CN110530324B - Deformation performance detection method for modular building module unit - Google Patents
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Abstract
The invention provides a method for detecting the deformation performance of modular building module units, which comprises the steps of firstly, comprehensively selecting the positions of the module units to be subjected to deformation measurement according to the construction stage of the module units and the deformation performance to be measured; fixing the measuring sensors at corresponding positions and forming a series system; the distance between the measuring sensors is in inverse proportion to the measuring precision; after the sensor is installed, a computer is adopted to collect, analyze and process the measurement data, and a signal is sent to the measurement sensor through the computer in the system; the method can determine indexes related to the whole construction period and deformation of the module unit, interlayer displacement or interlayer displacement angle of the module unit in a use stage and the like. Meanwhile, uninterrupted measurement for 24 hours can be realized, and dozens of or even hundreds of repeated measurements can be carried out in one day, so that the timeliness of the measured data is greatly improved.
Description
Technical Field
The invention relates to a method for detecting deformation performance of modular building module units, and belongs to the field of building detection engineering.
Background
The modular units manufactured in the factory are transported to a construction site by a transport vehicle, hoisted in place by a hoisting device, connected with key structure nodes and inter-module pipelines, and subjected to seam treatment, so that the built building is called a modular assembly type building, also called a box type integrated modular building. The modular assembly type building is a highly assembled building, the prefabrication proportion of the building reaches 85% -95%, and the rest engineering quantity mainly comprises the work of site foundation construction, module unit installation and connection and the like. This feature of modular construction renders conventional quality inspection methods unsuitable for modular construction.
The transportation and hoisting of the modular units is a major stage of modular building construction. The module unit has larger space size and larger self weight, and can generate space deformation under the load action of the self weight of the structure and the like in the transportation and hoisting processes of the module unit, so that the deformation of a steel skeleton of a main body of the module unit and an enclosure structure is inconsistent, and doors, windows and external parts are collided and damaged. In the transportation and hoisting process, the deformation of the module unit needs to be controlled by taking measures through the real-time detection of the spatial deformation of the module unit. The conventional detection method is not suitable for detecting the space deformation of the module unit in the hoisting process.
The modular unit installation deviation can affect the stress performance of the modular building. The perpendicularity and plane curvature of the modular units and the modular building are important deformation indexes of the modular building, the conventional detection method is inconvenient to measure the multi-layer and high-rise modular building, the cylinders in the modular building cannot be measured, and meanwhile real-time monitoring along with layer-by-layer assembly cannot be guaranteed. The real-time monitoring of the overall deformation (interlayer displacement, interlayer displacement angle and the like) indexes of the modular building in the use stage cannot be realized.
The chinese patent application CN105937901A discloses a network inclinometry system based on sensor cluster and an inclinometry method thereof, which can directly follow the deformation of the enclosure or the surrounding soil body to generate inclination by the embedded measuring element, so that the measured data is more accurate. However, the inclination measuring method cannot be applied to the measurement of the deformation index of the modular building module unit.
Disclosure of Invention
The invention aims to solve the technical problems and provides a method for detecting the deformation performance of a modular building module unit based on a series sensor system, which is suitable for a method for monitoring the deformation performance of the modular building module unit in the transportation, hoisting, installation and use stages.
The purpose of the invention is realized by the following technical scheme:
a method for detecting deformation performance of modular building module units adopts a computer data acquisition and analysis system and a series measurement sensor system electrically connected with the data acquisition and analysis computer to detect, wherein the series measurement sensor system comprises a plurality of measurement sensors in communication connection, and a microprocessor and a sensor are arranged in the measurement sensors.
The method specifically comprises the following steps:
s1, comprehensively selecting the positions of the module units needing deformation measurement according to the construction stage of the module units and the deformation performance needing to be measured;
s2, fixing the measuring sensors at corresponding positions and forming a series system; the distance between the measuring sensors is in inverse proportion to the measuring precision; the fixation can adopt a fixed frame or be directly adhered by structural adhesive;
s3, after the sensor is installed, the computer is adopted to collect, analyze and process the measured data, and the computer in the system sends a signal to the measuring sensor;
s4, the measurement sensor performs fusion calculation to measure the azimuth angle and the three-position posture of the measurement sensor, and the sampling interval between the fusion calculation is sampled and calculated according to a preset time interval, or continuous sampling and calculation can be performed;
and S5, outputting the obtained data to a corresponding display device.
Preferably, the measuring sensors are multi-axis digital acceleration sensors, and each measuring sensor is installed in the same direction.
Preferably, the determining of the deformation measuring position of the module unit in S1 according to the construction stage of the modular building module unit and the deformation index to be measured includes:
s11, mainly deforming the framework beam column, the ceiling floor and the ground floor of the module unit in the transportation and hoisting stages of the module unit;
s12, in the module unit installation stage, the perpendicularity and the plane curvature of the module unit are main indexes;
s13, in the using stage of the module units, the displacement or displacement angle between the module unit layers is used as a main index;
preferably, the fusion calculation in S3 includes the following steps:
s31, the sensor adopts a multi-axis acceleration sensor, and each sensor transmitsThe sensors are arranged in series in the same direction, and the acceleration g of three shafts X, Y, Z in a static state is measured by an accelerometer in the sensorsx、gy、 gzAnd calculating the included angle between each axis and the gravity acceleration direction by utilizing the component relation between the gravity acceleration and the three axes X ', Y ' and Z ' of the three-axis acceleration sensor, thereby obtaining the three-dimensional inclination angles (namely three-dimensional postures) alpha, beta and gamma of the measuring sensor:
sinα＝gx/g，sinβ＝gy/g，cosγ＝gz/g
in the formula (I), the compound is shown in the specification,
a three-dimensional dip calculation formula can be obtained:
included angle of X' axis and natural X axis:
included angle between Y' axis and natural Y axis:
included angle of Z' axis and natural Z axis:
setting a threshold value of the microprocessor according to the precision of the accelerometer, and discarding the measured data and resampling if the jitter of the measured value exceeds the threshold value;
when the series measurement sensors are not installed in the same direction, each measurement sensor needs to measure an azimuth angle through a magnetometer; when the magnetometer is not in the horizontal position, the measured azimuth angle of the magnetometer is deviated, and at the moment, fusion calculation needs to be carried out by utilizing the current three-dimensional attitude angle data of the measuring sensor to obtain a real azimuth angle;
first, the header value is calculated by substituting the previous calculation results into the following formula.
Xh＝Xcosα+Ysinβsinα-Zcosβsinα
Yh＝Xcosβ+Zsinβ；
Then, the azimuth angle is calculated according to the following formula:
for(Xh>0，Yh>0)＝-[arctan(Yh/Xh)*180°/π]
for(Xh<0，Yh>0)＝180°-[arctan(Yh/Xh)*180°/π]
for(Xh<0，Yh<0)＝180°+[arctan(Yh/Xh)*180°/π]
for(Xh>0，Yh<0)＝360°-[arctan(Yh/Xh)*180°/π]
for(Xh＝0，Yh>0)＝90°
for(Xh＝0，Yh<0)＝270°。
preferably, the comparing of the measurement data of different time periods in S4 specifically includes the following steps:
s41, the measurement sensors are mounted and placed for a period of time, after the measurement sensors are stabilized, data are collected and averaged in a period of time, the attitude angles of all the measurement sensors are calculated and stored as reference values, and the data measured each time are compared with the reference values to calculate the attitude angle variation of the measurement sensors;
according to the variation of the attitude angles of the front and the back of the measuring sensors and the distance between the measuring sensors, the measuring sensors which are not installed in the same direction are combined with the azimuth angles, the space attitude trajectory curve of the module unit is determined according to the following method, or the deformation direction and the deformation of the module unit are approximately calculated through a trigonometric function.
S42, the bending curvature in the plane of the module unit is large in curvature radius relative to the distance between the measuring points, and the adjacent measuring points can be approximated by circular arcs. The trajectory curve is constructed with a known point QiCalculating the unknown point Qi+1Coordinates of wherein QiThe coordinates of the points and the tangent vector of the curve at these two points (i.e. the attitude of the longitudinal axis Y' of the measuring element at this point) are known and are convenient to traceLet the fixed origin of coordinates be Qi，QiThe point tangent vector is
Qi+1The point tangent vector is
Then
Due to QiThe point is known and the coordinate is (X)qi，Yqi，Zqi)，Qi+1The point is a moving point, so
The vector is taken as the normal vector of the plane where the circular arc is located, and the direction cosine vector of the vector is counted
Is (z)1，z2，z3). Establishing temporary coordinates X on the planeiYiZiTo do so by
Is XiThe direction of the light beam is changed,
is ZiDirection, establishing Y according to the right-hand ruleiDirection, then YiThe direction vector is
Is denoted by (y)1，y2，y3) Then in the arc QiQi+1At XiQiYiIn a plane, canObtaining a point Q according to the fitting relation of the plane circular arc curvei+1At XiYiZiThe inner coordinate is (Δ s × cos θ/2, Δ s × sin θ/2, 0), where θ is
And
the included angle of (1) and delta s are measuring point intervals.
To obtain Qi+1Coordinate value (X) of a point in a fixed coordinate systemqi+1，Yqi+1，Zqi+1) Spatial rectangular coordinate conversion is required. X in a temporary coordinate systemi、Yi、ZiDirection cosine of axis correspondence
All the coordinate axes are expressed by a fixed coordinate system and are direction cosine vectors of the coordinate axes of the temporary coordinate system in the fixed coordinate system. Then, the transformation formula according to the space rectangular coordinate is:
the measurement starting point is taken as the origin of the fixed coordinate, the transfer can be carried out according to the formula to obtain the space coordinate value of each point, and the points can be connected according to a straight line or an arc section to obtain a space attitude curve.
S43, calculating horizontal deformation, taking a certain point at the end part as a reference point, measuring the certain point one by one from the reference point, wherein every measurement interval has 1, 2, 3, … and j measurement points, and the total horizontal deformation amount at the j measurement point is the section-by-section accumulation of the previous horizontal deformations from the end part to the j measurement point. The horizontal deformation delta of the j-th measuring point in the X direction and the Y directionjx、δjyCalculated as follows:
wherein, deltaxi、δyiThe ith measuring point horizontally deforms along the directions of an x axis and a Y axis respectively; alpha is alphai、βiThe inclination angles of the ith measuring point and the directions of the x axis and the Y axis are respectively; svTo measure the pitch of the sensors.
Preferably, the sensor is a magnetometer sensor, a multi-axis digital acceleration sensor, a gyroscope sensor, or a combination of two or more sensors.
The invention has the beneficial effects that: the method can measure indexes related to deformation of the module unit in the whole construction period, namely deformation of a steel framework, a ceiling floor slab and a ground floor slab of the module unit in the transportation and hoisting stages; perpendicularity and plane curvature of the module unit in the installation stage; and the inter-layer displacement or inter-layer displacement angle using the phase module unit, etc. Meanwhile, uninterrupted measurement for 24 hours can be realized, and dozens of or even hundreds of repeated measurements can be carried out in one day, so that the timeliness of the measured data is greatly improved.
Drawings
Fig. 1 is an azimuth calculation chart.
FIG. 2 is a diagram of a post-point coordinate estimation of a spatial gesture trajectory curve.
Fig. 3 is a schematic diagram of horizontal deformation calculation.
Fig. 4 is a schematic diagram of the connection structure of the series sensor system of the present invention.
Figure 5 is a schematic diagram 1 of a hoist stage modular unit in-line sensor arrangement of the present invention.
Figure 6 is a schematic diagram 2 of a hoist stage modular unit in-line sensor arrangement of the present invention.
Fig. 7 is a schematic view of a modular unit in-line sensor arrangement during an installation phase of the present invention.
Fig. 8 is a schematic diagram of a modular unit in-line sensor arrangement during an installation, use phase of the present invention.
Detailed Description
The invention specifically discloses a method for detecting the deformation performance of modular building module units, which comprises a computer data acquisition and analysis system 1 and a series measurement sensor system 2 connected with the data acquisition and analysis computer. The series measurement sensor system 2 comprises a plurality of communication-connected same-direction measurement sensors 3, and the measurement sensors 3 can be connected through a wired network 4 or a wireless network 5.
The measuring sensor 3 is internally provided with a microprocessor and a sensor, and the sensor is a magnetometer sensor, a multi-axis digital acceleration sensor, a gyroscope sensor or a combination of two or more sensors.
In the steel structure module unit, the measuring sensor can directly select a non-magnetometer sensor, but if the magnetic sensor is adopted, because the magnetometer sensor measures the azimuth angle through the earth magnetic field, the magnetometer sensor can interfere the magnetic sensor when magnetic substances exist at the periphery, all the measuring sensors are required to be installed in the same direction, and meanwhile, in order to ensure the accuracy of the measured data, the measured data of the magnetometer sensor does not participate in fusion calculation.
With reference to fig. 5-8, the method for detecting the deformation performance of the steel structure module unit based on the series sensor system comprises the following steps:
s1, comprehensively selecting the deformation measuring positions of the module units according to the construction stage of the module units and the deformation performance to be measured;
s11, mainly deforming the framework beam column, the ceiling floor and the ground floor of the module unit in the transportation and hoisting stages of the module unit;
s12, in the module unit installation stage, the perpendicularity and the plane curvature of the module unit are main indexes;
s13, in the using stage of the module units, the displacement or displacement angle between the module unit layers is used as a main index;
s2, fixing the measuring sensor (adopting a sensor fixing frame or directly sticking the measuring sensor by structural adhesive) at a corresponding position to form a series system; the distance between the measuring sensors is in inverse proportion to the measuring precision; a series system thereof can be adopted as shown in fig. 4.
S3, after the sensor is installed, the computer is adopted to collect the measured data of the analysis system, and the computer in the system sends signals to the measuring sensor;
s31, the sensors adopt multi-axis acceleration sensors, each sensor is installed in series in the same direction, and acceleration g of X, Y, Z three axes in a static state is measured through an accelerometer in the sensorsx、gy、 gzAnd calculating the included angle between each axis and the gravity acceleration direction by utilizing the component relation between the gravity acceleration and the three axes X ', Y ' and Z ' of the three-axis acceleration sensor, thereby obtaining the three-dimensional inclination angles (namely three-dimensional postures) alpha, beta and gamma of the measuring sensor:
sinα＝gx/g，sinβ＝gy/g，cosγ＝gz/g
in the formula (I), the compound is shown in the specification,
a three-dimensional dip calculation formula can be obtained:
included angle of X' axis and natural X axis:
included angle between Y' axis and natural Y axis:
included angle of Z' axis and natural Z axis:
and setting a threshold value of the microprocessor according to the precision of the accelerometer, and discarding the measured data and resampling if the jitter of the measured value exceeds the threshold value.
When the series measurement sensors are not installed in the same direction, each measurement sensor needs to measure an azimuth angle through a magnetometer; when the magnetometer is not in the horizontal position, the measured azimuth angle of the magnetometer is deviated, and at the moment, fusion calculation needs to be carried out by utilizing the current three-dimensional attitude angle data of the measuring sensor to obtain a real azimuth angle;
as shown in fig. 1, a header value is first calculated by substituting the previous calculation results into the following formula.
Xh＝Xcosα+Ysinβsinα-Zcosβsinα
Yh＝Xcosβ+Zsinβ；
Then, the azimuth angle is calculated according to the following formula:
for(Xh>0，Yh>0)＝-[arctan(Yh/Xh)*180°/π]
for(Xh<0，Yh>0)＝180°-[arctan(Yh/Xh)*180°/π]
for(Xh<0，Yh<0)＝180°+[arctan(Yh/Xh)*180°/π]
for(Xh>0，Yh<0)＝360°-[arctan(Yh/Xh)*180°/π]
for(Xh＝0，Yh>0)＝90°
for(Xh＝0，Yh<0)＝270°
s4, the measurement sensor performs fusion calculation to measure the azimuth angle and the three-position posture of the measurement sensor, and the sampling interval between the fusion calculation is sampled and calculated according to a preset time interval, or continuous sampling and calculation can be performed;
s41, the measurement sensors are mounted and placed for a period of time, after the measurement sensors are stabilized, data are collected and averaged in a period of time, the attitude angles of all the measurement sensors are calculated and stored as reference values, and the data measured each time are compared with the reference values to calculate the attitude angle variation of the measurement sensors;
according to the variation of the attitude angles before and after the measuring sensors and the combination of the distances among the measuring sensors, the measuring sensors which are not installed in the same direction are combined with the azimuth angles, the space attitude trajectory curve of the module unit is determined according to the following method, or the deformation direction and the deformation of the module unit are approximately calculated through a trigonometric function.
S42, as shown in FIG. 2, the curvature of the module unit in plane is large radius of curvature relative to the distance between the measuring points, and the adjacent measuring points can be approximated by circular arcs. The trajectory curve is constructed with a known point QiCalculating the unknown point Qi+1Coordinates of wherein QiThe coordinates of the points and the tangent vector of the curve at the two points (i.e. the attitude of the longitudinal axis Y' of the measuring element at the point) are known, and for the convenience of description, the fixed coordinate origin is set at Qi， QiThe point tangent vector is
Qi+1The point tangent vector is
Then
Due to QiThe point is known and the coordinate is (X)qi，Yqi，Zqi)，Qi+1The point is a moving point, so
The vector is taken as the normal vector of the plane where the circular arc is located, and the direction cosine vector of the vector is counted
Is (z)1，z2，z3). Establishing temporary coordinates X on the planeiYiZiTo do so by
Is XiThe direction of the light beam is changed,
is ZiDirection, establishing Y according to the right-hand ruleiDirection, then YiThe direction vector is
Is denoted by (y)1，y2，y3) As shown in fig. 3. Then in the arc QiQi+1At XiQiYiIn the plane, a point Q can be obtained according to the fitting relation of a plane circular arc curvei+1At XiYiZiThe inner coordinate is (Δ s × cos θ/2, Δ s × sin θ/2, 0), where θ is
And
is the measurement sensor pitch. The standard length of the delta s is 0.50m, and can also be selected according to the requirement of the required measurement precision.
To obtain Qi+1Coordinate value (X) of a point in a fixed coordinate systemqi+1，Yqi+1，Zqi+1) Spatial rectangular coordinate conversion is required. X in a temporary coordinate systemi、Yi、ZiDirection cosine of axis correspondence
All the coordinate axes are expressed by a fixed coordinate system and are direction cosine vectors of the coordinate axes of the temporary coordinate system in the fixed coordinate system. Then, the transformation formula according to the space rectangular coordinate is:
the measurement starting point is taken as the origin of the fixed coordinate, recursion can be carried out according to the formula to obtain the space coordinate value of each point, and the points can be connected according to a straight line or an arc segment to obtain a space attitude curve.
S43, referring to FIG. 3, calculating horizontal deformation, taking a certain point at the end as a reference point, measuring from the reference point to the measurement point, wherein every measurement interval has 1, 2, 3, …, j measurement points, and the total amount of horizontal deformation at the j measurement point, namely the previous horizontal deformation is accumulated section by section from the end to the j measurement point. The horizontal deformation delta of the j-th measuring point in the X direction and the Y directionjx、δjyCalculated as follows:
wherein, deltaxi、δyiThe ith measuring point horizontally deforms along the directions of an x axis and a Y axis respectively; alpha is alphai、βiThe inclination angles of the ith measuring point and the directions of the x axis and the Y axis are respectively; svTo measure the pitch of the sensors.
And S5, outputting the obtained data to corresponding display equipment to finish the detection of the whole deformation performance.
There are numerous specific embodiments of the invention. All technical solutions formed by using equivalent substitutions or equivalent transformations fall within the scope of the claimed invention.
Claims (4)
1. A deformation performance detection method for modular building module units comprises the following steps:
s1, selecting the position of the building module unit to be deformed according to the construction stage of the building module unit and the deformation performance to be measured;
s2, fixing the measuring sensor at the measuring position and forming a series system; the distance between the measuring sensors is in inverse proportion to the measuring precision;
s3, after the sensor is installed, the computer is adopted to collect, analyze and process the measured data, and the computer sends a signal to the measuring sensor;
s4, the measurement sensor performs fusion calculation to measure the azimuth angle and the three-position posture of the measurement sensor, and the fusion calculation performs sampling and calculation according to a preset time interval and can also perform continuous sampling and calculation;
s5, outputting the obtained data to corresponding display equipment; comparing the measurement data obtained by fusion calculation of the measurement sensors in the step S4, specifically including the following steps:
s41, after the measurement sensors are installed and placed still until the measurement sensors are stable, collecting data within a period of time and averaging, calculating the attitude angles of all the measurement sensors, storing the attitude angles as a reference value, comparing the data measured each time with the reference value, and calculating the attitude angle variation of the measurement sensors;
according to the attitude angle variation quantity before and after the measuring sensors and the combination of the spacing between the measuring sensors, the measuring sensors which are not installed in the same direction also combine the azimuth angles thereof, and a track curve is determined according to the following method, or the deformation direction and the deformation quantity of the building module unit are approximately calculated through a trigonometric function;
s42, the bending curvature in the building module unit plane is large curvature radius relative to the measuring point distance, the adjacent measuring points can be approximated by circular arcs, and the track curve is constructed by using a known point QiCalculating the unknown point Qi+1Coordinates of wherein QiThe coordinates of the points and the tangent vector of the curve at these two points, which is the longitudinal axis Y' of the measuring element at Q, are knowniIs set to have a fixed coordinate origin at Qi，QiThe point tangent vector is
Qi+1The point tangent vector is
Then:
due to QiThe point is known and the coordinate is (X)qi，Yqi，Zqi)，Qi+1The point is a moving point, so
The vector is taken as the normal vector of the plane where the circular arc is located, and the direction cosine vector of the vector is counted
Is (z)1，z2，z3) (ii) a Establishing temporary coordinates X on the planeiYiZiTo do so by
Is XiThe direction of the light beam is changed,
is ZiDirection, establishing Y according to the right-hand ruleiDirection, then YiThe direction vector is
Is denoted by (y)1，y2，y3) Arc QiQi+1At XiQiYiIn the plane, a point Q can be obtained according to the fitting relation of a plane circular arc curvei+1At XiYiZiThe inner coordinates are ([ Delta ] s × cos θ/2, [ Delta ] s × sin θ/2, 0), where θ is
And
the angle of,delta s is the distance between the measuring points;
to obtain Qi+1Coordinate value (X) of a point in a fixed coordinate systemqi+1，Yqi+1，Zqi+1) The spatial rectangular coordinate conversion is needed, and X in a temporary coordinate systemi、Yi、ZiDirection cosine of axis correspondence
All the coordinate axes are expressed by a fixed coordinate system and are direction cosine vectors of the coordinate axes of the temporary coordinate system in the fixed coordinate system; then, the transformation formula according to the space rectangular coordinate is:
recursion can be carried out according to the above formula by taking the measurement starting point as the origin of the fixed coordinates to obtain the space coordinate values of each point, and the points can be connected according to straight lines or circular arc sections to obtain a space curve;
s43, calculating horizontal deformation, taking a certain point at the end part as a reference point, measuring the certain point one by one from the reference point, wherein every measurement interval has 1, 2, 3, … and j measurement points, the total horizontal deformation at the jth measurement point, namely the section-by-section accumulation of the previous horizontal deformation from the end part to the j measurement point, and the horizontal deformation delta of the jth measurement point in the X direction and the Y directionjx、δjyCalculated as follows:
wherein, deltaxi、δyiThe ith measuring point horizontally deforms along the directions of an x axis and a Y axis respectively; alpha is alphai、βiRespectively an ith measuring point and an X axis and a Y axisA direction inclination angle; svTo measure the pitch of the sensors.
2. The method for detecting the deformation performance of the modular building module unit as claimed in claim 1, wherein: the measuring sensors are multi-axis digital acceleration sensors and are installed in the same direction.
3. The method for detecting the deformation performance of the modular building module unit as claimed in claim 1, wherein: the deformation performance measuring position of the building module unit in the S1 is determined according to the construction stage of the modular building module unit and the deformation index required to be measured; comprises the steps of (a) preparing a mixture of a plurality of raw materials,
s11, in the transportation and hoisting stages of the building module units, the vertical deformation of the framework beam column, the ceiling floor and the ground floor of the building module units is used as a main index;
s12, in the building module unit installation stage, the perpendicularity and the plane curvature of the building module unit are used as main indexes;
and S13, in the using stage of the building module unit, the displacement or the displacement angle between the layers of the building module unit is used as a main index.
4. The method for detecting the deformation performance of the modular building module unit as claimed in claim 1, wherein: the fusion calculation in S3 includes the following steps:
firstly, the acceleration g of X, Y, Z three axes in a static state is measured by an accelerometer in a measuring sensorx、gy、gzAnd calculating the included angle between each axis and the direction of the gravity acceleration by utilizing the component relation between the gravity acceleration and the three axes X ', Y ' and Z ' of the three-axis acceleration sensor, thereby obtaining the three-dimensional inclination angles alpha, beta and gamma of the measuring sensor:
sinα＝gx/g，sinβ＝gy/g，cosγ＝gz/g
in the formula (I), the compound is shown in the specification,
a three-dimensional dip calculation formula can be obtained:
included angle of X' axis and natural X axis:
included angle between Y' axis and natural Y axis:
included angle of Z' axis and natural Z axis:
secondly, setting a threshold value of the computer according to the precision of the accelerometer, and discarding the measured data and resampling if the jitter of the measured value exceeds the threshold value;
then, according to the attitude angle variation quantity before and after the measuring sensors and the distance deltas between the measuring sensors, determining a space attitude track curve of the building module unit, or approximately calculating the deformation direction and the deformation quantity of the building module unit through a trigonometric function;
when the measuring sensors are not installed in the same direction, each measuring sensor needs to measure an azimuth angle through a magnetometer; when the magnetometer is not in the horizontal position, the measured azimuth angle of the magnetometer is deviated, and at the moment, fusion calculation needs to be carried out by using the current three-dimensional attitude angle data of the measurement sensor to obtain a real azimuth angle;
firstly, substituting the previous calculation result into the following formula to calculate the Heading value;
Xh＝Xcosα+Ysinβsinα-Zcosβsinα
Yh＝Xcosβ+Zsinβ
then, the azimuth angle is calculated according to the following formula:
for(Xh>0，Yh>0)＝-[arctan(Yh/Xh)*180°/π]
for(Xh<0，Yh>0)＝180-[arctan(Yh/Xh)*180°/π]
for(Xh<0，Yh<0)＝180+[arctan(Yh/Xh)*180°/π]
for(Xh>0，Yh<0)＝360-[arctan(Yh/Xh)*180°/π]
for(Xh＝0，Yh>0)＝90°
for(Xh＝0，Yh<0)＝270°。
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