运动规划层：对经典运动规划方法中垂线法和虚力场法进行了研究和实现。

Path Planning Layer: Research and realization of perpendicular bisector method and potential field method of classical methods.

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流速-面积法流量测验中，测深测速垂线的定位是流量测验的前提。

In discharge measurement by the velocity-area method, determining positions of velocity and depth-measuring verticals is a prerequisite condition to this measurement.

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首先按照《水文测验手册》的要求，对大江口水文站的精测资料进行测点和垂线分别精简的分析，确定该站常测法测流的方案。

According to hydrology test handbook, the authors analyzed the measurement materials of the Dajiangkou station and determined the flow measurement scheme.

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