42 results about "Drift angle" patented technology

The invention discloses an intelligent anti-seismic structure optimization design method and system for a high-rise building, and relates to the technical field of anti-seismic design of the high-rise building. A working condition database considering multidirectional seismic oscillation and soil-structure interaction is established in combination with seismic oscillation time history and site investigation parameters; constructing a structure model on the BIM platform, and importing frequency characteristics and load to generate a preliminary design; an inter-story displacement angle, a story acceleration, a plastic rotation angle and an energy dissipation ratio index are set in the model, an anti-seismic performance comprehensive function is constructed, constraints are set according to a standard limit value, the structure model is converted into an optimizable problem, and optimal design is achieved by iteratively calling a working condition database and automatically correcting key component parameters and damping arrangement. According to the method disclosed by the invention, the structural optimization design of the high-rise building under the multidirectional earthquake action is realized by establishing an earthquake working condition database and parameterizing structural modeling and performance function constraint.

This invention discloses a method for constraining corner elements in a rocking wall structure system. Based on the structural parameters of the rocking wall and the frame structure, the shear stiffness of the frame structure is obtained. A first lateral displacement expression and a second lateral displacement expression are constructed using the shear stiffness and the first and second equilibrium equations. An inter-story drift angle expression is then constructed using these expressions to solve for the stiffness of the rotating combined disc springs. The bending moment of the rotating combined disc springs is obtained from the stiffness of the rotating combined disc springs. The number of single disc springs stacked in the same direction and the number of combined disc springs are determined by the deformation requirement and the bearing capacity requirement of the combined disc springs obtained from the bending moment. This yields the combined height of the disc springs. The combined height of the disc springs is then used to constrain the length of the core rod and the support height in the corner element, achieving rapid constraint of the core rod length and support height in the corner element based on statics.

The invention provides a ship autonomous tracking control method fusing deep reinforcement learning and a sight line algorithm, and belongs to the technical field of ship intelligent control. A cooperative control framework EEATD3 integrating a sight guidance algorithm and drift angle compensation and deep reinforcement learning splits coupling links such as interference compensation and course adjustment in a path tracking problem, so that a deep reinforcement learning controller does not need to undertake a complex adjustment task of global state coupling in path tracking. A rudder angle instruction output strategy is accurately learned only according to real-time states such as deviation between a target course and an actual course. Meanwhile, a composite reward function is designed, various targets such as course error, rudder angle change rate and rudder angle amplitude change are comprehensively considered and verified through experiments, and experimental results show that the method effectively improves the precision and stability of trajectory tracking, balances the smoothness of rudder angle adjustment, and improves the accuracy and stability of trajectory tracking. And under complex disturbance of wind, waves, flow and the like, stronger robustness is shown.

A kind of underwater vehicle model water surface wake test method, model is connected by first fine cable, second fine cable, third fine cable and fourth fine cable trailer above test tank in turn to transfer traction, test method includes the following steps: static state debugging, so that model is immersed in water, static state is zero for roll angle, pitch angle and drift angle;Model moves in water, detects the roll angle, pitch angle, drift angle when model moves, detects the displacement of model relative to trailer;When the roll angle, pitch angle and drift angle when model moves in water and the displacement of model relative to trailer are all zero, water surface wake test can be carried out, when not, after adjusting the position of the point of first fine cable, second fine cable, third fine cable and fourth fine cable on trailer by pre-biased method, motion state detection is carried out again, to guarantee the motion posture of underwater vehicle model, avoid the influence of traditional towing mechanism on underwater vehicle water surface wake, improve the accuracy of water surface wake test measurement.

This invention relates to the field of seismic resistance technology for spatial frame structures, and discloses a method for determining the energy dissipation mechanism of a steel-concrete composite column-composite beam spatial frame. The energy dissipation mechanism includes steel beams, steel-concrete composite columns, and reinforced concrete slabs. The steel beams are welded and fixed to the steel-concrete composite columns via reinforcing rings, and the steel beams are fixedly connected to the reinforced concrete slabs via studs. Tie bars are provided at the ends of the steel-concrete composite columns. The ratio of the flexural bearing capacity of the steel beams to that of the steel-concrete composite columns is within the range of 0.42 to 1.05. By introducing the ductile damage parameter of the steel, combined with the inter-story drift angle, cumulative energy dissipation, beam-column energy dissipation ratio curve, and finite element calculation results of stiffness damage of the spatial frame, the energy dissipation characteristics and energy dissipation mechanism type of the structure are determined. This invention aims to solve the technical problems in the prior art where the steel-concrete composite columns do not form sufficient compression-bending hinges for energy dissipation during seismic resistance, easily leading to collapse, and the technical problems of using beam energy dissipation mechanisms in seismic design while rarely considering column energy dissipation.

The invention provides an unmanned ship course control method and system, relates to the field of automatic control, and solves the technical problems of navigation track control deviation, response lag and insufficient anti-interference capability of the existing unmanned ship control technology. The method comprises the following steps: acquiring the position, attitude, motion state and environmental data of an unmanned ship in real time through a shipborne sensor system, and performing fusion processing on the acquired data based on an extended Kalman filtering algorithm to obtain system state vectors including a course angle, an angular velocity, a drift angle, a wind speed and a flow velocity; according to a preset target path and the system state vector, an expected course angle is obtained through calculation by adopting a self-adaptive integral sight guidance algorithm; the deviation between the expected course angle and the course angle in the system state vector is used as input data, and a rudder angle control quantity is calculated by using an adaptive sliding mode control algorithm; and driving the unmanned ship to track the expected course angle according to the rudder angle control quantity.

The invention provides a vibration reduction LOS guidance method for curve tracking control of an underactuated unmanned ship, and relates to the field of robustness artificial intelligence. The method comprises the following steps: acquiring an optimal path parameter corresponding to the underactuated unmanned ship based on an iterative approximation numerical solution method; introducing a tracking error item and a tracking error speed item into drift angle estimation compensation; based on the drift angle estimation compensation, designing a self-adaptive vibration reduction LOS algorithm, and obtaining an expected heading angle of the unmanned ship by combining optimal path parameters; designing a sliding mode surface in combination with the expected heading angle, designing a nonlinear sliding mode controller, and generating a control torque; and carrying out expected heading tracking on the underactuated unmanned ship based on the control moment. According to the invention, the problem that accurate path tracking and stable navigation are difficult to realize in the prior art in the case of time-varying environment interference is solved.

Device (30, 40) for controlling the lateral dynamics of a vehicle (20), comprising an observer (31) which measures the actual drift angle (β H ) of the vehicle (20) is determined, wherein the device (30, 40) further includes a unit (10, 41) for specifying a target float angle (β) H ), a controller (32), and an actuator (33) for adjusting the float angle (β) H ) based on a control difference (e) of the float angle (β H ) exhibits, characterized in that the observer (31) has an actual swimming angle (β) related to the rear axle of the vehicle (20). H ) outputs that the unit (10, 41) is used to specify the target swimming angle (β H ) a mathematical model (10) that includes the target swimming angle (β H ) calculated with respect to the rear axle of the vehicle, and that the actuator (33) includes a controllable differential.

The invention discloses a stratigraphic dip angle calculation method based on horizontal well geosteering while drilling, which belongs to the technical field of drilling engineering, and specifically comprises the following steps: determining the reservoir thickness of a horizontal well according to drilling information of a vertical well of an adjacent framework of the horizontal well; determining the distance from a window entering point of the horizontal well to the top of a reservoir, the current hole drift angle of the horizontal well and the length of a horizontal section when the horizontal well penetrates out of a target stratum according to actual drilling information of the horizontal well; the stratum tendency is determined according to the field seismic section condition, and whether the horizontal well drills through the stratum belongs to top penetration or bottom penetration is judged; and calculating a stratigraphic dip by combining the thickness of the horizontal well reservoir, the distance from the window entering point of the horizontal well to the top of the reservoir, the current hole drift angle of the horizontal well, the length of the horizontal section when the horizontal well penetrates out of the target layer, the stratigraphic tendency and the condition that the horizontal well penetrates out of the reservoir. The technical problem that in the prior art, the stratigraphic dip angle cannot be calculated under the condition that no geophysical analysis condition exists or geophysical accurate testing cannot be carried out is solved.

The invention discloses a rotary steerable drilling tool, a posture correction method and system thereof and a medium, and particularly relates to the technical field of oil field drilling engineering, and the method is technically characterized in that the method comprises the steps that the internal friction torque and the eccentric torque of the rotary steerable drilling tool during underground work are obtained; dispersing the drill string into a structural model comprising at least one beam unit by utilizing a finite element method, and analyzing the dynamics of the rotary steering drilling tool by utilizing the structural model in combination with a virtual work principle to obtain a dynamic analysis result of the rotary steering drilling tool; constructing a first relation model by using the internal friction torque, the eccentric torque and the drilling fluid flow; obtaining attitude data of any hole drift angle and a tool face angle of the rotary steering drilling tool, and constructing a second relation model between the theoretical measured value of the well track and the actual measured value of the well track; and constructing a well track correction matrix error model through the first relation model, the second relation model and a preset flow feed-forward compensation algorithm.

Driver assistance systems are known in the prior art. These systems support drivers in everyday road traffic but are not sufficiently adapted to extreme situations in motorsport. This results in an increased risk of accidents, as extreme situations can be difficult to control, which in turn increases the risk of accidents. Therefore, the object of the invention is to further reduce the risk of accidents and to provide means that allow even extreme situations to be mastered. This object is achieved by a method, in particular implemented as a computer-implemented method, wherein the method is designed to support a controlled drift of an ego-vehicle, and wherein the method comprises the following steps: - Pre-setting and / or recalling a set drift angle; - Analyzing a driving situation trained in such a way as to compare an instantaneous drift angle with a set drift angle; - Prediction of a necessary intervention and / or a change in intervention, each designed to approximate the instantaneous drift angle to the set drift angle and / or designed to avoid an adverse trajectory.

The application discloses a replaceable coupling beam shear wall structure design method, comprising the following steps: S1, determining an overall structure performance target; S2, determining a yield section replaceable coupling beam arrangement scheme; S3, yield section replaceable coupling beam stiffness calculation; S4, non-yield section connecting beam and pre-embedded steel strength checking; checking yield section replaceable coupling beam bending resistance or shear resistance; S5, checking yield section replaceable coupling beam stability; S6, designing a connecting mode between the yield section replaceable coupling beam and the non-yield section connecting beam; S7, setting a yield section replaceable coupling beam restoring force model and a yield displacement; S8, performing structure elastic-plastic analysis; and S9, checking structure performance. The replaceable coupling beam can deform plastically and dissipate energy under large seismic action, and the residual deformation can be controlled; the inter-story drift angle is smaller than that of a traditional structure; and the replaceable coupling beam can be replaced quickly after an earthquake by adopting detachable connection, so that the structure function can be recovered quickly and completely.

This invention discloses a multi-channel UAV pose perception system and method. The system includes a pose perception belt, a digital twin UAV attitude visual interface, and a UAV-side pose sensor. The pose perception belt includes a control unit, a wireless communication module, a vibration motor, a power supply module, and a belt frame. The UAV-side pose sensor collects UAV attitude data in real time and establishes an aerial attitude model of the UAV. The attitude data includes at least the angle and direction of UAV tilt. The angle of UAV tilt is defined as the tilt angle, which is the complementary angle γ between the UAV's XY plane and the ground. The direction of UAV tilt is defined as the drift angle, which is the angle α between the projection of gravitational acceleration on the UAV's XY plane and the X-axis. This invention significantly reduces the operator's cognitive load, enables rapid response to abnormal UAV attitudes, greatly shortens the operator's decision-making time, and reduces the risk of UAV loss of control, rollover, or crash.

The invention relates to the technical field of petroleum seismic exploration, in particular to a fine control method for a well track of a horizontal well in a thin reservoir in a complex block. The method comprises the following steps: firstly, through three-dimensional seismic data depth migration imaging and implementation of well coordinate fitting, constructing an initial geologic model reflecting stratum occurrence; and then while-drilling trajectory data are collected in real time, a joint loss function is constructed by fusing seismic priori knowledge, an optimal geological model parameter is solved by adopting a nonlinear optimization iteration strategy, and a bedding hole drift angle matched with the current stratum is converted according to the optimal geological model parameter. Finally, differential angle distribution is executed according to the vertical horizon of the trajectory in the reservoir box body by taking the bedding hole drift angle as a reference, and fine control of the trajectory is achieved. According to the method, the problem that the drilling rate is low due to the fact that the occurrence of the thin reservoir in the complex block is varied is effectively solved, earthquake macroscopic prediction and actual drilling microcosmic correction are organically combined, the reservoir drilling rate is remarkably increased while the track smoothness is guaranteed, and a technical guarantee is provided for efficient development of the thin reservoir.

A vehicle drift control method, comprising: on the basis of driving state information of a vehicle, determining whether there is a drift intent (S201); if it is determined that there is a drift intent, determining a current drift angle of the vehicle (S202); if the current drift angle is greater than a target drift angle, determining a parameter adjustment amount on the basis of an angle difference between the current drift angle and the target drift angle, the parameter adjustment amount comprising at least one of a torque adjustment amount of a drive motor and a rotation angle adjustment amount of a rear axle (S203); and performing drift control on the basis of the parameter adjustment amount, so as to reduce the drift angle of the vehicle (S204). Also disclosed are a vehicle, an electronic device, and a storage medium related to the vehicle drift control method. The vehicle drift control method causes the drift process of the vehicle to simpler and more controllable, reduces a drift threshold, and increases driving enjoyment.

The application provides a building design method and system based on multi-objective optimization. The method improves the seismic performance and material stress dissipation efficiency of the building through multi-objective optimization. First, the building structure parameters such as the period ratio, the inter-story drift angle, the axial compression ratio, the dynamic load simulation data and the material stress wave propagation data are collected. Based on these data, the dynamic coupling factor between the structure parameters and the dynamic load is generated, and the matching relationship between the axial compression ratio and the stress wave peak propagation rate is adjusted. The non-dominated sorting strategy is used to optimize the above parameters collaboratively to obtain the initial structure parameter combination. Finally, the dynamic load simulation data is used as a constraint condition for iterative correction to generate a structure parameter combination that meets the requirements of seismic redundancy and stress dissipation balance. The technical scheme provided by the application can improve the safety and stability of building design.

The application provides a kind of ship quick current environment under the control method of unberthing pilot operation, it is related to marine engineering equipment technical field.The method obtains ship static parameters and actual draught, generates ship hydrodynamic characteristic tensor;Three-dimensional flow velocity vector data, physical cable real-time tension vector, actual heading angle and actual yaw angle rate are obtained, and the stream velocity scalar and the absolute flow direction angle are extracted;Calculate relative drift angle, solve the original longitudinal force, the original transverse hydrodynamic force and the original yaw torque translated to the first back cable support point position;Based on the original yaw torque, the pre-tightening force threshold and the safe working load, the safety interlocking logic is constructed, the asymmetric uncabling timing instruction and the target external rotation angle rate are generated;The deviation between target and actual angle rate is calculated to generate instruction compensation torque, and the transverse fine-tuning thrust is issued according to the longitudinal force arm of the auxiliary tugboat.The application parasitizes the longitudinal flow force as the unberthing external rotation energy, eliminates the risk of quick current cable breaking and reduces the energy consumption of tugboat.

The application relates to an inertial navigation comprehensive correction method based on a normal vector position model, which comprises the following steps: receiving a real-time rotation angular velocity vector and a specific force vector, binding initial navigation parameters, obtaining an initial normal vector position vector, an initial quaternion position vector and an initial direction cosine matrix, obtaining an initial velocity and an initial attitude matrix; obtaining a current velocity, a current attitude matrix and a current quaternion position vector; obtaining a current damping velocity and a current damping quaternion position vector, calculating a normal vector integral term; judging whether comprehensive correction is needed, if yes, adjusting an external reference position based on an observation number; if the observation number is greater than 1, adjusting a horizontal position to the external reference position, obtaining a drift angle and an azimuth gyro drift, correcting an attitude matrix output according to the drift angle, and using the azimuth gyro drift for navigation calculation; recording a time of successful observation and setting the normal vector integral term to zero; repeating the foregoing steps until navigation is completed.

The invention provides a directional drilling data prediction method and device, and relates to the technical field of petroleum drilling engineering. The method comprises the following steps: acquiring drilling data; processing the drilling data based on a preset directional drilling direction prediction model, and predicting to obtain a final hole drift angle, an azimuth angle, a vertical depth and a geodetic coordinate of lower-section drilling; wherein the preset directional drilling direction prediction model is obtained by training a deep learning network model based on a comprehensive loss function; the comprehensive loss function is obtained by combining a first loss function corresponding to a physical model based on bit pressure and rotating speed change and a second loss function corresponding to the prediction data. The device executes the method. According to the directional drilling data prediction method and device provided by the embodiment of the invention, the drilling precision and efficiency can be improved, and then the oil and gas recovery efficiency is improved.

The invention relates to a gyroscope error coefficient calibration method and device, equipment and a storage medium. The method comprises the steps that an inertial platform where a gyroscope is located is controlled to be in a target direction, servo method drift testing is conducted on the inertial platform, frame angle measurement values of the inertial platform at different moments are obtained, and the inertial platform comprises a four-ring three-axis inertial platform; obtaining a frame angular kinematics equation, the frame angular kinematics equation being determined based on a relationship that a first gyroscopic drift angular velocity determined by a frame angle measurement value in a servo state is equal to a second gyroscopic drift angular velocity determined by an error model, the frame angle kinematics equation is used for representing the relation between the frame angle measurement value and the error coefficient in the error model; and determining an error coefficient according to each frame angle measurement value at different moments and a frame angle kinematics equation. By adopting the method, the error coefficient of the gyroscope can be accurately calibrated.

The invention provides a method for measuring and calculating a roll angle of an aircraft by using a forward dual-beam Doppler navigation radar. The method is mainly characterized in that two coordinate systems are respectively used for analytical calculation. Firstly, a drift angle and an axial speed are solved in an airframe coordinate system. Then, in horizontal plane coordinate systems, a Doppler frequency shift equation when the aircraft is only in a rolling state is considered, and at the moment, the plane included angle between the horizontal planes of the two coordinate systems is the rolling angle of the aircraft. The analytic solution of the roll angle can be obtained by utilizing the relationship between the beam deflection angles of the two coordinate systems in the inclined vertical plane where the beam is located and performing reasonable approximate processing. At present, only a roll angle calculation method when no pitch angle exists in the side view surface of the aircraft is given. When the pitch angle exists in the side view surface of the aircraft, due to the fact that many unknown variables are involved, analysis and calculation of the roll angle of the aircraft need to be further analyzed and studied. However, the existing analysis result lays a reliable foundation for subsequent in-depth research.

The application discloses a kind of intelligent anti-seismic structure optimization design method and system for high-rise building, it is related to high-rise building anti-seismic design technical field, including taking seismic intensity zoning, site category and fault distribution information, establish the working condition database considering multi-directional ground motion and soil-structure interaction in combination with ground motion time history and site survey parameters;Structure model is constructed in BIM platform and is imported frequency characteristics and load to generate preliminary design;Inter-story drift angle, floor acceleration, plastic rotation and energy dissipation ratio index are set in the model, construct seismic performance comprehensive function, set constraint according to specification limit, convert structure model into optimization problem, realize optimization design by iteratively calling working condition database and automatically correcting key component parameters and damping arrangement.The method described in the application realizes the structure optimization design of high-rise building under multi-directional seismic action by establishing seismic working condition database, parameterized structure modeling and performance function constraint.

The application discloses a kind of optical remote sensing satellite drift angle residual ground verification method, belong to the technical field of remote sensing satellite overall design.This application establishes ground test system using digital satellite, according to drift angle residual, carries out once correction to transverse image shift, verifies the influence factors of drift angle control of multiple sampling system camera (including satellite drift angle calculation error, detector splicing error and multiple slit alignment error etc.), and carries out phase shift comparison to the interline prior information of dynamic target generator target pattern, secondary correction influence factor.The ground test method can verify in-orbit imaging quality in advance, reduce satellite load development risk.

The application provides a method for compensating for a drift angle of a pitching maneuver of a swing-scan imaging satellite, comprising the following steps: step one, designing a swing-scan maneuver trajectory; step two, solving the drift angle according to an image motion velocity model on a focal plane; step three, designing a pitching maneuver compensation drift angle trajectory; step four, determining initial values of parameters of the drift angle compensation trajectory; and step five, adjusting the parameters of the drift angle compensation trajectory by using an iterative method. The method analyzes main causes of the drift angle in load swing-scan imaging, offsets the ground image motion velocity caused by the satellite along the orbit by using the angular velocity of the satellite platform in the pitching direction, so that the drift angle of the swing-scan imaging satellite is compensated for, and the imaging quality of the wide swing-scan imaging satellite is improved.

The invention relates to the technical field of safe mud density window prediction methods, in particular to a directional well safe mud density window prediction method which comprises the steps that a pore pressure profile is established; establishing a rock mechanical parameter profile; establishing a crustal stress profile according to overlying rock pressure, formation pore pressure, hole drift angle and azimuth angle; and according to the formation fracture pressure, the formation collapse pressure and the formation pore pressure, a directional well safe slurry density window is established. Segmented prediction of the pore pressure is performed according to the characteristics of stratums with different depths, so that the obtained pore pressure of the stratums is more accurate; when the ground stress is solved, the hole drift angle and the azimuth angle of the directional well are considered; meanwhile, the stratum pore pressure predicted in a segmented manner is also used for solving the ground stress, so that the ground stress calculation is more accurate; and the formation pore pressure and the ground stress which are predicted in a segmented manner also influence the prediction of the directional well safe mud window, so that the prediction precision of the directional well safe mud window is improved.

The invention discloses a method for correcting interval transit time and resistivity of a deflecting section of a pure shale type horizontal well. In the method, aiming at the problem that logging parameters are difficult to calculate accurately due to the phenomenon that the interval transit time and the resistivity of the horizontal well deflecting section with strong anisotropy change along with a hole drift angle, the corresponding vertical depth of a deflecting section key curve is obtained by utilizing horizontal well guiding software on the basis of drilling and logging actual data of an oil field shale oil horizontal well; and then sound wave time difference and resistivity curve correction values are obtained according to the relative relation of the pilot wells, so that accurate logging parameters are obtained through calculation. The method is applied to well logging processing interpretation work of the horizontal well deflecting section in the strong anisotropic stratum, solves the problem that well logging parameters are difficult to calculate accurately due to the phenomenon that the interval transit time and the resistivity of the shale oil horizontal well deflecting section change along with the hole drift angle, and guarantees the actual production work of shale oil of an oil field. The method has a non-negligible effect on storage increase and production increase in the later period of Daqing shale oil.

A vehicle drift control apparatus includes a controller configured to receive data of a plurality of drift state stages respectively corresponding to a plurality of different drift angle ranges, and to change a rear-wheel torque limiting stage of a vehicle as a drift state stage corresponding to a real-time drift angle of the vehicle is changed in a drift state of the vehicle.

The invention relates to the field of measurement while drilling, and discloses a rotary steering continuous inclination measurement method and device based on data fusion, and the method comprises the steps: determining a preliminary hole drift angle based on sensor data; selecting, based on the preliminary hole drift angle, using z-axis measurement data or multi-axis measurement data to calculate a first calculated value of a wellbore trajectory parameter; wherein the well track parameters comprise a hole drift angle and / or an azimuth angle; calculating a second calculated value of a wellbore trajectory parameter by integrating a gravity tool face angle or a magnetic tool face angle based on the preliminary hole drift angle selection; and fusing the first calculated value of the borehole trajectory parameter and the second calculated value of the borehole trajectory parameter to obtain a final calculated value of the borehole trajectory parameter. According to the invention, the rotary steering continuous inclination measurement precision can be effectively improved.

The invention discloses a method for evaluating the vulnerability of an underground station under the influence of excavation disturbance of an adjacent foundation pit, and relates to the field of underground station structural damage evaluation.The method comprises the steps that (1) corresponding engineering geological survey reports and structural design parameters are collected for an underground station to be researched; (2) determining a probability distribution model of the maximum lateral deflection of the continuous wall; (3) establishing a finite difference numerical model of influence of adjacent foundation pit excavation on the underground station, and calculating interlayer displacement angles of the underground station under different disturbance working conditions; (4) constructing a demand model under excavation disturbance of the adjacent foundation pit, determining a threshold value of the ratio of the excavation depth to the horizontal distance of the station in each damage state based on the model, and obtaining a logarithmic standard deviation of a disturbance demand through statistical analysis; and (5) constructing a disturbance vulnerability curve of the underground station structure. According to the method, the damage probability of the underground station under different disturbance intensities can be quantitatively evaluated, and the occurrence possibility of various damage states of the underground station is effectively revealed.

The present application belongs to the technical field of hydraulic support group control, and particularly relates to a hydraulic support drift angle correction method and system for steeply inclined large-mining-height working face. Anchor points are arranged on the end and chute side, and data such as IMU, stroke / pressure, UWB / laser and conveyor attitude are collected, and a virtual strike reference angle is obtained through robust regression and consistency constraint; the overall deviation is determined according to the strike number and sliding window (same number rate / variance / mean), and the staggered strategy of remainder grouping is adopted to perform continuous small-step shaping, so that the adjacent drift angle deviation RMS is less than or equal to the threshold value, and then the residual deviation is zeroed in the single-frame closed loop, thereby solving the problem that the center line of the conveyor or chute is taken as a single reference datum, and finally leading to the problem of more and more deviation of the drift angle of the whole line support.