Aviation electromagnetic detection suspension system laser radar attitude measurement positioning method and device

Abstract

The invention discloses a laser radar attitude measurement positioning method and device for an aviation electromagnetic detection suspension system, and belongs to the technical field of aviation electromagnetic detection, attitude measurement and coordinate positioning. According to the invention, real-time space positioning information and attitude information of the aviation soft suspension flight pod subsystem are accurately obtained by adopting a non-contact laser remote sensing measurement mode, and attitude and positioning devices do not need to be fixedly installed on the suspension flight pod subsystem. Electromagnetic interference or dynamic stability of the attitude and positioning device and related auxiliary electronic equipment on the soft suspension flight pod subsystem is avoided, the accuracy of electromagnetic signals and data reliability in the detection process are ensured, and therefore the precision of aviation electromagnetic detection is improved.

Description

Technical Field

[0001] The present invention belongs to the technical field of positioning attitude measurement in an airborne electromagnetic detection system, and in particular relates to a laser radar attitude measurement and positioning method and device for an airborne electromagnetic detection suspension system. Background Art

[0002] With the rapid development of aerial platform technology, airborne electromagnetic exploration has been widely used in fields such as geological engineering exploration, underground mineral resource exploration, geological disaster investigation, and environmental monitoring. In airborne electromagnetic exploration, aircraft, including manned and unmanned aircraft, typically use flexible connections to carry suspended flight pods. These pods typically consist of highly sensitive electromagnetic sensors or high-power electromagnetic signal generators, used to emit high-power electromagnetic signals into the ground and acquire the weak electromagnetic response signals generated by the subsurface geological bodies. The flight pods of different airborne electromagnetic exploration systems vary in size and weight.

[0003] Currently, common sensor attitude measurement technologies rely primarily on inertial measurement units (IMUs), magnetometers, accelerometers, cameras, or visual sensors. However, these traditional methods have certain limitations: Inertial measurement units (IMUs) may drift during long-term flight, resulting in inaccurate attitude measurements; magnetometers are significantly affected by the Earth's magnetic field and perform unstable in high-magnetic noise environments. Furthermore, magnetometers installed on flying pods that need to generate high-power electromagnetic signals will not work; accelerometers and gyroscopes can measure the sensor's motion state, but cannot provide the precise position of the flying pod relative to the ground or a reference point; and cameras or visual sensors are significantly affected by lighting conditions, performing poorly at night or in low-light environments. Furthermore, their complex image processing algorithms and poor real-time performance make it difficult to provide stable measurement results in dynamically changing environments.

[0004] In addition, installing an inertial navigation measurement unit or a combined inertial navigation measurement unit including satellite positioning on a flight pod also has the following problems:

[0005] Electromagnetic interference and aerodynamic impacts: The inertial navigation measurement unit (INU) must be fixed to the flight pod. Its associated data acquisition module, power supply module, data transmission module, and related transmission coils may generate electromagnetic interference, directly affecting the pod's highly sensitive electromagnetic sensors. Furthermore, the size and weight of the INU, its associated modules, and related structural mounting components may affect the pod's aerodynamics.

[0006] Locality Issue: Installing an inertial navigation measurement unit (IMU) at a specific location on a large, non-rigid flying pod only provides local positioning and attitude information for that location, failing to fully describe the shape, coordinates, and attitude of any point on the pod. While it is possible to comprehensively obtain multi-point positioning and attitude information for a large, non-rigid flying pod by installing multiple IMUs, this increases the complexity of the measurement system and makes it difficult to fuse multiple IMU data to obtain highly consistent measurement information.

[0007] In summary, the existing attitude and positioning measurement technology has many problems in the airborne electromagnetic detection system and cannot meet the measurement requirements of high precision, high stability and real-time performance. Summary of the Invention

[0008] To solve the above technical problems, the present invention provides a laser radar attitude measurement and positioning method and device for an aerial electromagnetic detection suspension system, which adopts laser radar point cloud imaging technology to measure the shape, position and attitude information of an aerial flight pod with high precision and monitor it in real time.

[0009] To achieve the above object, the technical solution adopted by the present invention is as follows:

[0010] A laser radar attitude measurement and positioning method for an airborne electromagnetic detection suspension system, the method comprising:

[0011] Step 1: rigidly connect the laser radar and the combined inertial navigation unit and fix them to an aviation flight platform, wherein the aviation flight platform includes a flexibly connected flight pod below;

[0012] Step 2: The LiDAR scans in real time to obtain the coordinate data of the characteristic tag points of the flight pod, while the inertial navigation unit simultaneously collects its own position and attitude data in the geodetic coordinate system;

[0013] Step 3: Using a three-dimensional coordinate conversion algorithm, the coordinates of the feature tag points collected by the lidar are converted into a combined inertial navigation coordinate system and a geodetic coordinate system in sequence to calculate the spatial position and attitude parameters of the flight pod; the three-dimensional coordinate conversion algorithm includes a coordinate translation algorithm and an attitude conversion algorithm;

[0014] Step 4: Output the calculated spatial position and attitude parameters of the flight pod in real time for flight status monitoring and detection data quality control.

[0015] In another aspect, the present invention provides a laser radar attitude measurement and positioning device for an airborne electromagnetic detection suspension system, comprising:

[0016] An aviation flight platform, used to carry a laser radar, a combined inertial navigation unit, and a flight pod, wherein the laser radar and the combined inertial navigation unit are rigidly connected and fixed to the aviation flight platform, and the flight pod is flexibly connected below the aviation flight platform;

[0017] The data acquisition and processing unit is used to collect the coordinate data of the characteristic tag points of the flying pod obtained by real-time scanning of the laser radar, and the combined inertial navigation unit synchronously collects its own position and attitude data in the geodetic coordinate system. At the same time, the coordinates of the characteristic tag points collected by the laser radar are sequentially converted to the combined inertial navigation coordinate system and the geodetic coordinate system through a three-dimensional coordinate conversion algorithm to solve the spatial position and attitude parameters of the flying pod. The three-dimensional coordinate conversion algorithm includes a coordinate translation algorithm and an attitude conversion algorithm.

[0018] The output unit outputs the calculated spatial position and attitude parameters of the flight pod in real time for flight status monitoring and detection data quality control.

[0019] In a third aspect, the present invention provides an electronic device comprising: one or more processors; a memory for storing one or more programs; wherein, when the one or more programs are executed by the one or more processors, the one or more processors implement the aforementioned airborne electromagnetic detection system suspended magnetic sensor lidar attitude measurement method.

[0020] In a fourth aspect, the present invention provides a computer-readable storage medium having executable instructions stored thereon, which, when executed by a processor, enables the processor to implement the aforementioned method for measuring attitude of a suspended magnetic sensor lidar of an airborne electromagnetic detection system.

[0021] The beneficial effects of the present invention are:

[0022] This invention utilizes lidar (LiDAR) point cloud imaging technology to achieve high-precision, non-contact attitude and positioning measurement of a soft-suspension flying pod in an airborne electromagnetic detection system. Compared to traditional inertial measurement units (IMUs) or other sensors, lidar provides long-range, high-precision geometric measurement, spatial coordinate positioning, and attitude measurement, avoiding the problems associated with fixed-mounted measurement equipment, such as changes in the pod's weight distribution, air resistance characteristics, and electromagnetic interference. Because the positioning and attitude measurement device is mounted on the belly of the aircraft platform, maintaining a certain distance from the soft-suspension flying pod, remote sensing measurement eliminates electromagnetic crosstalk with the pod, effectively ensuring the signal observation accuracy of the pod's highly sensitive electromagnetic equipment. Furthermore, through high-frequency lidar scanning and efficient data processing algorithms, this invention can acquire the sensor coil's attitude parameters (including pitch, roll, and heading angles) in real time and rapidly complete three-dimensional coordinate system conversions, significantly improving the system's real-time performance and data processing capabilities. This meets the high-precision, real-time attitude measurement requirements of airborne transient electromagnetic detection. This innovative measurement method not only improves the accuracy and reliability of airborne electromagnetic detection, but also provides a more flexible and efficient technical solution for the design and application of airborne electromagnetic detection systems. It has important practical application value and broad application prospects. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 Schematic diagram of the positioning and attitude measurement system for an aerial soft-suspension flying pod based on the LiDAR point cloud imaging method;

[0024] Figure 2 This is the simulation result of the laser radar point cloud data for the aviation soft suspension flight pod;

[0025] Figure 3 This is a flow chart of a laser radar attitude measurement and positioning method for an airborne electromagnetic detection suspension system of the present invention. DETAILED DESCRIPTION

[0026] The present invention will be further described below with reference to the accompanying drawings and examples.

[0027] This invention provides a method for laser radar attitude measurement and positioning of an airborne electromagnetic detection suspension system. This method incorporates laser radar (LiDAR) attitude measurement technology into the positioning and attitude measurement of an airborne suspension system. By emitting a laser beam and receiving reflected light, the LiDAR can obtain precise three-dimensional point cloud data. Through data processing, the spatial position and attitude of the airborne suspension flight pod can be monitored and calculated in real time, improving the accuracy and reliability of attitude information acquisition. The method specifically includes:

[0028] Step 1: Equipment Installation and Calibration: Rigidly connect the LiDAR and the integrated inertial navigation unit and secure them to an aerial flight platform with a flexibly connected flight pod underneath. Calibrate the relative position and attitude parameters of the LiDAR and the integrated inertial navigation unit to ensure that the LiDAR scanning area covers the suspended flight pod.

[0029] like Figure 1 As shown, the LiDAR and the IMU are rigidly connected. The LiDAR measures the position of the flight pod relative to the LiDAR. A three-dimensional coordinate system conversion method (including translation and rotation algorithms) is required to convert the point cloud data of the flight pod structure measured by the LiDAR into the position and attitude information in the earth coordinate system. L_I , △Y L_I , △Z L_I ) and relative posture relationship (△R L_I , △P L_I , △Y L_I The attitude rotation data corresponds to the angles of rotation around the X, Y, and Z axes, respectively. The LiDAR and combined inertial navigation unit (IMU) are rigidly integrated and fixed to the belly of the aircraft platform, allowing the LiDAR to align with the suspended flight pod below.

[0030] Step 2: Synchronous data acquisition: The LiDAR scans in real time to obtain the coordinate data of the flight pod's feature tag points, while the inertial navigation unit simultaneously collects its own position and attitude data in the geodetic coordinate system.

[0031] The combined inertial navigation unit outputs its precise position in the earth coordinate system (X I , Y I , Z I ) and the attitude information relative to the earth coordinate system (R I , P I , Y I ).

[0032] Laser radar (LiDAR) uses laser imaging technology to emit laser beams at a high frequency, scanning the suspended magnetic sensor coil and its surrounding environment to obtain point cloud data of the suspended sensor coil. The point cloud data contains the position and attitude information of the flying pod relative to the LiDAR. The point cloud data generated by each scan contains thousands of points; the point cloud data is transmitted to the data acquisition and processing unit. The target recognition program running in the data acquisition and processing unit pre-processes the point cloud data obtained by the LiDAR, including denoising and filtering, removing irrelevant point cloud information caused by environmental interference (such as dust and raindrops), and identifying, detecting and extracting the relative coordinate values ​​(X) of each marker point (referred to as feature label points, with a total of N feature label points, k=1 to N) on the same aerial flying pod (Bird) relative to the LiDAR. Bk_L , Y Bk_L , Z Bk_L ). The preprocessed point cloud data is used for subsequent posture parameter calculation.

[0033] Step 3: Coordinate conversion and calculation: The coordinates of the feature tag points collected by the lidar are converted into the combined inertial navigation coordinate system and the earth coordinate system through the three-dimensional coordinate conversion algorithm to calculate the spatial position and attitude parameters of the flight pod;

[0034] Because the LiDAR is rigidly connected to the integrated inertial navigation system, it measures the pod's position and attitude relative to the integrated inertial navigation system. Therefore, a 3D coordinate conversion algorithm is required to convert the LiDAR-measured point cloud data into the pod's position in a geodetic coordinate system. Simultaneously, the coordinates of all feature tag points are analyzed to calculate the pod's geometric deformation parameters and attitude information.

[0035] (1) The relative coordinate values ​​(X Bk_L , Y Bk_L , Z Bk_L )k=1:N, the geometric data of the flying pod itself can be calculated, thereby analyzing the geometric deformation parameters and characteristics of the pod.

[0036] (2) Using the known relative position (△X L_I , △Y L_I , △Z L_I ) and relative posture relationship (△Roll L_I , △Pitch L_I , △Yaw L_I ) information, and transform the flight pod feature label point coordinate data (X Bk_L , Y Bk_L , Z Bk_L) is converted to the coordinates of the combined inertial navigation unit and the output is recorded as (X Bk_I , Y Bk_I , Z Bk_I ).

[0037] ,

[0038] in:

[0039] The translation and rotation calculation formula of three-dimensional coordinate points:

[0040] ,

[0041] The translation calculation formula of three-dimensional coordinate points:

[0042] ,

[0043] The rotation calculation formula of three-dimensional coordinate points:

[0044] ,

[0045] Where, , , They represent the rotation matrices that convert the LiDAR coordinate system to the IMU coordinate system, corresponding to rotations around the z-axis, y-axis, and x-axis, respectively.

[0046] (3) Using the precise position of the combined inertial navigation unit in the earth coordinate system (X I , Y I , Z I ) information and attitude information relative to the earth coordinate system (R I , P I , Y I ), through the coordinate translation algorithm and attitude conversion algorithm, the coordinate data (X Bk_I , Y Bk_I , Z Bk_I ) is converted to geodetic coordinates and the output is recorded as (X Bk , Y Bk , Z Bk ).

[0047] ,

[0048] The translation and rotation calculation formula of three-dimensional coordinate points:

[0049] ,

[0050] The translation calculation formula of three-dimensional coordinate points:

[0051] ,

[0052] The rotation calculation formula of three-dimensional coordinate points:

[0053] ,

[0054] Where, , , They represent the rotation matrices of the integrated inertial navigation unit (IMU) coordinate system relative to the earth coordinate system, corresponding to rotations around the z-axis, y-axis, and x-axis respectively.

[0055] (4) The data acquisition and processing unit outputs the feature label points B on the flight pod k Coordinate values ​​in the geodetic coordinate system. By analyzing the positioning information of all feature tag points on the flight pod and the relative geometric relationship of the feature tag points, the deformation form, positioning and attitude information of the flight pod as a whole or key components are calculated. Figure 2 As shown in Figure 2, the simulation results of the acquired data are shown.

[0056] Step 4: Result output and feedback: The calculated spatial position and attitude parameters of the flight pod are output in real time for flight status monitoring and detection data quality control.

[0057] The calculated flight pod geometry information, positioning information and attitude information are output to external data storage or data analysis equipment, and are also transmitted to the ground control system through the communication module, providing real-time reference information for flight control and decision-making, ensuring flight safety and detection data quality during the detection process.

[0058] On the other hand, the present invention also provides a laser radar attitude measurement and positioning device for an airborne electromagnetic detection suspension system, which is as follows Figure 3 The logic shown in the figure works, mainly including manned or unmanned aircraft platform, lidar, combined inertial unit, flight pod, data acquisition and processing unit (built-in data processing unit, attitude measurement algorithm module, etc.);

[0059] The aviation flight platform is used to carry a laser radar, a combined inertial navigation unit, and a flight pod, wherein the laser radar and the combined inertial navigation unit are rigidly connected and fixed to the aviation flight platform, and the flight pod is flexibly connected to the bottom of the aviation flight platform;

[0060] The data acquisition and processing unit is used to collect the coordinate data of the characteristic tag points of the flying pod obtained by real-time scanning of the laser radar, and the combined inertial navigation unit synchronously collects its own position and attitude data in the geodetic coordinate system. At the same time, the coordinates of the characteristic tag points collected by the laser radar are sequentially converted to the combined inertial navigation coordinate system and the geodetic coordinate system through a three-dimensional coordinate conversion algorithm to solve the spatial position and attitude parameters of the flying pod. The three-dimensional coordinate conversion algorithm includes a coordinate translation algorithm and an attitude conversion algorithm.

[0061] Output unit, which outputs the calculated spatial position and attitude parameters of the flight pod in real time for flight status monitoring and detection data quality control;

[0062] Furthermore, the LiDAR is rigidly connected to the combined inertial navigation unit and is used to scan the flight pod and its surroundings in real time to obtain high-precision three-dimensional point cloud data of the flight pod.

[0063] Flight pods are soft-suspension components of various forms and sizes of airborne electromagnetic detection systems, including large-scale electromagnetic signal transmitting coils and high-precision magnetic sensors. These components are not limited to the aforementioned modules and encompass any system or structural module that utilizes soft suspension for flight operations. Their primary purpose is to isolate the suspension system from the aircraft platform, minimizing electromagnetic and mechanical interference between the suspension modules below the platform.

[0064] Among them, the data acquisition and processing unit integrates various algorithm modules, including:

[0065] Feature Point Recognition and Detection Algorithm: This module identifies the flight pod's characteristic label points from the point cloud data of a single LiDAR scan, eliminating any environmental interference. This algorithm leverages known flight pod design drawings to quickly identify the pod's characteristic points, improving recognition and detection reliability.

[0066] 3D attitude conversion algorithm module: realizes the translation and rotation of 3D coordinates to complete the conversion of feature point coordinates detected by the lidar (relative to the lidar body) to feature point coordinates in the combined inertial navigation coordinate system (relative to the combined inertial navigation unit), and further converts them into feature point coordinates in the geodetic coordinate system.

[0067] Example

[0068] Step 1: The laser radar and combined inertial navigation system of the present invention are integrated and installed on the bottom of the aviation flight platform using a rigid connection method. And according to the installation structure or installation design drawings, the installation position relationship and attitude relationship information between the laser radar and the combined inertial navigation system are accurately known. This information is saved and input into the data acquisition and processing unit. The installation position between the laser radar and the combined inertial navigation system is not limited. The key is that a rigid connection is required between them, and the laser radar detection and imaging area is aligned with the soft suspension flight pod below. The flight pod is required to always be within the laser radar detection and imaging area during the flight movement.

[0069] During the flight operation of the airborne electromagnetic detection system, the soft-suspension flight pod is suspended by cables under the aerial flight platform and is within the imaging area of ​​the lidar.

[0070] Step 2: The LiDAR operates normally, detecting the flying pod using the principle of laser reflection imaging. The LiDAR obtains point cloud data of the flying pod and forms a complete single-shot imaging point cloud data for the imaging area. The LiDAR sends the detected target point cloud data to the data acquisition and processing unit.

[0071] While the lidar detects the flying pod, the satellite positioning combined inertial navigation module collects its own positioning data and attitude data in the geodetic coordinate system in real time, and sends the collected data to the data acquisition and processing unit.

[0072] Step 3: The data acquisition and processing unit pre-stores the flight pod's design geometry model data and information, as well as information on feature label points (key feature points, lines, or geometric surfaces). The data acquisition and processing unit combines the flight pod's design geometry information and feature point information with a point cloud data target feature analysis method (such as the Iterative Closest Point (ICP) algorithm or other efficient point cloud registration algorithms) to extract the relative coordinates of multiple key feature points of the flight pod from the point cloud data.

[0073] The coordinate and attitude solution program in the data acquisition and processing unit uses the known installation position relationship and attitude relationship information between the lidar and the combined inertial navigation, and the positioning and attitude measurement information of the combined inertial navigation to convert the relative coordinate information of the key feature points of the flight pod into positioning information in the geodetic coordinate system.

[0074] The flight status parameter analysis program in the data acquisition and processing unit uses the positioning coordinate information of the key feature points of the flight pod, combined with the flight pod design geometric model data, to analyze the morphological characteristics of the flight pod (geometric deformation or relative displacement between modules inside the pod, etc.), the positioning information of the flight pod (coordinates of the key positioning points of the pod) and the attitude information of the flight pod (overall attitude and attitude information of a certain module in the pod).

[0075] Step 4: The data acquisition and processing unit sends the analyzed pod morphology, positioning, and attitude measurements to other data analysis or data storage units. The data acquisition unit may also store the analysis results or principle data in its internal memory for later analysis.

[0076] In summary, the present invention uses lidar point cloud technology to provide morphological measurement information, positioning information and attitude measurement of the flying pod without the need to install positioning and attitude measurement electronic modules and fixed structures on the flying pod, avoiding the problems of center of gravity changes, aerodynamic changes and electromagnetic interference caused by the measuring equipment and its related electronic units and fixed structures on the flying pod. While ensuring the quality of electromagnetic detection data, high-precision and high-stability flight pod status information measurement is achieved, providing an effective and feasible technical solution for the airborne electromagnetic detection system.

[0077] In a third aspect, the present invention provides an electronic device comprising: one or more processors; a memory for storing one or more programs; wherein, when the one or more programs are executed by the one or more processors, the one or more processors implement the aforementioned laser radar attitude measurement and positioning method for an airborne electromagnetic detection suspension system.

[0078] In a fourth aspect, the present invention provides a computer-readable storage medium having executable instructions stored thereon, which, when executed by a processor, enables the processor to implement the aforementioned laser radar attitude measurement and positioning method for an airborne electromagnetic detection suspension system.

[0079] The specific embodiments described above further illustrate the objectives, technical solutions and beneficial effects of the present invention in detail. It should be understood that the above are only specific embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A laser radar attitude measurement and positioning method for an airborne electromagnetic detection suspension system, characterized in that: The method comprises: Step 1: rigidly connect the laser radar and the combined inertial navigation unit and fix them to an aviation flight platform, wherein the aviation flight platform includes a flexibly connected flight pod below; Step 2: The LiDAR scans in real time to obtain the coordinate data of the characteristic tag points of the flight pod, while the inertial navigation unit simultaneously collects its own position and attitude data in the geodetic coordinate system; Step 3: Using a three-dimensional coordinate conversion algorithm, the coordinates of the feature tag points collected by the lidar are converted into a combined inertial navigation coordinate system and a geodetic coordinate system in sequence to calculate the spatial position and attitude parameters of the flight pod; the three-dimensional coordinate conversion algorithm includes a coordinate translation algorithm and an attitude conversion algorithm; Step 4: Output the calculated spatial position and attitude parameters of the flight pod in real time for flight status monitoring and detection data quality control.

2. The method for laser radar attitude measurement and positioning of an airborne electromagnetic detection suspension system according to claim 1, characterized in that: In step 1, after the laser radar and the combined inertial navigation unit are rigidly integrated and installed, the relative position and attitude parameters of the laser radar and the combined inertial navigation unit are calibrated, and they are fixed to the belly of the aviation flight platform so that the laser radar is aligned with the flight pod suspended below.

3. The method for laser radar attitude measurement and positioning of an airborne electromagnetic detection suspension system according to claim 1, characterized in that: The step 2 includes: the laser radar uses laser imaging technology to emit a laser beam at a high frequency to scan the suspended magnetic sensor coil and its surrounding environment, obtain point cloud data of the suspended sensor coil, pre-process the point cloud data, and extract the relative coordinate value of each feature tag point on the flying pod relative to the laser radar.

4. The method for laser radar attitude measurement and positioning of an airborne electromagnetic detection suspension system according to claim 3, characterized in that: The point cloud data of the suspended sensor coil includes position information and attitude information of the flying pod relative to the laser radar, and the preprocessing includes denoising and filtering.

5. The method for laser radar attitude measurement and positioning of an airborne electromagnetic detection suspension system according to claim 1, characterized in that: The step 3 comprises: Using the known relative position and relative attitude relationship between the lidar and the integrated inertial navigation unit, the coordinate data of the characteristic label points of the flight pod are converted to the integrated inertial navigation unit coordinate system through the coordinate translation algorithm and the attitude conversion algorithm; By using the precise position of the combined inertial navigation unit in the earth coordinate system and its attitude information relative to the earth coordinate system, the coordinate data of the flight pod feature tag points in the combined inertial navigation coordinate system are converted to earth coordinates through the coordinate translation algorithm and attitude conversion algorithm. Through the relative geometric relationship of feature label points, the deformation form, positioning and attitude information of the flight pod as a whole or key components are calculated.

6. The method for laser radar attitude measurement and positioning of an airborne electromagnetic detection suspension system according to claim 1, characterized in that: The step 3 also includes calculating the geometric data of the flying pod itself through the relative coordinate values ​​of the characteristic label points obtained by the laser radar, and obtaining the geometric deformation parameters and characteristics of the flying pod.

7. The method for laser radar attitude measurement and positioning of an airborne electromagnetic detection suspension system according to claim 1, characterized in that: The step 4 includes outputting the calculated flight pod geometry data, positioning information and attitude information to an external data storage or data analysis device, and transmitting it to a ground control system through a communication module to provide real-time reference information for flight control and decision-making.

8. A laser radar attitude measurement and positioning device for an airborne electromagnetic detection suspension system, characterized in that: include: An aviation flight platform, used to carry a laser radar, a combined inertial navigation unit, and a flight pod, wherein the laser radar and the combined inertial navigation unit are rigidly connected and fixed to the aviation flight platform, and the flight pod is flexibly connected below the aviation flight platform; The data acquisition and processing unit is used to collect the coordinate data of the characteristic tag points of the flying pod obtained by real-time scanning of the laser radar, and the combined inertial navigation unit synchronously collects its own position and attitude data in the geodetic coordinate system. At the same time, the coordinates of the characteristic tag points collected by the laser radar are sequentially converted to the combined inertial navigation coordinate system and the geodetic coordinate system through a three-dimensional coordinate conversion algorithm to solve the spatial position and attitude parameters of the flying pod. The three-dimensional coordinate conversion algorithm includes a coordinate translation algorithm and an attitude conversion algorithm. The output unit outputs the calculated spatial position and attitude parameters of the flight pod in real time for flight status monitoring and detection data quality control.

9. An electronic device, characterized in that: include: one or more processors; a memory for storing one or more programs; Wherein, when one or more programs are executed by the one or more processors, the one or more processors implement the laser radar attitude measurement and positioning method of the airborne electromagnetic detection suspension system as described in any one of claims 1-7.

10. A computer-readable storage medium, characterized in that Executable instructions are stored thereon, which, when executed by a processor, enable the processor to implement a laser radar attitude measurement and positioning method for an airborne electromagnetic detection suspension system as described in any one of claims 1 to 7.

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