四元二次方程组运行总是错。。求解救！！！。

clc;clear all;

syms x y z x1 y1 x2 y2

u0=217/2;

v0=217/2;

u1=34;

v1=72;

u2=158;

v2=25;

u3=15;

v3=36;

u4=88;

v4=39;

x11=(u1-u0)*(1/72)*2.54;

y11=(v1-v0)*(1/72)*2.54;

x21=(u2-u0)*(1/72)*2.54;

y21=(v2-v0)*(1/72)*2.54;

C=sqrt((u3-u4)^2+(v3-v4)^2);

l=1;

d=0.5/2;

L=2.6;

wudian=[x,y,z];

kong1=[d,0,0];

kong2=[-d,0,0];

xiangdian1=[x1,y1,L];

xiangdian2=[x2,y2,L];

eq1=(x1-x2)^2+(y1-y2)^2=((2*d*(l+L))/l)^2;

eq2=(x1-2.9)^2+(y1-2.9)^2=((x11-u0)^2+(y11-vo)^2)/C^2);

eq3=(x2-2.9)^2+(y2-2.9)^2=((x21-u0)^2+(y21-vo)^2)/C^2);

eq4=(x1-x2)^2+(y1-y2)^2=((x11-x21)^2+(y11-y21)^2)/C^2);

[x1,y1,x2,y2]=solve(eq1,eq2,eq3,eq4)

x=(x1*d+x1*x2+x2*d-x2*x1)/(2*d+x2-x1)

y=(y1*d-y1*x)/(d-x1)

z=(L*d-L*x)/(d-x1)

D= sqrt( (x2-x1)^2+(y2-y1)^2+(L-L)^2 )

DX=(sqrt((u1-u2)^2+(v1-v2)^2))/C

求X1 Y1 X2 Y2的那里是不是有问题？要怎么修改呢？