The method has low requirements for the placement attitude and assembling accuracy of binocular sensor, thus the calculation error of coordinates produced by medium refraction can be removed.

该方法对摄象机的摆放姿态与双目传感的装配精度要求较低，可去除介质折射产生的坐标计算误差。

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The measurement process of the attitude Angle based on single trailing earth horizon sensor is investigated, and an analytical formula of attitude compensating error is obtained.

基于单轨迹地平仪研究了地平仪测量姿态角的过程，得到了解析形式的姿态角误差补偿公式。

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