帮忙把这篇英文翻译成中文 谢谢The position of the GPS antenna and the orien

帮忙把这篇英文翻译成中文 谢谢
The position of the GPS antenna and the orientation of IMU or other attitude sensing devices are measured when they are loaded on a MMS. The scale factor can be determined directly using the laser rangefinder, or indirectly using the space intersection with the stereo images. The following equation is the Direct Georeferencing formula for system integrating a mapping sensor with merging the GPS and the IMU. mSrmSμmSR )()()(//SPIMUSmSIMUGPSIIMUIMUsIMUmIIMUmGPSmprRrrtRtrrμ+