一种基于四元数的空间后方交会全局收敛算法.pdfVIP

40 5 Vol.40, No.5 20 11 10 Acta Geodaetica et Cartographica Sinica Oct.,20 11 :1001-1595 (2011) 05-0639-07 1 1 1 2 龚 辉 , 姜 挺 , 江刚武 , 陈密密 1. , 4 50052; 2. 6 15 12 , 100088 A Globally Convergent Algorithmof Space esection Based on Quaternion 1 1 1 2 GONG Hui , JIANG Ting , JIANG Ga ngwu , CHEN Mimi 1. Instituteof Surveying and Mapping, Information Engineering University, Zhengzhou 450052, China; 2. 6 15 12 Troops, Beijing 100088, China Abstract :A globally convergent a lgorithm of space resection based on quaternion is presented by combining good applicationof quaternion in photogrammetry. Firstly the unit quaternion is used to describe the attitude of the image in this algorithm, and absolute orientation equation a nd orthogona l projection formula are used to replace the collinear equation. Then the iterative solutionof nonlinea r equation is used to solve this problem. So that, the linearizationof collinear equation is needless. Lastly the globally convergent property of thisa lgorithm is proved in theory. Experimental results indicate that this algorithm, which is a real space resection solution independent of initial values, is right, stable a nd adaptive, and have no requirement for initial values of exteriororientation elements. Key words : quaternion; absolute orientation; orthogona l projection; globa lly convergent; photogrammetry; space resection :结合四元数在摄影测量中的良好应用, 提出一种基于四元数的 间后方交会全局收敛算法该算法利用四元数 描述影像姿态,采用绝对定向和正交投影两种变换来代替中心投影的共线条件方程, 再利用非线性方程直接迭代的方法 进行求解,从而无需进行线性化, 最后从理论上对算法的全局收敛性进行了证明试验结果表明该算法正确可靠, 对外 方位元素初值没有要求,真正做到无初值依赖 间后方交会,具有很好的稳定性和适应性 : 四元数; 绝对定向;正交投影; 全局收敛;摄影测量; 间后方交会 :P231 :A : 国家自然科学基金( 4090 124 6 ;4057 1131); 对地观测国家测绘局重点实验室经费(K20 1006) , 1