| 摘要 |
A method for harmonizing an equipment relative to a vehicle, such as a helicopter, based upon sensing of gravitational and magnetic fields in a number of reference systems. The equipment is installed fixedly on board the vehicle which, relative to a first absolute reference system (RM), has an orientation defined by a second reference system (R2) tied to the vehicle. The equipment is subjected to the earth's gravitational field represented by a gravity vector +E,rar/g/ oriented along its gradient, as well as to the earth's magnetic field represented by a vector +E,rar/H/ oriented along its gradient. The orientation of the equipment is defined, relative to the first absolute reference system (RM), by a third reference system (R3). The equipment includes a device for measuring the components of the gravity vector +E,rar/g/ , fixed to the equipment (2), and the vehicle carries a computer; a memory associated with the computer; an equipment magnetometer, fixed to the vehicle, whose orientation, relative to the first absolute reference system (RM), is referenced by a fourth reference system (R4); and a link connecting the equipment and the equipment magnetometer to the computer and to the memory. The gravitational and magnetic fields are measured when the vehicle is in a number of different orientations, and the equipment is harmonized to the vehicle based thereon.
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