A method and device for attitude measurement and positioning of an airborne electromagnetic detection suspension system using lidar.

Abstract

This invention discloses a lidar attitude measurement and positioning method and device for an airborne electromagnetic detection suspension system, belonging to the fields of airborne electromagnetic detection technology, attitude measurement, and coordinate positioning technology. This invention accurately acquires real-time spatial positioning and attitude information of an airborne soft-suspension flight pod subsystem by employing a non-contact laser remote sensing measurement method, without the need to fix attitude and positioning devices on the suspension flight pod subsystem. This avoids electromagnetic interference or dynamic stability issues caused by attitude and positioning devices and related auxiliary electronic equipment to the soft-suspension flight pod subsystem, ensuring the accuracy of electromagnetic signals and data reliability during the detection process, thereby improving the precision of airborne electromagnetic detection.

Description

Technical Field

[0001] This invention belongs to the field of positioning and attitude measurement technology in airborne electromagnetic detection systems, specifically relating to a lidar attitude measurement and positioning method and device for an airborne electromagnetic detection suspension system. Background Technology

[0002] With the rapid development of airborne platform technology, airborne electromagnetic detection technology has been widely applied in fields such as geological engineering exploration, underground mineral resources, geological disaster investigation, and environmental monitoring. In airborne electromagnetic detection, aircraft, including manned and unmanned aerial vehicles (UAVs), typically use a flexible connection to carry suspended flight pods. These pods usually consist of highly sensitive electromagnetic sensors or high-power electromagnetic signal generators, used to generate high-power electromagnetic signals into the ground and acquire the weak electromagnetic response signals produced by underground geological bodies. Flight pods in different types of airborne electromagnetic detection systems vary in size and weight.

[0003] Currently, common sensor attitude measurement technologies mainly rely on inertial measurement units (IMUs), magnetometers, accelerometers, cameras, or vision sensors. However, these traditional methods have certain limitations: Inertial measurement units (IMUs) may drift during long-term flight, leading to inaccurate attitude measurements; Magnetometers are greatly affected by the Earth's magnetic field and are unstable in high magnetic noise environments. Furthermore, mounting magnetometers on flight pods that require high-power electromagnetic signals is impractical; Accelerometers and gyroscopes, while capable of measuring the sensor's motion, cannot provide precise positioning of the flight pod relative to the ground or a reference point; Cameras or vision sensors are significantly affected by lighting conditions, performing poorly at night or in low-light environments. Moreover, their image processing algorithms are complex, resulting in poor real-time performance and difficulty in providing stable measurement results in dynamically changing environments.

[0004] Furthermore, installing inertial navigation measurement units or combined inertial navigation measurement units that include satellite positioning on flight pods also presents the following problems:

[0005] Electromagnetic interference and aerodynamic effects: The inertial navigation measurement unit (INS) needs to be fixedly installed on 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 high-sensitivity electromagnetic sensors on the flight pod. Simultaneously, the INS, its associated modules, and related structural mounting components have a certain size and weight, which may have aerodynamic effects on the flight pod.

[0006] Locality of reference problem: Installing an inertial navigation measurement unit (INS) at a specific location on a large, non-rigid flight pod only provides localized positioning and attitude information for that location, failing to comprehensively describe the shape, coordinates, and attitude information of any point on the large, non-rigid flight pod. While multiple INS can be installed to comprehensively acquire multi-point positioning and attitude information of a large, non-rigid flight pod, this increases the complexity of the measurement system and makes it difficult to fuse multiple external INS data to obtain highly consistent measurement information.

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

[0008] To address the aforementioned technical problems, this invention provides a lidar attitude measurement and positioning method and device for an aviation electromagnetic detection suspension system, which employs lidar point cloud imaging technology to accurately measure and monitor the shape, position, and attitude information of the aviation flight pod in real time.

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

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

[0011] Step 1: Rigidly connect and fix the lidar and the combined inertial navigation unit to the aircraft flight platform, the aircraft flight platform including a flexibly connected flight pod below;

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

[0013] Step 3: Transform the coordinates of the feature tag points collected by the lidar to the combined inertial navigation coordinate system and the geodetic coordinate system sequentially using a three-dimensional coordinate transformation algorithm, and calculate the spatial position and attitude parameters of the flight pod; the three-dimensional coordinate transformation algorithm includes a coordinate translation algorithm and an attitude transformation 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] On the other hand, the present invention provides a lidar attitude measurement and positioning device for an airborne electromagnetic detection suspension system, comprising:

[0016] An aviation flight platform is used to carry a lidar, a combined inertial navigation unit, and a flight pod. The lidar and the combined inertial navigation unit are rigidly connected and fixed to the aviation flight platform, while the flight pod is flexibly connected to the bottom of the aviation flight platform.

[0017] The data acquisition and processing unit is used to acquire the coordinate data of the feature tag points of the flight pod obtained by real-time scanning of the lidar, and the combined inertial navigation unit to simultaneously acquire its own position and attitude data in the geodetic coordinate system. At the same time, the coordinates of the feature tag points acquired by the lidar are sequentially transformed to the combined inertial navigation coordinate system and the geodetic coordinate system through a three-dimensional coordinate transformation algorithm to calculate the spatial position and attitude parameters of the flight pod. The three-dimensional coordinate transformation algorithm includes a coordinate translation algorithm and an attitude transformation 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] Thirdly, the present invention provides an electronic device, comprising: one or more processors; and 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 method for attitude determination using a suspended magnetic sensor lidar in an airborne electromagnetic detection system.

[0020] Fourthly, the present invention provides a computer-readable storage medium storing executable instructions thereon, which, when executed by a processor, enable the processor to implement the aforementioned attitude measurement method of a suspended magnetic sensor lidar for an airborne electromagnetic detection system.

[0021] The beneficial effects of this invention are as follows:

[0022] This invention utilizes lidar point cloud imaging technology to achieve high-precision, non-contact attitude and positioning measurements of soft-suspension flight pods in airborne electromagnetic detection systems. Compared to traditional inertial measurement units (IMUs) or other sensors, lidar provides long-range, high-precision geometric shape measurement, spatial coordinate positioning, and attitude measurement, avoiding problems such as changes in flight pod weight distribution, aerodynamic drag characteristics, and electromagnetic interference caused by directly fixed installation of measurement equipment. Since the positioning and attitude measurement device is installed on the fuselage of the aircraft platform, maintaining a certain distance from the soft-suspension flight pod, and employing a remote sensing measurement method, it avoids electromagnetic crosstalk with the flight pod, effectively ensuring the signal observation accuracy of the high-sensitivity electromagnetic equipment on the flight pod. Furthermore, through high-frequency lidar scanning and efficient data processing algorithms, this invention can acquire the attitude parameters (including pitch, roll, and yaw angles) of the sensor coils in real time and quickly complete three-dimensional coordinate system transformation, significantly improving the system's real-time performance and data processing capabilities, meeting the requirements of airborne transient electromagnetic detection for high-precision, high-real-time attitude measurement. 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, which has important practical application value and broad application prospects. Attached Figure Description

[0023] Figure 1 This is a schematic diagram of an aircraft soft-suspension flight pod positioning and attitude measurement system based on lidar point cloud imaging method;

[0024] Figure 2 Simulation results of point cloud data from lidar for aircraft soft-suspension flight pods;

[0025] Figure 3 This is a flowchart of a lidar attitude measurement and positioning method for an airborne electromagnetic detection suspension system according to the present invention. Detailed Implementation

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

[0027] This invention provides a lidar attitude measurement and positioning method for an airborne electromagnetic detection suspension system, introducing lidar (LiDAR) attitude measurement technology into the positioning and attitude measurement of the airborne suspension system. LiDAR, by emitting a laser beam and receiving the reflected light, can obtain precise three-dimensional point cloud data. Through data processing, the spatial position and attitude of the airborne suspension pod are 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 and fix the lidar and the integrated inertial navigation unit to the aircraft flight platform. The aircraft flight platform includes a flexibly connected flight pod. 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 IMU are rigidly connected. The LiDAR measures the positioning information of the flight pod relative to the LiDAR. A three-dimensional coordinate system transformation method (including translation and rotation algorithms) is needed to convert the point cloud data of the flight pod structure measured by the LiDAR into positioning and attitude information in a geodetic coordinate system. The relative installation positions between them (ΔX) are known. L_I , △Y L_I , △Z L_I ) and relative attitude relationship (△R) L_I , △P L_I , △Y L_I The attitude rotation data correspond to the angles of rotation around the X, Y, and Z axes, respectively. The LiDAR and IMU are rigidly integrated and fixed to the belly of the aircraft platform so that the LiDAR can be aimed at the suspended flight pod below.

[0030] Step 2, Data Synchronous Acquisition: The lidar scans in real time to acquire the coordinate data of the feature tag points of the flight pod, while the combined inertial navigation unit synchronously acquires its own position and attitude data in the geodetic coordinate system;

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

[0032] LiDAR (Light Detection and Ranging) employs laser imaging technology, emitting high-frequency laser beams to scan suspended magnetic sensor coils and their surrounding environment, acquiring point cloud data of the suspended sensor coils. This point cloud data contains the position and attitude information of the flight pod relative to the LiDAR. Each scan generates thousands of points in the point cloud data. The point cloud data is transmitted to a data acquisition and processing unit. A target recognition program running within this unit preprocesses the point cloud data acquired by the LiDAR, including noise reduction and filtering to remove irrelevant point cloud information caused by environmental interference (such as dust and raindrops). It also identifies, detects, and extracts the relative coordinates (X, Y, X) of each marked point (denoted as feature tag point, N feature tag points, k=1 to N) on the flight pod relative to the LiDAR. Bk_L Y Bk_L Z Bk_L The preprocessed point cloud data is used for subsequent attitude parameter calculations.

[0033] Step 3, Coordinate Transformation and Calculation: The coordinates of the feature tag points collected by the lidar are transformed into the combined inertial navigation coordinate system and the geodetic coordinate system through a three-dimensional coordinate transformation algorithm, and the spatial position and attitude parameters of the flight pod are calculated.

[0034] Because the lidar is rigidly connected to the integrated inertial navigation system (INS), the lidar measures the position and attitude information of the flight pod relative to the INS. Therefore, a three-dimensional coordinate transformation algorithm is needed to convert the point cloud data measured by the lidar into the position information of the flight pod in the geodetic coordinate system. At the same time, the geometric deformation parameters and attitude information of the flight pod are calculated by analyzing the coordinates of all feature tag points.

[0035] (1) The relative coordinates (X, X, Y) of N feature label points obtained by LiDAR. Bk_L Y Bk_L Z Bk_L With k=1:N, the geometric shape data of the flight pod itself can be calculated, thereby analyzing the geometric deformation parameters and characteristics of the pod.

[0036] (2) Utilize the known relative position (ΔX) between the LiDAR and the integrated inertial navigation unit (IMU). L_I , △Y L_I , △Z L_I ) and relative attitude relationship (△Roll) L_I , △Pitch L_I , △Yaw L_I The information, through coordinate translation and attitude transformation algorithms, transforms the coordinate data of the flight pod feature tag points (X... Bk_L Y Bk_L Z Bk_LTransformed to the coordinate system of the integrated inertial navigation unit, the output is denoted as (X... Bk_I Y Bk_I Z Bk_I ).

[0037] ,

[0038] in:

[0039] Formula for calculating the translation and rotation of a 3D coordinate point:

[0040] ,

[0041] Formula for calculating the translation of a 3D coordinate point:

[0042] ,

[0043] Formula for calculating the rotation of a 3D coordinate point:

[0044] ,

[0045] In the formula, , , These represent the rotation matrices that transform the LiDAR coordinate system to the IMU coordinate system, corresponding to rotations around the z-axis, y-axis, and x-axis, respectively.

[0046] (3) Utilizing the precise position (X) in the geodetic coordinate system of the integrated inertial navigation unit itself. I Y I Z I Information and attitude information in relative geodetic coordinate system (R) I P I Y I ), using coordinate translation and attitude transformation algorithms, to transfer the coordinate data (X, X) of the flight pod feature tag points in the combined inertial navigation coordinate system. Bk_I Y Bk_I Z Bk_I Convert to geodetic coordinates, and output as (X). Bk Y Bk Z Bk ).

[0047] ,

[0048] Formula for calculating the translation and rotation of a 3D coordinate point:

[0049] ,

[0050] Formula for calculating the translation of a 3D coordinate point:

[0051] ,

[0052] Formula for calculating the rotation of a 3D coordinate point:

[0053] ,

[0054] In the formula, , , These represent the rotation matrices of the combined inertial navigation unit (IMU) coordinate system relative to the geodetic 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 tag points B on the flight pod. k The coordinates in the geodetic coordinate system. By analyzing the positioning information of all feature tags on the flight pod, and through the relative geometric relationships of these feature tags, the deformation, positioning, and attitude information of the flight pod as a whole or its key components are calculated. For example... Figure 2 The image shows the simulation results of the acquired data.

[0056] Step 4, Results Output and Feedback: Output the calculated spatial position and attitude parameters of the flight pod in real time for flight status monitoring and detection data quality control.

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

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

[0059] The aircraft flight platform is used to carry a lidar, a combined inertial navigation unit, and a flight pod. The lidar and the combined inertial navigation unit are rigidly connected and fixed to the aircraft flight platform, while the flight pod is flexibly connected to the bottom of the aircraft flight platform.

[0060] The data acquisition and processing unit is used to acquire the coordinate data of the feature tag points of the flight pod obtained by real-time scanning of the lidar, and the combined inertial navigation unit to simultaneously acquire its own position and attitude data in the geodetic coordinate system. At the same time, the coordinates of the feature tag points acquired by the lidar are sequentially transformed to the combined inertial navigation coordinate system and the geodetic coordinate system through a three-dimensional coordinate transformation algorithm to calculate the spatial position and attitude parameters of the flight pod. The three-dimensional coordinate transformation algorithm includes a coordinate translation algorithm and an attitude transformation algorithm.

[0061] 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.

[0062] Furthermore, LiDAR (Light Detection and Ranging): rigidly connected to the inertial navigation unit, it is used to scan the flight pod and its surrounding environment in real time to obtain high-precision three-dimensional point cloud data of the flight pod.

[0063] Flight pods: Flexible suspension structural components for various forms and sizes of airborne electromagnetic detection systems, including large-size electromagnetic signal transmitting coils and high-precision magnetic sensors. Not limited to the above modules, they encompass any system or structural module employing flexible suspension for flight operations. Their primary purpose is to isolate the suspension system from the aircraft flight platform, reducing electromagnetic and mechanical interference between suspension unit modules beneath the aircraft platform.

[0064] The data acquisition and processing unit integrates various algorithm modules, including:

[0065] Feature point recognition and detection algorithm module: This module identifies feature tags of the flight pod from point cloud data obtained from a single LiDAR scan, eliminating environmental interference points. The algorithm can quickly identify feature points of the flight pod using known flight pod design drawings, improving the reliability of recognition and detection.

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

[0067] Example

[0068] Step 1: Integrate the lidar and combined inertial navigation system (INS) of this invention into the bottom of the aircraft flight platform using a rigid connection. Based on the installation structure or design drawings, accurately determine the installation position and attitude relationship between the lidar and the INS. Save this information and input it into the data acquisition and processing unit. The installation position between the lidar and the INS is not limited; the key is that they must be rigidly connected, and the lidar's detection and imaging area must be aligned with the soft-suspension flight pod below. The flight pod must remain within the lidar's detection and imaging area throughout flight.

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

[0070] Step 2: The lidar operates normally, using the principle of laser reflection imaging to detect the flight pod. The lidar acquires point cloud data of the flight pod and forms a complete single-shot point cloud data of the imaging area. The lidar then sends the detected target point cloud data to the data acquisition and processing unit.

[0071] While the lidar detects the flight pod, the satellite positioning combined with the inertial navigation module collects its own positioning 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 design geometric model data and information of the flight pod, as well as the information of feature labels (key feature points, lines, or geometric surfaces). Combining the design geometric information and feature point information of the flight pod, the data acquisition and processing unit uses point cloud data target feature analysis methods (such as the ICP (Iterative Closest Point) algorithm or other efficient point cloud registration algorithms) to extract the relative coordinate values ​​of multiple key feature points of the flight pod from the point cloud data.

[0073] The coordinate and attitude calculation program in the data acquisition and processing unit uses the known installation position and attitude relationship information between the lidar and the combined inertial navigation system, as well as the positioning and attitude measurement information of the combined inertial navigation system, to transform 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 key feature points of the flight pod, combined with the geometric model data of the flight pod design, to analyze the morphological characteristics of the flight pod (such as geometric deformation or relative displacement between modules inside the pod), the positioning information of the flight pod (coordinates of key positioning points of the pod), and the attitude information of the flight (overall attitude and attitude information of a certain module in the pod).

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

[0076] In summary, this invention utilizes lidar point cloud technology to provide morphological, positioning, and attitude measurement information for flight pods without requiring the installation of positioning and attitude measurement electronic modules or fixed structures on the flight pods. This avoids issues such as changes in center of gravity, aerodynamic changes, and electromagnetic interference caused by measurement equipment and its related electronic units and fixed structural components. While ensuring the quality of electromagnetic detection data, it achieves high-precision and highly stable measurement of flight pod status information, providing an effective and feasible technical solution for airborne electromagnetic detection systems.

[0077] Thirdly, the present invention provides an electronic device, comprising: one or more processors; and 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] Fourthly, the present invention provides a computer-readable storage medium storing executable instructions thereon, which, when executed by a processor, enable 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 purpose, technical solution, and beneficial effects of the present invention. It should be understood that the above descriptions are merely 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 within the protection scope of the present invention.

Claims

1. A method for attitude measurement and positioning using a lidar in an airborne electromagnetic detection suspension system, characterized in that, The method includes: Step 1: Rigidly connect and fix the lidar and the combined inertial navigation unit to the aircraft flight platform, the aircraft flight platform including a flexibly connected flight pod below; Step 2: The lidar scans in real time to obtain the coordinate data of the feature tag points of the flight pod, while the combined inertial navigation unit synchronously collects its own position and attitude data in the geodetic coordinate system; Step 3: Transform the coordinates of the feature tag points collected by the lidar to the combined inertial navigation coordinate system and the geodetic coordinate system sequentially using a three-dimensional coordinate transformation algorithm, and calculate the spatial position and attitude parameters of the flight pod; the three-dimensional coordinate transformation algorithm includes a coordinate translation algorithm and an attitude transformation algorithm; including: Using the known relative position and attitude relationship between the lidar and the integrated inertial navigation unit, the coordinate data of the feature tag points of the flight pod are transformed into the coordinate system of the integrated inertial navigation unit through coordinate translation algorithm and attitude transformation algorithm; Using the precise position of the integrated inertial navigation unit in its own geodetic coordinate system and its attitude information relative to the geodetic coordinate system, the coordinate data of the flight pod feature tag points in the integrated inertial navigation coordinate system are transformed to the geodetic coordinate system through coordinate translation algorithm and attitude transformation algorithm. By calculating the relative geometric relationships of feature tag points, the deformation shape, positioning and attitude information of the entire flight pod or key components can be obtained; 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 attitude measurement and positioning of an airborne electromagnetic detection suspension system using lidar according to claim 1, characterized in that, In step 1, after the lidar and the combined inertial navigation unit are rigidly integrated and installed, the relative position and attitude parameters of the lidar and the combined inertial navigation unit are calibrated, and they are fixed to the belly of the aircraft flight platform so that the lidar is aligned with the suspended flight pod below.

3. The method for attitude measurement and positioning of an airborne electromagnetic detection suspension system using lidar according to claim 1, characterized in that, Step 2 includes the following steps: the lidar uses laser imaging technology to emit a laser beam at a high frequency to scan the suspended magnetic sensor coil and its surrounding environment, acquire point cloud data of the suspended sensor coil, preprocess the point cloud data, and extract the relative coordinate values ​​of each feature tag point on the flight pod relative to the lidar.

4. The method for attitude measurement and positioning of an airborne electromagnetic detection suspension system using lidar according to claim 3, characterized in that, The point cloud data of the suspended sensor coil includes the position and attitude information of the flight pod relative to the lidar, and the preprocessing includes noise reduction and filtering.

5. The method for attitude measurement and positioning of an airborne electromagnetic detection suspension system using lidar according to claim 1, characterized in that, Step 3 further includes calculating the geometric shape data of the flight pod itself by using the relative coordinate values ​​of the feature tag points obtained by the lidar, and obtaining the geometric deformation parameters and features of the flight pod.

6. The method for attitude measurement and positioning of an airborne electromagnetic detection suspension system using lidar according to claim 1, characterized in that, 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 them to the ground control system via a communication module to provide real-time reference information for flight control and decision-making.

7. A lidar attitude measurement and positioning device for an airborne electromagnetic detection suspension system, applied to the method described in any one of claims 1-6, characterized in that, include: An aviation flight platform is used to carry a lidar, a combined inertial navigation unit, and a flight pod. The lidar and the combined inertial navigation unit are rigidly connected and fixed to the aviation flight platform, while the flight pod is flexibly connected to the bottom of the aviation flight platform. The data acquisition and processing unit is used to acquire the coordinate data of the feature tag points of the flight pod obtained by real-time scanning of the lidar, and the combined inertial navigation unit to simultaneously acquire its own position and attitude data in the geodetic coordinate system. At the same time, the coordinates of the feature tag points acquired by the lidar are sequentially transformed to the combined inertial navigation coordinate system and the geodetic coordinate system through a three-dimensional coordinate transformation algorithm to calculate the spatial position and attitude parameters of the flight pod. The three-dimensional coordinate transformation algorithm includes a coordinate translation algorithm and an attitude transformation 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.

8. An electronic device, characterized in that, include: One or more processors; Memory, used to store one or more programs; 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 for an airborne electromagnetic detection suspension system as described in any one of claims 1-6.

9. A computer-readable storage medium, characterized in that, It stores executable instructions, which, when executed by a processor, enable the processor to implement the laser radar attitude measurement and positioning method for an airborne electromagnetic detection suspension system as described in any one of claims 1-6.

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