近景摄影测量 2

,航向倾角（）：主光轴SO在XZ平面上的投影SOX与Z坐标轴的夹角。旁向倾角（）：投影方向SO与其在XZ平面上的投影SOX的夹角。像片旋角（）：Y坐标轴与SOXO组成的平面与像平面的交线和y轴的夹角。,外方位元素（三个角元素）以Y轴为主轴,ZS,S,x,o,x,y,y,z,X,Y,Z,XS,YS,N,OX,S1,S2,S3,P1,P2,P3,A,o1,o2,o3,a1,a2,a3,x1,y1,z1,x2,y2,z2,z3,x3,y3,D,X,Y,Z,7020.204126-0.0886370.0594380.2612890.3610470.792701703-0.168097-0.2342170.0243170.5018240.4720050.696484704-0.273032-0.090090-0.0560170.5870420.3811640.779919705-0.275254-0.002834-0.0139580.5752920.2885120.785605706-0.0112270.011923-0.0133460.4124170.2729750.7207587070.1878630.010619-0.0420470.2678610.2544730.7574147080.1844560.091817-0.0293150.2582780.2188700.8047257090.0103830.092883-0.0250990.3910330.2086460.7732057100.0103830.092883-1.570.3910330.2086460.773205711-0.2487190.0885220.0367770.5236030.1879430.860231,一、像点的畸变差改正模型,1、RadialLensDistortion,径向畸变是由于镜片在加工误差造成的，其特点是像点的位置误差与它到光心的距离有关，径向畸变误差可表示为径向畸变有正有负，相对主点向外偏移为正，向内偏移为负。,（2-2）其中,，,，,为径向畸变（radialdistortion）改正系数。,为径向畸变（radialdistortion）改正系数。,2、DecentricLensDistortion,偏心畸变是由于透镜组中各透镜中心不共线所造成的，它使得成像过程中径向和切向都产生畸变，偏心畸变误差可表示为：,3、AffineDeformations,像平面畸变可以分为两类：像平面不平引起的畸变和像平面内的平面畸变。传统相机的像平面畸变是由胶片平面不平引起的畸变，可用多项式建模并改正。对于数码相机，考虑到制造误差，CCD芯片不是一标准平面，然而目前还无法用多项式建模、准确描述像平面不平所引起的像点畸变。像平面畸变通常可以简化成像素的长宽尺度比例因子和像平面x轴和y轴不正交所产生的畸变，用下式表达：,，,二、DLT解法,例子:DLT.,D,X,Y,Z,y,x,z,16112154.43346.4-17649.1212170.52400.5-17650.8312153.91319.8-17652.9412157.5737.5-17652.9515074.33210.0-17670.4615055.42359.7-17674.7715077.41232.0-17675.7815081.0748.7-17677.51012208.92302.5-8244.81112210.51326.6-8244.51212209.3898.8-8243.51315129.23362.7-8269.91415144.22204.1-8270.11515153.41226.5-8271.21615149.1911.9-8272.21713919.4776.4-12120.8,10.7610.07608129.81651649.6625-4949.906720.654-0.03509704.02211647.3678-5393.390330.3960.008011754.01501820.9849-5142.64344-0.709-0.124018582.26831718.5538-5855.9623,检查点的地面坐标:5312153.900000001319.80000000-17652.90000000715077.400000001232.00000000-17675.700000001112210.500000001326.60000000-8244.500000001515153.400000001226.50000000-8271.200000001713919.40000000776.40000000-12120.80000000检查点坐标的摄影测量值:312156.440909591323.12562077-17647.89864766715078.330606831236.10835030-17668.996120451112212.343615981329.43814083-8246.970495651515151.359433241228.08483404-8274.926281331713917.43510611778.94943578-12123.62577833检查点坐标的摄影测量值与其地面坐标的差值:33.540909593.325620775.0013523475.069393174.108350306.70387955111.843615983.161859172.47049565152.040566762.415165963.72628133171.964893892.549435782.82577833,三、相对定向的直接解法,三、相对定向的直接解法,S1,S2,S3,P1,P2,P3,A,o1,o2,o3,a1,a2,a3,x1,y1,z1,x2,y2,z2,z3,x3,y3,D,X,Y,Z,四、近景摄影测量光束法平差的初始值问题,（1）3D-DLT（2）相对定向+绝对定向,D,Y,X,Z,（3）2D-DLT,正交矩阵有以下几种等价定义.定义3.1A为n阶实矩阵,若ATA=E,则称A为正交矩阵.定义3.2A为n阶实矩阵,若AAT=E,则称A为正交矩阵.定义3.3A为n阶实矩阵,若AT=A-1,则称A为正交矩阵.定义3.4A为n阶实矩阵，若A的n个行（列）向量是两两正交的单位向量，则称A为正交矩阵.,（4）角锥体法,利用DLT+BundleAdjustment,内方位元素及变形改正系数当作真值.,检查点的地面坐标:5312153.900000001319.80000000-17652.90000000715077.400000001232.00000000-17675.700000001112210.500000001326.60000000-8244.500000001515153.400000001226.50000000-8271.200000001713919.40000000776.40000000-12120.80000000检查点坐标的摄影测量值:312156.440909591323.12562077-17647.89864766715078.330606831236.10835030-17668.996120451112212.343615981329.43814083-8246.970495651515151.359433241228.08483404-8274.926281331713917.43510611778.94943578-12123.62577833检查点坐标的摄影测量值与其地面坐标的差值:33.540909593.325620775.0013523475.069393174.108350306.70387955111.843615983.161859172.47049565152.040566762.415165963.72628133171.964893892.549435782.82577833,检查点坐标的摄影测量值与其地面坐标的差值:3-2.32