(武汉大学)摄影测量学教学课件-第三章-单片空间后方交会

XYZaxyzs(Xs,Ys,Zs)ACBbc‹x0,y0,f,m,X,Y,Z‹x,y‹Xs,Ys,Zs,ϕ,ω,κ‹yyZZyYYyXXyyyyvxxZZxYYxXXxxxxvssssssyssssssx−+∂∂+∂∂+∂∂+∂∂+∂∂+∂∂=−+∂∂+∂∂+∂∂+∂∂+∂∂+∂∂=00∆∆∆κ∆κω∆ωϕ∆ϕ∆∆∆κ∆κω∆ωϕ∆ϕZYfZZcYYbXXaZZcYYbXXafyyZXfZZcYYbXXaZZcYYbXXafxxssssssssssss−=−+−+−−+−+−−=−−=−+−+−−+−+−−=−)()()()()()()()()()()()(33322203331110⎥⎥⎦⎤⎢⎢⎣⎡−−−=⎥⎥⎦⎤⎢⎢⎣⎡−−−⎥⎥⎦⎤⎢⎢⎣⎡=⎥⎥⎥⎦⎤⎢⎢⎢⎣⎡−ssssssZZYYXXZZYYXXcbacbacbaZYX1333222111R1[])(1)(1)()(031313122xxafaZaZXffaZXaZaZfXXZZXXZfXxsss−+=−=+−−=∂∂−∂∂−=∂∂2)(2XZZXZfxϕϕϕ∂∂−∂∂−=∂∂)()()(21322132ZXbZYbZXfZYfbfbXbYbZXYbZbZfZZXXZfx−++−=⎭⎬⎫⎩⎨⎧−−−−=∂∂−∂∂−=∂∂ϕϕϕ[]ωκκκωκωκωωκωϕcoscossin)(cos)()(sin)(coscos)(sincos)()(sin)(coscos00000000⎭⎬⎫⎩⎨⎧+−−−−−−=⎥⎦⎤⎢⎣⎡−+−−−−−+−=∂∂fyyxxfxxyyfxxfyyxxyyfx2-1ϕϕϕϕϕϕϕϕϕϕωκϕωκϕωκ∂∂=∂∂=∂∂=∂∂=∂∂−−−−−−−−−−−−−1111111111111)(RRRRRRRRRRRRRRR⎥⎥⎦⎤⎢⎢⎣⎡−=⎥⎥⎦⎤⎢⎢⎣⎡−−−⎥⎥⎦⎤⎢⎢⎣⎡−=∂∂−001000100sin0cos000cos0sincos0sin010sin0cos1ϕϕϕϕϕϕϕϕϕϕϕRR⎥⎥⎦⎤⎢⎢⎣⎡−−−⎥⎥⎦⎤⎢⎢⎣⎡−=⎥⎥⎦⎤⎢⎢⎣⎡−−−∂∂=∂⎥⎥⎥⎦⎤⎢⎢⎢⎣⎡∂−−−ssssssZZYYXXZZYYXXZYX001000100111RRRRϕϕϕϕ2-2⎥⎥⎥⎦⎤⎢⎢⎢⎣⎡−−−=⎥⎥⎥⎦⎤⎢⎢⎢⎣⎡⎥⎥⎦⎤⎢⎢⎣⎡−−−=⎥⎥⎥⎦⎤⎢⎢⎢⎣⎡⎥⎥⎦⎤⎢⎢⎣⎡−−−−−−=⎥⎥⎥⎦⎤⎢⎢⎢⎣⎡⎥⎥⎦⎤⎢⎢⎣⎡⎥⎥⎦⎤⎢⎢⎣⎡−−−=⎥⎥⎥⎦⎤⎢⎢⎢⎣⎡⎥⎥⎦⎤⎢⎢⎣⎡−=∂⎥⎥⎥⎦⎤⎢⎢⎢⎣⎡∂−XbYbZbXbYbZbZYXbbbbbbZYXcacacacacacacacacacacacaZYXcccbbbaaaacacacZYXZYX2113321213233223311323322112133112213213213213322111000000000001000100RRϕ⎥⎥⎦⎤⎢⎢⎣⎡−−−=⎥⎥⎥⎦⎤⎢⎢⎢⎣⎡−sssZZYYXXZYX1RyyaaaZaYaXavxxaaaZaYaXavsssysssx−++++++=−++++++=02625242322210161514131211κ∆ω∆ϕ∆∆∆∆κ∆ω∆ϕ∆∆∆∆ϕω0κ)(sin))((cos))((sin))((cos))((cossin0260020252000240232221xxafyyxxfyyfafyyffyyxxaHyyaHfaHfa−−=−−−−+−=−++−−−=−−=−=+=κκκκκκ)(sin))((cos))((sin))((cos))((sincos0162000150020140131211yyafxxffyyxxafyyxxfxxfaHxxaHfaHfa−+=−+−−−−=−−+−+−=−−=−=−=κκκκκκlAxV−=)()(T1TlAAAx−=62T0−=nVVσiixximQ0σ=⎥⎦⎤⎢⎣⎡=⎥⎦⎤⎢⎣⎡−−=⎥⎥⎥⎥⎥⎥⎦⎤⎢⎢⎢⎢⎢⎢⎣⎡=⎥⎦⎤⎢⎣⎡=26252423222116151413121100,,aaaaaaaaaaaayyxxZYXvvsssyxAlxVκ∆ω∆ϕ∆∆∆∆1T)(−=AAQxx‹m,x0,y0,f,Xtp,Ytp,Ztp‹x,y‹Xs0,Ys0,Zs0,ϕ0,ω0,κ0‹‹‹PP.397;a15PP.399PP.399