A_AB, A_AP, A_BP, d_AB***$d_{\text{AP}}^{} = \frac{d_{\text{AB}}}{\sin{( \propto + \beta)}}\sin\beta,\ d_{\text{BP}}^{} = \frac{d_{\text{AB}}}{\sin{(\alpha + \beta)}}\sin\alpha$

x_P = x_A + d_APcosA_AP = x_B + d_BPcosA_BP,  x_P = x_B + d_BPsinA_BP

$$v_{d} = - \frac{x_{k}^{} - x_{p}^{}}{d_{\text{pk}}^{}}d_{\text{xp}} - \frac{y_{k}^{} - y_{p}^{}}{d_{\text{pk}}^{}}d_{\text{yp}} + \frac{x_{k}^{} - x_{p}^{}}{d_{\text{pk}}^{}}d_{\text{xk}} + \frac{y_{k}^{} - y_{p}^{}}{d_{\text{pk}}^{}}d_{\text{yk}} - (d_{\text{pk}} - d_{\text{pk}}^{})$$

$${v_{\alpha} = \frac{y_{l}^{} - y_{c}^{}}{{{(d}_{\text{cl}}^{})}^{2}}d_{\text{xl}} - \frac{x_{l}^{} - x_{c}^{}}{{{(d}_{\text{cl}}^{})}^{2}}d_{\text{yl}} - \frac{y_{p}^{} - y_{c}^{}}{\left( d_{\text{cp}}^{} \right)^{2}}d_{\text{xp}} + \frac{x_{p}^{} - x_{c}^{}}{{{(d}_{\text{cp}}^{})}^{2}}d_{\text{yp}} - \backslash n}{- \left( \frac{y_{l}^{} - y_{c}^{}}{{{(d}_{\text{cl}}^{})}^{2}} - \frac{y_{p}^{} - y_{c}^{}}{\left( d_{\text{cp}}^{} \right)^{2}} \right)d_{\text{xc}} + \left( \frac{x_{l}^{} - x_{c}^{}}{{{(d}_{\text{cl}}^{})}^{2}} - \frac{x_{p}^{} - x_{c}^{}}{{{(d}_{\text{cp}}^{})}^{2}} \right)d_{\text{yv}} - (\alpha - \alpha^{})}$$

AtPA, AtPL, (AtPA)^-1, x^e=Q AtPL, V=Ax^e-L, dh^e=dh+V, VtPV, m₀, C_hh=m₀²AQAt, C_VV=m₀²(P^-1-AQAt)