| 基于单位四元数的无初值依赖空间后方交会 |
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| 引用本文： | 江刚武,姜挺,王勇,龚辉.基于单位四元数的无初值依赖空间后方交会[J].测绘学报,2007,36(2):169-175. |
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| 作者姓名： | 江刚武 姜挺 王勇 龚辉 |
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| 作者单位： | 信息工程大学,测绘学院,河南,郑州,450052;信息工程大学,测绘学院,河南,郑州,450052;信息工程大学,测绘学院,河南,郑州,450052;信息工程大学,测绘学院,河南,郑州,450052 |
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| 基金项目： | 国家自然科学基金项目(40571131) |
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| 摘 要： | 为解决基于欧拉角的传统空间后方交会算法对初值强烈依赖的问题,提出一种利用四元数描述姿态的解算方法。本算法采用单位四元数描述旋转矩阵,然后对严格的共线条件方程进行线性化,并按照带有约束条件的间接平差进行迭代解算。试验表明本算法的可靠性和稳定性不依赖于像片位置和姿态的初值,并具有迭代次数少和解算时间短等优点。
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| 关 键 词： | 空间后方交会 初值无关性 单位四元数 |
| 文章编号： | 1001-1595（2007）02-0169-07 |
| 修稿时间： | 2006-05-102006-08-18 |
Space Resection Independent of Initial Value Based on Unit Quaternions |
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| JIANG Gang-wu,JIANG Ting,WANG Yong,GONG Hui.Space Resection Independent of Initial Value Based on Unit Quaternions[J].Acta Geodaetica et Cartographica Sinica,2007,36(2):169-175. |
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| Authors: | JIANG Gang-wu JIANG Ting WANG Yong GONG Hui |
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| Institution: | Institute of Surveying and Mapping, Information Engineering University, Zhengzhou 450052, China |
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| Abstract: | For solving the problem,in which the traditional space resection algorithm based on Euler angles depends strongly on the initial value,a solution which uses quaternions to describe attitude is presented.Firstly the unit quaternions are used to describe rotation matrix in the algorithm.Then the strict collinear equation is linearized,and at the same time it is calculated using iteration method according to indirect adjustment with constraints.The test proves that the reliability and stability of the algorithm are both independent of the image's initial values of position and attitude,and the algorithm possesses the advantages of fewer times in iteration,shorter time in solution and so on. |
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| Keywords: | space resection independent of initial value unit quaternion |
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