors, and generating reference data of the main control point; S4, performing multi-station redundant observation on the standard point, and outputting accurate coordinate data of the standard point; S5, constructing an improved Hamilton Monte Carlo-based Bayesian inference model, introducing a Gaussian mixture prior guide factor, calculating a posterior probability distribution and an extended uncertainty, and generating a calibration data report; and S6, performing independent measurement and comparative analysis, and outputting a final calibration result. The application realizes accurate measurement of point coordinates of a detection site and scientific evaluation of uncertainty, and effectively improves the reliability and robustness of value traceability.

The application discloses a kind of liquid hydrogen centrifugal submerged pump inducer hydraulic and anti-cavitation performance optimization method, belong to liquid hydrogen pump inducer optimization design technical field.Step includes: through Bezier curve control and change the three-dimensional structure of inducer blade;With the design variable of Bezier curve center control point coordinate, carry out Latin hypercube sampling, generate inducer calculation sample;Establish inducer flow field geometric model and carry out numerical simulation, obtain inducer hydraulic and cavitation performance sample library;Deep learning inducer performance prediction proxy model is constructed, and the optimal center control point coordinate is solved using genetic algorithm, generates optimal inducer model and verifies.The application generates the three-dimensional structure of liquid hydrogen inducer by accurate control, establishes deep learning prediction model and intelligent multi-objective optimization, realizes the hydraulic and cavitation performance promotion of inducer, and improves the design and optimization efficiency of liquid hydrogen inducer.

The invention provides a bridge steel box girder linetype control method based on multistage monitoring and dynamic adjustment. The method comprises the steps that S1, inclination angle data, mileage data and section temperature difference of a bridge steel box girder and coordinate data of all control point positions continuously collected by a sensor network are obtained; s2, constructing a theoretical linear reference curve according to the inclination angle data, the mileage data and the section temperature difference, and generating a deformation vector according to the inclination angle data and the coordinate data; s3, generating an elevation variation vector according to the theoretical linear reference curve and the deformation vector, and introducing a shape function to solve the elevation variation vector so as to obtain a hydraulic adjustment amount; and S4, the hydraulic adjustment amount is input into a PID controller, and synchronous lifting control is conducted on the hydraulic jacks so that the supporting height can be adjusted. The method has the beneficial effects that dynamic lifting control over the hydraulic jack cluster can be achieved, and the control precision is improved.

The application discloses a centrifugal pump impeller design method, which comprises the following steps: initial parameter determination; parameterized geometric modeling, wherein the profile lines of the front cover plate and the rear cover plate of the impeller are constructed based on a cubic spline curve, and a blade surface model is generated by controlling point coordinates, a curvature radius and an inlet and outlet angle parameter; manufacturing process coupling design, wherein three-dimensional modeling software is used for parameterized modeling of the impeller, and a cutter kinematics equation of a five-axis machine tool is synchronously introduced; CFD numerical simulation analysis; construction of an artificial neural network; and compound shape reverse optimization. The application solves a three-dimensional RANS equation in a rotating column coordinate system to perform CFD verification, and combines the design strategy of the artificial neural network and the compound shape optimization algorithm to quickly and optimally select an optimal impeller model. The design of the impeller is based on the cubic spline curve to construct an impeller geometric model, and the generative machining technology of the five-axis numerical control machine tool is combined to realize deep cooperation of hydraulic design, three-dimensional modeling and manufacturing process.

The invention relates to a method and device for designing a spatial streamline inlet of a rotational flow separator, and the method comprises the steps: determining an inlet angle alpha, a wrap angle beta, an incident angle gamma and an overturning angle theta of the inlet of the rotational flow separator according to the performance requirements of the rotational flow separator; the method comprises the following steps: selecting a control point at a rotational flow separator, generating a basic shape of a characteristic bus of the spatial streamline inlet through a spline curve equation, then selecting a type value point to carry out iterative optimization on the bus shape, and determining a final curve shape of the spatial streamline inlet through an entrance angle, a wrap angle, an incident angle and a flip angle; based on the inlet shape of the rotating flow separator, the section shape of a space streamline inlet is designed through a Bezier curve equation; and according to the final curve shape and the section shape of the spatial streamline inlet, the spatial streamline inlet structure of the rotating flow separator is determined. Compared with the prior art, pre-separation of particles / liquid drops is achieved through fluid inertia accelerated rotation, and the separation efficiency of the hydrocyclone is improved.

The present application relates to the technical field of fusion design, in particular to a three-period minimal surface spatial positioning fusion structure design method based on the inverse distance weighting method, in the present application, by setting the implicit function equation of the three-period minimal surface and screening the control points according to the spatial distribution and geometric constraints, the accurate selection and positioning of the structure unit in the design target area are realized, the accuracy of geometric mapping is improved, the inverse distance weighting calculation is carried out through the convolutional neural network, the difference of the geometric region in the space can be effectively identified, the response ability of structure fusion is improved, the weight is calculated combined with the spatial distribution of the control points, and the weight distribution mechanism is formed by using the actual geometric distance between the control points, the continuity and smoothness of the geometric response in the interpolation region are guaranteed, the graph neural network is introduced to process the surface continuity problem, the local geometric mutation area is identified and corrected through the edge weight and topological structure between nodes, and the geometric smoothness and boundary consistency of the whole structure are improved.

Provided in the present application are a mower path tracking method, an electronic device, a chip and a mower. The method comprises: on the basis of the current position and a target final position of a mower, determining a reference path, and determining a plurality of control points; on the basis of the reference path and the plurality of control points, performing B-spline curve fitting to obtain a fitted curve; determining whether the fitted curve meets all constraint conditions in a constraint term set; if not, adjusting the plurality of control points, and performing B-spline curve fitting again until a fitted curve meeting all the constraint conditions is obtained; and if so, controlling the mower to travel along the fitted curve. The constraint term set in the present application includes a smoothness constraint condition, a speed constraint condition, an acceleration constraint condition, a collision constraint condition and a reference path distance constraint condition. The fitted curve is evaluated by means of the multi-dimensional constraint conditions, so as to obtain a better moving path, thereby optimizing the moving path of the mower and accurately controlling the mower.

The invention discloses a visual calibration method and system for a Delta structure parallel 3D printer and a medium, and the method comprises the steps that data collection is carried out based on preset sampling point coordinates to obtain an observation data set, and the observation data set comprises guide rail encoder readings and calibration plate coordinates under a camera coordinate system; coordinate transformation is carried out on each observation point in the observation data set to obtain a coordinate list of the center point of the movable disc under world coordinates, and coordinate transformation comprises calibration plate correction and camera offset correction; and performing coordinate calculation based on the coordinate list to obtain a movable disc coordinate of the movable disc control point in the world coordinate system and a guide rail coordinate of the guide rail control point in the world coordinate system. According to the method, high-precision joint identification and compensation of the Delta parallel 3D printer multi-source errors are achieved through the self-defined 22-parameter full-link error model in combination with the nonlinear optimization and stop stable sampling process, and the high-speed and high-precision printing requirements are effectively met.

The invention discloses a post-processing method and device for AUV positioning data, a medium and a program product. The method comprises the following steps: acquiring a first measuring point sequence and a second measuring point sequence of the AUV; wherein the first measuring point sequence is a positioning data set determined by a strapdown inertial navigation system, and the second measuring point sequence is a positioning data set determined by an ultra-short baseline underwater positioning system; performing jump point deletion on the second measuring point sequence, performing trajectory fitting, and determining a virtual control point based on a fitting trajectory; constructing a measurement section based on two adjacent virtual control points, and matching the measurement section with each first measurement point in the first measurement point sequence according to time; and for each measurement section, correcting the first measurement point in the measurement section according to the virtual control point to obtain a corrected measurement point, and determining a correction track of the AUV based on each corrected measurement point. According to the technical scheme, the correction of the AUV positioning data is realized by constructing the virtual control point, and the precision of the AUV positioning data is improved, so that the accuracy and applicability of an underwater task are met.

This invention provides a distributed sensor fault-tolerant collaborative control method and system based on spatial interpolation reconstruction. The method includes: intelligent actuator nodes maintaining a list of neighboring sensors and receiving the measured values ​​and self-confidence levels of each sensor; the actuator nodes dynamically calculating the confidence level of each neighboring sensor; when the confidence level of the master sensor is lower than a fault threshold, the actuator nodes automatically select a set of reliable sensors, reconstruct the environmental parameters of the control point using inverse distance weighted or Kriging interpolation, and use the reconstructed values ​​as feedback for control output; simultaneously, the system continuously monitors failed sensors and automatically switches back to the measured values ​​after the sensor recovers. This invention eliminates the need for redundant hardware, completes fault detection and parameter reconstruction at the edge level in milliseconds, achieves reconstruction accuracy that meets control requirements, significantly reduces system costs, improves fault tolerance, real-time performance, and control continuity, and is suitable for environments such as laboratories and cleanrooms.

The invention discloses an unmanned aerial vehicle path planning method based on an improved A star algorithm, and belongs to the technical field of unmanned aerial vehicle path planning. According to the invention, efficient planning and smooth processing of the flight path of the unmanned aerial vehicle in a complex environment are realized. The method comprises the following steps: firstly, constructing an environment grid map and initializing an algorithm; secondly, dynamic weight items and multi-dimensional guide scoring items based on a hyperbolic tangent model are introduced, and an improved heuristic evaluation function is constructed to optimize nodes; in the node extension stage, a node extension strategy based on jump point search is adopted to replace traditional neighborhood traversal, redundant nodes are removed through pruning operation, key inflection points are positioned, and an initial broken line path is generated; finally, key control points of the path are extracted, and the initial path is smoothed by using a B spline curve technology; the technical problems that a traditional method is large in computing resource consumption and high in search blindness, and the generated path does not conform to kinematics constraints are solved, and the path planning efficiency and the track smoothness are remarkably improved.

The application provides a plane control network measurement method, two known control points are introduced into an encryption control network of a project measurement area, the two introduced points can see each other and are farthest apart in the encryption control network, the coordinates of the two introduced points are calculated, the plane distance of the two introduced points is precisely measured, one of the introduced points is taken as a coordinate fixed point, the large azimuth to the other introduced point is calculated by using the introduced coordinates, the actual coordinates of the other introduced point are calculated according to the fixed point coordinates, the azimuth and the plane distance, and the encryption control network is laid out by taking the two introduced points as the calculation coordinates. The plane control network layout meeting the engineering project construction measurement precision requirement can be established by the two known primary control points, the control network deformation caused by the small network coverage range, the sparse reference point density, the low precision level and the special projection can be effectively solved, the repeated measurement caused by the precision problem is reduced, and the construction period is obviously saved.