CN110514200B - Inertial navigation system and high-rotation-speed rotating body attitude measurement method - Google Patents
Inertial navigation system and high-rotation-speed rotating body attitude measurement method Download PDFInfo
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- G01C21/165—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments
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Abstract
The invention provides an inertial navigation system and a method for measuring the attitude of a high-rotating-speed rotating body. The method comprises the following steps: for the current resolving period, respectively measuring normal inertial information and geomagnetic information of the rotating body; establishing a geomagnetic attitude calculation coordinate system, performing attitude calculation on the geomagnetic attitude calculation coordinate system by using geomagnetic information and normal inertia information, and performing coordinate transformation on the calculated attitude to obtain attitude information of the projectile coordinate system relative to the geographic coordinate system. The invention can reduce the cost of the sensor and solve the problems of insufficient roll angle range and rapid divergence of measurement precision along with time in the traditional inertia/geomagnetic combined attitude measurement system.
Description
Technical Field
The invention belongs to the technical field of inertial navigation, and relates to an inertial navigation system and a method for measuring the attitude of a high-rotation-speed rotating body.
Background
Attitude information is the core measurement data of a navigation guidance system, and generally refers to the attitude angle of a missile coordinate system relative to a geographic coordinate system, specifically including a roll angle, a pitch angle and a heading angle. For the high-speed rotating bodies such as the guided rotating bullets, the roll angle rate is as high as 8-15 r/s and far exceeds the range of a typical gyroscope device, so that the conventional inertial attitude measurement system cannot measure the roll angle.
The geomagnetic information is utilized to solve the roll angle and the pitch angle, so that the method has the advantages of large range, no error accumulation along with time and the like, but other course angle information is usually required to assist or assume that the course angle is constant, so that the application of the method is limited; in addition, the measurement accuracy is easily affected by an external ferromagnetic environment such as a transmitter.
Disclosure of Invention
The purpose of the invention is: the inertial navigation system and the attitude measurement method of the high-rotation-speed rotating body are provided, the sensor cost is reduced, and the problems that the rolling angle range is insufficient and the measurement precision is rapidly dispersed along with time in the existing inertial/geomagnetic combined attitude measurement system are solved.
The technical scheme of the invention is as follows:
in a first aspect, an inertial navigation system is provided, comprising:
the device comprises a three-axis magnetometer, a single-axis gyroscope and a processor, wherein the axial direction of a sensor of the three-axis magnetometer is coincident with the axial direction of a missile coordinate system and is used for measuring geomagnetic information of a rotating body under the missile coordinate system; the axial direction of the sensor of the single-axis gyroscope coincides with the normal axial direction of the projectile coordinate system and is used for measuring the inertial information of the rotating body on the normal axis of the projectile coordinate system, and the processor collects the information of the measurement of the three-axis magnetometer and the single-axis gyroscope.
In a second aspect, a method for measuring the attitude of a rotating body with high rotating speed is provided, which is applied to an inertial navigation system and comprises the following steps:
for the current resolving period, respectively measuring normal inertial information and geomagnetic information of the rotating body;
establishing a geomagnetic attitude calculation coordinate system, performing attitude calculation on the geomagnetic attitude calculation coordinate system by using geomagnetic information and normal inertia information, and performing coordinate transformation on the calculated attitude to obtain attitude information of the projectile coordinate system relative to the geographic coordinate system.
Further, establishing a geomagnetic attitude calculation coordinate system, performing attitude calculation on the geomagnetic attitude calculation coordinate system by using geomagnetic information and inertia information, and performing coordinate transformation on the calculated attitude to obtain attitude information of the missile coordinate system relative to the geographic coordinate system, including:
acquiring the current latitude and longitude in the current resolving period;
establishing a conversion matrix of the geographic coordinate system relative to the geomagnetic attitude resolving coordinate system according to the latitude and the longitude;
calculating a pitch angle and a roll angle of the projectile coordinate system relative to a geomagnetic attitude resolving coordinate system by utilizing geomagnetic information;
calculating a course angle of the projectile coordinate system relative to the geomagnetic attitude calculation coordinate system according to pitch angle, roll angle and normal inertia information of the projectile coordinate system relative to the geomagnetic attitude calculation coordinate system;
and resolving a pitch angle, a roll angle and a course angle of the coordinate system and a transformation matrix according to the missile coordinate system relative to the geomagnetic attitude to obtain the pitch angle, the roll angle and the course angle of the missile coordinate system relative to the geographic coordinate system.
Further, according to the pitch angle, the roll angle and the normal inertia information of the projectile coordinate system relative to the geomagnetic attitude solution coordinate system, the calculating the heading angle of the projectile coordinate system relative to the geomagnetic attitude solution coordinate system includes:
acquiring a current pitch angle of a geomagnetic attitude calculation coordinate system in a current calculation period and a last pitch angle of the geomagnetic attitude calculation coordinate system in a last calculation period;
calculating the pitch angle rate of the geomagnetic attitude calculation coordinate system according to the current pitch angle and the last pitch angle;
obtaining the latitude, east speed and north speed which are obtained by the latest calculation of the inertial navigation system;
calculating the angular rate of a projectile coordinate system relative to a geomagnetic attitude calculation coordinate system by utilizing the latitude, east speed, north speed and normal inertial information which are obtained by latest calculation of an inertial navigation system;
calculating the current course angular rate of the projectile coordinate system relative to the geomagnetic attitude calculation coordinate system by utilizing the angular rate of the projectile coordinate system relative to the geomagnetic attitude calculation coordinate system, the pitch angle rate of the geomagnetic attitude calculation coordinate system, the pitch angle of the projectile coordinate system relative to the geomagnetic attitude calculation coordinate system and the roll angle of the projectile coordinate system relative to the geomagnetic attitude calculation coordinate system;
acquiring the last course angle speed of the missile coordinate system relative to the geomagnetic attitude calculation coordinate system in the last calculation period and the last course angle of the missile coordinate system relative to the geomagnetic attitude calculation coordinate system in the last calculation period;
and resolving the course angle of the missile coordinate system relative to the geomagnetic attitude resolving coordinate system according to the previous course angle speed, the current course angle speed and the previous course angle.
Further, the pitch angle of the projectile coordinate system relative to the geomagnetic attitude calculation coordinate system and the roll angle of the projectile coordinate system relative to the geomagnetic attitude calculation coordinate system are calculated by a first formula, wherein the first formula is as follows:
wherein,
the pitch angle of the projectile coordinate system relative to the geomagnetic attitude resolving coordinate system is determined;
the roll angle of the projectile coordinate system relative to the geomagnetic attitude resolving coordinate system is obtained; h bx Is the component of the geomagnetic information along the transverse axis, H by Is the component of the geomagnetic information along the normal axis, H bz Is the component of the geomagnetic information along the longitudinal axis.
Further, the pitch angle rate of the geomagnetic attitude calculation coordinate system is calculated by a second formula, where the second formula is:
Further, the angular rate of the missile coordinate system relative to the geomagnetic attitude calculation coordinate system is calculated by a third formula, where the third formula is:
wherein gamma, theta and psi are respectively a rolling angle, a pitching angle and a heading angle of the newly solved projectile coordinate system relative to the geographic coordinate system; omega ie Is the earth rotation angular rate; l, V E 、V N Respectively calculating the latitude, east speed and north speed obtained by the latest calculation of the inertial navigation system; r N 、R M Respectively calculating the earth prime circle curvature radius and the meridian curvature radius corresponding to the latitude obtained by the navigation system; omega y Normal inertial information;
the angular rate of the coordinate system is resolved for the projectile coordinate system relative to the geomagnetic attitude.
Further, the heading angle of the missile coordinate system relative to the geomagnetic attitude calculation coordinate system is calculated by a fourth formula, where the fourth formula is:
wherein,
the course angular rate of the missile coordinate system in the current resolving period relative to the geomagnetic attitude resolving coordinate system;
the course angular rate of the missile coordinate system in the previous resolving period relative to the geomagnetic attitude resolving coordinate system; t is a resolving period;
solving the seat for the geomagnetic attitude of the missile coordinate system in the current solving periodA heading angle of the heading system;
and resolving the course angle of the coordinate system for the missile in the previous resolving period relative to the geomagnetic attitude.
Further, the step of calculating the pitch angle, the roll angle and the heading angle of the coordinate system and the conversion matrix according to the missile coordinate system relative to the geomagnetic attitude to obtain the pitch angle, the roll angle and the heading angle of the missile coordinate system relative to the geographic coordinate system comprises the following steps:
establishing an attitude matrix between the projectile coordinate system and the geomagnetic attitude calculation coordinate system according to the pitch angle, the roll angle and the course angle of the projectile coordinate system relative to the geomagnetic attitude calculation coordinate system;
converting a conversion matrix between the missile coordinate system and the geomagnetic attitude calculation coordinate system according to the conversion matrix to obtain an attitude matrix of the missile coordinate system relative to a geographic coordinate system;
and acquiring a pitch angle, a roll angle and a course angle of the projectile coordinate system relative to the geographic coordinate system from the attitude matrix of the projectile coordinate system relative to the geographic coordinate system.
Further, the method further comprises:
acquiring an initial rolling angle, an initial pitch angle and an initial heading angle of a projectile coordinate system relative to a geographic coordinate system;
calculating an initial attitude matrix of the projectile coordinate system relative to a geographic coordinate system according to the initial rolling angle, the initial pitch angle and the initial course angle;
establishing an initial transformation matrix of the geographic coordinate system relative to the geomagnetic attitude resolving coordinate system according to the initial latitude and the initial longitude;
and converting the initial attitude matrix of the missile coordinate system relative to the geographic coordinate system through the initial conversion matrix to obtain the initial attitude matrix of the missile coordinate system relative to the geographic coordinate system.
The invention has the beneficial effects that:
according to the method, through the configuration design of the sensor and the establishment of the geomagnetic attitude calculation coordinate system, the problem of insufficient gyro range during the roll angle measurement is avoided, the system cost is reduced, the complexity of an attitude algorithm is reduced, and the attitude measurement precision of the high-speed rotating body is effectively improved, so that the navigation guidance performance of the system is improved. The attitude measurement method can be applied to attitude measurement of high-speed rotating bodies such as various rotary missiles, guided munitions and the like.
Drawings
Fig. 1 is a configuration diagram of an inertial/geomagnetic sensor;
the device comprises a 1-projectile coordinate system longitudinal axis, a 2-projectile coordinate system normal axis, a 3-projectile coordinate system transverse axis, a 4-triaxial magnetometer and a 5-uniaxial gyroscope.
FIG. 2 is a block diagram of a geomagnetic attitude calculation coordinate system;
the system comprises a geographical coordinate system, a geomagnetic attitude calculation coordinate system, a geomagnetic inclination angle calculation coordinate system and a geomagnetic inclination angle calculation coordinate system, wherein the geographical coordinate system comprises 1-a north axis, 2-a geographical coordinate system sky axis, 3-a geographical coordinate system east axis, 4-a geomagnetic attitude calculation coordinate system X axis, 5-a geomagnetic attitude calculation coordinate system Y axis, 6-a geomagnetic attitude calculation coordinate system Z axis, 7-a geomagnetic field total field intensity, 8-a magnetic inclination angle and 9-a magnetic declination angle.
Detailed Description
The invention provides a method for measuring the attitude of a high-speed rotator, which respectively measures inertia and geomagnetic information of the rotator through the configuration design of an inertia/geomagnetic sensor of an attitude measurement system; the attitude measurement method comprises the steps of establishing a geomagnetic attitude calculation coordinate system, performing attitude calculation by comprehensively utilizing geomagnetic information and inertia information, obtaining attitude information of a projectile coordinate system relative to a geographic coordinate system through coordinate transformation, and realizing the attitude measurement of a high-speed rotator.
As an improvement of the technical scheme, the inertial/geomagnetic sensor structure comprises a gyroscope installed on a normal axis of a projectile coordinate system and a triaxial magnetometer installed on the projectile coordinate system, and is used for measuring normal angular rate information and triaxial geomagnetic information under the projectile coordinate system. The sensor configuration avoids the problem of insufficient gyro range when measuring the roll angle, reduces the system cost and is convenient for engineering realization.
As an improvement of the technical scheme, a geomagnetic attitude calculation coordinate system is established, the attitude of the missile coordinate system relative to the geomagnetic coordinate system is calculated by utilizing normal angular rate information and triaxial geomagnetic information under the missile coordinate system, and the attitude information of the missile coordinate system relative to the geographic coordinate system is obtained through coordinate transformation. The geomagnetic attitude calculation coordinate system reduces the complexity of an attitude algorithm.
In fig. 1, the sensor axis of the three-axis magnetometer is coincident with the projectile coordinate system, and is used for measuring the three-axis component of the geomagnetic field in the projectile coordinate system; the axial direction of a sensor of the uniaxial gyroscope coincides with the normal axis of the missile coordinate system and is used for measuring the angular rate of the normal axis of the missile coordinate system.
In FIG. 2, the coordinate system OX n Y n Z n Being a geographical coordinate system, coordinate system OX m Y m Z m A coordinate system is solved for the geomagnetic attitude. The magnetic dip angle I is the total field intensity H of the geomagnetic field m And the included angle between the geomagnetic attitude calculation coordinate system and the horizontal plane of the geographic coordinate system, wherein the magnetic declination D is the included angle between the X axis of the geomagnetic attitude calculation coordinate system and the X axis of the geographic coordinate system.
The geomagnetic attitude calculation coordinate system is obtained by rotating the geographical coordinate system twice, firstly rotating the declination D around the Y axis of the geographical coordinate system, and then rotating around the Z axis of the rotated coordinate system, so that the Y axis of the obtained geomagnetic attitude calculation coordinate system is coincided with the negative direction of the total field intensity of the geomagnetic field. The above rotational relationship is expressed as:
the method for measuring the attitude of the high-speed rotator by utilizing the inertia/geomagnetic sensor configuration and the geomagnetic attitude calculation coordinate system comprises the following steps of:
firstly, according to local latitude and longitude, calculating to obtain a magnetic declination angle D and a magnetic inclination angle I by using a global geomagnetic field model;
step two, measuring value H by using a three-axis magnetometer bx 、H by 、H bz Calculating the pitch angle of the missile coordinate system relative to the geomagnetic attitude calculation coordinate system
And roll angle
Step three, the pitch angle of the geomagnetic attitude calculation coordinate system in the current calculation period and the previous calculation period
And
calculating pitch angle rate of geomagnetic attitude solution coordinate system
Wherein T is a resolving period.
Step four, measuring the angular rate omega by using a normal axis gyroscope y Resolving the angular rate of the projectile coordinate system relative to the geomagnetic attitude resolution coordinate system
Step five, resolving a missile coordinate system relative to the earth magnetismCourse angular rate of attitude solution coordinate system
Sixthly, utilizing the heading angular rate of the missile coordinate system in the current resolving period and the last resolving period relative to the geomagnetic attitude resolving coordinate system
And
heading angle of resolved projectile coordinate system relative to geomagnetic attitude resolved coordinate system
Wherein T is a resolving period.
Initial value of (2)
The calculation is as follows:
initial values gamma of a rolling angle, a pitch angle and a course angle relative to a geographic coordinate system by utilizing a projectile coordinate system 0 、θ 0 、ψ 0 Calculating an initial attitude matrix
Obtaining an initial attitude matrix of the missile coordinate system relative to the geomagnetic attitude solution coordinate system by coordinate transformation
Wherein
Is composed of
The transpose matrix of (a) is,
as already given above. By using
To obtain a corresponding element of
Of (2) is calculated
The value range is 0-360 degrees.
And seventhly, calculating to obtain a pitch angle theta, a roll angle gamma and a course angle psi of the projectile coordinate system relative to the geographic coordinate system through coordinate transformation:
wherein the pitch angle theta ranges from-90 degrees to 90 degrees, the roll angle gamma ranges from-180 degrees to 180 degrees, and the course angle psi ranges from 0 degree to 360 degrees.
As a matrix of postures
Corresponding element of (2), attitude matrix
Obtained by coordinate transformation as follows:
wherein
As already given above, the attitude matrix between the missile coordinate system and the geomagnetic attitude solution coordinate system
Solving the pitch angle of the coordinate system relative to the geomagnetic attitude by a projectile coordinate system
Roll angle
And course angle
Determining:
the inertia/geomagnetic combined attitude measurement system comprehensively utilizes inertia information and geomagnetic information to measure the attitude, and has the characteristics of good autonomy and strong anti-interference capability. The typical inertia/geomagnetic combined attitude measurement system utilizes a gyroscope to measure the roll angle, and the range of a gyroscope device limits the measurement range of the roll angle; in addition, the other type of the device utilizes the combination of normal and lateral gyro information and geomagnetic attitude angle information to calculate course angle rate information, and then integrates to obtain a course angle, and because the influence of inertial device errors on measurement accuracy is amplified, the measurement errors are rapidly accumulated along with time.
Claims (8)
1. A method for measuring the attitude of a high-rotating-speed rotating body is applied to an inertial navigation system and is characterized by comprising the following steps:
for the current resolving period, respectively measuring normal inertial information and geomagnetic information of the rotating body;
establishing a geomagnetic attitude calculation coordinate system, performing attitude calculation on the geomagnetic attitude calculation coordinate system by using geomagnetic information and normal inertia information, and performing coordinate transformation on the calculated attitude to obtain attitude information of the projectile coordinate system relative to the geographical coordinate system;
the method comprises the following steps of establishing a geomagnetic attitude calculation coordinate system, performing attitude calculation on the geomagnetic attitude calculation coordinate system by using geomagnetic information and inertia information, performing coordinate transformation on the calculated attitude, and obtaining attitude information of a projectile coordinate system relative to the geographic coordinate system, wherein the method comprises the following steps:
acquiring the current latitude and longitude in the current resolving period;
establishing a ground-attitude transformation matrix of the geographic coordinate system relative to a geomagnetic attitude resolving coordinate system according to the latitude and the longitude;
calculating a pitch angle and a roll angle of a projectile coordinate system relative to a geomagnetic attitude resolving coordinate system by using geomagnetic information;
calculating a course angle of the projectile coordinate system relative to the geomagnetic attitude calculation coordinate system according to pitch angle, roll angle and normal inertia information of the projectile coordinate system relative to the geomagnetic attitude calculation coordinate system;
calculating a pitch angle, a roll angle and a course angle of a coordinate system and a ground-attitude transformation matrix according to the projectile coordinate system relative to the geomagnetic attitude to obtain the pitch angle, the roll angle and the course angle of the projectile coordinate system relative to a geographic coordinate system;
wherein, inertial navigation system includes: a three-axis magnetometer, a single-axis gyroscope, and a processor; the axial direction of a sensor of the three-axis magnetometer is coincided with the axial direction of the projectile coordinate system and is used for measuring geomagnetic information of the rotating body under the projectile coordinate system; the axial direction of the sensor of the single-axis gyroscope coincides with the normal axial direction of the projectile coordinate system and is used for measuring the inertial information of the rotating body on the normal axis of the projectile coordinate system, and the processor collects the information of the measurement of the three-axis magnetometer and the single-axis gyroscope.
2. The method of claim 1, wherein resolving the heading angle of the projectile coordinate system relative to the geomagnetic attitude solution coordinate system based on the pitch angle, the roll angle, and the normal inertial information of the projectile coordinate system relative to the geomagnetic attitude solution coordinate system comprises:
acquiring a current pitch angle of a geomagnetic attitude calculation coordinate system in a current calculation period and a last pitch angle of the geomagnetic attitude calculation coordinate system in a last calculation period;
calculating the pitch angle rate of a geomagnetic attitude calculation coordinate system according to the current pitch angle and the last pitch angle;
acquiring the latitude, east speed and north speed which are obtained by the latest calculation of the inertial navigation system;
calculating the angular rate of a projectile coordinate system relative to a geomagnetic attitude calculation coordinate system by utilizing the latitude, east speed, north speed and normal inertia information which are obtained by the latest calculation of an inertial navigation system;
calculating the current course angular rate of the projectile coordinate system relative to the geomagnetic attitude calculation coordinate system by utilizing the angular rate of the projectile coordinate system relative to the geomagnetic attitude calculation coordinate system, the pitch angle rate of the geomagnetic attitude calculation coordinate system, the pitch angle of the projectile coordinate system relative to the geomagnetic attitude calculation coordinate system and the roll angle of the projectile coordinate system relative to the geomagnetic attitude calculation coordinate system;
acquiring the last course angle rate of the missile coordinate system relative to the geomagnetic attitude calculation coordinate system in the last calculation period and the last course angle of the missile coordinate system relative to the geomagnetic attitude calculation coordinate system in the last calculation period;
and resolving the course angle of the missile coordinate system relative to the geomagnetic attitude resolving coordinate system according to the previous course angle speed, the current course angle speed and the previous course angle.
3. The method according to claim 2, wherein the pitch angle of the projectile coordinate system with respect to the earth-magnetic attitude solution coordinate system and the roll angle of the projectile coordinate system with respect to the earth-magnetic attitude solution coordinate system are calculated by a first formula:
wherein,
the pitch angle of the projectile coordinate system relative to the geomagnetic attitude resolving coordinate system is determined;
the roll angle of the projectile coordinate system relative to the geomagnetic attitude resolving coordinate system is obtained;H bx is a component of the geomagnetic information along the lateral axis,H by is the component of the geomagnetic information along the normal axis,H bz is the component of the geomagnetic information along the longitudinal axis.
4. The method according to claim 2, wherein the pitch rate of the geomagnetic attitude solution coordinate system is calculated by a second formula:
wherein,
resolving a pitch angle of a coordinate system for the geomagnetic attitude in the current resolving period;
calculating a pitch angle of the coordinate system for the geomagnetic attitude in the previous calculation period; t is a resolving period;
and solving the pitch angle rate of the coordinate system for the geomagnetic attitude.
5. The method according to claim 2, wherein the angular rate of the projectile coordinate system relative to the earth-magnetic attitude solution coordinate system is calculated by a third formula:
wherein,γ、θ、ψrespectively calculating the roll angle, the pitch angle and the course angle of the newly calculated projectile coordinate system relative to the geographic coordinate system;ω ie is the earth rotation angular rate;L、V E 、V N respectively resolving the latitude, east speed and north speed obtained by the inertial navigation system;R N 、R M respectively calculating the curvature radius of the earth prime circle and the curvature radius of the meridian circle corresponding to the latitude obtained by the navigation system;ω y as normal inertial information；
The angular rate of the coordinate system is resolved for the projectile coordinate system relative to the geomagnetic attitude.
6. The method according to claim 2, wherein the heading angle of the projectile coordinate system with respect to the geomagnetic attitude solution coordinate system is calculated by a fourth formula:
wherein,
the course angular rate of the missile coordinate system in the current resolving period relative to the geomagnetic attitude resolving coordinate system;
the course angle rate of the missile coordinate system in the previous resolving period relative to the geomagnetic attitude resolving coordinate system; t is a resolving period;
resolving a course angle of a coordinate system for the missile body coordinate system in the current resolving period relative to the geomagnetic attitude;
and solving the heading angle of the coordinate system of the projectile relative to the geomagnetic attitude in the previous solving period.
7. The method of claim 2, wherein the calculating the pitch angle, the roll angle and the heading angle of the coordinate system relative to the geographic coordinate system according to the projectile coordinate system relative to the geomagnetic attitude, and the ground-attitude transformation matrix to obtain the pitch angle, the roll angle and the heading angle of the projectile coordinate system relative to the geographic coordinate system comprises:
establishing a missile-attitude matrix between a missile coordinate system and a geomagnetic attitude resolving coordinate system according to a pitch angle, a roll angle and a course angle of the missile coordinate system relative to the geomagnetic attitude resolving coordinate system;
converting a missile-attitude matrix between the missile coordinate system and the geomagnetic attitude calculation coordinate system according to the ground-attitude conversion matrix to obtain a missile-ground attitude matrix of the missile coordinate system relative to the geographic coordinate system;
and acquiring a pitch angle, a roll angle and a heading angle of the projectile coordinate system relative to the geographic coordinate system from the projectile-ground attitude matrix of the projectile coordinate system relative to the geographic coordinate system.
8. The method of claim 4, further comprising:
acquiring an initial rolling angle, an initial pitch angle and an initial course angle of a projectile coordinate system relative to a geographic coordinate system;
calculating a missile-attitude initial attitude matrix of a missile coordinate system relative to a geomagnetic attitude resolving coordinate system according to the initial rolling angle, the initial pitch angle and the initial heading angle;
establishing a ground-attitude initial transformation matrix of the geographic coordinate system relative to a geomagnetic attitude resolving coordinate system according to the initial latitude and the initial longitude;
and converting the initial attitude matrix of the missile coordinate system relative to the geographic coordinate system through the ground-attitude initial conversion matrix to obtain the missile-ground initial attitude matrix of the missile coordinate system relative to the geographic coordinate system.
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