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由已知的舰艇摇摆角、导轨相对于舰艇的角度,以及飞行器轴线相对于导轨的角度,并用两种方法将坐标系OX_gY_gZ_g的单位向量投影到坐标系OX_1Y_1Z_1轴上,确定所求的角度:直接通过角θ、ψ、γ和通过坐标系OX_gY_gZ_g,OX_kY_kZ_k,OX_HY_HZ_H,OX_1Y_1Z_1之间的角度关系(OX_1Y_1Z_1——机体坐标系或体轴系)。比较单位向量的投影,即可得到所求角度的表达式。
The known angle of the ship, the angle of the rail with respect to the ship and the angle of the aircraft axis with respect to the rail are projected onto the axes of the coordinate system OX_1Y_1Z_1 by two methods to project the unit vectors of the coordinate system OX_gY_gZ_g to determine the desired angle: Through the angle θ, ψ, γ and through the angular relationship between the coordinate system OX_gY_gZ_g, OX_kY_kZ_k, OX_HY_HZ_H, OX_1Y_1Z_1 (OX_1Y_1Z_1 - body coordinate system or body axis system). Compare the projection of the unit vector to get the expression of the desired angle.