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Ajustamento
Resolver o seguinte sistema de equaes lineares:
x + 2 * y 2 * z = 1
3* x 2 * y + z = 2
2 * x 3 * y + 2 * z = 2
1 2 2 x 1
3 2 1 y = 2
2 3 2 z 2
1 2 2
A = 3 2 1
2 3 2
Disciplina: Ajustamento
Prof. Alvaro Muriel Lima Machado
x
X = y
z
1
L = 2
2
A* X = L
A1 * A * X = A1 * L
L = [-1;2;2];
I * X = X = A1 * L
X = inv(A)*L
1
X = 2
3
Ajustamento
Microsoft Equation
3.0
x + 2 * y 2 * z = 1
3* x 2* y + z = 2
2 * x 3 * y + 2 * z = 2
1,0000
2,0000
3,0000
x + 2 * y 2 * z = 1
3* x 2 * y + z = 2
3* x y + 2 * z = 6
0,8667
1,5333
2,4667
x + 2 * y 2 * z = 1
2 * x 3 * y + 2 * z = 2
3* x y + 2* z = 6
0,8571
1,5714
2,5000
3* x 2* y + z = 2
2 * x 3 * y + 2 * z = 2
3* x y + 2* z = 6
0,8889
1,5556
2,4444
x + 2 * y 2 * z = 1
3* x 2 * y + z = 2
2 * x 3 * y + 2 * z = 2
3 * x y + 2 * z = 6
Ajustamento
Resolver o seguinte sistema de equaes lineares:
x + 2 * y 2 * z = 1
3* x 2 * y + z = 2
2 * x 3 * y + 2 * z = 2
3 * x y + 2 * z = 6
1 2 2
3 2 1
A=
2 3 2
3 1 2
1 2 2
1
3 2 1 x 2
y =
2 3 2 2
z
3 1 2
6
x
X = y
z
1
2
L=
2
6
A* X = L
3
Ajustamento
Ajustamento de Observaes
Quando as medidas no so feitas diretamente sobre as
grandezas procuradas, mas sim sobre outras relacionadas
matematicamente...
A* X = L
AT * A * X = AT * L
( AT * A) * X = ( AT * L)
( AT * A) 1 * ( AT * A) * X = ( AT * A) 1 * ( AT * L)
1
I * X = X = ( A * A) * ( A * L)
T
A(4,:) = [3 -1 2]
L(4,1) = 6;
X = inv(A*A)*(A*L)
0,8668
X = 1,5527
2,4771
5
16/5/2011
La = F ( X a )
Sejam:
Lb = Vetor (n X l) dos valores observados;
Lb + V = F ( X 0 + X ) = F ( X 0 ) +
La = Lb + V
tem-se:
Xa = X0 + X
La = F ( X a )
F
A=
X a
mtodo paramtrico.
Lb + V = L0 + AX
Fazendo-se:
F
X a
*X
Xa =X0
L0 = F ( X 0 )
Xa = X0
V = AX + L0 Lb
ou
L = L0 Lb
V = n Au u X 1 + n L1
n 1
V = n Au u X 1 + n L1
n 1
f1
v1 xa1
v f 2
2
=
L xa1
L
f
vn
n
xa1
f1
xa 2
f 2
xa 2
L
f n
xa 2
f1
xau x1 l1
f 2 x l
L
2 2
xau +
L
L
L L
f n xn ln
L
xau x
0
Q=
Fazendo:
Lb
Q 1 = 02 Lb1 = P
que recebe o nome de matriz dos pesos.
f i i = 1,2,..., n
xaj j = 1,2,..., u
pi =
02
aij =
02
i2
= V PV = ( AX + L) P( AX + L) = min
T
= X T AT PAX + 2 X T AT PL + LT PL = min
Fazendo:
N = AT PA
U = AT PL
Lb
P = 02 Lb1
X = N 1U = N 1 AT PL = N 1 AT P( L0 Lb )
X = N 1 AT PL0 + N 1 AT PLb
T
Aplicando a lei de propagao das covarincias X = G Lb G
G = N 1 AT P
G T = P T AN 1 = PAN 1
= 2 AT PAX + 2 AT PL = 0
X
10
X = ( N A P ) Lb ( PAN 1 )
X = N 1U
X = ( N 1 AT P ) 02 P 1 ( PAN 1 ) = 02 N 1 AT PAN 1 = 02 N 1 NN 1
X = 02 N 1
Xa = X0 + X
11
12
16/5/2011
Xa = X0 + X
Varincia a posteriori
X a = X = 02 N 1
02 =
V T PV
nu
La = Lb + V = Lb + AX + L = Lb + AX + L0 Lb
La = AX + L0
La = A X AT = 02 AN 1 AT
Forma quadrtica
2
distribuio
n = equaes de observao
u = parmetros
V = La Lb
n u = graus de liberdade
V = 02 ( AN 1 AT P 1 )
V T PV = X T U + LT PL
13
Ajustamento
Comparao entre
02
14
Ajustamento
e
02
Comparao entre
2 para constatar se a
02
02
Hiptese bsica:
H 0 : 02 = 02
Hiptese alternativa:
H1 : 02 02
02
S = 02 * S
02
Causas possveis:
Erros grosseiros;
Sistema mal condicionado;
Modelo matemtico inadequado;
Erros de clculo;
Ponderao errnea das observaes;
Problema na linearizao.
S2, / 2 02 * S S2,1 / 2
Cauda
inferior
Cauda
superior
15
16
a) Modelo matemtico
La = Lb + V
hBa = 6,16 + v1
DESNVEL
(m)
COMPRIMENTO
(km)
6,16
12,57
6,41
1,09
11,58
5,07
hCa = 12,57 + v2
hCa hBa = 6,41 + v3
hDa = 1,09 + v4
hCa hDa = 11,58 + v5
hBa hDa = 5,07 + v6
18
16/5/2011
6,16
12,57
6,41
Lb =
1,09
11,58
5,07
d) Matriz A
0
0
0
0
1 / 4 0
0 1/ 2 0
0
0
0
0
0 1/ 2 0
0
0
P=
0
0
0
1
/
4
0
0
0
0
0
0 1/ 2 0
0
0
0
0 1 / 4
0
1
0
1
A=
0
0
e) Equaes Normais
0
1
1
0
1
0
0
0
0
1
1
0,5 0,25
1
N = A PA = 0,5
1,5
0,5
0,25 0,5
1
T
0,3975
U = AT PLb= 15,2800
6,7850
6,16
X = N U = 12,59 m
1,05
1
19
20
X = N 1U
X = ( A PA) .( A PL)
T
L = L0 Lb
P=I
paramtrico.
X = ( AT A) 1. AT ( L0 Lb )
se L0 = 0
X = ( AT A) 1.( AT Lb )
AB=h1
32,54
2,0
BC=h2
5,93
1,0
CD=h3
17,97
2,5
21
H Ba H A = 32,54 + v1
a) Modelo matemtico
La = Lb + V
22
H Ca H Ba = 5,93 + v2
H Ba H A = 32,54 + v1
H D H Ca = 17,97 + v3
H Ca H Ba = 5,93 + v2
H D H Ca = 17,97 + v3
0
X0 =
0
HB
HC
32,54
Lb = 5,93
17,97
H A = 785,53m
H D = 842,00m
785,53
L0 = F ( X 0 ) =
0
842,00
Parmetros (incgnitas): HB e HC
X0 = 0
mas
e) Clculo de L
23
24
16/5/2011
Lo = [-785.53; 0; 842.0];
0
1 / 2 0
P = 0 1 / 1
0
0
0 1 / 2,5
Equaes
g) Matriz A
h) Equaes Normais
H B HC
Parmetros
A = 1
0
0
1
1
1,5000
N = AT PA =
1,0000
Equao 1
Equao 2
1,0000
1,4000
818,081
403,105
335,542
X = N 1U = 824,016 m
U = AT PL =
Equao 3
25
26
i) Parmetros
l) Propagao de Covarincias
0 818,081 818,081
Xa = X0 + X = +
=
m
0 824,016 824,016
X = 02 N 1
H = 1,44cm
j) Resduos
0,0109
V = AX + L = 0,0055
0,0136
2,0826 1,4876
4
=
*10
1,4876 2,2314
H = 1,49cm
C
l) Teste de hiptese
S2, / 2 02 * S S2,1 / 2
V T PV
=
= 1,636 *104
n u
2
0
0,000982
0,000353
0,000157
0,000039
0,0001636
0,0001636
0,0001636
0,0001636
5,023886
5,916468
6,634897
7,879439
27
rejeitada
rejeitada
aceita
aceita
28
Ho
Ho
Ho
Ho
Lb = [32.54; 5.93;17.97];
Lo = [-785.53; 0;842.0];
A = [1 0;-1 1;0 -1];
L = Lo-Lb;
% Matriz dos Pesos
P1 = diag([1/2, 1/1, 1/2.5]);
P2 = diag([1/2000, 1/1000, 1/2500]);
% Ajustamentos
N1 = A'*P1*A
N2 = A'*P2*A
U1 = A'*P1*L
U2 = A'*P2*L
X1 = -inv(N1)*U1
X2 = -inv(N2)*U2
V1 = A*X1+L
V2 = A*X2+L
varPost1 = V1'*P1*V1
varPost2 = V2'*P2*V2
mvcX1 = varPost1*inv(N1)
mvcX2 = varPost2*inv(N2)
29
DISTNCIA (km)
25,42
10,34
18,1
9,4
35,20
14,2
15,54
17,6
21,32
13,5
4,82
9,9
31,02
13,8
26,11
14,9
30
16/5/2011
La = Lb + V
a) Modelo matemtico
hBa hA = 25,42 + v1
800,00 25,42
10,34
800,00 35,20
15
,
54
L=
21,32
4,82
800,00 31,02
26,11
0
0
0
0
0
0
0
1 / 18,1
0
1 / 9,4
0
0
0
0
0
0
0
0
1 / 14,2
0
0
0
0
0
0
0
0
1 / 17,6
0
0
0
0
P=
0
0
0
0
1 / 13,5
0
0
0
0
0
0
0
1 / 9,9
0
0
0
0
0
0
0
0
0
1 / 13,8
0
0
0
0
0
0
0
1 / 14,9
0
32
d) Matriz A
No FreeMat...
1
1
1
A=
0
0
0
0 0 0
1 0 0
1 0 0
0 1 0
0 1 1
1 0 1
0 0 1
1 1 0
Lb = [825.42;10.34;835.20;15.54;21.32;4.82;831.02;26.11];
P = zeros(8,8);
P(1,1) = 1/18.1;
P(2,2) = 1/9.4;
P(3,3) = 1/14.2;
P(4,4) = 1/17.6;
P(5,5) = 1/13.5;
P(6,6) = 1/9.9;
P(7,7) = 1/13.8;
P(8,8) = 1/14.9;
A = [1 0 0 0; -1 1 0 0; 0 1 0 0; 1 0 -1 0
0 0 -1 1; 0 1 0 -1; 0 0 0 1; 0 1 -1 0];
33
e) Equaes Normais
N = AT PA =
U = AT PLb
X = N 1U
0
0.2184 -0.1064 -0.0568
-0.1064 0.3449 -0.0671 -0.1010
-0.0568 -0.0671 0.1980 -0.0741
45,3863
62,1561
=
4,2146
61,3112
825,22
835,53
m
=
809,54
830,85
0,1991
0,0262
0,3348
0,1446
V = AX Lb =
0,0098
0,1317
0,1735
0,1116
34
35
10,038
1,14
8,297
2,84
1,949
3,21
5,217
6,03
10,244
6,75
1,562
0,84
4,837
2,94
3,370
2,01
15,979
5,28
Altitudes conhecidas
HA = 33,831m; HB = 19,316m; HC = 2,791m
36
16/5/2011
La = Lb + V
a) Modelo matemtico
h hC = 10,038 + v1
a
I
2,791 10,038
8,297
1,949
5
,
217
L=
10,244
1,562
4,837
19,316 3,370
33,831 15,979
a
II
0
0
0
0
0
0
0
0
1 / 1,14
0
1 / 2,84
0
0
0
0
0
0
0
0
0
1 / 3,21
0
0
0
0
0
0
0
0
1 / 6,03
0
0
0
0
0
0
P= 0
0
0
0
1 / 6,75
0
0
0
0
0
0
0
0
1 / 0,84
0
0
0
0
0
0
0
0
0
0
1 / 2,94
0
0
0
0
0
0
0
0
1 / 2,01
0
0
0
0
0
0
0
0
0
0
1 / 5, 28
hA hIVa = 15,979 + v9
37
38
d) Matriz A
No FreeMat...
1 0 0 0
1 1 0 0
0 1 0 0
0 0 0 1
A = 1 0 0 0
0 1 1 0
0 0 1 1
0 0 1 0
0 0 0 1
0
0
1
1
1
0
0
0
0
L = -[10.038+2.791;8.297;1.949;5.217;10.244;
1.562;4.837;3.370+19.316;15.979-33.831];
P = zeros(9,9);
P(1,1) = 1/1.14;
P(2,2) = 1/2.84;
P(3,3) = 1/3.21;
P(4,4) = 1/6.03;
P(5,5) = 1/6.75;
P(6,6) = 1/0.84;
P(7,7) = 1/2.94;
P(8,8) = 1/2.01;
P(9,9) = 1/5.28;
A = [1 0 0 0 0;-1 1 0 0 0;0 -1 0 0 1;0 0 0 -1 1;-1 0 0 0 1;
0 -1 1 0 0;0 0 1 -1 0;0 0 1 0 0;0 0 0 -1 0];
39
40
N = A PA =
T
U = AT PL
X = N 1U
1 , 3775
0 , 3521
0 ,1481
6,8144
0,4548
= 14,7913
0,8706
2,9900
12,8286
21,1247
= 22,6869 m
17,8517
23,0721
0 , 3521
1 , 8541
1 ,1905
0
0
1 ,1905
2 , 0281
0 , 3401
0
0
0 , 3401
0 , 6954
0 ,1481
0 , 3115
0
0 ,1658
0 , 3115
0 ,1658
0 , 6255
0,4265
0,8676
1,5958
3,4118
3
V = AX Lb = 0,4634 *10
0
,
1610
1,8314
0,8669
0,3017
X a = X = 02 N 1
Xa
41
0,8996
0,4617
= 0,3178
0,2787
0,5169
0,4617
1,3915
0,9327
0,6913
0,9857
0,3178
0,9327
1,1657
0,7461
0,7376
0,2787
0,6913
0,7461
2,0292
0,9483
0,5169
0,9857
0,7376
0,9483
2,4634
42
16/5/2011
La = Lb + V
a) Modelo matemtico
x1a = l1 + v1 = 100,01 + v1
x1a + x2 a = l2 + v2 = 200,00 + v2
x1a + x2 a + x3a = l3 + v3 = 300,02 + v3
x3a = l4 + v4 = 99,94 + v4
x2 a + x3a = l5 + v5 = 200,02 + v5
x1a + x2 a + x3a = l6 + v6 = 299,98 + v6
Observaes Distncias (m) Observaes Distncias (m)
1
100,01
99,94
200,00
200,02
300,02
299,98
43
1
0
0
P=
0
0
100,01
200,00
300,02
Lb =
99,94
200,02
299,98
44
d) Matriz A
0 0 0 0 0
1 0 0 0 0
0 1 0 0 0
0 0 1 0 0
0 0 0 1 0
0 0 0 0 1
1
1
1
A=
0
0
0
1
1
0
1
1
0
0
1
1
1
No FreeMat...
Lb = [100.01;200.00;300.02;99.94;200.02;299.98];
P = eye(6);
A = [1 0 0;1 1 0;1 1 1;0 0 1;0 1 1;1 1 1];
45
4
N = A PA = 3
2
T
3
4
3
900,0
U = A PLb = 1000,0
900,0
V = AX Lb =
X = N U
99,99
= 100,03 m
99,97
2
3
4
46
X a = X = 02 N 1
Xa
1,7500
2,7500
2,5000
2
*10
2,7500
1,7500
1,5000
AD = x1a + x2 a + x3a
AD = [1 1 1] X a [1 1 1] =
T
47
0,3333
AD = 0,5773m
48
16/5/2011
a) Modelo matemtico
La = F ( X a )
l 1a = l 1b + v1 = 63,10 + v1 = x1a
A
63,10
89,15
10
141,40
12
193,45
13
219,50
14
245,60
49
x 63,10
X0 = =
x 26,05
0
1
1
1
1
A=
1
1
L = L0 Lb
0
2
b) Matriz A
0
1
0
2
L0 = F ( X 0 )
50
0
0
0,15
L = L0 Lb =
0,10
0,10
0,15
0
1
3
5
6
6 22
N = AT A =
22 120
0,508475 0,093220
N 1 =
0,093220 0,025424
0
,
50
U = AT L =
2,60
x 1,186441
2
X = N 1U = 1 =
*10
x2 1,949153
51
52
1,186441
3,135593
7,966102
2
V = AX + L =
*10
0,932203
63,1119
2,881356
89,1814
0,169492
141,3203
La = Lb + V =
193,4593
219,5288
245,5983
d) Parmetros
63,1119
Xa = X0 + X =
26,0695
e) Conjunto de observaes ajustadas
63,1119
89,1814
141,3203
La =
193,4593
219,5288
245,5983
53
54
16/5/2011
P1
Coordenadas Calibradas
das Marcas Fiduciais
103,587; + 104,371
+ 105,417; + 104,545
+ 105,330; 104,632
103,674; 104,458
x (m)
y (m)
li
Distncia (m)
842,281
925,523
l1
244,512
0,012
P2
1337,544
996,249
l2
321,570
0,016
P3
1831,727
723,962
l3
773,154
0,038
P4
840,408
658,345
l4
279,992
0,014
Determinar os parmetros da
transformao afim
ngulo
123 38 01,4
2,0
X 0 = [1065,2 825,2]T
55
1) Modelo Matemtico
X a = [ xa
56
1) Modelo Matemtico
l1a = l1b + v1 = ( x1 xa ) 2 + ( y1 ya ) 2
ya ]T
lia = lib + vi = ( xi xa ) 2 + ( yi ya ) 2
l5a = l5b + v5 = tg 1 (
l2a = l2b + v2 = ( x2 xa ) 2 + ( y2 ya ) 2
i = 1..4
x2 xa
x x
) + tg 1 ( a 1 )
y2 ya
y1 ya
l3a = l3b + v3 = ( x3 xa ) 2 + ( y3 ya ) 2
l4a = l4b + v4 = ( x4 xa ) 2 + ( y4 ya ) 2
La = F ( X a )
l5a = l5b + v5 = tg 1 (
x2 xa
x x
) + tg 1 ( a 1 )
y2 ya
y1 ya
57
58
L = L0 Lb
L = L0 Lb = F ( X o ) Lb
X 0 = [1065,2 825,2]T
Para o clculo de Lo substitui-se Xa por Xo no modelo matemtico.
Lb so as observaes efetuadas.
321,603816
l30 =
773,183532
0
2
l40 =
279,950057
l50 =
244,453646 m
59
244,453646 244,512
321,603816 321,570
L = 773,183532 773,154 =
279,950057 279,992
123o38'19,87" 123o 38'01,4"
0,058354
0,033816
0,029532
0,041943
18,47"
60
10
16/5/2011
A=
F
Xa
X0
l1a
x
a
l2 a
xa
l
= 3a
xa
l4 a
x
a
l5a
xa
lia
x x
= i a
xa
lia
l1a
x x
= 1 a
xa
l1a
lia
y ya
= i
y a
lia
l1a
y ya
= 1
ya
l1a
i = 1..4
l1a
ya
l2 a
............................................................
ya
l5a
y y
y y
= 2 2 a + 1 2 a
l3a
xa
l 2a
l 1a
ya
l
x
x
x
x
5a
l4 a
= 2 2 a 1 2 a
ya
l 2a
l 1a
ya
l5a
0,410397
0,911907
0,846831 0,531862
ya X = X
a
0
A = 0,991391
0,130937
0,596017
0,802972
5,167206 1312,573790
0,012 2
0
P= 0
0
0,016 2
0
0
0
0
0
0,038 2
0
0
0
0
0
0,014 2
0
0
0
0
2
2,0
d) Clculo de N-1
12553,015262 3207,898928
N = AT PA =
3207,898928 434811,404536
0,05888318
7,981261
N 1 =
*10 5
0
,
05888318
0,230419189
61
62
e) Clculo de U
649,645708
U = AT PL =
6033,298098
X a = X = 02 N 1
0,05888318
7,981261
5
Xa =
*10
0,05888318 0,230419189
X = N U = [0,055403 0,014284]
1
x = 0,0089
g) Parmetros
1065,255402
Xa = X0 + X =
825,185716
y = 0,0015
a
V PV = L PL + X U = 0,841887
T
P = Q 1 = 02 L1b
a ya
= 0,0434
0,841887
V T PV
=
= 0,280629
02 =
5 2
nu
63
244,510 244,510
321,564 321,564
La = Lb + V = 773,127 = 773,127
279,986 279,986
o
123,644632 123 38'41"
0,197009
0,550279
V = AX + L = 2,726375 *10 2
0,597032
1,091010
64
65
No FreeMat...
Ang = (123+38/60+1.4/3600)*pi/180;
Lb = [244.512;321.570;773.154;279.992;Ang];
Xo = [1065.2;825.2];
x = [842.281 1337.544 1831.727 840.408];
y = [925.523 996.249 723.962 658.345];
%
% Calculo de Lo e L
L1 = sqrt((x(1)-Xo(1))^2 + (y(1)-Xo(2))^2);
L2 = sqrt((x(2)-Xo(1))^2 + (y(2)-Xo(2))^2);
L3 = sqrt((x(3)-Xo(1))^2 + (y(3)-Xo(2))^2);
L4 = sqrt((x(4)-Xo(1))^2 + (y(4)-Xo(2))^2);
L5 = atan((x(2)-Xo(1))/(y(2)-Xo(2))) + atan((Xo(1)-x(1))/(y(1)-Xo(2)));
Lo = [L1;L2;L3;L4;L5];
L = Lo - Lb;
66
11
16/5/2011
No FreeMat...
No FreeMat...
%
% Matriz dos Pesos
P = diag([0.012^-2 0.016^-2 0.038^-2 0.014^-2 (2*pi/180/3600)^-2]);
%
% Equaes Normais
N = A'*P*A;
U = A'*P*L;
X = -inv(N)*U;
Xa = Xo + X;
V = A*X + L
67
68
Modelo Matemtico
f ( x) = f ( a ) + f ' ( a )
l1a = l1b + v1 = ( x1 xa ) 2 + ( y1 ya ) 2
( x a)
( x a) 2
+ f " (a )
+ ...
1!
2!
l2a = l2b + v2 = ( x2 xa ) 2 + ( y2 ya ) 2
l3a = l3b + v3 = ( x3 xa ) 2 + ( y3 ya ) 2
l4a = l4b + v4 = ( x4 xa ) 2 + ( y4 ya ) 2
l5a = l5b + v5 = tg 1 (
x2 xa
x x
) + tg 1 ( a 1 )
y2 ya
y1 ya
f ( x ) = f (a ) + f ' ( a)( x a)
69
70
f
f
L = f ( x, y ) = f ( x0 , y0 ) +
* dx +
* dy
x
x0 , y0
y x0 , y0
F ( xa , ya ) = ( x1 xa ) + ( y1 ya )
2
G ( xa , y a ) = ( x2 xa ) 2 + ( y 2 y a ) 2
G
xa
1
2 2
= (( x1 xa ) + ( y1 ya ) )
2
G
ya
F 1
= * (( x1 xa ) 2 + ( y1 ya ) ) * 2 * ( x1 xa ) * (1)
xa 2
1
2
2
xa x1
F
=
xa
( x1 xa ) 2 + ( y1 ya ) 2
F
xa
x0 , y0
F
ya y1
=
ya
( x1 xa ) 2 + ( y1 ya ) 2
F
y a
x0 , y0
x0 x1
( x1 x0 ) 2 + ( y1 y0 ) 2
y0 y1
( x1 x0 ) 2 + ( y1 y0 ) 2
71
F
xa
x0 , y0
G
xa
x0 , y0
=
x0 , y0
=
x0 , y0
x0 x2
( x2 x0 ) 2 + ( y2 y0 ) 2
y0 y 2
( x2 x0 ) 2 + ( y2 y0 ) 2
x0 x1
( x1 x0 ) 2 + ( y1 y0 ) 2
x0 x2
( x 2 x0 ) 2 + ( y 2 y 0 ) 2
F
ya
x0 , y0
G
y a
x0 , y0
y0 y1
( x1 x0 ) 2 + ( y1 y0 ) 2
y0 y2
( x2 x0 ) 2 + ( y 2 y 0 ) 2
72
12
16/5/2011
P1
x (m)
y (m)
842,281
925,523
P2
1337,544
996,249
P3
1831,727
723,962
P4
840,408
658,345
F
xa
G
xa
x0 x1
( x1 x0 ) 2 + ( y1 y0 ) 2
x0 , y0
=
x0 , y0
x0 x2
( x 2 x0 ) 2 + ( y 2 y 0 ) 2
Seja x0 = 1000
y0 = 800
F
ya
G
y a
y0 y1
( x1 x0 ) 2 + ( y1 y0 ) 2
x0 , y0
=
x0 , y0
y0 y2
( x2 x0 ) 2 + ( y 2 y 0 ) 2
(1)
a
1061,258
=
832,043
Ponto
1065,275
X a( 4 ) =
825,332
1069,20
=
818,00
X = A1 L
74
1138,413
X a( 2 ) =
836,005
( 3)
a
AX = L
73
X (m)
B
A
Y(m)
200,00
400,00
600,00
700,00
1100,00
300,00
P
Coordenadas aproximadas de P = (585,00; 112,00)m
Distncias medidas com = 0,05m
AP = 499,92m
BP = 600,02m
CP = 538,48m
1065,254
X a(5 ) =
825,178
75
76
1) Modelo Matemtico
a) Clculo de L
l = l + v1 = ( x A xa ) + ( y A ya )
a
1
b
1
L = L0 Lb = F ( X o ) Lb
X 0 = [585,00 112,00]T
l2a = l2b + v2 = ( xB xa ) 2 + ( y B ya ) 2
l3a = l3b + v3 = ( xC xa ) 2 + ( yC ya ) 2
588,19
l30 =
548,24
0
2
77
480,80 m
78
13
16/5/2011
L = L0 Lb
19,1196
11,8287
9,7617
480,80 499,92
L = 588,19 600,02 =
548,24 538,48
A=
F
Xa
X0
l1a
xa
l
= 2a
xa
l
3a
xa
xa x A
l1a
=
xa
( x A xa ) 2 + ( y A ya ) 2
l1a
ya
l2 a
ya
l3a
ya X = X
a
0
l1a
ya y A
=
ya
( x A xa ) 2 + ( y A ya ) 2
0,8007 0,5990
A = 0,0255 0,9997
0,9394 0,3429
79
P = Q 1 = 02 L1b
0,052
P= 0
0
0
0,052
0
80
e) Clculo de U
9671,279272
U = AT PL =
7972,038586
2
0,05
0
0
X = N 1U
g) Parmetros
d) Clculo de
Xa = X0 + X
N-1
609,70 52,81
N = AT PA =
52,81 590,30
= [14,807 12,180]
599,807
=
99,820
1,6530 0,1479
3
N 1 =
*10
0,1479 1,7073
81
82
No FreeMat...
V = A*X+L
varPost = V'*P*V
mvcXa = varPost*inv(N)
La = Lb + V
sigmaxa = sqrt(mvcXa(1,1))
sigmaya = sqrt(mvcXa(2,2))
Roxaya = mvcXa(1,2)/sqrt(mvcXa(1,1)*mvcXa(2,2))
xo = 585.00; yo = 112.00;
da = sqrt((xa-xo)^2+(ya-yo)^2);
db = sqrt((xb-xo)^2+(yb-yo)^2);
dc = sqrt((xc-xo)^2+(yc-yo)^2);
Lo = [da;db;dc]
L = Lo - Lb
A = [(xo-xa)/da, (yo-ya)/da; (xo-xb)/db, (yo-yb)/db; (xo-xc)/dc, (yo-yc)/dc]
N = A'*P*A
U = A'*P*L
X = -inv(N)*U
Xa = [xo;yo] + X
83
84
14
16/5/2011
Xa = X0 + X
599,807
=
99,820
X a = X = 02 N 1
599,982
X a( 2 ) =
100,026
4,370276 0,394404
3
Xa =
*10
0,394404 4,382691
599,982
X a(3) =
100,026
x = 6,61cm
a
y = 6,62cm
a
V T PV = LT PL + X T U = 2,604559
x y = 9,012 *10 2
a a
2,604559
V T PV
=
= 2,604559
02 =
3 2
nu
85
86
0,050153
V = AX + L = 0,046138
0,043214
499,970
La = Lb + V = 599,974
538,523
X(m)
Y(m)
Z(m)
3764078,4158
-4507379,6501
-483874,0342
Pseudo-distncias
observadas
Y(m)
Z(m)
(m)
14205954,236
-4194834,743
-22400539,043
22490085,705840
21600,00
9056691,070
-16873854,251
-18641462,109
21024011,346767
21600,00
19430645,714 -17416883,593
4840946,756
21581232,110490
21600,00
17393573,455 -19867331,192
1287494,324
20878563,742011
87
21600,00
17
20
23
88
15