摄影测量实验报告材料(空间后方交会-前方交会)

wordword空间前方交会-空间前方交会程序编程试验一．试验目的要求把握运用空间前方交会-空间前方交会求解地面点的空间位置。学会运用空间前方交会的原算机编程语言实现空间前方交会的过程，完成所给像对中两X像片各自的外方位元素的求X像片的内外方位元素，利用同名像点在左右像片上的编程语言实现此过程。二．仪器用具计算机、编程软件〔MATLAB〕三．试验数据左片右片地面摄影测量坐标试验数据包含四个地面把握点〔GCP〕的地面摄影测量坐标与在左右像片中的像平面坐标。左片右片地面摄影测量坐标点号xyxyXYZGCP116.01279.963-73.9378.7065083.2055852.099527.925GCP288.5681.134-5.25278.1845780.025906.365571.549GCP313.362-79.37-79.122-78.8795210.8794258.446461.81GCP482.24-80.027-9.887-80.0895909.2644314.283455.484wordword151.75881.555-39.95378.463214.618-0.231-76.0160.036349.88-0.792-42.201-1.022486.243-1.346-7.706-2.112548.135-79.962-44.438-79.736内方位元素：f=152.000mm，x0=0，y0=0四．试验框图GCPGCPxy确定初始值ψ=ω=κ=0，Xs，Ys，Zs计算旋转矩阵R计算像点在像空间坐标系中的近似值〔x〕,〔y〕,并组成误差方程的常数项l计算误差方程的系数项组成系数矩阵Awordword位元素计算ψ、ω、κ、Xs、Ys、Zs计算ψ、ω、κ、Xs、Ys、Zs改正后的值改正数是否小于限差？改正数是否小于限差？大于小于计算完毕此过程完成空间前方交会求解像片的外方位元素，其中改正数小于限差〔0.00003，相当于0.1’的角度值〕为止。在这个过程中承受迭代的方法，是外方位元素渐渐收敛于理论值，每次迭代所得的改正数都应加到上一次的初始值之中。输入所需计算点的像平面坐标输入所需计算点的像平面坐标x1,y1；x2,y2依据前方交会所得的旋转矩阵依据前方交会所得的旋转矩阵R1,R2计算像点在左右像空间关心坐标系中的坐标X1Y1Z1，X2Y2Z2计算摄影基线的三个坐标重量计算摄影基线的三个坐标重量BxByBzword计算个点在左右像片中的的投影系数N1N2计算地面所求点在地面摄影测量坐标系中的坐标XAYAZA计算完毕，精度评定在空间前方交会中运用的数学模型为共线方程Xs，Ys，ZsGCP的坐标的平均值作为左片XsYsGCPXs和YsZsGCPZ空间前方交会的数学模型为：wordword五．试验源代码functionMain_KJQHFJHglobalRg1g2mGacb1b2;m=10000;a=5;c=4;feval(shuru); 与feval(shurujcp); %CCPXYZ=feval(MQZqianfangjh); %调用MQZqianfangjh〔〕函数完成空间前方、%%%%%%单位权中误差%%%% %前方交会计算解得外方位元素globalV1V2; %由于以上三个函数定义在外部文件中故需VV=[]; fori=1:2*cVV(i)=V1(i);VV(2*i+1)=V2(i);endm0=sqrt(VV*(VV”)/(2*c-6));单位权中误差m0为正负:”);disp(m0); 单位权中误差并将其输出显示GCP数：functionshurujcpglobalcm;m=input(”摄影比例尺：”); 别将其c=input(”GCP的总数=”); %存入到不同的矩阵之中globalg1;g1=zeros(c,2);i=1;whilei<=cm=input(”x=”);n=input(”y=”);g1(i,1)=m;g1(i,2)=n;i=i+1;endglobalg2;g2=zeros(c,2);i=1;whilei<=cm=input(”x=”);n=input(”y=”);g2(i,1)=m;g2(i,2)=n;i=i+1;end%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%functionshuruglobala;a=input(”计算总像对点数=”); 想计算所需的像平面坐标globalb1; %坐标输入，存入不同的矩阵中b1=zeros(a,2);i=1;whilei<=am=input(”x=”);n=input(”y=”);b1(i,1)=m;b1(i,2)=n;i=i+1;end%%globalb2;b2=zeros(a,2);i=1;whilei<=am=input(”x=”);n=input(”y=”);b2(i,1)=m;b2(i,2)=n;i=i+1;end%%globalc;c=input(”GCPglobalG;G=zeros(3,c);i=1;whilei<=cm=input(”X=”);n=input(”Y=”);v=input(”Z=”);G(i,1)=m;G(i,2)=n;G(i,3)=v;i=i+1;end%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%空间前方交会和前方交会函数：functionXYZ=MQZqianfangjhglobalR1R2afb1b2RaRb;globalX1X2;R1=Ra;R2=Rb;R1=zeros(3,3);R2=zeros(3,3);globalg1g2GV1V2VWFcQXXQXX1QXX2;xs0=(G(1,1)+G(3,1))/2;ys0=(G(1,2)+G(3,2))/2;[Xs1,Ys1,Zs1,q1,w1,k1R]=houfangjh(g1,xs0,ys0); 会函数R1=R;V1=V;WF1=WF;QXX1=QXX;save”左片外方位元素为.txt”WF-ascii %将计算所得的外方位元素存入到.txt%文件中fori=1:cg1(i,1)=g1(i,1)+V1(2*i-1);g1(i,2)=g1(i,2)+V1(2*i);endsave.txt”g1-asciixs0=(G(2,1)+G(4,1))/2;ys0=(G(2,2)+G(4,2))/2;[Xs2,Ys2,Zs2,q2,w2,k2R]=houfangjh(g2,xs0,ys0); %对右片调用前方交会函数R2=R;V2=V;WF2=WF;QXX2=QXX;save”右片外方位元素为.txt”WF–ascii 算所得的外方位元素存入到.txt%文件中fori=1:cg2(i,1)=g2(i,1)+V2(2*i-1);g2(i,2)=g2(i,2)+V2(2*i);endsave”右片像点坐标.txt”g2-asciiX1=zeros(a,3);X2=zeros(a,3);xx=zeros(3,1);xxx=zeros(3,1);fori=1:ass=[b1(i,1);b1(i,2);-f];dd=[b2(i,1);b2(i,2);-f];xx=R1*ss;X1(i,:)=xx”;xxx=R2*dd;X2(i,:)=xxx”;endglobalXs1Xs2Ys1Ys2Zs1Zs2;BX=Xs2-Xs1;BY=Ys2-Ys1;BZ=Zs2-Zs1;globalN1N2;N1=zeros(1,a);N2=zeros(1,a);fori=1:aN1(1,i)=(BX*X2(i,3)-BZ*X2(i,1))/(X1(i,1)*X2(i,3)-X2(i,1)*X1(i,3));N2(1,i)=(BX*X1(i,3)-BZ*X1(i,1))/(X1(i,1)*X2(i,3)-X2(i,1)*X1(i,3));end globalXYZ;XYZ=zeros(a,3);fori=1:aXYZ(i,1)=Xs1+N1(1,i)*X1(i,1);XYZ(i,3)=Zs1+N1(1,i)*X1(i,3);XYZ(i,2)=((Ys1+N1(1,i)*X1(i,2))+(Ys2+N2(1,i)*X2(i,2)))/2;enddisp(”左片外方位元素为:Xs Ys Zs ψ ω κ”);disp(WF1);disp(QXX1);disp(g1)disp(”右片外方位元素为:Xs Ys Zs ψ ω disp(WF2);disp(QXX2)disp(g2)X,Y,Z〕为：”);disp(XYZ);save”XYZ.txt”XYZ-ascii XYZ.txt%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%function[Xs,Ys,Zs,q,w,kR]=houfangjh(g1,Xs0,Ys0) %计算像片外方位元素%%%%%%%%%%globalfGmcb1b2;f=0.152;Xs=Xs0;Ys=Ys0;Zs=m*f+G(1,3);q=0;w=0;k=0;while1 a1=cos(q)*cos(k)-sin(q)*sin(w)*sin(k);a2=-cos(q)*sin(k)-sin(q)*sin(w)*cos(k);a3=-sin(q)*cos(w);b1_=cos(w)*sin(k);b2_=cos(w)*cos(k);b3=-sin(w);c1=sin(q)*cos(k)+cos(q)*sin(w)*sin(k);c2=-sin(q)*sin(k)+cos(q)*sin(w)*cos(k);c3=cos(q)*cos(w);R=[a1,a2,a3;b1_,b2_,b3;c1,c2,c3];aX=[];aY=[];aZ=[];fori=1:caX(i)=a1*(G(i,1)-Xs)+b1_*(G(i,2)-Ys)+c1*(G(i,3)-Zs);aY(i)=a2*(G(i,1)-Xs)+b2_*(G(i,2)-Ys)+c2*(G(i,3)-Zs);aZ(i)=a3*(G(i,1)-Xs)+b3*(G(i,2)-Ys)+c3*(G(i,3)-Zs);endxj=[];yj=[];fori=1:cxj(i)=-f*aX(i)/aZ(i);yj(i)=-f*aY(i)/aZ(i);enda11=[];a12=[];a13=[];a14=[];a15=[];a16=[];a21=[];a22=[];a23=[];a24=[];a25=[];a26=[];fori=1:ca11(i)=(a1*f+a3*g1(i,1))/aZ(i);a12(i)=(b1_*f+b3*g1(i,1))/aZ(i);a13(i)=(c1*f+c3*g1(i,1))/aZ(i);a21(i)=(a2*f+a3*g1(i,2))/aZ(i);a22(i)=(b2_*f+b3*g1(i,2))/aZ(i);a23(i)=(c2*f+c3*g1(i,2))/aZ(i);a14(i)=g1(i,2)*sin(w)-(g1(i,1)*(g1(i,1)*cos(k)-g1(i,2)*sin(k))/f+f*cos(k))*cos(w);a15(i)=-f*sin(k)-g1(i,1)*(g1(i,1)*sin(k)+g1(i,2)*cos(k))/f;a16(i)=g1(i,2);a24(i)=-g1(i,1)*sin(w)-(g1(i,2)*(g1(i,1)*cos(k)-g1(i,2)*sin(k))/f-f*sin(k))*cos(w);a25(i)=-f*cos(k)-g1(i,2)*(g1(i,1)*sin(k)+g1(i,2)*cos(k))/f;a26(i)=-g1(i,1);endlx=[];ly=[];fori=1:clx(i)=g1(i,1)-xj(i);ly(i)=g1(i,2)-yj(i);endA=zeros(2*c,6);fori=1:cA(2*i-1,1)=a11(i);A(2*i-1,2)=a12(i);A(2*i-1,3)=a13(i);A(2*i-1,4)=a14(i);A(2*i-1,5)=a15(i);A(2*i-1,6)=a16(i);A(2*i,1)=a21(i); A(2*i,2)=a22(i);A(2*i,4)=a24(i);A(2*i,5)=a25(i);A(2*i,6)=a26(i);endL=zeros(2*c,1);fori=1:cL(2*i-1,1)=lx(i);L(2*i,1)=ly(i);endX=inv((A”)*A)*(A”)*L;

A(2*i,3)=a23(i);Xs=Xs+X(1,1);Ys=Ys+X(2,1);Zs=Zs+X(3,1);q=q+X(4,1);w=w+X(5,1);k=k+X(6,1);Xabs=abs(X);aaa=max(Xabs);ifaaa<0.00003 差0.00003break; %后跳出循环，计算结果已经收敛endendglobalV;V=L”;globalWFQXX;WF(1)=Xs;WF(2)=Ys;WF(3)=Zs;WF(4)=q;WF(5)=w;WF(6)=k;QXX=A”*A;wordword六．试验结果左片外方位元素Xs,Ys,Zs,ψ、ω、κ、为：5.0001950e+0035.0007250e+0032.0202383e+003-7.2888190e-0052.8193877e-0029.5130388e-002左片外方位元素协因素阵为：4.0166895e-008 -3.7263703e-010 1.3218695e-008 7.0720233e-0051.0001730e-007-2.5748604e-006-3.7263703e-010 4.0032797e-008 2.6568407e-009 -2.1103715e-0077.7772275e-0051.9993587e-0051.3218695e-008 2.6568407e-009 1.7931301e-008 3.1008915e-0056.6697659e-0065.6403374e-0077.0720233e-005 -2.1103715e-007 3.1008915e-005 1.3087511e-0011.0148977e-003-1.9981396e-0031.0001730e-007 7.7772275e-005 6.6697659e-006 1.0148977e-0031.5539404e-0013.0264331e-002-2.5748604e-006 1.9993587e-005 5.6403374e-007 -1.9981396e-0033.0264331e-0024.0721943e-002左片外方位元素Xs,Ys,Zs,ψ、ω、κ、为：5.8967023e+0035.0687355e+0032.0506347e+0031.4337709e-0024.6257617e-0021.1037952e-001右片外方位元素协因素阵为：3.9305329e-0084.9400147e-010-1.0339207e-0086.8065940e-005-4.2504770e-0071.8461496e-0064.9400147e-010 3.9051893e-008 3.3958896e-011 -3.9945442e-0087.6312421e-005-1.6453951e-005-1.0339207e-008 3.3958896e-011 1.5155886e-008 -2.3705097e-0053.5940467e-007-7.3527082e-0076.8065940e-005-3.9945442e-008-2.3705097e-0051.2229164e-001-2.3449223e-0034.8281474e-003-4.2504770e-007 7.6312421e-005 3.5940467e-007 -2.3449223e-0031.5233230e-001-2.5374659e-0021.8461496e-006-1.6453951e-005-7.3527082e-0074.8281474e-003-2.5374659e-0023.6794789e-002GCPx，y〕为：1.6019582e-0027.9954660e-002-7.3934212e-0027.8699356e-0028.8559633e-0028.1141190e-002-5.2455612e-00