UNIWERSYTET WARMI艃SKO MAZURSKI
WYDZIA艁 GEODEZJI I GOSPODARKI PRZESTZRENNEJ
Katedra Fotogrametrii i Teledetekcji
SPRAWOZDANIE NR 6
Analityczne opracowanie pary zdj臋膰 lotniczych (budowa modelu) metod膮 wi膮zek
przy zastosowaniu programu AeroSYS AT
Opis teoretycznych podstaw metody wi膮zek (warunek kolinearno艣ci, cechy metody wi膮zek, istota budowy modelu metod膮 wi膮zek).
Aeriotriangulacja metod膮 niezale偶nych wi膮zek polega na wyznaczeniu po艂o偶enia poszczeg贸lnych wi膮zek, kt贸re zostaj膮 okre艣lone przez elementy orientacji zewn臋trznej (Xo, Yo, Zo,蠅蠒魏) aby spe艂nione by艂y nastepuj膮ce warunki:
- promienie pochodz膮ce od tych samych punkt贸w terenowych (tzw. punkty wi膮偶膮ce) powinny si臋 przecina膰,
- promienie pochodz膮ce od punkt贸w o znanych wsp贸艂rz臋dnych terenowych ( tzw. fotopunkt贸w) powinny przechodzi膰 przez dany punkt.
Metoda wi膮zek polega na jednoczesnym wyznaczeniu wszystkich niewiadomych.
Metoda niezale偶nych wi膮zek opiera si臋 na warunku kolinearno艣ci, czyli na warunku wsp贸艂liniowo艣ci wektor贸w: wektora w przestrzeni obrazowej i wektora w przestrzeni obiektowej
Cechy metody wi膮zek
w metodzie tej nast臋puje przesuni臋cie i obr贸t wi膮zki co wynika z warunku kolinearno艣ci
metoda bazuje na r贸wnaniu kolinarno艣ci, kt贸re przedstawia zale偶no艣膰 pomi臋dzy wsp贸艂rz臋dnymi na zdj臋ciu a wsp贸艂rz臋dnymi terenowymi w postaci r贸wnania nieliniowego
r贸wnanie kolinarno艣ci jest linearyzowane poprzez rozwini臋cie w szereg Taylora
metoda wi膮zek umo偶liwia wyznaczenie poprawek do wielko艣ci bezpo艣rednio obserowanych
metoda ta umozliwia tak偶e do艂膮czanie do wyr贸wnania obserwacji geodezyjnych i fikcyjnych, kt贸re s膮 do艂膮czane w postaci pseudoobserwacji
metoda wi膮zek umo偶liwia swobodne tworzenie modelu stochastycznego zgodnego z rzeczywist膮 dok艂adno艣ci膮 pomiaru
uk艂ad r贸wna艅 metody wi膮zek jest rozwi膮zywany metd膮 najmniejszych kwadrat贸w
jest to najdok艂adniejsza metoda wyznaczenia wsp贸lrz臋dnyc h X Y Z
umo偶liwia opracowanie skomplikowanej serii zdj臋膰
wymaga wyznaczenia przybli偶onych warto艣ci wszystkich niewiadomych
jest stosunkowo obarczona du偶ym nak艂adem oblicze艅
nie umo偶liwia rozdzielenia opracowania sytuacyjnego od wysoko艣ciowego
Podstawowe informacje o programie AeroSys AT (przeznaczenie, struktura programu, g艂贸wne modu艂y).
Program AeroSys v 3.0 dla Windows jest 32 鈥 bitowym systemem przeznaczonym do wykonywania aerotriangulacji przez specjalist贸w z zakresu System贸w Informacji geograficznej, fotogrametr贸w i kartograf贸w. System AeroSys sk艂ada si臋 zestawu zintegrowanych program贸w , kt贸re dostarczaj膮 narz臋dzi umo偶liwiaj膮cych wykonanie aerotriangulacji.
G艂贸wnymi modu艂ami systemu s膮:
Project Setup
Camera Data Base Editor
Image Coordinate Format Translations
Image Coordinate Refinement
Independent Model Relative Orientation
Strip and Block Formation in Model Space
Polynomial Strip Adjustment
3D Rigid Body Coordinate Transformation
Space (Photo) Resection
Space (Point) Intersection
Pre-Adjustment Image Rays Checking
Bundle Adjustment with Self-Calibration
Parametry i dane inicjalne do opracowania pojedynczego modelu 鈥 opis parametr贸w zdj臋膰 cyfrowych, pliki wej艣ciowe Basename.BLD, Basename.CAL, Basename.CTL, Basename.TXT (wydruk i opis danych zawartych w plikach).
Opis parametr贸w zdj臋膰 cyfrowych
Zdj臋cia zosta艂y wykonane w 2005 roku na terenia miasta Olsztyn
Opracowaniu podlega艂a para zdj臋膰 z szeregu 9 tj. 2945,2946
Kamera LMK 2030
Sta艂a kamery ck = 305,335 mm
Format zdj臋膰: 23x23 cm
Skala 1:8000
Format zapisu zdj臋cia cyfrowego: .BMP
Zdj臋cia barwne RGB
Rozmiar pixela p鈥HV= 21 碌m
Rozdzielczo艣膰 radiometryczna: 24 bit/pix
Rozdzielczo艣膰 : 11236x11174 pix
Ci臋偶ar bajtowy: ca. 359 MB
Plik .BLD
BLD
Project:45_46_mk /Images 45, 46
1 305.335 8
45_46_mk.txt 8 2
-99
Plik .CAL
CAL
Project:Basename /Images ?, ?
8 305.335 0.000 0.000 0 0 0 0 0 0
1 112.029 0.003 0.006 0.006
2 -111.991 0.009 0.006 0.006
3 0.016 -112.003 0.006 0.006
4 0.009 112.021 0.006 0.006
5 110.017 -110.004 0.006 0.006
6 -109.992 110.016 0.006 0.006
7 -109.992 -109.989 0.006 0.006
8 110.018 110.006 0.006 0.006
Plik .CTL
CTL
Project:45_46_mk /Images 45, 46
71408 -5959899.227 7464514.483 140.237 0.1 0.2
84504 -5959817.439 7466161.296 157.679 0.1 0.1
8451 -5960650.818 7464657.389 137.441 0.1 0.05
8452 -5959828.943 7465139.012 134.828 0.1 0.05
9781 -5960475.695 7466126.808 157.076 0.1 0.05
-99
Plik >TXT
45 305.335 0
1 11088.00000 5628.50000
2 426.50000 5626.00000
3 5756.25000 10958.00000
4 5758.00000 295.50000
5 10991.50000 10864.25000
6 522.25000 389.75000
7 520.75000 10861.25000
8 10993.75000 392.25000
10000 5237.25000000000000000000 5944.50000000000000000000
10001 10159.25000000000000000000 5850.25000000000000000000
10002 5381.00401555232110000000 921.09638516898156000000
10003 10178.79919617473900000000 1144.61044138909660000000
10004 5670.75000000000000000000 10671.25000000000000000000
10005 9816.82730861496930000000 10814.29317225059300000000
10006 5686.25702751439350000000 3778.61044138909660000000
10007 9713.85542105519930000000 3997.01204784829090000000
10008 5740.50000000000000000000 8536.00000000000000000000
10009 9695.09638516898120000000 8764.69477870978700000000
10010 8060.50000000000000000000 1329.00000000000000000000
10011 8025.25000000000000000000 4028.25000000000000000000
10012 7916.50000000000000000000 6193.25000000000000000000
10013 8084.50000000000000000000 8285.50000000000000000000
10014 8061.75000000000000000000 10850.75000000000000000000
71408 10249.87526007685300000000 10935.93657292043500000000
84504 10678.12684575384300000000 1017.15010234968350000000
8451 5721.61098898395080000000 10060.71881501921400000000
8452 10629.12261728187100000000 7164.19238706939450000000
9781 6713.11627457391480000000 1277.17970165348110000000
-99
46 305.335 0
1 11090.25000 5637.00000
2 429.25000 5627.50000
3 5755.000000 10963.25000
4 5764.00000 301.00000
5 10990.50000 10872.25000
6 528.50000 392.00000
7 519.75000 10863.00000
8 10999.00000 400.75000
10000 810.25000000000000000000 5825.25000000000000000000
10001 5649.50000000000000000000 5648.00000000000000000000
10002 802.50000000000000000000 812.00000000000000000000
10003 5598.50000000000000000000 966.50000000000000000000
10004 1306.75000000000000000000 10505.00000000000000000000
10005 5380.50000000000000000000 10565.50000000000000000000
10006 1217.50000000000000000000 3660.50000000000000000000
10007 5208.50000000000000000000 3815.00000000000000000000
10008 1341.00000000000000000000 8389.75000000000000000000
10009 5249.00000000000000000000 8543.50000000000000000000
10010 3495.25000000000000000000 1181.00000000000000000000
10011 3518.75000000000000000000 3872.50000000000000000000
10012 3463.50000000000000000000 6026.50000000000000000000
10013 3634.75000000000000000000 8098.25000000000000000000
10014 3678.25000000000000000000 10635.25000000000000000000
71408 5821.99999590695100000000 10675.74583126975400000000
84504 6085.01666264183500000000 832.67916433021799000000
8451 1355.62499641858220000000 9900.76249800463850000000
8452 6156.21249575346160000000 6942.20416443254450000000
9781 2166.59165885576520000000 1147.54583045114490000000
-99
Opis poszczeg贸lnych etap贸w oblicze艅 wykonanych w programie.
Przed wykonaniem oblicze艅 nale偶y utworzy膰 pliki inicjalne: *.TXT, *.CAM, *.CTL, *BLD
Build Photocoordinate File
Stworzenie pliku *. PHC zawieraj膮cego wsp贸艂rz臋dne znaczk贸w t艂owych, fotopunkt贸w, oraz punkt贸w kontrolnych w uk艂adzie pixelowym zdj臋cia na podstawie plik贸w *.TXT i *.BLD
Photocoordinate Refinement
Wyznaczenie wsp贸艂czynnik贸w transformacji afinicznej w celu transformacji wsp贸艂rz臋dnych pixelowych do uk艂adu wsp贸艂rz臋dnych t艂owych zdj臋cia, oraz korekcja b艂臋d贸w systematycznych obrazu tj dystorsji radialnej(symetrycznej) i dystorsji tangencjalnej
Combine Multiple Photo Data
Relative Orientation 鈥 wykonanie orientacji wzajemnej modelu poprzez analityczne wyznaczenie metod膮 Shut鈥檃 element贸w orientacji wzajemnej( k膮ta nachylenia poprzecznego zdj. prawego , kata nachylenia pod艂u偶nego zdj. prawego, k膮ta skr臋cenia zdj臋cia prawego, bx, bz) przy za艂o偶eniu zale偶nej pary zdj臋膰
Strip Model Formation
Block Model Formation
Estimate Ground Coordinates
Estymacja przybli偶onych warto艣ci X,Y,Z punkt贸w terenowych
PhotoResection 鈥 analityczne wyznaczenie element贸w orientacji zewn臋trznej poprzez rozwi膮zanie fotogrametrycznego wci臋cia wstecz
Point Intesection
Merge Data Files
Aero Bundle Adjustment 鈥 budowa pojedynczego modelu metoda wi膮zek poprzez wyznaczenie wszystkich niewiadomych
Wyniki wyr贸wnania pojedynczego modelu 鈥損liki *.000, *.001, *.003, *.004, *.005, *.007 (wydruk i opis danych zawartych w plikach. )
Plik .000
File Name: 45_46_MK.000
Photocoordinate Refinement by 2D-Affine
---------------------------------------
Project ID: Project:45_46_mk /Images 45, 46
Number Of Strips: 1
Photo No.45
---------------------------------- --------------
Transformed Fiducial Coords(mm) Residuals (mm)
---------------------------------- --------------
Fiducial Xp Yp Vx Vy
-------- ---------- ---------- ------ ------
1 112.023 -0.002 0.006 0.005
2 -111.990 0.004 -0.001 0.005
3 0.016 -111.998 0.000 -0.005
4 0.012 112.020 -0.003 0.001
5 110.016 -110.005 0.001 0.001
6 -109.998 110.017 0.006 -0.001
7 -109.989 -109.988 -0.003 -0.001
8 110.023 110.010 -0.005 -0.004
Photo No.46
---------------------------------- --------------
Transformed Fiducial Coords(mm) Residuals (mm)
---------------------------------- --------------
Fiducial Xp Yp Vx Vy
-------- ---------- ---------- ------ ------
1 112.025 -0.003 0.004 0.006
2 -111.988 0.012 -0.003 -0.003
3 0.013 -112.004 0.003 0.001
4 0.014 112.018 -0.005 0.003
5 110.022 -110.002 -0.005 -0.002
6 -109.995 110.015 0.003 0.001
7 -109.994 -109.988 0.002 -0.001
8 110.016 110.012 0.002 -0.006
Plik .001
File Name: 45_46_MK.001
Relative Model Orientations
Project ID: Project:45_46_mk /Images 45, 46
Number Of Photo Strips: 1
Calibrated Focal Length: 305.335 mm
Strip No.8 Model No.1 Left Photo No.45 and Right Photo No.46
Approximate photo base = 94.617 mm
After 1 Iterations .... So = 0.006706
After 2 Iterations .... So = 0.006543
After 3 Iterations .... So = 0.006546
---------------------------------- -------------------
Final Model Coordinates (mm) Standard Deviations
---------------------------------- -------------------
<---Point No---> Xp Yp Zp Sx Sy Sz
---------------- ---------- ---------- ---------- ----- ----- -----
10000 -11.335 -6.929 -317.299 0.011 0.007 0.235
10001 94.898 -4.784 -313.218 0.065 0.006 0.215
10002 -8.118 101.507 -313.486 0.009 0.072 0.229
10003 95.493 96.828 -313.848 0.065 0.068 0.215
10004 -1.839 -109.418 -315.267 0.007 0.079 0.231
10005 87.270 -111.440 -312.260 0.060 0.078 0.215
10006 -1.540 40.380 -317.412 0.007 0.029 0.232
10007 85.934 35.415 -315.580 0.059 0.025 0.217
10008 -0.335 -63.191 -315.720 0.007 0.045 0.230
10009 85.110 -67.769 -313.973 0.058 0.048 0.217
10010 49.784 92.908 -314.099 0.034 0.064 0.216
10011 49.143 34.648 -314.804 0.034 0.024 0.217
10012 46.945 -12.287 -315.808 0.033 0.010 0.219
10013 50.215 -57.309 -313.378 0.035 0.040 0.216
10014 49.965 -113.144 -314.831 0.035 0.079 0.219
71408 96.821 -114.328 -313.055 0.067 0.081 0.217
84504 106.082 99.396 -313.273 0.073 0.070 0.216
8451 -0.740 -96.407 -316.008 0.007 0.069 0.231
8452 105.492 -33.245 -314.591 0.073 0.024 0.219
9781 20.742 94.401 -315.333 0.015 0.066 0.223
------------------------------------ ----------------------------
Photo coordinates (mm) Residuals (mm)
------------------------------------ ----------------------------
Left Photo Right Photo Left Photo Right Photo
----------------- ----------------- ------------- -------------
<---Point No---> X Y X Y Vx Vy Vx Vy
---------------- -------- -------- -------- -------- ------ ------ ------ ------
10000 -10.908 -6.667 -103.979 -4.137 0.000 0.001 0.000 -0.001
10001 92.510 -4.665 -2.297 -0.329 0.000 -0.001 0.000 0.001
10002 -7.907 98.875 -104.230 101.195 0.000 0.007 0.000 -0.007
10003 92.903 94.200 -3.452 98.032 0.000 -0.002 0.000 0.002
10004 -1.781 -105.974 -93.463 -102.453 0.000 -0.003 0.000 0.003
10005 85.334 -108.961 -7.863 -103.654 0.000 0.007 0.000 -0.007
10006 -1.482 38.840 -95.459 41.353 0.000 -0.003 0.000 0.003
10007 83.144 34.269 -11.596 38.176 0.000 0.003 0.000 -0.003
10008 -0.324 -61.112 -92.781 -58.009 0.000 0.000 0.000 0.000
10009 82.769 -65.900 -10.662 -61.172 0.000 0.005 0.000 -0.005
10010 48.395 90.317 -47.642 93.489 0.000 0.001 0.000 -0.001
10011 47.665 33.605 -47.101 36.939 0.000 0.000 0.000 0.000
10012 45.388 -11.881 -48.224 -8.319 0.000 -0.002 0.000 0.002
10013 48.926 -55.839 -44.589 -51.845 0.000 -0.001 0.000 0.001
10014 48.458 -109.734 -43.630 -105.149 0.000 -0.003 0.000 0.003
71408 94.434 -111.515 1.416 -105.962 0.000 -0.006 0.000 0.006
84504 103.394 96.880 6.769 100.852 0.000 0.002 0.000 -0.002
8451 -0.715 -93.146 -92.447 -89.757 0.000 0.004 0.000 -0.004
8452 102.388 -32.269 8.373 -27.512 0.000 -0.002 0.000 0.002
9781 20.084 91.400 -75.561 94.169 0.000 -0.009 0.000 0.009
-----------------------------------------------------------------------
RMS Vx = 0.1 碌m RMS Vy = 4.0 碌m
--------------------------------------------------
Relative Orientation Parameters
--------------------------------------------------
Parameter Final Value Standard Deviation
----------- -------------- ------------------
OMEGA (dms) 0 -29 48 0 0 31
PHI (dms) 0 -28 60 0 0 42
KAPPA (dms) -1 0 28 0 0 11
YL (mm) -1.749 0.051
ZL (mm) 2.439 0.014
Plik. 003
File Name: 45_46_MK.003
Block Formation by 3D Conformal Transformation of Adjoining Strips
------------------------------------------------------------------
Project ID: Project:45_46_mk /Images 45, 46
Number Of Strips: 1
------------------------------------------------------
Initial Strip Model Coordinates (mm)
------------------------------------------------------
<---Point No---> Xp Yp Zp
---------------- ---------- ---------- ----------
10000 -11.335 -6.929 -317.299
10001 94.898 -4.784 -313.218
10002 -8.118 101.507 -313.486
10003 95.493 96.828 -313.848
10004 -1.839 -109.418 -315.267
10005 87.270 -111.440 -312.260
10006 -1.540 40.380 -317.412
10007 85.934 35.415 -315.580
10008 -0.335 -63.191 -315.720
10009 85.110 -67.769 -313.973
10010 49.784 92.908 -314.099
10011 49.143 34.648 -314.804
10012 46.945 -12.287 -315.808
10013 50.215 -57.309 -313.378
10014 49.965 -113.144 -314.831
71408 96.821 -114.328 -313.055
84504 106.082 99.396 -313.273
8451 -0.740 -96.407 -316.008
8452 105.492 -33.245 -314.591
9781 20.742 94.401 -315.333
Total Number of Model Points = 20
Plik 004
File Name: 45_46_MK.004
Project Id: Project:45_46_mk /Images 45, 46
!!! Control Point No.8452 removed from adjustment !!!
-------------------------------------------------------------------------
2D Transformation for Strip No.1
-------------------------------------------------------------------------
Transformed Control Coordinates Residuals
-------------------------------------------------------------------------
<---Point No---> Xp Yp Vx Vy
---------------- --------------- -------------- -------- --------
84504 -5959817.386 7466161.247 -0.05 0.05
71408 -5959899.272 7464514.524 0.04 -0.04
9781 -5960475.753 7466126.862 0.06 -0.05
8451 -5960650.768 7464657.342 -0.05 0.05
Root Mean Square Residuals: 0.05 0.05
After 1 Iterations .... So = 0.151417
!!! Control Point No.9781 removed from adjustment !!!
After 2 Iterations .... So = 0.074128
!!! Control Point No.71408 removed from adjustment !!!
------------------------------------------------------------
3D Transformation Coefficients for Strip No.1
------------------------------------------------------------
Scale = 7.70840 卤 0.00040
OMEGA = 0 44 3 卤 0 0 14
PHI = 1 22 60 卤 0 0 27
Kappa = 0 -21 55 卤 0 0 11
Tx = -5960581.508 卤 0.327
Ty = 7465369.246 卤 0.171
Tz = 2581.719 卤 0.150
-------------------------------------------------------------- ----------------------------
Transformed Model Control Coordinates Residuals
-------------------------------------------------------------- ----------------------------
<---Point No---> Xp Yp Zp Vx Vy Vz
---------------- -------------- -------------- ---------- -------- -------- --------
84504 -5959817.454 7466161.324 157.679 -0.02 0.03 0.00
8451 -5960650.753 7464657.414 137.442 -0.05 -0.05 0.00
Root Mean Square Transformation Residuals: 0.036 0.042 0.001
Plik .005
File Name: 45_46_MK.005
Space Resections for Aerial Photographs
---------------------------------------
Project ID: Project:45_46_mk /Images 45, 46
Number Of Strips: 1
After 1 Iterations .... So = 0.39364
After 2 Iterations .... So = 0.03933
After 3 Iterations .... So = 0.00641
After 4 Iterations .... So = 0.00561
After 5 Iterations .... So = 0.00548
After 6 Iterations .... So = 0.00451
After 7 Iterations .... So = 0.00421
After 8 Iterations .... So = 0.00334
After 9 Iterations .... So = 0.00299
After 10 Iterations .... So = 0.00248
Photo No.45
-------------------------------------------------------------------------------------------------------
| Standardized Res | Residuals | Ground Coordinates
-----------------|--------------------|--------------------|-------------------------------------------
<---Point No---> | Wx Wy | Vx Vy | Xg Yg Zg
---------------- | -------- -------- | -------- -------- | -------------- -------------- ----------
10000 -0.11 0.62 0.000 0.002 -5960728.243 7465347.697 138.208
10001 0.20 -0.98 0.000 -0.002 -5959908.743 7465358.856 150.027
10002 0.54 1.43 0.001 0.004 -5960697.411 7466182.956 177.567
10003 0.03 -1.42 0.000 -0.004 -5959899.285 7466142.080 154.973
10004 -1.01 -1.20 -0.002 -0.003 -5960659.724 7464557.106 142.093
10005 0.24 1.01 0.001 0.003 -5959972.593 7464537.058 148.424
10006 0.13 -1.46 0.000 -0.004 -5960650.461 7465711.887 140.120
10007 0.14 1.00 0.000 0.002 -5959976.286 7465669.353 137.426
10008 -0.61 0.35 -0.002 0.001 -5960645.946 7464913.383 142.831
10009 0.20 1.06 0.001 0.003 -5959987.407 7464873.924 139.890
10010 -0.08 -0.46 0.000 -0.001 -5960251.758 7466114.026 161.196
10011 -0.19 -0.25 0.000 -0.001 -5960259.693 7465665.079 150.200
10012 -0.28 -0.89 -0.001 -0.002 -5960279.123 7465303.526 138.287
10013 -0.43 -0.75 -0.001 -0.002 -5960255.686 7464956.124 152.012
10014 -0.52 -2.59 -0.001 -0.006 -5960260.626 7464525.923 135.418
71408 Point Eliminated from Space Resection Solution!!!
84504 -0.71 1.58 -0.002 0.004 -5959817.439 7466161.296 157.679
8451 Point Eliminated from Space Resection Solution!!!
8452 Point Eliminated from Space Resection Solution!!!
9781 Point Eliminated from Space Resection Solution!!!
Root Mean Square Residuals: 0.001 0.003
Max Wx: 10004 -1.01 -1.20
Max Wy: 10014 -0.52 -2.59
--------------------------------------------------------------------
Camera Station Parameters determined by Space Resection
--------------------------------------------------------------------
Parameter Initial Approx Final Value Standard Deviation
----------- -------------- -------------- ------------------
OMEGA (dms) 0 0 0 0 43 50 0 0 7
PHI (dms) 0 0 0 1 22 29 0 0 12
KAPPA (dms) 359 43 56 359 38 2 0 0 2
XL -5960640.500 -5960581.876 0.143
YL 7465399.500 7465369.399 0.092
ZL 2567.441 2581.646 0.029
After 1 Iterations .... So = 0.23333
After 2 Iterations .... So = 0.01481
After 3 Iterations .... So = 0.00877
After 4 Iterations .... So = 0.00636
After 5 Iterations .... So = 0.00561
After 6 Iterations .... So = 0.00325
After 7 Iterations .... So = 0.00270
Photo No.46
-------------------------------------------------------------------------------------------------------
| Standardized Res | Residuals | Ground Coordinates
-----------------|--------------------|--------------------|-------------------------------------------
<---Point No---> | Wx Wy | Vx Vy | Xg Yg Zg
---------------- | -------- -------- | -------- -------- | -------------- -------------- ----------
10000 -0.84 -0.04 -0.002 0.000 -5960728.243 7465347.697 138.208
10001 0.37 0.89 0.001 0.002 -5959908.743 7465358.856 150.027
10002 -0.48 -1.41 -0.001 -0.004 -5960697.411 7466182.956 177.567
10003 0.36 0.20 0.001 0.001 -5959899.285 7466142.080 154.973
10004 -0.64 0.29 -0.002 0.001 -5960659.724 7464557.106 142.093
10005 0.38 -1.97 0.001 -0.005 -5959972.593 7464537.058 148.424
10006 -0.56 1.77 -0.002 0.005 -5960650.461 7465711.887 140.120
10007 0.32 -1.10 0.001 -0.003 -5959976.286 7465669.353 137.426
10008 -0.56 -0.32 -0.002 -0.001 -5960645.946 7464913.383 142.831
10009 0.35 -1.32 0.001 -0.004 -5959987.407 7464873.924 139.890
10010 0.36 -0.18 0.001 0.000 -5960251.758 7466114.026 161.196
10011 0.28 0.40 0.001 0.001 -5960259.693 7465665.079 150.200
10012 0.18 1.07 0.000 0.003 -5960279.123 7465303.526 138.287
10013 0.30 0.62 0.001 0.002 -5960255.686 7464956.124 152.012
10014 0.22 1.35 0.001 0.004 -5960260.626 7464525.923 135.418
71408 -1.87 0.81 -0.005 0.002 -5959899.227 7464514.483 140.237
84504 -0.47 -0.07 -0.001 0.000 -5959817.439 7466161.296 157.679
8451 2.28 -0.97 0.006 -0.003 -5960650.818 7464657.389 137.441
8452 Point Eliminated from Space Resection Solution!!!
9781 Point Eliminated from Space Resection Solution!!!
Root Mean Square Residuals: 0.002 0.003
Max Wx: 8451 2.28 -0.97
Max Wy: 10005 0.38 -1.97
--------------------------------------------------------------------
Camera Station Parameters determined by Space Resection
--------------------------------------------------------------------
Parameter Initial Approx Final Value Standard Deviation
----------- -------------- -------------- ------------------
OMEGA (dms) 0 0 0 0 14 2 0 0 8
PHI (dms) 0 0 0 0 54 38 0 0 10
KAPPA (dms) 358 41 13 358 38 21 0 0 2
XL -5959891.000 -5959851.703 0.119
YL 7465360.000 7465351.130 0.097
ZL 2589.838 2582.626 0.030
Plik .007
PROJECT: Project:45_46_mk /Images 45, 46
=========================================
--------------------------------------------------------------------------------------------------------
Standardized Photocoordinate Residuals: Wi = Vi / (sqrt(1/WT - A(N**-1)AT) * SigmaO)
--------------------------------------------------------------------------------------------------------
Points| (Pht No., Wx, Wy) ..............................................................................
--------------------------------------------------------------------------------------------------------
8451 46 0.27 -0.80 45 0.05 0.86
8452 46 1.34 0.51 45 0.14 -0.25
9781 46 -0.11 1.82 45 -0.03 -1.46
71408 46 -0.31 1.02 45 -0.09 -1.32
84504 46 -0.22 -0.65 45 -0.01 0.28
10000 46 0.00 -0.11 45 0.00 0.11
10001 46 0.00 0.27 45 0.00 -0.26
10002 46 0.01 -1.28 45 0.01 1.28
10003 46 0.00 0.26 45 0.00 -0.26
10004 46 0.00 0.48 45 -0.01 -0.47
10005 46 -0.01 -1.42 45 0.04 1.40
10006 46 0.00 0.62 45 -0.01 -0.61
10007 46 0.00 -0.64 45 0.01 0.64
10008 46 0.00 -0.03 45 0.00 0.03
10009 46 0.00 -0.99 45 0.02 0.98
10010 46 0.00 -0.24 45 0.00 0.24
10011 46 0.00 0.03 45 0.00 -0.03
10012 46 0.00 0.39 45 -0.01 -0.38
10013 46 0.00 0.18 45 0.00 -0.18
10014 46 0.00 0.60 45 -0.02 -0.59
---------------------------------------------------------------------------------
* Denotes that Critical Value of 3.29 exceeded, ie. possible gross error
Maximum Standardized Residual = 1.82 from Point No.9781 on Photo No.46
----------------------------------------------------------------------
0 posible blunders/outlyers detected
----------------------------------------------------------------------
<----------------------------------------------->
< Ten Largest Photocoordinate Residuals >
< PointNo, PhotoNo, Vx, Vy >
-------------------------------------------------
10009 46 0.000 -0.005
10009 45 0.000 0.005
10005 46 0.000 -0.008
10002 46 0.000 -0.007
9781 46 -0.001 0.010
9781 45 0.000 -0.008
71408 46 -0.002 0.005
71408 45 0.000 -0.007
10005 45 0.000 0.007
10002 45 0.000 0.007
--------------------------------------------------
--------------------------------------------
Distribution of Standardized Residuals in X --------------------------------------------- Blunder | 0| -3.50 | 0| -3.25 | 0| -3.00 | 0| -2.75 | 0| -2.50 | 0| -2.25 | 0| -2.00 | 0| -1.75 | 0| -1.50 | 0| -1.25 | 0| -1.00 | 0| -0.75 | 0| -0.50 | 0| -0.25 | 2|: 0.00 | 35|:::::::::::::::::路 0.25 | 2|: 0.50 | 0| 0.75 | 0| 1.00 | 0| 1.25 | 1|路 1.50 | 0| 1.75 | 0| 2.00 | 0| 2.25 | 0| 2.50 | 0| 2.75 | 0| 3.00 | 0| 3.25 | 0| 3.50 | 0| Blunder | 0| -------------------------------------------- |
Distribution of Standardized Residuals in Y --------------------------------------------- Blunder | 0| -3.50 | 0| -3.25 | 0| -3.00 | 0| -2.75 | 0| -2.50 | 0| -2.25 | 0| -2.00 | 0| -1.75 | 0| -1.50 | 2|: -1.25 | 2|: -1.00 | 1|路 -0.75 | 3|:路 -0.50 | 4|:: -0.25 | 5|::路 0.00 | 6|::: 0.25 | 5|::路 0.50 | 5|::路 0.75 | 2|: 1.00 | 2|: 1.25 | 1|路 1.50 | 1|路 1.75 | 1|路 2.00 | 0| 2.25 | 0| 2.50 | 0| 2.75 | 0| 3.00 | 0| 3.25 | 0| 3.50 | 0| Blunder | 0| |
|---|
------------------------------------------------------
--- Root Mean Square Image Coordinate Errors ---
--- ---
--- RMS Vx = 0.2 micrometers ---
--- RMS Vy = 3.2 micrometers ---
--- ---
--- RMS Vxy = 3.2 micrometers ---
------------------------------------------------------
-----------------------------------------------------------------------------------------------------------------------
-------------------------------------- Adjusted Control Points ------------------------------------------------------
-----------------------------------------------------------------------------------------------------------------------
<---------- Object Space or Ground Control Units ----------------> <-- Unitless Statistics ->
No. <--- Point ID ---><----- Xg -----><----- Yg -----><---- Zg ----> <Res X> <Res Y> <Res Z> <Std Vx> <Std Vy> <Std Vz>
-----------------------------------------------------------------------------------------------------------------------
1 8451 -5960650.749 7464657.404 137.435 0.069 0.015 -0.006 1.02 0.23 -1.09
2 8452 -5959828.837 7465139.068 134.828 0.106 0.056 0.000 1.29 0.72 0.01
3 9781 -5960475.721 7466126.892 157.084 -0.026 0.084 0.008 -0.37 1.27 1.17
4 71408 -5959899.317 7464514.411 140.326 -0.090 -0.072 0.089 -1.28 -1.11 0.77
5 84504 -5959817.498 7466161.212 157.649 -0.059 -0.084 -0.030 -0.87 -1.30 -0.95
----------------------------------------------------------------------------------------------------
* Denote that critical value of 3.29 exceeded, i.e. possible gross error!
Maximum Standardized Residual = -1.30 from Control Point No. 84504
----------------------------------------------------------------------------------------------------
--------------------------------------------------------------------------
--------------- Control Point Root Mean Square Errors ------------------
--------------------------------------------------------------------------
--- Axis --- 3D Control --- Horizontal Control --- Vertical Control ---
--------------------------------------------------------------------------
RMS Vx 0.070 0.070
RMS Vy 0.062 0.062
RMS Vz 0.027 0.027
RMS Vs 0.106
--------------------------------------------------------------------------
-------------------------------------------------------------------------------------------------
---------- Final Adjusted Exterior Orientations and Standard Errors ---------------------------
-------------------------------------------------------------------------------------------------
<PhtNo><----Omega----><-----Phi-----><----Kappa----><------So-----><------Sp-----><------Sk----->
<PhtNo><------X------><------Y------><------Z------><------Sx-----><------Sy-----><------Sz----->
-------------------------------------------------------------------------------------------------
45 0掳 43' 48" 1掳 22' 13" 359掳 38' 5" 0掳 0' 39" 0掳 0' 54" 0掳 0' 13"
45 -5960582.069 7465369.342 2581.442 0.647 0.502 0.183
46 0掳 13' 47" 0掳 53' 26" 358掳 38' 19" 0掳 0' 39" 0掳 0' 55" 0掳 0' 13"
46 -5959852.613 7465351.223 2582.562 0.663 0.503 0.188
-------------------------------------------------------------------------
-- Mean Standard Deviations for the Elements of Exterior Orientation --
-------------------------------------------------------------------------
Omega 0掳 0' 39"
Phi 0掳 0' 54"
Kappa 0掳 0' 13"
XL 0.655
YL 0.502
ZL 0.185
-------------------------------------------------------------------------
---------------------------------------------------------------------------------------------------------------------------------------------
----------------------- Final Adjusted Object Space Coordinates, Standard Errors, and Residuals -----------------------------------------
---------------------------------------------------------------------------------------------------------------------------------------------
<No> <----Point ID----><------Xg------><------Yg------><----Zg----><---Sx---><---Sy---><---Sz---><---Vx---><---Vy---><---Vz---><---Vs--->
---------------------------------------------------------------------------------------------------------------------------------------------
<CONTROL POINTS> <3D>
1 8451 -5960650.818 7464657.389 137.441 0.072 0.075 0.049 0.069 0.015 -0.006 0.071
2 8452 -5959828.943 7465139.012 134.828 0.057 0.061 0.049 0.106 0.056 0.000 0.120
3 9781 -5960475.695 7466126.808 157.076 0.072 0.074 0.049 -0.026 0.084 0.008 0.088
4 71408 -5959899.227 7464514.483 140.237 0.070 0.075 0.162 -0.090 -0.072 0.089 0.146
5 84504 -5959817.439 7466161.296 157.679 0.073 0.076 0.094 -0.059 -0.084 -0.030 0.107
<CONTROL POINTS> <Horizontal>
<CONTROL POINTS> <Vertical>
<PASS POINTS>
6 10000 -5960728.233 7465347.624 138.080 0.081 0.074 0.264
7 10001 -5959908.794 7465358.780 150.077 0.064 0.066 0.231
8 10002 -5960697.413 7466182.833 177.356 0.099 0.118 0.294
9 10003 -5959899.332 7466141.952 154.954 0.082 0.106 0.252
10 10004 -5960659.720 7464557.097 142.058 0.091 0.111 0.273
11 10005 -5959972.644 7464537.045 148.532 0.077 0.107 0.262
12 10006 -5960650.457 7465711.789 139.971 0.080 0.081 0.263
13 10007 -5959976.327 7465669.255 137.433 0.064 0.072 0.231
14 10008 -5960645.942 7464913.344 142.763 0.080 0.084 0.256
15 10009 -5959987.452 7464873.884 139.966 0.066 0.080 0.241
16 10010 -5960251.784 7466113.903 161.095 0.074 0.103 0.246
17 10011 -5960259.718 7465664.984 150.141 0.061 0.073 0.228
18 10012 -5960279.145 7465303.455 138.260 0.057 0.065 0.226
19 10013 -5960255.714 7464956.079 152.021 0.061 0.076 0.232
20 10014 -5960260.651 7464525.912 135.468 0.074 0.108 0.255
------------------------------------------------------------------------
--- Mean Standard Deviations ---
------------------------------------------------------------------------
--- (including Control Points) ---------- (excluding Control Points) ---
--- ---
--- 0.073 Sx 0.074 ---
--- 0.084 Sy 0.088 ---
--- 0.208 Sz 0.250 ---
--- ---
--- 0.236 Spherical 0.276 ---
------------------------------------------------------------------------
System Memory Storage Summary
-----------------------------
No. of Cameras = 1 ====> 0.0 Kbytes
No. of Photos = 2 ====> 0.4 Kbytes
No. of Points = 20 ====> 1.9 Kbytes
No. of Photo Coordinates = 40 ====> 1.6 Kbytes
------------------
Total Data Storage Required ==========> 3.9 Kbytes
Total Storage Normals Envelope =======> 0.00 Mbytes
System Computing Time Summary
-----------------------------
Number of Iterations: 10
Forming & Solving Normal Equations: 0 Hrs 0 Min 0.22 Sec
Per Iteration: 0 Hrs 0 Min 0.02 Sec
Cholesky Solution Per Iteration: 0 Hrs 0 Min 0.00 Sec
Forming Normal Eqns Per Iteration: 0 Hrs 0 Min 0.02 Sec
Normal Equations Inverse: 0 Hrs 0 Min 0.05 Sec
Statistics: 0 Hrs 0 Min 0.06 Sec
Total Computing Time: 0 Hrs 0 Min 0.33 Sec
Analiza wynik贸w budowy pojedynczego modelu 鈥 analiza dok艂adno艣ci wyznaczenia element贸w orientacji zewn臋trznej zdj臋膰 (蠅, 蠁, 魏, XO, YO, ZO) oraz wsp贸艂rz臋dnych X, Y, Z punkt贸w terenowych
Analiza dok艂adno艣ci wyznaczenia element贸w orientacji zewn臋trznej zdj臋膰
| Element orientacji zewn臋trznej | Odchylenie standardowe |
|---|---|
| 蠅 | 0掳 0' 39" |
| 蠒 | 0掳 0' 54" |
| 魏 | 0掳 0' 13" |
| Xo [m] | 0.655 |
| Yo [m] | 0.502 |
| Z0 [m] | 0.185 |
Analiza dok艂adno艣ci wyznaczenia wsp贸艂rz臋dnych XYZ
| Nr punktu | Sx [m] | Sy [m] | Sz[ m] |
|---|---|---|---|
| 10000 | 0,081 | 0,074 | 0,264 |
| 10001 | 0,064 | 0,066 | 0,231 |
| 10002 | 0,099 | 0,118 | 0,294 |
| 10003 | 0,082 | 0,106 | 0,252 |
| 10004 | 0,091 | 0,111 | 0,273 |
| 10005 | 0,077 | 0,107 | 0,262 |
| 10006 | 0,08 | 0,081 | 0,263 |
| 10007 | 0,064 | 0,072 | 0,231 |
| 10008 | 0,08 | 0,084 | 0,256 |
| 10009 | 0,066 | 0,08 | 0,241 |
| 10010 | 0,074 | 0,103 | 0,246 |
| 10011 | 0,061 | 0,073 | 0,228 |
| 10012 | 0,057 | 0,065 | 0,226 |
| 10013 | 0,061 | 0,076 | 0,232 |
| 10014 | 0,074 | 0,108 | 0,255 |
| RMS | 0,075 | 0,090 | 0,251 |
7. Por贸wnanie wynik贸w analitycznej orientacji i opracowania pary zdj臋膰 lotniczych (budowa pojedynczego modelu) metod膮 sekwencyjn膮 (program DDPS) i jednoczesn膮 metod膮 wi膮zek (program AeroSys AT):
por贸wnanie warto艣ci RMS Vx', RMS Vy' (etap orientacji wewn臋trznej)
| Nr znaczka t艂owego | Metoda sekwencyjna | Metoda wi膮zek |
|---|---|---|
| Zdj臋cie 45 | Zdj臋cie 46 | |
| Vx鈥 [mm] | Vy鈥 [mm] | |
| 1 | -0,006 | -0,005 |
| 2 | 0,001 | -0,005 |
| 3 | 0,000 | 0,005 |
| 4 | 0,003 | -0,001 |
| 5 | -0,001 | -0,001 |
| 6 | -0,006 | 0,001 |
| 7 | 0,003 | 0,001 |
| 8 | 0,005 | 0,004 |
| RMS | 0,004 | 0,004 |
por贸wnanie warto艣ci RMS pY (RMS Vy') (etap orientacji wzajemnej)
| Metoda sekwencyjna | Metoda wi膮zek |
|---|---|
| RMS pY [mm] | 0,005 |
obliczenie warto艣ci 螖X, 螖Y, 螖Z (r贸偶nic wsp贸艂rz臋dnych 15. punkt贸w terenowych wyznaczonych dwiema metodami) i warto艣ci 艣redniokwadratowych RMS螖X, RMS螖Y, RMS螖Z
| Nr punktu | Metoda sekwencyjna | Metoda wi膮zek | 螖X [m] | 螖Y [m] | 螖Z [m] |
|---|---|---|---|---|---|
| X | Y | Z | X | Y | |
| 10000 | -5960728,386 | 7465347,504 | 138,199 | -5960728,233 | 7465347,624 |
| 10001 | -5959908,726 | 7465358,711 | 150,020 | -5959908,794 | 7465358,780 |
| 10002 | -5960697,600 | 7466182,866 | 177,512 | -5960697,413 | 7466182,833 |
| 10003 | -5959899,225 | 7466141,900 | 154,908 | -5959899,332 | 7466141,952 |
| 10004 | -5960659,790 | 7464557,006 | 142,036 | -5960659,72 | 7464557,097 |
| 10005 | -5959972,607 | 7464537,162 | 148,447 | -5959972,644 | 7464537,045 |
| 10006 | -5960650,607 | 7465711,719 | 140,078 | -5960650,457 | 7465711,789 |
| 10007 | -5959976,264 | 7465669,178 | 137,384 | -5959976,327 | 7465669,255 |
| 10008 | -5960646,034 | 7464913,220 | 142,774 | -5960645,942 | 7464913,344 |
| 10009 | -5959987,412 | 7464873,898 | 139,894 | -5959987,452 | 7464873,884 |
| 10010 | -5960251,773 | 7466113,907 | 161,041 | -5960251,784 | 7466113,903 |
| 10011 | -5960259,710 | 7465664,909 | 150,072 | -5960259,718 | 7465664,984 |
| 10012 | -5960279,145 | 7465303,367 | 138,186 | -5960279,145 | 7465303,455 |
| 10013 | -5960255,692 | 7464956,004 | 151,904 | -5960255,714 | 7464956,079 |
| 10014 | -5960260,635 | 7464525,934 | 135,349 | -5960260,651 | 7464525,912 |
| RMS | 0,089 | 0,078 | 0,086 | ||