408 results about "System transformation" patented technology

The invention discloses an automatic registration method for three-dimensional point cloud data. The method comprises the steps that two point clouds to be registered are sampled to obtain feature points, rotation invariant feature factors of the feature points are calculated, and the rotation invariant feature factors of the feature points in the two point clouds are subjected to matching search to obtain an initial corresponding relation between the feature points; then, a random sample consensus algorithm is adopted to judge and remove mismatching points existing in an initial matching point set to obtain an optimized feature point corresponding relation, and a rough rigid transformation relation between the two point clouds is obtained through calculation to realize rough registration; a rigid transformation consistency detection algorithm is provided, a local coordinate system transformation relation between the matching feature points is utilized to perform binding detection on the rough registration result, and verification of the correctness of the rough registration result is completed; and an ICP algorithm is adopted to optimize the rigid transformation relation between the point cloud data to realize automatic precise registration of the point clouds finally.

The invention discloses a man-machine interactive manipulator control system and method based on binocular vision. The man-machine interactive manipulator control system is composed of a real-time image collecting device, a laser guiding device, a programmable controller and a driving device. The programmable controller is composed of a binocular three-dimensional vision module, a three-dimensional coordinate system transformation module, an inverse manipulator joint angle module and a control module. Color characteristics in a binocular image are extracted through the real-time image collecting device to be used as a signal source for controlling a manipulator, and three-dimensional information of red characteristic laser points in a view real-time image is obtained through transformation and calculation of the binocular three-dimensional vision system and a three-dimensional coordinate system and used for controlling the manipulator to conduct man-machine interactive object tracking operation. The control system and method can effectively conduct real-time tracking and extracting of a moving target object and is wide in application fields such as intelligent artificial limb installing, explosive-handling robots, manipulators helping the old and the disabled and the like.

The invention discloses an industrial control network security protection method and an industrial control network security protection system. The method comprises the following steps that: aiming at an external network attack, a front host performs first layer data filter and access control on external network data; a security control host caches data through a common storage region, performs intrusion detection on the data, timely alarms illegal data and informs hosts on two sides; a rear host performs deep filter and access control on the data and causes the legal data to enter an internal network; aiming at an internal network attack, the rear host performs the first data filter and access control on internal network data; the security control host caches the data through the common storage region, performs the intrusion detection on the data, timely alarms the illegal data and informs the hosts on the two sides; and the front host performs the deep filter and access control on the data and causes the legal data to enter an external network. By the method and the system, the network security level of an industrial control system is increased, and the cost on investment, system transformation and management is reduced.

The invention discloses a multidimensional weighted 3D recognition method for dynamic gestures. At the training stage, firstly, standard gestures are segmented to obtain a feature vector of the standard gestures; secondly, coordinate system transformation, normalization processing, smoothing processing, downsampling and differential processing are performed to obtain a feature vector set of the standard gestures, weight values of all joint points and weight values of all dimensions of elements in the feature vector set, and in this way, a standard gesture sample library is constructed. At the recognition stage, by the adoption of a multidimensional weighted dynamic time warping algorithm, the dynamic warping distances between the feature vector set Ftest of the gestures to be recognized and feature vector sets Fc =1,2,...,C of all standard gestures in the standard gesture sample library are calculated; when the (m, n)th element S(m, n) of a cost matrix C is calculated, consideration is given to the weight values of all the joint points and the weight values of all the dimensions of the elements, the joint points and coordinate dimensions making no contribution to gesture recognition are removed, in this way, the interference on the gesture recognition by joint jittering and false operation of the human body is effectively removed, the anti-interference capacity of the algorithm is enhanced, and finally the accuracy and real-time performance of the gesture recognition are improved.

The invention relates to a coordinate system transformation method for detection of vehicle motion acceleration. The method includes the steps of establishing a correlative relationship between an MEMS (micro-electromechanical system) coordinate system and a geographic coordinate system through MEMS accelerometers and MEMS magnetometers; acquiring an attitude matrix according to outputs of the gyroscopes during navigation; according to the attitude matrix, acquiring a transformation matrix C<n><m> of the MEMS coordinate system and the geographic coordinate system; by the aid of the transformation matrix C<N><M>, transforming an acceleration output by the MEMS accelerometers into a geographic coordinate acceleration; according to a GPS (global positioning system) east velocity V<GPS><E> output by a GPS and a vehicle velocity V<R>, acquiring a relative course angle Psi<N><NB>; according to the related course angle, acquiring a transformation matrix C<N> from the geographic coordinate system to a vehicle body coordinate system; after a calculation method of the transformation matrix C<N> and the transformation matrix C<N><M> is acquired, acquiring a transformation matrix C<M> of the MEMS coordinate system and the vehicle body coordinate system by the Strassen algorithm; according to the transformation matrix C<M> of the MEMS coordinate system and the vehicle body coordinate system, transforming outputs of all of the MEMS gyroscopes and accelerometers to the vehicle body coordinate system.

The invention discloses a device intelligent access system based on a device adaptation technology. The system is arranged at a transformer substation and communicated with a power supply bureau and a data acquisition device, and comprises a device management module, a plug-in and specification management module and a communication management module, wherein the device management module comprisesa device information model unit and a device management center unit; the plug-in and specification management unit comprises a device plug-in unit, a device plug-in management unit and a device specification library unit; and the communication management unit comprises a device communication interface unit, a device data sending unit, a device data receiving unit and a message bus unit. The system has strong expansibility and compatibility, needs less system transformation works while being compatible to old devices and old protocols or accessing to new devices and new protocols, thereby saving labor cost and reducing work load.

Maximum likelihood detection of signals in a MIMO receiver. A system transformation is obtained by selecting a weighting matrix that when linearly transforming a channel utilized for wireless communication, results in a particular transformed triangular matrix. The weighting matrix is then used to provide a transformed vector for a received signal that allows a search in one constellation. In searching the constellation recursion values are used to calculate the Euclidean distances between set points of the constellation and the location on the constellation corresponding to the received signal for both bit values 0 and 1. Minimum Euclidean distances are determined for bit values 0 and 1 and the difference of the minimum Euclidean distances is used to compute the maximum likelihood value for bits contained in the received signal.

The invention relates to a method and system for acquiring the line of sight direction of a human eye by a single camera. The method comprises the following steps: S1, acquiring human face images of various angles by using an image data acquisition device, and using the image data acquisition device to acquire the data for neural network depth learning and training; Step S2, at least calculating the coordinates of the position of the human eye in the image acquired in step S1 and the coordinates of the position of the gaze position of the corresponding line of sight; Step S3: the human face images of each angle in the step S1 include the human eye position images, and the gaze position coordinates are input into the neural network for machine learning; when the human face image is inputted, the line of sight can be correctly outputted through the training; Step S4, collecting the human face image when the driver is driven by a real-time acquisition camera, and inputting the human faceimage into the trained neural network, wherein the neural network outputs the real-time correspond line-of-sight direction of the human face image. The method adopts the improved image data training method, coordinate system transformation method and the corresponding neural network model. The visual line of sight calculated by the network model has high precision, which meets the needs of variousautomatic driving / assistant driving.

The invention discloses a method for drawing a marking line. The method comprises the following steps: firstly, respectively selecting a point in a world coordinate and an image coordinate as two end points of the marking line; then, carrying out coordinate system transformation for transforming one point to the coordinate system of the other point; and finally, using graph drawing software to draw a marking straight line according to the coordinate values of the two end points in the same coordinate system. Correspondingly, the invention further discloses a method for realizing virtual information marking in a mobile enhanced practical field, so that virtual information superposed on a real scene can be marked, and the virtual information superposed on the real scene is linked with marking information on a mobile terminal interface by the marking line. The invention provides a brand-new information marking and displaying mode, so that a user has a feeling that a video or picture superposed on a real scene and marking information on the screen are linked by a 3D (Three Dimensional) or a 2D (Two Dimensional) wire through the screen, and a very fantastic visual effect is achieved.

The invention relates to an aircraft three-dimensional surface flow distribution wind tunnel measurement method. A structured light-based binocular vision three-dimensional point cloud reconstructionsystem and a multi-view image acquisition system are used for wind tunnel three-dimensional flow distribution measurement. Firstly, the binocular vision system is used to reconstruct the surface of awind tunnel test model. According to the aircraft three-dimensional surface flow distribution wind tunnel measurement method, the binocular vision system is utilized to perform the three-dimensional reconstruction of the surface of the wind tunnel test model; a small number of marking points are distributed on the model or at the periphery of the model; and point cloud splicing processing is carried out, so that the point cloud information of the surface of the wind tunnel test model is obtained. In a wind tunnel test, a plurality of cameras are adopted to perform multi-angle shooting on the model, so that the surface flow information of the model under different visual angles can be obtained; and image-to-three-dimensional point cloud coordinate system transformation is carried out through the information of the marking points arranged on the model or at the periphery of the model, so that a two-dimensional flow image can be mapped onto three-dimensional point cloud, and therefore, the three-dimensional full-surface flow distribution of an aircraft can be obtained.

The invention relates to a method and device for jointly calibrating a robot and a three-dimensional sensing component, a computer device and a storage medium. The method comprises: acquiring target reference point information corresponding to a robot in different attitudes; calibrating the parameter of the three-dimensional sensing component; determining a first coordinate system transformation relation matching the three-dimensional depth information under different robot attitudes; determining a second coordinate system transformation relation of the space attitudes of the robot under different rotation angles; and according to the plurality of transformation relations and the acquired robot attitude information and rotation angle information, calculating a global transformation matrixfor global calibration and optimization. The method, by calibrating the parameter and obtaining the transformation relation between multiple coordinate systems, performs multi-view three-dimensional reconstruction on an object under a finite field of view angle, further obtains the field of view information of different rotation angles of the robot, calculates the global transformation matrix, andperforms global calibration so as to fully realize the multi-view depth data information fusion, and achieve an effect of improving the matching accuracy.

The invention discloses a three-phase alternating current phase sequence detecting device and a method thereof. The detecting device comprises a three-phase alternating current sampling module, a coordinate system transformation module, an angular frequency signal acquirement module and a phase sequence direction judgment module. The detecting device includes the following detecting method: A. the three-phase alternating current sampling module samples the instantaneous values of current three-phase alternating current to obtain a sampling instantaneous value; B. the coordinate system transformation module converts the sampling instantaneous value into a two-phase synchronous rotating coordinate system from a three-phase static coordinate system, and q axis component xq can be worked out; C. the angular frequency signal acquirement module receives xq and obtains an error signal; the error signal can be adjusted to change the value of the xq; the acquired value of the angular frequency Omega 0 can be output to a feedback channel module thereof and the phase sequence direction judgment module; the feedback channel module outputs Omega 0 to the coordinate system transformation module; D. the phase sequence direction judgment module distinguishes the mark of Omega 0 and determines the phase sequence direction. The device provided by the invention can detect the real-time condition of the phase sequence. The device provided by the invention is simple and practical and has excellent capacity of resisting disturbance.

The invention relates to a self-calibrating method of a two-dimensional large-stroke precision workbench measuring system and belongs to the field of precision machining and measurement. The self-calibrating principle is utilized for the method, a glass plate with even grids is used as an auxiliary measuring device, a two-dimensional workbench is self-calibrated respectively according to areas, and system errors of all the areas are obtained; system error compensation is performed on the corresponding areas, and coordinates of discrete points in calibration coordinate systems are obtained; linear fitting is performed on the coordinates of the discrete points in all the areas, and grids of the calibration coordinate systems are obtained; on the basis of the coordinate system transformation principle, the calibration coordinate systems of the adjacent areas are transformed, a unified calibration coordinate system in the whole area is obtained, and finally the two-dimensional large-stroke precision workbench measuring system can be self-calibrated. Through the self-calibrating method, large-stroke and high-precision self-calibration of the two-dimensional workbench is achieved, and meanwhile the function of calibrating the high-precision two-dimensional workbench through the low-precision grid glass plate is achieved. A high-precision calibrating tool is not needed, and the self-calibrating method is high in calibration precision and suitable for calibrating various two-dimensional precision workbenches.

The invention provides a three-dimensional point cloud data acquisition method comprising the following steps that: the current position of a rotating holder is acquired and the inclined angle phi<0>of the current position and the initial position is obtained; the rotating holder rotates according to the set step angle and the rotating direction transmitted by an upper computer, the two-dimensional laser radar performs scanning for one time when the rotating holder rotates for one step, and all the point depth rho and angles theta<w> fed back by the radar are recorded, and the current rotating angle phi<1> of the rotating holder is recorded; and the three-dimensional point cloud data information acquired by the two-dimensional laser radar is transformed to the Cartesian coordinates from the spherical coordinates through coordinate system transformation. Three-dimensional environmental information acquisition can be completed by using the two-dimensional laser radar, and the calculation method for converting the radar information into the three-dimensional coordinate information is suitable for multiple types of laser and holder devices so as to be high in transplantability and suitable for ordinary mobile robots and other mobile equipment, the acquired three-dimensional point cloud information has comprehensive coverage, the storage mode is reasonable, and the accurate data can be provided for point cloud data processing of subsequent map reconstruction.

A construction method of a large multifunctional over-water construction platform comprises the following steps of docking a required floating body on the river bank side, suspending processed member units on the floating body, connecting and assembling the processed member units to form the platform, placing a pile driving device and steel pile casings on the platform in advance, then removing an anchoring system of the floating body, using a tugboat to drag the floating body to the designed pier position, pulling an anchor line to accurately position the platform, performing inserting and hitting operations on wading piles by means of a guiding device on the platform, wholly lifting the platform to perform system transformation after finishing inserting and hitting operations of the wading piles, fixing the platform on the wading piles, then continuously performing inserting and hitting operations on other steel pile casings, meanwhile performing drilling pile construction, constructing a cofferdam after finishing the drilling pile construction, and adjusting the platform elevation to enable the platform to serve as an inner supporting structure of the cofferdam. The construction method utilizes a construction process for floating body assembly and multifunctional platform transportation, the number of required large over-water devices is small, processing and installation on the bank are convenient, trestle construction in advance is not needed, and shortening of a construction period and reduction of the construction cost are facilitated.

The invention discloses an evaluation method of a part flatness error based on a minimum area method. The evaluation method comprises the steps of measuring and obtaining coordinates of measuring points on a measured plane, giving an initial parameter of the plane, enquiring the measuring points contacted with an error containing area according to the distances from the points to the plane, projecting the measuring points into a designated plane and converting into straightness error calculation in the designated plane by a coordinate system transformation method according to the quantity and the relative positions of the contact points, searching the measuring points contacted with the containing area and satisfying a straightness error discretion rule through the rotation change of the containing area in the projection plane, obtaining a rotated containing area, redefining a projection plane, conducting iterative calculation sequentially according to the straightness error calculation till a flatness discretion rule is satisfied, and outputting the flatness error and an optimal value corresponding to an ideal plane parameter. With the adoption of the evaluation method, the flatness error satisfying a minimum area discretion rule can be accurately calculated.

The invention belongs to the technical field of intelligent robots, and discloses a vision acquisition and calibration method based on a multi-degree-of-freedom mechanical arm. The method comprises the following steps that a designated point on the mechanical arm is kept fixed, and the mechanical arm is respectively rotated for one circle around at least two coordinate axes of a coordinate systemtaking the designated point as an original point; coordinates of each corner point on a calibration plate in the rotating process are obtained; a circle center coordinate of the motion track of the calibration plate and a space offset vector from each corner point to the designated point under a vision acquisition coordinate system on a designated frame are calculated; the posture of the mechanical arm is kept unchanged from the designated point to the tail end of the mechanical arm, and the mechanical arm is respectively translated towards different planes; a plurality of frames of images aresampled for the calibration plate in the translation process, and meanwhile the coordinates of the tail end of the mechanical arm are obtained through the mechanical arm system; and the transformation relation between the vision acquisition coordinate system and the mechanical arm coordinate system is calculated. By adopting the method, the coordinate system transformation relation between visionacquisition equipment and the mechanical arm system can be calculated without accurately fixing the calibration plate without measurement equipment.

The invention relates to a dedusting and desulfurization synergistic comprehensive energy-saving and emission-reducing device based on flue gas cooling, the energy-saving desulfurization and dedusting synergistic comprehensive control technology taking the flue gas cooling as the core is adopted, and the device has the characteristics of low investment, simple structure, obvious effects and is stable in operation and can complete energy-saving synergy, desulfurization synergy, dedusting synergy and system transformation for optimizing an induced draft fan and a booster fan and realize the purposes of energy conservation and emission reduction with integrated comprehensive control.

The invention discloses a relative positioning method for a spatial object. The method comprises the following steps of: releasing a micro satellite carrying a visible light camera by an on-track spacecraft; measuring the distance between the on-track spacecraft and the micro satellite by a microwave distance measurement method; measuring the azimuths and pitch angles of the on-track spacecraft and micro satellite in respective coordinate systems by the direction finding equipment; forming a double-star observation system from the on-track spacecraft and the micro satellite to observe the spatial object together; establishing a double-star inter-star coordinate system by taking the connection direction of the double stars as an X axis, wherein a Z axis is located in a plane formed by the double stars and the earth's core, is vertical to the X axis and points to the earth's core; calculating a transformation matrix from the coordinate system of the satellite to the double-star inter-star coordinate system; calculating the azimuth and pitch angle of the object in the double-star inter-star coordinate system through coordinate system transformation; and finally calculating the three-dimensional position of the spatial object by intersecting the sight lines of the double stars. In the invention, the relative relationship between the double stars is calculated firstly, a double-star inter-star coordinate system is established, then the azimuth and pitch angle measured by the coordinate system of the satellite are transformed to the double-star inter-star coordinate system through coordinate transformation, and finally the accurate position of the object is obtained by intersecting the sight lines of the double stars; the positioning speed is high, and the accuracy is high; and the method is particularly suitable for the real-time positioning for determining the space junk near the spacecraft.

The invention discloses a semi-automatic point cloud method for making a three-dimensional high-definition road map lane line. The which semi-automatic point cloud method comprises the following steps: S1, pre-processing, performing coordinate system transformation and non-ground point removal on point cloud data, and obtaining ground points; S2, performing road edge detection according to the obtained ground points, obtaining road boundaries and road surface points; S3, extracting road identifiers according to the obtained road surface points, wherein the road identifiers include arrows, symbols, and lane identifiers; S4, determining a centerline of the lane on the basis of the extracted lane identifiers; S5, and creating a 3D road map with the road boundaries, the lane identifiers, and the lane centerlines. The method can reduce the computational complexity and time cost of road surface identifier extraction, and improve the accuracy of creating a 3D high-definition road map of self-driving vehicles.

The invention discloses an aircraft control method comprising the following steps: obtaining the vertical thrust of an aircraft in an aircraft body coordinate system through coordinate system transformation and negative feedback double closed loop control according to detected current vertical position and acceleration; obtaining the horizontal controlled quantity of the aircraft in the aircraft body coordinate system through coordinate system transformation and negative feedback double closed loop control according to detected current latitude and longitude values and horizontal acceleration; obtaining the controlled quantity in the heading direction through coordinate system transformation and negative feedback double closed loop control according to detected current vertical and horizontal magnetic induction data; and controlling the aircraft to fly to a target position according to the vertical thrust, the horizontal controlled quantity and the controlled quantity in the heading direction. Aircraft control in the vertical, horizontal and heading directions can be realized, so that an aircraft can be controlled accurately to fly at a set height, and stable flight of an aircraft under complex conditions is ensured.

The invention relates to the user identity updating method of encryption transmission and belongs to the user identity updating technology field. In the prior art, a malicious visiting location network can not be prevented from carrying out user charging after receiving a user identity and the like, and a permanent user identity leakage problem caused by the safety problem of the visiting locationnetwork exists. In the invention, the above problems are solved. The user identity updating method of the encryption transmission comprises the following steps of receiving a user hidden identity SUCI sent by a client; calculating and caching a shared master secret key according to the received SUCI; decrypting the SUCI to acquire the user identity SUPI, and acquiring a new user identity SUPI_n according to the SUPI; generating an authentication vector AV through using the shared master secret key and the SUPI_n; sending AUTN and RAND in the authentication vector to the client, and calculating feedback information by the client; and according to the feedback information of the client, determining whether an authentication is passed, and if the authentication is passed, updating the user identity SUPI to SUPI_n. The on-line and insensitive user identity updating method with high efficiency and low system transformation of the encryption transmission is realized.

The invention relates to a multi-vehicle cooperatively rapid mapping method. The multi-vehicle cooperatively rapid mapping method comprises the steps that: S1, data acquisition and sensation are carried out; S2, point cloud data is pre-processed; S3, local point cloud maps and global point cloud maps of vehicles are constructed; S4, communication among the vehicles is carried out; and furthermore,the coordinate system transformation relation between the two vehicles is calculated; S5, one-to-one matching of the coordinate system transformation relations among the vehicles is carried out; anda matrix that a matching result satisfies threshold requirements is used as the coordinate system transformation matrix of the two vehicles; S6, after registration is successful, each vehicle sends aregistration result to the opposite side; and, after receiving the registration result, each vehicle begins to send established global edge maps and trajectories to the opposite side; and S7, after receiving the global edge maps continuously sent by the opposite side and the trajectory data of the opposite side, each vehicle converts data through the matrix obtained in the step (5) by calculation;and then, the result is transmitted to the step (2) and the step (3), so that real-time cooperative mapping is carried out. Multi-vehicle cooperative mapping is used; and thus, the method is high inefficiency, wide in detection vision field and high in precision.

The invention discloses a tool deflection modeling method for a multi-axis machining system. The tool deflection modeling method includes establishing a new non-deformable cutting thickness model, and a cutting force prediction model of arc-tool variable-posture milling by the vector method; establishing a flexibility model of a machine transmission shaft by the equivalent column method and a comprehensive flexibility model of the machining system by force ellipsoid method and coordinate system transformation; finally utilizing the cutting force model in the process of variable-posture machining and the flexibility model at the tail end of the multi-axis machining system to obtain a tool deflection model. In the tool deflection modeling method, the non-deformable cutting thickness model of a new tool cutting blade and the comprehensive flexibility model of the multi-axis machining system are used to obtain a more accurate tool deflection change law during machining, so that the tool postures during multi-axis machining and machining parameters such as feed speed and spindle revolving speed are optimized, tool deflection is controlled, and quality of machined surfaces of workpiece is improved.

The invention discloses a ship-borne high-precision star sensor setting angle calibrating method, and relates to the field of spacecraft attitude control ground application to solve the problem of unable reaction of accurate calibration of the setting angle of a ship-borne star sensor in the prior art. A ship-borne radar equipment pedestal is provided with a star sensor; when a ship docks, a ship-borne alignment calibration theodolite determines the course angle of a measurement ship through a star measurement or azimuth vane tracking technology, and the horizontal reference pitching angle and rolling angle of a whole ship are calibrated to obtain an inertial navigation horizontal system to deck coordinate system transformation matrix; and the star sensor shoots a star atlas, the observation vectors and the reference vectors of i fixed stars are obtained, the azimuths and the pitching angles of the i fixed stars in a view field are calculated, the pitching angles undergo atmospheric refraction correction one by one, the inertial navigation horizontal system reference vectors of the i fixed stars are reconstructed, and star sensor attitude matrix and the ship-borne star sensor setting matrix under the inertial navigation horizontal system are calculated to resolve the setting angle. The method improves the measurement precision of the attitude of the body of a spaceflight measurement ship.

The invention discloses an imaging type method for correcting earth oblateness by an earth sensor, which comprises the following steps: extracting a coordinate of an image point of an earth contour point on a photoelectric detector of the sensor and computing a unit vector of the image point in a spacecraft system; assuming the earth is a standard sphere, computing a geocentric vector VEB, and acquiring a rolling angle and a pitch angle Theta of the spacecraft according to the geocentric vector VEB; estimating a yaw angle Psi of the spacecraft at the current moment according to the posture of the spacecraft at previous moment, simultaneously acquiring a current position and a coordinate system transformation matrix of the spacecraft from a spacecraft posture orbit control system, and computing an azimuth angle Sigma of the earth contour point; computing corresponding viewing angle radius Eta according to the azimuth angle Sigma of the earth contour point; and finally, using the viewing angle radius Eta of the earth contour point to remove the influence on the earth oblateness, and acquiring the corrected geocentric vector. The method has simple operation, and can provide more accurate geocentric vector.

The invention relates to an initial alignment method for a strapdown inertial navigation system. The initial alignment method for the strapdown inertial navigation system includes that obtaining an inertial coordinate system-to-aerospace coordinate system transformation matrix FORMULA (as shown in the description), an ib0 coordinate system-to-inertial coordinate system transformation matrix FORMULA (as shown in the description) and a carrier coordinate system-to-ib0 coordinate system transformation matrix FORMULA (as shown in the description) according to the position information, acceleration and angular speed of a carrier; obtaining a carrier coordinate system-to-aerospace coordinate system transformation matrix according to the inertial coordinate system-to-aerospace coordinate system transformation matrix FORMULA (as shown in the description), the ib0 coordinate system-to-inertial coordinate system transformation matrix FORMULA (as shown in the description) and the carrier coordinate system-to-ib0 coordinate system transformation matrix FORMULA (as shown in the description), and realizing the coarse alignment of the carrier according to the carrier coordinate system-to-aerospace coordinate system transformation matrix; calculating to obtain a navigation error angle after the coarse alignment, and realizing the fine alignment of the carrier according to the navigation error angle. The initial alignment method for the strapdown inertial navigation system improves the initial alignment precision of the strapdown inertial navigation system and reduces the initial alignment error, and the application range is broad.