CN117928395B - Real-time measuring method for multi-lever arm vector in ship machine transfer alignment - Google Patents
Real-time measuring method for multi-lever arm vector in ship machine transfer alignment Download PDFInfo
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
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- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
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Abstract
The invention relates to a real-time measurement method for multi-lever arm vectors in ship machine transfer alignment, which comprises the following steps: 1) Setting and starting a measuring device; 2) Measuring the position of a UWB positioning base station in a ship deflection deformation environment; 3) The embodiment of the lever arm vector end; 4) Defining an observation vector, a horizontal angle and an azimuth angle; 5) Positioning the tail end of the lever arm vector; 6) Real-time measurement of multi-lever arm vectors. The invention fully respects the fact that the ship flexes and deforms, and realizes the synchronous real-time measurement of the multi-lever arm vector in the transfer alignment for the full deck carrier-borne aircraft; the defect of longer estimation time of the traditional lever arm length filtering estimation method is overcome, and the speed of the transfer alignment of the carrier-based aircraft is improved; the problem of real-time measurement of multi-lever arm vectors in the transfer alignment of carrier-based aircraft in the whole deck range is effectively solved by utilizing the good space coverage of an ultra-wide band communication wireless network; the method can well promote popularization and application of various compensation methods taking lever arm vectors as known conditions in engineering.
Description
Technical Field
The invention belongs to the technical field of lever arm length measurement, relates to lever arm length measurement combining optics and wireless ultra-wideband communication, and particularly relates to a real-time measuring method for multi-lever arm vectors in ship machine transfer alignment.
Background
The carrier-based aircraft is used as a launching platform of the air-based missile and plays an important strategic role in competing for the air-based missile. Initial alignment is the process of initializing the navigation information of the inertial navigation system with the aim of establishing a suitable inertial navigation coordinate system. Before the carrier-based inertial navigation system (hereinafter referred to as sub inertial navigation), the navigation information of the carrier-based inertial navigation system (hereinafter referred to as main inertial navigation) is required to be utilized to complete initial alignment, and the process is called transfer alignment. The space vector formed by the main inertial navigation datum point and the sub inertial navigation datum point in the earth inertial navigation coordinate system is the lever arm vector in transfer alignment. Because the shutdown position and the gesture of the carrier-based aircraft group on the deck have diversity, the lever arm vectors corresponding to different carrier-based aircraft are different from each other, so as to form a multi-lever arm vector.
The alignment between the carrier-based aircraft inertial navigation system and the carrier main inertial navigation is different from the alignment of other carrier-based weapon inertial navigation systems with the standard fixedly connected with the ship structure, and is mainly characterized in that the lever arm length corresponding to the carrier-based aircraft is large and changes in real time along with navigation parameters and environmental factors. At present, aiming at various lever arm effect compensation technologies in engineering, a computer simulation or semi-physical simulation mode is generally adopted to estimate the lever arm length or filter the dynamic lever arm error, and the estimated or filtering time is different from tens of seconds to minutes, so that the transmission alignment speed is greatly reduced. In order to separate the errors introduced by the lever arm effect from the comprehensive influences of various error sources and further realize error compensation with higher precision and higher speed, real-time measurement of the lever arm vector is needed. However, due to the limitation of the current measurement method, the research results of the real-time measurement method and key technology of the multi-lever arm vector of the carrier-borne aircraft group in the carrier-borne aircraft transfer alignment are still reported.
Therefore, in the field of lever arm length measurement in ship-based aircraft transfer alignment, a real-time measurement method which is suitable for the diversity of the shutdown positions and the postures of the ship-based aircraft groups and can realize the multi-lever arm vector of the ship-based aircraft within the full deck range is urgently needed.
Disclosure of Invention
The invention aims to overcome the defects of the prior art, provides a real-time measurement method for multi-lever arm vectors in transfer alignment of a ship-borne aircraft, and aims to realize synchronous real-time measurement of the multi-lever arm vectors in the transfer alignment of the ship-borne aircraft on a full deck.
The invention solves the technical problems by the following technical proposal:
A real-time measurement method for multi-lever arm vectors in ship-to-machine transfer alignment is characterized by comprising the following steps of: the measuring device adopted by the measuring method comprises a plurality of sets of space reference transmitting units, a plurality of sets of space pose measuring units, a plurality of sets of wireless ultra wideband UWB positioning base stations, a plurality of sets of wireless ultra wideband UWB positioning labels and an industrial personal computer unit; the positioning tag and the positioning base station are in wireless communication, the positioning base station transmits communication data to the industrial personal computer unit in a wireless mode, and the measuring software of the industrial personal computer unit is used for measuring the positions of the positioning tags in real time; the space reference transmitting unit transmits reticle structure light and is matched with the laser range finder to realize generation and transmission of six-degree-of-freedom pose references; the space pose measuring unit receives the reference structure light generated by the space reference transmitting unit, an image acquisition module images a receiving light spot and transmits an acquired image to the industrial personal computer unit in real time through a wireless data transmission module, and the space pose measuring unit comprises a wireless data transmission module which transmits the image acquired by the image acquisition module to the industrial personal computer unit in real time; the industrial personal computer unit calculates the pose change of the space pose measuring unit relative to the space reference transmitting unit through an image processing technology;
Moreover, TX1, TX2, TX3, TX4 and TX5 of the space reference transmitting unit are fixedly connected to a ship main inertial navigation, RX1, RX2, RX3, RX4 and RX5 of the space pose measuring unit are fixedly connected to the vicinity of an obstacle of a ship body, and RX1 of the space pose measuring unit is fixedly connected with TX2 of the space reference transmitting unit; the space pose measuring unit RX2 is fixedly connected with the space reference transmitting units TX3, TX4 and TX 5; the space pose measuring units RX3, RX4 and RX5 are fixedly connected with the wireless ultra wideband UWB positioning base station P 1、P2、P3 respectively; an observation point O p of a child inertial navigation reference point O s is established on a ship machine body, direction marking points M 1 and M 2 are arranged on the ship machine body, the marking points are not collinear with three points of the observation point, UWB positioning labels are arranged at the direction marking points M 1 and M 2 of the observation point O p, and the measuring method comprises the following steps:
1) Layout, setting and starting of the measuring device: setting positioning base stations on a deck, wherein each positioning base station is fixedly connected with a set of space pose measuring units, and the space reference transmitting unit TX1 is fixedly connected near a ship main inertial navigation and keeps a fixed position relation with the main inertial navigation; the space pose measuring unit RX1 is fixedly connected with the space reference transmitting unit TX2 and is arranged near a ship obstacle, the space pose measuring unit RX2 is fixedly connected with the space reference transmitting units TX3, TX4 and TX5 and is arranged near a deck, and the space pose measuring units RX3, RX4 and RX5 are respectively fixedly connected with the UWB positioning base station P 1、P2、P3; an observation point O p of a child inertial navigation reference point O s is established on a ship machine body, direction marking points M 1 and M 2 are arranged, the marking points are not collinear with the three points of the observation point, and UWB positioning labels are arranged at the direction marking points M 1 and M 2 of the observation point Op; starting each device and the industrial personal computer unit after the setting is completed;
2) Measuring the position of a UWB positioning base station in a ship deflection environment: setting three positioning base stations P1, P2 and P3 on a ship deck, transmitting the main inertial navigation pose reference to the vicinity of the positioning base stations in a turning relay form, establishing real-time photoelectric connection between the positioning base stations and the main inertial navigation, and completing real-time measurement of three-dimensional position coordinates of the positioning base stations in a ship main inertial navigation coordinate system;
3) The lever arm vector end is embodied as follows: an observation point O p of a sub inertial navigation reference point O s is arranged on a ship-borne aircraft body, the ship-borne aircraft body can be treated as a local rigid body in a stop state, so that a fixed spatial position relationship exists between the observation point and the sub inertial navigation reference point, the position relationship is obtained through accurate calibration in advance, a UWB positioning tag is arranged at the observation point, and a real-time coordinate value of the positioning tag in a main inertial navigation coordinate system O BXBYBZB is realized through a UWB positioning technology and a deformation measurement technology based on cross obstacle transmission of a reference beam;
4) Definition of observation vector and horizontal and azimuth angles: defining a space vector formed by the observation point O P and the sub inertial navigation reference point O S in a main inertial navigation coordinate system O BXBYBZB Is called as an observation vector, and the projection points of the observation point O P and the sub inertial navigation reference point O S in the plane of the main inertial navigation coordinate system O BXBYBZB are respectively O P ' and O S ' to define an observation vector/>The included angle alpha between the plane of O BXBYB and the plane of O BXBYB is the horizontal angle of the observation vector, and the observation vector/> isdefinedProjection vector/>, in the O BXBYB planeThe included angle beta between the X B axis and the X B axis is the azimuth angle of the observation vector;
5) Positioning of lever arm vector ends: a positioning tag A is arranged at the position of a mark point M 1, a positioning tag B is arranged at the position of a mark point M 2, the positioning tags A and B are respectively communicated with a positioning base station near a deck, coordinate values of two positioning tags A, B in a main inertial navigation coordinate system are obtained in real time, and the real-time measurement of the gesture of a direction mark surface is realized by combining the position coordinates of an observation point O P; since the position relationship between the observation point O P and the sub inertial navigation reference point O s is fixed, the observation vector The module length of the observation vector is a fixed value, which can be obtained through accurate measurement, the module length is set as L 0, the module length is a constant parameter in measurement, and the horizontal angle alpha and the azimuth angle beta of the observation vector are obtained in real time through real-time measurement of the gesture of the direction marking surface by utilizing a matrix transformation principle;
The position coordinates of the observation point O P are measured in real time by a positioning technology based on UWB, and are set as O p（xp,yp,zp), then, according to the spatial solid geometry knowledge, the position coordinates O s（xs,ys,zs) of the child inertial navigation reference points can be calculated by the formula (1):
(1)
The length of the lever arm vector to be measured can be calculated by the formula (2):
（2）
6) Real-time measurement of multi-lever arm vectors: aiming at the real-time measurement of the multi-lever arm vector of the carrier-borne aircraft group, proper observation points O p1、Op2、...、Opn are arranged in n carrier-borne aircraft above the deck, a networked real-time measurement system of the multi-lever arm vector is established, and the length measurement of the lever arm vector to be measured of each observation point is sequentially carried out according to a formula (2).
The invention has the advantages and beneficial effects that:
1. The invention fully respects the fact that the ship flexes and deforms, and realizes the synchronous real-time measurement of the multi-lever arm vector in the transfer alignment for the full deck carrier-borne aircraft; the defect of longer estimation time of the traditional lever arm length filtering estimation method is overcome, and the speed of the transfer alignment of the carrier-based aircraft is improved.
2. The invention provides direct lever arm length data for lever arm effect compensation, and is beneficial to improving the transfer alignment precision of the carrier-based aircraft.
3. According to the invention, engineering reality of diversity of the shutdown positions of the carrier-based aircraft groups is fully considered, and the problem of real-time measurement of multi-lever arm vectors in carrier-based aircraft transfer alignment in a full deck range is effectively solved by utilizing good space coverage of an ultra-wideband communication wireless network.
4. According to the invention, the observation points are arranged at the proper positions of the carrier-borne aircraft, so that the actual engineering problem that the carrier-borne aircraft inertial navigation datum point (the tail end of the lever arm vector) is inconvenient to directly sense and measure is effectively solved.
5. The invention can well promote the popularization and application of various compensation methods taking lever arm vectors as known conditions in engineering.
Drawings
FIG. 1 is a schematic diagram of a measuring apparatus according to the present invention;
FIG. 2 is a diagram of the arrangement and positioning labels of each observation point of the carrier-based aircraft of the present invention;
FIG. 3 is a schematic representation of the end of lever arm vector embodiment of the present invention;
FIG. 4 is a schematic view of the definition of the direction of the observation vector according to the present invention;
fig. 5 is a schematic view of the real-time measurement of the multi-lever arm vector of the present invention.
Detailed Description
The invention is further illustrated by the following examples, which are intended to be illustrative only and not limiting in any way.
A real-time measurement method for multi-lever arm vectors in ship-to-machine transfer alignment is innovative in that: the measuring device adopted by the measuring method comprises a plurality of sets of space reference transmitting units, a plurality of sets of space pose measuring units, a plurality of sets of wireless Ultra Wideband (UWB) positioning base stations, a plurality of sets of wireless Ultra Wideband (UWB) positioning labels and an industrial personal computer unit.
TX1, TX2, TX3, TX4 and TX5 of the space reference transmitting unit are fixedly connected to a ship main inertial navigation, RX1, RX2, RX3, RX4 and RX5 of the space pose measuring unit are fixedly connected to the vicinity of an obstacle of a ship body, and the space pose measuring unit RX1 is fixedly connected with the space reference transmitting unit TX 2; the space pose measuring unit RX2 is fixedly connected with the space reference transmitting units TX3, TX4 and TX 5; the space pose measuring units RX3, RX4 and RX5 are fixedly connected with the wireless Ultra Wideband (UWB) positioning base station P 1、P2、P3 respectively; an observation point O p of a sub inertial navigation reference point O s is established on a ship machine body, direction marking points M 1 and M 2 are arranged on the ship machine body, the marking points are not collinear with the three points of the observation point, UWB positioning labels are arranged at the positions of the observation point O p, the direction marking points M 1 and M 2, the positioning labels are in wireless communication with a positioning base station, the positioning base station transmits communication data to an industrial personal computer unit in a wireless mode, and real-time measurement of the positions of the positioning labels is completed by measuring software of the industrial personal computer unit; the space reference transmitting unit transmits reticle structure light and is matched with the laser range finder to realize generation and transmission of six-degree-of-freedom pose references; the space pose measuring unit receives the reference structure light generated by the space reference transmitting unit, an image acquisition module images a receiving light spot and transmits an acquired image to the industrial personal computer unit in real time through a wireless data transmission module, and the space pose measuring unit comprises a wireless data transmission module which transmits the image acquired by the image acquisition module to the industrial personal computer unit in real time; the industrial personal computer unit calculates the pose change of the space pose measuring unit relative to the space reference transmitting unit through an image processing technology;
The measuring method comprises the following steps:
1. Layout, setting and starting of the measuring device: according to the method, as shown in fig. 1, positioning base stations are arranged on a deck, each positioning base station is fixedly connected with a set of space pose measuring units, and a space reference transmitting unit TX1 is fixedly connected near a ship main inertial navigation and keeps a fixed position relation with the main inertial navigation; the space pose measuring unit RX1 is fixedly connected with the space reference transmitting unit TX2 and is arranged near a ship obstacle, the space pose measuring unit RX2 is fixedly connected with the space reference transmitting units TX3, TX4 and TX5 and is arranged near a deck, and the space pose measuring units RX3, RX4 and RX5 are respectively fixedly connected with the UWB positioning base station P 1、P2、P3; as shown in fig. 2, an observation point O p of a child inertial navigation reference point O s is established on a ship machine body, direction marking points M 1 and M 2 are arranged, the marking points are not collinear with three points of the observation point, and UWB positioning labels are arranged at the direction marking points M 1 and M 2 of the observation point O p; starting each device and the industrial personal computer unit after the setting is completed;
2. measuring the position of a UWB positioning base station in a ship deflection environment: setting three positioning base stations P1, P2 and P3 on a ship deck, transmitting the main inertial navigation pose reference to the vicinity of the positioning base stations in a turning relay form, establishing real-time photoelectric connection between the positioning base stations and the main inertial navigation, and completing real-time measurement of three-dimensional position coordinates of the positioning base stations in a ship main inertial navigation coordinate system;
3. The lever arm vector end is embodied as follows: as shown in fig. 3, an observation point O p of a sub inertial navigation reference point O s is arranged on a ship-borne aircraft body, the ship-borne aircraft body can be treated as a local rigid body in a stop state, so that the observation point and the sub inertial navigation reference point have a fixed spatial position relationship, the position relationship is obtained by accurate calibration in advance, a UWB positioning tag is arranged at the observation point, and a real-time coordinate value of the positioning tag in a main inertial navigation coordinate system O BXBYBZB is realized by combining a deformation measurement technology based on the transmission of reference beams across obstacles through a UWB positioning technology;
4. Definition of observation vector and horizontal and azimuth angles: as shown in fig. 4, a space vector formed by the observation point O p and the sub inertial navigation reference point O s in the main inertial navigation coordinate system O BXBYBZB is defined Is called as an observation vector, and the projection points of the observation point O p and the sub inertial navigation reference point O s in the plane of the main inertial navigation coordinate system O BXBYB are respectively O P ' and O S ' to define an observation vector/>The included angle alpha between the plane of O BXBYB and the plane of O BXBYB is the horizontal angle of the observation vector, and the observation vector/> isdefinedProjection vector in O BXBYB planeThe included angle beta between the X B axis and the X B axis is the azimuth angle of the observation vector;
5. Positioning of lever arm vector ends: a positioning tag A is arranged at the position of a mark point M 1, a positioning tag B is arranged at the position of a mark point M 2, the positioning tags A and B are respectively communicated with a positioning base station near a deck, coordinate values of two positioning tags A, B in a main inertial navigation coordinate system are obtained in real time, and the real-time measurement of the gesture of a direction mark surface is realized by combining the position coordinates of an observation point O p; since the position relationship between the observation point O p and the sub inertial navigation reference point O s is fixed, the observation vector The module length of the observation vector is a fixed value, which can be obtained through accurate measurement, the module length is set as L 0, the module length is a constant parameter in measurement, and the horizontal angle alpha and the azimuth angle beta of the observation vector are obtained in real time through real-time measurement of the gesture of the direction marking surface by utilizing a matrix transformation principle;
The position coordinates of the observation point O p are measured in real time by a positioning technology based on UWB, and are set as O p（xp,yp,zp), then, according to the spatial solid geometry knowledge, the position coordinates O s（xs,ys,zs) of the child inertial navigation reference points can be calculated by the formula (1):
(1)
The length of the lever arm vector to be measured can be calculated by the formula (2):
（2）
6) Real-time measurement of multi-lever arm vectors: for real-time measurement of multi-lever arm vectors of carrier-borne aircraft groups, proper observation points O p1、Op2、...、Opn are arranged in n carrier-borne aircraft above a deck, a networked real-time measurement system of the multi-lever arm vectors is established, and as shown in fig. 5, the length measurement of the lever arm vectors to be measured of each observation point is sequentially carried out according to a formula (2).
Although the embodiments of the present invention and the accompanying drawings have been disclosed for illustrative purposes, those skilled in the art will appreciate that: various substitutions, changes and modifications are possible without departing from the spirit and scope of the invention and the appended claims, and therefore the scope of the invention is not limited to the embodiments and the disclosure of the drawings.
Claims (1)
1. A real-time measurement method for multi-lever arm vectors in ship-to-machine transfer alignment is characterized by comprising the following steps of: the measuring device adopted by the measuring method comprises a plurality of sets of space reference transmitting units, a plurality of sets of space pose measuring units, a plurality of sets of wireless ultra wideband UWB positioning base stations, a plurality of sets of wireless ultra wideband UWB positioning labels and an industrial personal computer unit; the positioning tag and the positioning base station are in wireless communication, the positioning base station transmits communication data to the industrial personal computer unit in a wireless mode, and the measuring software of the industrial personal computer unit is used for measuring the positions of the positioning tags in real time; the space reference transmitting unit transmits reticle structure light and is matched with the laser range finder to realize generation and transmission of six-degree-of-freedom pose references; the space pose measuring unit receives the reference structure light generated by the space reference transmitting unit, an image acquisition module images a receiving light spot and transmits an acquired image to the industrial personal computer unit in real time through a wireless data transmission module, and the space pose measuring unit comprises a wireless data transmission module which transmits the image acquired by the image acquisition module to the industrial personal computer unit in real time; the industrial personal computer unit calculates the pose change of the space pose measuring unit relative to the space reference transmitting unit through an image processing technology;
TX1, TX2, TX3, TX4 and TX5 of the space reference transmitting unit are fixedly connected to a ship main inertial navigation, RX1, RX2, RX3, RX4 and RX5 of the space pose measuring unit are fixedly connected to the vicinity of an obstacle of a ship body, and RX1 of the space pose measuring unit is fixedly connected with TX2 of the space reference transmitting unit; the space pose measuring unit RX2 is fixedly connected with the space reference transmitting units TX3, TX4 and TX 5; the space pose measuring units RX3, RX4 and RX5 are fixedly connected with the wireless ultra wideband UWB positioning base station P 1、P2、P3 respectively; an observation point O p of a child inertial navigation reference point O s is established on a ship machine body, direction marking points M 1 and M 2 are arranged on the ship machine body, the marking points are not collinear with the three points of the observation point, UWB positioning labels are arranged at the observation point O p, the direction marking points M 1 and M 2, and the measuring method comprises the following steps:
1) Layout, setting and starting of the measuring device: setting positioning base stations on a deck, wherein each positioning base station is fixedly connected with a set of space pose measuring units, and the space reference transmitting unit TX1 is fixedly connected near a ship main inertial navigation and keeps a fixed position relation with the main inertial navigation; the space pose measuring unit RX1 is fixedly connected with the space reference transmitting unit TX2 and is arranged near a ship obstacle, the space pose measuring unit RX2 is fixedly connected with the space reference transmitting units TX3, TX4 and TX5 and is arranged near a deck, and the space pose measuring units RX3, RX4 and RX5 are respectively fixedly connected with the UWB positioning base station P 1、P2、P3; an observation point O p of a child inertial navigation reference point O s is established on a ship machine body, direction marking points M 1 and M 2 are arranged, the marking points are not collinear with the three points of the observation point, and UWB positioning labels are arranged at the direction marking points M 1 and M 2 of the observation point O p; starting each device and the industrial personal computer unit after the setting is completed;
2) Measuring the position of a UWB positioning base station in a ship deflection environment: setting three positioning base stations P1, P2 and P3 on a ship deck, transmitting the main inertial navigation pose reference to the vicinity of the positioning base stations in a turning relay form, establishing real-time photoelectric connection between the positioning base stations and the main inertial navigation, and completing real-time measurement of three-dimensional position coordinates of the positioning base stations in a ship main inertial navigation coordinate system;
3) The lever arm vector end is embodied as follows: an observation point O p of a sub inertial navigation reference point O s is arranged on a ship-borne aircraft body, the ship-borne aircraft body can be treated as a local rigid body in a stop state, so that a fixed spatial position relationship exists between the observation point and the sub inertial navigation reference point, the position relationship is obtained through accurate calibration in advance, a UWB positioning tag is arranged at the observation point, and a real-time coordinate value of the positioning tag in a main inertial navigation coordinate system O BXBYBZB is realized through a UWB positioning technology and a deformation measurement technology based on cross obstacle transmission of a reference beam;
4) Definition of observation vector and horizontal and azimuth angles: defining a space vector formed by the observation point O P and the sub inertial navigation reference point O S in a main inertial navigation coordinate system O BXBYBZB Is called as an observation vector, and the projection points of the observation point O P and the sub inertial navigation reference point O S in the plane of the main inertial navigation coordinate system O BXBYBZB are respectively O P ' and O S ' to define an observation vector/>The included angle alpha between the plane of O BXBYB and the plane of O BXBYB is the horizontal angle of the observation vector, and the observation vector/> isdefinedProjection vector/>, in the O BXBYB planeThe included angle beta between the X B axis and the X B axis is the azimuth angle of the observation vector;
5) Positioning of lever arm vector ends: a positioning tag A is arranged at the position of a mark point M 1, a positioning tag B is arranged at the position of a mark point M 2, the positioning tags A and B are respectively communicated with a positioning base station near a deck, coordinate values of two positioning tags A, B in a main inertial navigation coordinate system are obtained in real time, and the real-time measurement of the gesture of a direction mark surface is realized by combining the position coordinates of an observation point O P; since the position relationship between the observation point O P and the sub inertial navigation reference point O s is fixed, the observation vector The module length of the observation vector is a fixed value, which can be obtained through accurate measurement, the module length is set as L 0, the module length is a constant parameter in measurement, and the horizontal angle alpha and the azimuth angle beta of the observation vector are obtained in real time through real-time measurement of the gesture of the direction marking surface by utilizing a matrix transformation principle;
The position coordinates of the observation point O P are measured in real time by a positioning technology based on UWB, and are set as O p(xp,yp,zp), then, according to the spatial solid geometry knowledge, the position coordinates O s(xs,ys,zs) of the child inertial navigation reference points can be calculated by the formula (1):
the length of the lever arm vector to be measured can be calculated by the formula (2):
6) Real-time measurement of multi-lever arm vectors: aiming at the real-time measurement of the multi-lever arm vector of the carrier-borne aircraft group, proper observation points O p1、Op2、...、Opn are arranged in n carrier-borne aircraft above the deck, a networked real-time measurement system of the multi-lever arm vector is established, and the length measurement of the lever arm vector to be measured of each observation point is sequentially carried out according to a formula (2).
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