《解析空中三角测量》PPT课件

第六章：解析空中三角测量,主要内容,一、解析空中三角测量的概念二、像点坐标的系统误差及改正三、航带网法空中三角测量四、光束法区域网空中三角测量,一、解析空三的概念,1、问题的提出,2447,2448,2449,2450,2467,2466,2465,2464,B696,B655,B694,B658,B653,B642,B657,6-1概述,2467,2466,2465,2464,2449,2450,2447,2448,野外需要实测量个14个控制点,1,2,3,4,5,6,7,8,9,10,11,12,13,14,2467,2466,2465,2464,2449,2450,2447,2448,2、解析空中三角测量的分类,单模型法航带法区域网法,航带法独立模型法光线束法,二、像点坐标的系统误差及改正,摄影机的系统误差底片变形航摄飞机带来的系统误差大气折光误差地球曲率的影响摄影处理与底片复制中的系统误差观测系统误差,四个框标位于像片的四个角隅时可用仿射变换,四个框标位于像片的中央时可用比例缩放,Lx,Ly为框标距的理论值lx,ly为框标距的量测值x,y为像点坐标的量测值x,y为像点坐标的改正值,1、像片系统误差预改正（摄影材料变形）,2、像片系统误差预改正（摄影机物镜畸变差）,摄影机鉴定时提供物镜畸变差参数,摄影机鉴定时提供各向径物镜畸变差值,k0、k1、k2、k3为物镜畸变差改正系数r为畸变差,3、像片系统误差预改正（大气折光差改正）,大气折光引起像点在径向的变形,大气折光引起像点在坐标向的变形,r为像点误差改正数r为向径rf为折光差角,4、像片系统误差预改正（地球曲率）,地球曲率引起像点在径向的变形,地球曲率引起像点在坐标向的变形,r为像点误差改正数r为向径R为地球曲率半径,5、像片系统误差预改正,内定向并经系统误差预改正后的像点坐标,内定向,镜头畸变,大气折光,地球曲率,一、概述,像点坐标系统误差预改正立体像对相对定向模型连接构建自由航带网航带模型绝对定向航带模型非线性改正加密点坐标计算,6-2航带网法空中三角测量,2387,2388,单像对相对定向回顾：,a1(x1,y1),a2(x2,y2),A(u,v,w),2449,2450,2448,二、航带网法空中三角测量的建网过程,1、建立航带模型（1）像点坐标量测(影像匹配)及误差改正,2447,2448,2449,2450,B655,B653,B654,2450136,2450082,2450013,2449233,2449136,2450001,S1,w1,v1,u1,w2,v2,u2,S2,2450,2449,S3,w3,v3,u3,w4,v4,u4,S3,2448,2447,（2）连续法相对定向建立单个立体模型,S1,w1,v1,u1,w2,v2,u2,S2,2450,2449,S3,w3,v3,u3,w4,v4,u4,S4,2448,2447,连续法相对定向建立单个立体模型后：各模型的像空间辅助坐标系互相平行.坐标原点和各个模型的比例尺不尽相同,以航带中第一张像片的像空间坐标系为像空辅，以后各像对的像空辅彼此平行,（3）模型连接，建立统一的航带自由网,v3,u3,S1,w1,v1,u1,w2,v2,u2,S2,Z,X,Y,D,S3,w3,M1,M2,bu,bv,bw,bu,bv,bw,u1,M1点在模型中（以S1为原点）的“高程”为:,换算为以S2为原点）的“高程”为:,M2点在模型中（以S2为原点）的“高程”为:,（3）模型连接，建立统一的航带自由网,S1,w1,v1,u1,S2,2450,2449,S3,S4,2448,2447,2367,2368,2369,2370,B594,B603,B595,B596,B602,2、航带模型绝对定向,将航带辅助坐标系中的坐标(U,V,W)纳入到地面摄影测量坐标系统中，获得模型点的地面摄影测量坐标值（X，Y，Z）。,2、航带模型的绝对定向,X,Y,2467,2466,2465,2464,7,3,8,6,5,1,2,三维空间相似变换基本关系式：,重心化的变换关系式：,（1）,（2）,2449,2450,2448,2447,3、航带模型的非线性改正,2467,2466,2465,2464,航线方向,2467,2466,2465,2464,航线方向,重心化后控制点的地面摄影测量坐标:,加密获得的控制点的地面摄影测量坐标:,两者不相符时有:,二次多项式,用一个多项式曲面拟合航带网复杂的变形曲面，使该曲面经过航带网已知点时，所求得坐标变形值与它们实际的变形值相等或使其残差的平方和为最小,加密点i的坐标改正数：,单航带法空中三角测量算例:,2467,2466,2465,2464,2449,2450,2447,2448,2449,2450,2447,2448,2450013,2450013,2450082,2450082,2450136,2450136,2450001,2450001,2449233,2449136,2449136,2449233,2448143,2448017,2448233,2448143,2448017,2448233,2450001,2449136,2449233,2447132,2447083,2448143,2448017,2448233,2447132,2447083,B657,B657,B657,B658,B658,B655,B655,B653,B654,B655,B654,B653,(1)各模型相对定向结果:,2447,2448,2448143,2448017,2448233,2450001,2449136,2449233,2447132,2447083,2448143,2448017,2448233,2447132,2447083,B657,B657,B658,B658,B655,2450,2450013,2450082,2450136,2450001,2449233,2449136,B653,B654,B655,2449,2450013,2450082,2450136,2450001,2449136,2449233,2448143,2448017,2448233,B657,B655,B654,B653,(2)计算各模型点辅助坐标,!此时,各模型点辅助坐标是以模型中左摄影站为坐标原点的!,(3)求比例归化系数为：,(4)比例归化并统一坐标原点后的模型点坐标,-684.705984102087,-103.228036228616,540.659936995777,99658,-680.855398078382,-153.612236744005,535.115500012109,2467101,-691.478816954094,179.485567285254,583.38872853362,2447132,-690.113320285067,41.8865962256515,550.638367219112,2447083,-687.639270510327,191.896297131701,365.517122128852,99657,-688.624392027195,197.050319025075,393.835466258817,2448233,-679.128856714742,-188.225941812652,369.694362344439,2448017,-686.52479214319,29.2160876261145,373.603264974325,2448143,-683.712085967175,-224.58741082173,7.98940454087946,99654,-682.20500996326,-98.1934284838574,186.279693321942,99655,-685.129782880644,-49.1001560352868,-5.06695024659684,99653,-679.818902395523,-187.996111356026,211.760553390211,2450001,-686.786468987923,21.2703498161991,179.803579803391,2449136,-686.941544932013,182.868066395781,180.986733791308,2449233,-684.141432527813,184.761113737964,.614825052479787,2450136,-685.435969988065,25.0623002887335,13.4836833722829,2450082,-683.894825815531,-195.874574897338,29.4449048141077,2450013,W,V,U,点号,归化后的模型点坐标(*2.25):,绿色背景点用来计算像空间辅助坐标的重心:,2448,2448143,2448017,2448233,2450001,2449136,2449233,2447132,2447083,B657,B658,B655,B655,2449,2450013,2450082,2450136,2450001,2449136,2449233,2448143,2448017,2448233,B657,B655,B654,B653,2450,2450013,2450082,2450136,2450001,2449233,2449136,B653,B654,B655,2467101,2449,2448,2447,(5)绝对定向,X,Y,控制点地摄坐标的重心化:,39.12575,3788803.9145,511006.68,重心坐标Z,重心坐标Y,重心坐标X,7.35425,-79.4994999,365.4000000,“99658”,-4.45874999999999,274.2535000,172.26000000,“99657”,.53125,-200.526500000,-264.719999,“99654”,-3.42675,5.7724999999,-272.9400002,“99653”,重心化坐标Z,重心化坐标Y,重心化坐标X,点号,加密点和控制点像空间辅助坐标的重心化:,-684.567296364401,20.5019100879889,237.912821666581,-685.296780865058,-46.2548264884829,227.274878354728,重心坐标W,重心坐标V,重心坐标U,-6225.740393773,356.113850178,2447132,-4.81653942000,88.1414227141,323.363488864,2447083,-3.32761116213,243.305145513,166.560587904,2448233,6.16792415031,-141.971115324,142.419483989,2448017,-1.2280112781,75.4709141145,146.328386619,2448143,3.09177090179,-51.9386019953,-40.9951850327,99655,5.47787846953,-141.741284867,-15.5143249645,2450001,-1.48968812286,67.525176304,-47.4712985513,2449136,-1.64476406695,229.122892884,-46.2881445634,2449233,1.1553483372,231.015940226,-226.660053302,2450136,-.139189123006,71.3171267772,-213.791194982,2450082,1.40195504952,-149.619748408,-197.82997354,2450013,.590796762971,-56.9732097401,313.385058641,99658,-2.34248964526,238.151123620,138.242243774,99657,1.58469489788,-178.332584333,-219.285473813,99654,.166997984414,-2.84532954680,-232.341828601,99653,重心化坐标W,重心化坐标V,重心化坐标U,点号,绝对定向用,检查点用,X,Y,42.2442305758416,3788746.4584193,510956.761383892,“B655,B655的加密坐标:,2447,46.480,511372.080,3788724.415,B658,2448,34.667,511178.940,3789078.168,B657,2449,42.543,510956.450,3788746.675,B655,2450,39.657,510741.960,3788603.388,B654,2464,35.699,510733.740,3788809.687,B653,三、航带网法区域网平差,2447,2448,2449,2450,2467,2466,2465,2464,B696,B655,B698,B694,B658,B653,B657,B654,（1）按单航带法分别建立航带模型，求得各航带模型点在本航带统一的像空间辅助坐标系中的坐标值（航带间的公共模型点独立计算）。,1,1,1,1,（2）各航带模型的绝对定向：从第一条航带开始，利用本航带内已知控制点和下一航带的公共点进行绝对定向，求出模型点在全区域统一的地面摄影测量坐标系中的概略坐标。,2467,2466,2465,2464,2449,2450,2447,2448,X,Y,单航带加密回顾：,同单航带法的区别是：各航带模型绝对定向后不作非线性改正，接着求出各加密点在全区统一的地摄坐标系中的概略坐标,（3）计算各航带的重心及重心化坐标，解算各航带的非线性变形改正系数。-区域网整体平差,单航带绝对定向后(第2步,P90)获得了各模型点(包括加密点和控制点)在全区统一地摄坐标系中的坐标,但各航带的非线性改正需要用到各航带本身的重心化坐标，因此，各航带需重新计算重心。,D,Y,X,1,2,3,4,5,6,7,8,G1,G2,J1,（4）利用模型中控制点的加密坐标与野外实测坐标应相等及航带间公共连接点坐标应相等为条件列误差方程式，解算各航带的非线性变形改正系数。,控制点的加密坐标与野外实测坐标应相等,控制点的加密坐标(重心化的地摄坐标,G1模型中),控制点的加密坐标(重心化的地摄坐标,G2模型中),航带间公共连接点坐标应相等,控制点：,第一条航带,列