Unanchored aiming system and aiming method for large launch vehicles

Abstract

This invention relates to a supportless aiming system and method for large launch vehicles. The system includes a laser strapdown inertial navigation system (INS) and an autocollimating beam fixed on the INS. The INS autonomously seeks north and calculates the azimuth angle of the autocollimating beam based on the north direction and the positional relationship between the beam's coordinate system and the INS coordinate system. The autocollimating beam emits light towards an aiming prism and measures the prism's deviation angle. The INS also calculates the azimuth angle of the aiming prism based on the azimuth angle of the autocollimating beam and the prism's deviation angle. The azimuth angle of the autocollimating beam is the angle between its axis and the north direction. The deviation angle of the aiming prism is the angle between the prism's normal and the autocollimating beam's axis. The system has the advantages of simple structure, low cost, and accurate aiming. The method has the advantages of high automation and good safety.

Description

Technical Field

[0001] This invention relates to an aiming system, and more specifically to a supportless aiming system and aiming method for large launch vehicles. Background Technology

[0002] In the aerospace field, conventional launch vehicle aiming schemes require setting up a launch point, an aiming point, and a reference point at the launch site. Before launch, the angle between the line connecting the aiming point and the reference point and the geodetic north, i.e., the geodetic reference azimuth, must be measured in advance. During launch, a target instrument is first set up at the reference point, and an aiming instrument is set up at the aiming point. Then, the aiming instrument is aligned with the target instrument to introduce the geodetic reference azimuth. Next, the aiming instrument is aligned with the aiming prism on the rocket, and the geodetic north is transmitted to the aiming prism on the rocket to obtain the initial azimuth angle before liftoff. This aiming method not only increases the construction cost of launch site infrastructure but also has a cumbersome aiming process and high environmental requirements. Summary of the Invention

[0003] The purpose of this invention is to provide a supportless aiming system and aiming method for large launch vehicles. The system has the advantages of simple structure, low cost and accurate aiming, while the method has the advantages of high automation and good safety.

[0004] To address the aforementioned problems in the prior art, this invention provides a supportless aiming system for large launch vehicles, comprising a laser strapdown inertial navigation system (INS) and an autocollimating beam fixed to the INS. The INS is mounted on an umbilical tower, with the autocollimating beam at the same height as the aiming prism on the launch vehicle. The INS autonomously seeks north and calculates the azimuth angle of the autocollimating beam based on the north direction and the positional relationship between the beam's coordinate system and the INS coordinate system. The autocollimating beam emits light towards the aiming prism and measures the aiming prism's position. The laser strapdown inertial navigation system (INS) is also used to calculate the azimuth angle of the aiming prism based on the azimuth angle of the autocollimating tube and the deviation angle of the aiming prism. The INS coordinate system refers to the three-dimensional coordinate system of the laser strapdown INS, the tube coordinate system refers to the three-dimensional coordinate system of the autocollimating tube, the azimuth angle of the autocollimating tube refers to the angle between the axis of the autocollimating tube and the north direction, the deviation angle of the aiming prism refers to the angle between the normal of the aiming prism and the axis of the autocollimating tube, and the azimuth angle of the aiming prism refers to the angle between the normal of the aiming prism and the north direction.

[0005] Furthermore, the present invention provides a supportless aiming system for large launch vehicles, wherein the laser strapdown inertial navigation system is connected to a satellite positioning device and an integrated controller. The satellite positioning device is used to acquire satellite positioning information and transmit the satellite positioning information to the laser strapdown inertial navigation system. The integrated controller is used to transmit the aiming result and the satellite positioning information to the rocket control system. The aiming result refers to the azimuth angle of the aiming prism.

[0006] Furthermore, the present invention provides a supportless aiming system for large launch vehicles, wherein the laser strapdown inertial navigation system adopts a three-position north-finding scheme, and the autonomous north-finding refers to the laser strapdown inertial navigation system performing inertial autonomous orientation and outputting its own three attitude angles according to the attitude matrix of the inertial navigation system relative to the geographic coordinate system.

[0007] Furthermore, the present invention provides a supportless aiming system for large launch vehicles, wherein a steering mechanism for adjusting the angle of the autocollimating tube in the horizontal plane is provided between the laser strapdown inertial navigation system and the umbilical tower.

[0008] Based on the same concept, this invention provides another unsupported aiming system for large launch vehicles, including a laser strapdown inertial navigation system (INS) and an aiming device fixed on the INS. The INS is mounted on an aiming vehicle, and the aiming device is equipped with a pitch adjustment mechanism. The INS is used for autonomous north-finding and calculates the azimuth angle of the aiming device based on the north direction and the positional relationship between the aiming device coordinate system and the INS coordinate system. The aiming device emits light towards the aiming prism and measures the deviation angle of the aiming prism. The INS is also used to calculate the azimuth angle of the aiming prism based on the azimuth angle of the aiming device and the deviation angle of the aiming prism. The INS coordinate system refers to the three-dimensional coordinate system of the INS, and the aiming device coordinate system refers to the three-dimensional coordinate system of the aiming device. The azimuth angle of the aiming device is the angle between the aiming device axis and the north direction. The deviation angle of the aiming prism is the angle between the normal of the aiming prism and the axis of the aiming device.

[0009] Furthermore, the present invention provides a supportless aiming system for large launch vehicles, wherein the laser strapdown inertial navigation system is connected to a satellite positioning device and an integrated controller. The satellite positioning device is used to acquire satellite positioning information and transmit the satellite positioning information to the laser strapdown inertial navigation system. The integrated controller is used to transmit the aiming result and the satellite positioning information to the rocket control system. The aiming result refers to the azimuth angle of the aiming prism.

[0010] Furthermore, the present invention provides a supportless aiming system for large launch vehicles, wherein the laser strapdown inertial navigation system adopts a three-position north-finding scheme, and the autonomous north-finding refers to the laser strapdown inertial navigation system performing inertial autonomous orientation and outputting its own three attitude angles according to the attitude matrix of the inertial navigation system relative to the geographic coordinate system.

[0011] Furthermore, the present invention provides a supportless aiming system for large launch vehicles, wherein an anti-disturbance base is provided between the laser strapdown inertial navigation system and the aiming vehicle.

[0012] Based on the same concept, the present invention also provides a large launch vehicle aiming method, which utilizes the aforementioned unsupported aiming system and includes the following steps:

[0013] S1. Adjust the unsupported aiming system so that the autocollimating tube or aiming device emits light towards the aiming prism and the returning light enters the photosensitive area of ​​the autocollimating tube or aiming device.

[0014] S2. Perform inertial autonomous orientation using a laser strapdown inertial group. Obtain the three attitude angles of the laser strapdown inertial group, namely the heading angle ψ, pitch angle θ, and roll angle γ, based on the attitude matrix of the inertial group coordinate system relative to the geographic coordinate system. Measure the deviation angle β of the aiming prism using an autocollimating beam or aiming device.

[0015] S3. Based on the positional relationship between the optical tube coordinate system or aiming device coordinate system and the inertial navigation system coordinate system, calculate the three attitude angles of the laser strapdown inertial navigation system onto the autocollimating optical tube or aiming device to obtain the attitude of the optical tube coordinate system or aiming device coordinate system relative to the geographic coordinate system, namely the azimuth angle ψ1, the pitch angle θ1, and the roll angle γ1 of the autocollimating optical tube or aiming device.

[0016] S4. Calculate the azimuth angle A of the aiming prism according to formula ①.

[0017] A=β+ψ1 ①

[0018] The azimuth angle A of the aiming prism refers to the angle between the normal of the aiming prism and the north direction.

[0019] Furthermore, the present invention provides a method for aiming a large launch vehicle, which further includes the following steps:

[0020] S5. Obtain satellite positioning information through satellite positioning equipment and transmit it to the laser strapdown inertial navigation system;

[0021] S6. The azimuth angle A of the aiming prism and the satellite positioning information are transmitted to the rocket control system through the integrated controller.

[0022] Compared with existing technologies, the present invention provides a supportless aiming system and method for large launch vehicles, which has the following advantages: The present invention sets up a laser strapdown inertial navigation system (INS) and a self-collimating beam fixed on the INS. The INS is positioned on an umbilical tower, and the self-collimating beam is at the same height as the aiming prism on the launch vehicle. The INS autonomously seeks north and calculates the azimuth angle of the self-collimating beam based on the north direction and the positional relationship between the beam's coordinate system and the INS coordinate system. The self-collimating beam then emits light towards the aiming prism and measures the target direction. The deviation angle of the aiming prism is measured, and the laser strapdown inertial navigation system (INS) calculates the azimuth angle of the aiming prism based on the azimuth angle of the autocollimating tube and the deviation angle of the aiming prism. Here, the INS coordinate system refers to the three-dimensional coordinate system of the laser strapdown INS, the tube coordinate system refers to the three-dimensional coordinate system of the autocollimating tube, the azimuth angle of the autocollimating tube is the angle between the axis of the autocollimating tube and the north direction, the deviation angle of the aiming prism is the angle between the normal of the aiming prism and the axis of the autocollimating tube, and the azimuth angle of the aiming prism is the angle between the normal of the aiming prism and the north direction. This results in a simple, low-cost, and highly accurate unsupported aiming system for large launch vehicles. Compared to existing technologies, this invention eliminates the need for launch points, aiming points, and reference points at the launch site. It automatically finds north using a laser strapdown inertial navigation system (INS) and calculates the azimuth angle of the autocollimating beam based on the fixed positional relationship between the INS coordinate system and the beam's coordinate system. Then, the deviation angle of the aiming prism is measured using the autocollimating beam, and the azimuth angle of the aiming prism is calculated from the azimuth angle of the autocollimating beam and the deviation angle of the aiming prism. This not only saves on launch site infrastructure construction costs but also simplifies the aiming process, reduces environmental requirements, and improves aiming accuracy and automation, aligning with the trend towards unattended space launches. The large launch vehicle aiming method provided by this invention offers advantages such as high automation and good safety.

[0023] The following detailed description of the unsupported aiming system for large launch vehicles, with reference to the accompanying drawings, provides further insight into the specific embodiments of the present invention. Attached Figure Description

[0024] Figure 1 This is a schematic diagram of the first embodiment of the unsupported aiming system for large launch vehicles according to the present invention;

[0025] Figure 2 This is a schematic diagram of the installation state of the first embodiment of the supportless aiming system for large launch vehicles of the present invention;

[0026] Figure 3 This is a schematic diagram of the second embodiment of the unsupported aiming system for large launch vehicles of the present invention;

[0027] Figure 4This is a schematic diagram of the installation state of the second embodiment of the supportless aiming system for large launch vehicles of the present invention;

[0028] Figure 5 This is the schematic diagram of the principle and method for calculating the azimuth angle of the aiming prism in this invention;

[0029] In the diagram, 1—Laser strapdown inertial navigation system, 2—Autocollimator, 2'—Aiming device, 3—Satellite positioning equipment, 4—Integrated controller, 100—Umbilical tower, 200—Launch vehicle, 300—Aiming prism, 400—Aiming vehicle, N—North direction, G—Optical axis of autocollimator or aiming device, F—Normal of aiming prism, F'—Equivalent normal of aiming prism. Detailed Implementation

[0030] First, it should be noted that the directional terms such as up, down, left, right, front, and back used in this invention are merely descriptions based on the accompanying drawings for ease of understanding, and are not intended to limit the technical solution or the scope of protection claimed in this invention.

[0031] like Figure 1 and Figure 2 The first embodiment of the present invention provided by the present invention, a supportless aiming system for a large launch vehicle, includes a laser strapdown inertial navigation system (INS) 1 and an autocollimating beam 2 fixed on the INS 1. The INS 1 is mounted on an umbilical tower 100, and the autocollimating beam 2 is positioned at the same height as the aiming prism 300 on the launch vehicle 200. The INS 1 autonomously seeks north and calculates the azimuth angle of the autocollimating beam 2 based on the north direction and the positional relationship between the beam 2's coordinate system and the INS coordinate system. The autocollimating beam 2 emits light towards the aiming prism 300 and measures the deviation angle of the aiming prism 300. The INS 1 then calculates the azimuth angle of the aiming prism 300 based on the azimuth angle of the autocollimating beam 2 and the deviation angle of the aiming prism 300. Among them, the inertial navigation system coordinate system refers to the three-dimensional rectangular coordinate system of the laser strapdown inertial navigation system 1, the optical tube coordinate system refers to the three-dimensional rectangular coordinate system of the autocollimating optical tube 2, the azimuth angle of the autocollimating optical tube 2 refers to the angle between the axis of the autocollimating optical tube and the north direction, the deviation angle of the aiming prism 300 refers to the angle between the normal of the aiming prism and the axis of the autocollimating optical tube, and the azimuth angle of the aiming prism 300 refers to the angle between the normal of the aiming prism and the north direction.

[0032] The above structural configuration constitutes a simple, low-cost, and precise aiming system for large launch vehicles without external support. Compared to existing technologies, this invention, by employing an unsupported aiming method, eliminates the need for launch points, aiming points, and reference points at the launch site, freeing it from site and environmental constraints, reducing launch vehicle development costs, and improving launch vehicle launch mobility. During aiming, the laser strapdown inertial navigation system 1 autonomously finds north, and the azimuth angle of the autocollimating optical tube 2 can be calculated based on the fixed positional relationship between the inertial navigation system coordinate system and the optical tube coordinate system. Then, the deviation angle of the aiming prism 300 is measured using the autocollimating optical tube 2, and the azimuth angle of the aiming prism 300 can be calculated based on the azimuth angle of the autocollimating optical tube 2 and the deviation angle of the aiming prism 300. This not only simplifies the aiming operation process, shortens the launch vehicle development cycle and launch testing time, but also improves aiming accuracy and automation, aligning with the trend of unattended space launch development. It should be noted that the unsupported aiming method is in contrast to the ground-based aiming method with a reference point. It refers to an aiming method that can autonomously locate and orient itself without relying on a ground reference point. The aforementioned autocollimator axis refers to the optical axis of autocollimator 2.

[0033] In a specific implementation, this invention connects the laser strapdown inertial navigation system (INS) 1 to a satellite positioning device 3 and a comprehensive controller 4. The satellite positioning device 3 acquires satellite positioning information and transmits it to the INS 1. The comprehensive controller 4 transmits the aiming result and satellite positioning information to the rocket control system. The aiming result refers to the azimuth angle of the aiming prism. This structure improves functionality and practicality by incorporating the satellite positioning device 3 and the comprehensive controller 4. The satellite positioning information acquired by the satellite positioning device 3 helps the INS 1 improve its autonomous north-finding accuracy. In another specific implementation, this invention employs a three-position north-finding scheme for the INS 1, which can compensate for errors in the inertial devices to eliminate their impact on orientation accuracy. The aforementioned autonomous north-finding refers to the INS 1 performing inertial autonomous orientation and outputting its three attitude angles based on the attitude matrix of the INS coordinate system relative to the geographic coordinate system. To adjust the angle of the emitted light from the self-collimating light tube 2 and ensure that the returned light can enter the photosensitive area of ​​the self-collimating light tube 2, this specific embodiment includes a steering mechanism in the horizontal plane between the laser strapdown inertial navigation system 1 and the umbilical tower. The steering mechanism can be implemented in various ways, and its structure and arrangement are well known to those skilled in the art, and will not be described in detail here. It should be noted that the geographical coordinate system refers to the local three-dimensional Cartesian coordinate system.

[0034] Based on the same concept, such as Figure 3 and Figure 4As shown, the present invention provides a second embodiment of a supportless aiming system for large launch vehicles, including a laser strapdown inertial navigation system 1 and an aiming device 2' fixed on the laser strapdown inertial navigation system 1. The laser strapdown inertial navigation system 1 is mounted on a movable aiming vehicle 400, and the aiming device 2' is equipped with a pitch adjustment mechanism. The laser strapdown inertial navigation system 1 autonomously seeks north and calculates the azimuth angle of the aiming device 2' based on the north direction and the positional relationship between the aiming device coordinate system and the inertial navigation system coordinate system. The aiming device 2' emits light towards the aiming prism 300 and measures the deviation angle of the aiming prism 300. The laser strapdown inertial navigation system 1 then calculates the azimuth angle of the aiming prism 300 based on the azimuth angle of the aiming device 2' and the deviation angle of the aiming prism 300. In this embodiment, the inertial navigation system coordinate system refers to the three-dimensional rectangular coordinate system of the laser strapdown inertial navigation system 1, the aiming device coordinate system refers to the three-dimensional rectangular coordinate system of the aiming device 2', the azimuth angle of the aiming device 2' refers to the angle between the aiming device axis and the north direction, the deviation angle of the aiming prism 300 refers to the angle between the aiming prism normal and the aiming device axis, and the azimuth angle of the aiming prism 300 refers to the angle between the aiming prism normal and the north direction. Unlike the first embodiment, the second embodiment places the laser strapdown inertial navigation system 1 on a movable aiming vehicle 400 to achieve a mobile aiming method. The autocollimating light tube 2 is replaced with the aiming device 2', and the aiming device 2' integrates a pitch adjustment mechanism to adjust the angle of the emitted light from the aiming device 2', ensuring that the returned light can enter the photosensitive area of ​​the aiming device 2'. Compared with existing technologies, this implementation method also eliminates the need to set up launch points, aiming points, and reference points at the launch site, freeing it from site and environmental constraints, reducing the development cost of the launch vehicle, and improving the launch vehicle's launch mobility. During aiming, the azimuth angle of the aiming device 2' can be calculated simply by autonomously finding north using the laser strapdown inertial navigation system 1 and based on the fixed positional relationship between the inertial navigation system coordinate system and the aiming device coordinate system. Then, the deviation angle of the aiming prism 300 is measured using the aiming device 2', and the azimuth angle of the aiming prism can be calculated based on the aiming device's azimuth angle and the aiming prism's deviation angle. This simplifies the aiming operation process and improves aiming accuracy and automation. It should be noted that the aforementioned aiming device axis refers to the optical axis of the aiming device 2'.

[0035] Similar to the first implementation, the second implementation connects the laser strapdown inertial navigation system (INS) 1 to a satellite positioning device 3 and a comprehensive controller 4. The satellite positioning device 3 acquires satellite positioning information and transmits it to the INS 1. The comprehensive controller 4 transmits the aiming result and satellite positioning information to the rocket control system. The aiming result refers to the azimuth angle of the aiming prism. The inclusion of the satellite positioning device 3 and the comprehensive controller 4 improves functionality and practicality. The satellite positioning information acquired by the satellite positioning device 3 helps the INS 1 improve its autonomous north-finding accuracy. Like the first implementation, the second implementation also employs a three-position north-finding scheme to compensate for inertial device errors and eliminate their impact on orientation accuracy. Autonomous north-finding refers to the INS 1 performing inertial autonomous orientation and outputting its three attitude angles based on the attitude matrix of the inertial navigation system relative to the geographic coordinate system. To ensure the stability and reliability of the mobile aiming, the second implementation places an anti-disturbance base between the INS 1 and the aiming vehicle 400. The structure and arrangement of the anti-disturbance base are well known to those skilled in the art and will not be described in detail here.

[0036] Practical application has shown that the unsupported aiming system for large launch vehicles provided by this invention can bring the following beneficial effects: a) It simplifies the structure, frees the launch site from constraints, reduces the development cost of launch vehicles, and improves the mobility of launch vehicle launches; b) It simplifies the aiming operation process, which helps to shorten the rocket development cycle and launch test time; c) It improves aiming accuracy and has a high degree of automation, which is in line with the development trend of unattended space launches.

[0037] Based on the same concept, such as Figure 5 As shown, the present invention also provides a method for aiming a large launch vehicle, utilizing the aforementioned unsupported aiming system, specifically including the following steps:

[0038] S1. Adjust the unsupported aiming system so that the autocollimating light tube 2 or the aiming device 2' emits light towards the aiming prism and the returning light enters the photosensitive area of ​​the autocollimating light tube 2 or the aiming device 2'.

[0039] S2. Perform inertial autonomous orientation using laser strapdown inertial navigation system 1. Obtain the three attitude angles of laser strapdown inertial navigation system 1, namely heading angle ψ, pitch angle θ, and roll angle γ, based on the attitude matrix of the inertial navigation system coordinate system relative to the geographic coordinate system. Measure the deviation angle β of the aiming prism using autocollimator 2 or aiming device 2'.

[0040] S3. Based on the positional relationship between the optical tube coordinate system or aiming device coordinate system and the inertial navigation system coordinate system, calculate the three attitude angles of the laser strapdown inertial navigation system 1 onto the autocollimating optical tube 2 or aiming device 2' to obtain the attitude of the optical tube coordinate system or aiming device coordinate system relative to the geographic coordinate system, namely the azimuth angle ψ1 of the autocollimating optical tube 2 or aiming device 2', the pitch angle θ1 of the autocollimating optical tube 2 or aiming device 2', and the roll angle γ1 of the autocollimating optical tube 2 or aiming device 2'.

[0041] S4. Calculate the azimuth angle A of the aiming prism according to formula ①.

[0042] A=β+ψ1 ①

[0043] The azimuth angle A of the aiming prism refers to the angle between the normal of the aiming prism and the north direction.

[0044] Furthermore, it also includes the following steps:

[0045] S5. Obtain satellite positioning information through satellite positioning device 3 and transmit the satellite positioning information to laser strapdown inertial navigation system 1.

[0046] S6. The azimuth angle A of the aiming prism and the satellite positioning information are transmitted to the rocket control system through the integrated controller 4.

[0047] The aiming method for large launch vehicles provided by this invention has the advantages of high automation and good safety.

[0048] The above embodiments are merely descriptions of preferred embodiments of the present invention and are not intended to limit the scope of protection of the present invention. Various modifications made by those skilled in the art based on the technical solutions of the present invention without departing from the design concept of the present invention should fall within the scope of protection defined by the claims of the present invention.

Claims

1. A free-standing targeting system for a large launch vehicle, characterized by, The system includes a laser strapdown inertial navigation system (1) and an autocollimating beam (2) fixed on the laser strapdown inertial navigation system (1). The laser strapdown inertial navigation system (1) is mounted on the umbilical tower, and the autocollimating beam (2) is positioned at the same height as the aiming prism on the launch vehicle. The laser strapdown inertial navigation system (1) is used for autonomous north-finding and to calculate the azimuth angle of the autocollimating beam (2) based on the north direction and the positional relationship between the beam coordinate system and the inertial navigation system coordinate system. The autocollimating beam (2) is used to emit light towards the aiming prism and to measure the deviation angle of the aiming prism. The laser strapdown inertial navigation system (1) is also used for... The azimuth angle of the aiming prism is calculated based on the azimuth angle of the autocollimating tube (2) and the deviation angle of the aiming prism. The inertial navigation system coordinate system refers to the three-dimensional coordinate system of the laser strapdown inertial navigation system (1), the optical tube coordinate system refers to the three-dimensional coordinate system of the autocollimating tube (2), the azimuth angle of the autocollimating tube (2) refers to the angle between the axis of the autocollimating tube (2) and the north direction, the deviation angle of the aiming prism refers to the angle between the normal of the aiming prism and the axis of the autocollimating tube (2), and the azimuth angle of the aiming prism refers to the angle between the normal of the aiming prism and the north direction.

2. The independent aiming system for large launch vehicles according to claim 1, characterized in that, The laser strapdown inertial navigation system (1) is connected to a satellite positioning device (3) and a comprehensive controller (4). The satellite positioning device (3) is used to acquire satellite positioning information and transmit the satellite positioning information to the laser strapdown inertial navigation system (1). The comprehensive controller (4) is used to transmit the aiming result and satellite positioning information to the rocket control system. The aiming result refers to the azimuth angle of the aiming prism.

3. The unsupported aiming system for large launch vehicles according to claim 2, characterized in that, The laser strapdown inertial navigation system (1) adopts a three-position north-finding scheme. The autonomous north-finding refers to the laser strapdown inertial navigation system (1) performing inertial autonomous orientation and outputting its own three attitude angles according to the attitude matrix of the inertial navigation system relative to the geographic coordinate system.

4. The supportless aiming system for large launch vehicles according to claim 3, characterized in that, A steering mechanism is provided between the laser strapdown inertial navigation system (1) and the umbilical tower to adjust the angle of the autocollimating tube (2) in the horizontal plane.

5. A supportless aiming system for large launch vehicles, characterized in that, The system includes a laser strapdown inertial navigation system (1) and a targeting device (2') fixed on the laser strapdown inertial navigation system (1). The laser strapdown inertial navigation system (1) is mounted on a targeting vehicle. The targeting device (2') is equipped with a pitch adjustment mechanism. The laser strapdown inertial navigation system (1) is used for autonomous north-finding and to calculate the azimuth angle of the targeting device (2') based on the north direction and the positional relationship between the targeting device coordinate system and the inertial navigation system coordinate system. The targeting device (2') is used to emit light towards the targeting prism and to measure the deviation angle of the targeting prism. The laser strapdown inertial navigation system (1) is also used to calculate the azimuth angle of the targeting device (2') based on the positional relationship between the north direction and the positional relationship between the targeting device coordinate system and the inertial navigation system coordinate system. The azimuth angle of the aiming prism is calculated from the azimuth angle of the aiming prism and the deviation angle of the aiming prism. The inertial navigation system coordinate system refers to the three-dimensional coordinate system of the laser strapdown inertial navigation system (1), the aiming instrument coordinate system refers to the three-dimensional coordinate system of the aiming instrument (2'), the azimuth angle of the aiming instrument (2') refers to the angle between the axis of the aiming instrument (2') and the north direction, the deviation angle of the aiming prism refers to the angle between the normal of the aiming prism and the axis of the aiming instrument (2'), and the azimuth angle of the aiming prism refers to the angle between the normal of the aiming prism and the north direction.

6. The unsupported aiming system for large launch vehicles according to claim 5, characterized in that, The laser strapdown inertial navigation system (1) is connected to a satellite positioning device (3) and a comprehensive controller (4). The satellite positioning device (3) is used to acquire satellite positioning information and transmit the satellite positioning information to the laser strapdown inertial navigation system (1). The comprehensive controller (4) is used to transmit the aiming result and satellite positioning information to the rocket control system. The aiming result refers to the azimuth angle of the aiming prism.

7. The independent aiming system for large launch vehicles according to claim 6, characterized in that, The laser strapdown inertial navigation system (1) adopts a three-position north-finding scheme. The autonomous north-finding refers to the laser strapdown inertial navigation system (1) performing inertial autonomous orientation and outputting its own three attitude angles according to the attitude matrix of the inertial navigation system relative to the geographic coordinate system.

8. The supportless aiming system for large launch vehicles according to claim 7, characterized in that, The laser strapdown inertial navigation system (1) is provided with an anti-disturbance base between itself and the aiming vehicle.

9. A method for aiming a large launch vehicle, said aiming method utilizing the unsupported aiming system as described in claim 1 or 5, characterized in that, Includes the following steps: S1. Adjust the unsupported aiming system so that the autocollimating tube (2) or aiming device (2') emits light towards the aiming prism and the returning light enters the photosensitive area of ​​the autocollimating tube (2) or aiming device (2'). S2. Perform inertial autonomous orientation using laser strapdown inertial navigation system (1), and obtain the three attitude angles of laser strapdown inertial navigation system (1) based on the attitude matrix of the inertial navigation system relative to the geographic coordinate system, namely the heading angle ψ, pitch angle θ and roll angle γ; and measure the deviation angle β of the aiming prism using autocollimator (2) or aiming device (2'). S3. Based on the positional relationship between the optical tube coordinate system or the aiming device coordinate system and the inertial group coordinate system, calculate the three attitude angles of the laser strapdown inertial group (1) onto the autocollimating optical tube (2) or the aiming device (2') to obtain the attitude of the optical tube coordinate system or the aiming device coordinate system relative to the geographic coordinate system, namely the azimuth angle ψ1 of the autocollimating optical tube (2) or the aiming device (2'), the pitch angle θ1 of the autocollimating optical tube (2) or the aiming device (2'), and the roll angle γ1 of the autocollimating optical tube (2) or the aiming device (2'). S4. Calculate the azimuth angle A of the aiming prism according to formula ①. A=β+ψ1 ① The azimuth angle A of the aiming prism refers to the angle between the normal of the aiming prism and the north direction.

10. The aiming method for a large launch vehicle according to claim 9, characterized in that, It also includes the following steps: S5. Obtain satellite positioning information through satellite positioning equipment (3) and transmit it to laser strapdown inertial navigation system (1); S6. The azimuth angle A of the aiming prism and the satellite positioning information are transmitted to the rocket control system through the integrated controller (4).

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