function [ p_f, v_f, t_f ] = get_interception_params( p_im, p_d, vr, ti, resolution)
%GET_INTERCEPTION_TRAJ 此处显示有关此函数的摘要
%   此处显示详细说明
if nargin <5
    resolution = pi/180;
end
[phi_im, lambda_im, ~] = cart2polar(p_im);
[phi_d, lambda_d, ~] = cart2polar(p_d);
theta = get_azimuth(phi_im, lambda_im,phi_d, lambda_d);
M_f2c = build_M_f2c(phi_im, lambda_im, theta);

tt_in = [];
vv_c = [];
tt_out = [];
ggamma = 0:resolution:pi/2;
dd = [];

global ATMOS_HEIGHT
for gamma = ggamma
    v_f = [sin(gamma) * vr, cos(gamma) * vr, 0]';
    v_c = M_f2c * v_f;
    vv_c = [vv_c, v_c];
    t_in = ATMOS_HEIGHT / vr;
    while get_h(p_im + v_c * t_in) < ATMOS_HEIGHT
        t_in = t_in + 1;
    end
    p_f = p_im + v_c * t_in;
    tt_in = [tt_in, t_in];
    [d, t_out] = get_deviation(p_f, v_c, p_d);
    dd = [dd, d];
    tt_out = [tt_out, t_out];
end
 [~, i] = min(dd);
 t_in = tt_in(i);
 t_out = tt_out(i);
 v_f = vv_c(:,i);
 p_f = p_im + v_f * t_in;
 t0 = ti - (t_in + t_out);
 t_f = t0 + t_in;
end