为给皇家海军潜艇发射武器提供充分的依据,制定了发射排载鉴定筒即潜射捕鲸叉导弹运载器的试验研究计划。在这些试验研究中,提出了一个六自由度的水下弹道重现研究法。这个方法是利用一个由加速度传感器、姿态陀螺仪和磁带记录装置组成的混合测量系统来研究试验运载器的水下弹道,并用绝对静压数据来重现潜艇发射这种鱼雷形试验运载器的水下弹道。本文所述重现法的研究,不仅阐述初期运载器试验中使用姿态速率陀螺和加速度传感器的数据重现水下弹道的有关问题,以及如何用混合法来解决这些问题,而且还阐述根据试验运载器所记录的水下弹道数据和研究计算机对弹道重现程序的有关问题,并推导了计算机程序规则所使用的主要计算公式 In order to provide a sufficient basis for the launches of weapons by the Royal Navy’s submarine, a pilot study plan for launching a load-bearing identification canister, that is, a submarine-launched whaling missile carrier, has been formulated. In these experimental studies, a six-degree-of-freedom underwater trajectory reconstruction method was proposed. This method uses a hybrid measurement system consisting of accelerometer, attitude gyro and tape recorder to study the underwater trajectory of the test vehicle and reproduce the water from the torpedo test vehicle using absolute static pressure data Under the ballistic. The study of the reappearance method described in this paper not only describes the problems related to the underwater trajectory reproducibility using the data of the attitude velocity gyroscope and the acceleration sensor in the initial vehicle test but also how to solve these problems by the hybrid method. The underwater trajectory data recorded by the computer and the related problems of the computer for ballistic reproduction procedures are deduced and the main formulas used in the computer program rules are deduced