Table 2: The parameters of the moving platform which are measured in the coordinate frame (m).

1 2 3 4 5 6 0.400000 0.000000 −0.400000 0.400000 −0.400000 −0.681000 −0.400000 0.400000 −0.400000 −0.681000 −0.681000 0.000000 −0.166000 −0.166000 −0.166000 −0.037500 −0.037500 −0.037500