수식 25: "X" Subscript, "r" "e" "v" "i" "s" "e" "d" , Baseline left parenthesis, theta , phi , right parenthesis equals cosine left parenthesis, theta plus "a" Subscript, "l" "p" "h" "a" , Baseline , right parenthesis times cosine left parenthesis, phi , right parenthesisXrevisedθ,ϕ=cosθ+alpha·cosϕ
25
수식 26: "Y" Subscript, "r" "e" "v" "i" "s" "e" "d" , Baseline left parenthesis, theta , phi , right parenthesis equals cosine left parenthesis, theta , right parenthesis times sine left parenthesis, "a" Subscript, "l" "p" "h" "a" , Baseline positive phi , right parenthesis times cosine left parenthesis, "b" Subscript, "e" "t" "a" , Baseline , right parenthesis minus sine left parenthesis, theta , right parenthesis times sine left parenthesis, "b" Subscript, "e" "t" "a" , Baseline , right parenthesisYrevisedθ,ϕ=cosθ·sinalpha+ϕ·cosbeta−sinθ·sinbeta
26
수식 27: "Z" Subscript, "r" "e" "v" "i" "s" "e" "d" , Baseline left parenthesis, theta , phi , right parenthesis equals cosine left parenthesis, theta , right parenthesis times sine left parenthesis, "b" Subscript, "e" "t" "a" , Baseline , right parenthesis times sine left parenthesis, phi plus "a" Subscript, "l" "p" "h" "a" , Baseline , right parenthesis plus sine left parenthesis, theta , right parenthesis times cosine left parenthesis, "b" Subscript, "e" "t" "a" , Baseline , right parenthesisZrevisedθ,ϕ=cosθ·sinbeta·sinϕ+alpha+sinθ·cosbeta
27
수식 28: "x" Subscript, 4 , Baseline equals "X" Subscript, "r" "e" "v" "i" "s" "e" "d" , Baseline left parenthesis, "P" . "x" , "P" . "y" , right parenthesisx4=XrevisedP.x,P.y