1、中南大學本科生課程設計(實踐)任務書、設計報告 (攝影測量與遙感概論)題 目空間后方-前方交會 學生姓名指導教師鄒崢嶸學 院地球科學與信息物理學院專業班級測繪0902班學生學號一、 實驗目的通過對數字影像空間后交前交的程序設計實驗，要求我們進一步理解和掌握影像外方位元素的有關理論、原理和方法。利用計算機程序設計語言編寫攝影測量空間交會軟件進行快速確定影像的外方位元素及其精度，然后通過求得的外方位元素求解未知點的地面攝影測量坐標，達到通過攝影測量量測地面地理數據的目的。二、 實驗要求 用C、VB或者Matlab編寫空間后方交會-前方交會計算機程序。 提交實驗報告：程序框圖，程序源代碼、計算結果及

2、體會。 計算結果：地面點坐標、外方位元素及精度。 完成時間：2011年11月17日。三、 實驗數據點號 左片 右片 地面攝影測量坐標 x y x y X Y Z GCP1 16.012 79.963 -73.93 78.706 5083.205 5852.099 527.925 GCP2 88.56 81.134 -5.252 78.184 5780.02 5906.365 571.549 GCP3 13.362 -79.37 -79.122 -78.879 5210.879 4258.446 461.81 GCP4 82.24 -80.027 -9.887 -80.089 5909.264

3、4314.283 455.484 1 51.758 80.555 -39.953 78.463 2 14.618 -0.231 -76.006 0.036 3 49.88 -0.782 -42.201 -1.022 4 86.14 -1.346 -7.706 -2.112 5 48.035 -79.962 -44.438 -79.736 f=150.000mm，x0=0，y0=0四、 實驗思路 利用后方交會得出兩張像片各自的外方位元素1) 獲取已知數據：從攝影資料中插曲像片比例尺、平均航高、內方位元素以及控制點的地面攝影測量坐標及對應的像點坐標。2) 確定未知數的初始值：在豎直攝影的情況下，膠

4、原素的初始值為0，線元素其中Zs=m*f+，Xs=，Ys=。3) 計算旋轉矩陣R。4) 逐點計算像點坐標的近似值：利用共線方程。5) 組成誤差方程并法化。6) 解求外方位元素。7) 檢查計算是否收斂。 利用解求出的外方位元素進行前方交會1) 用各自像片的角元素計算出左右像片的旋轉矩陣R1和R2。2) 根據左右像片的外方位元素計算攝影基線分量Bx,By，Bz。3) 逐點計算像點的空間輔助坐標。4) 計算投影系數。5) 計算未知點的地面攝影測量坐標。6) 重復以上步驟完成所有點的地面坐標的計算。五、 實驗過程 程序流程框圖后方交會函數確定已知數據比例尺m確定各外方位元素初始值計算旋轉矩陣逐點計算像

5、點坐標近似值不滿足限差則重復計算逐點計算誤差方程系數項，組成誤差系數矩陣A利用矩陣運算求解外方位元素檢查是否滿足限差若滿足則輸出外方位元素將整個過程作為一個函數繼續進行右片的外方位元素求解求解各外方位元素精度空間前方交會利用已求得的角元素計算2張像片各自的旋轉矩陣利用已求得的線元素Xs1，Ys1，Zs1，p0，,w01，k01；Xs2，Ys2，Zs2，p02，w02，k02，計算基線分量：Bx=Xs2-Xs1；By=Ys2-Ys1；Bz=Zs2-Zs1；輸入像片坐標，利用旋轉矩陣求解想空間輔助坐標計算點投影系數：N1=(Bx*Z2-Bz*X2)/(X1*Z2-X2*Z1)；N2=(Bx*Z1-

6、Bz*X1)/(X1*Z2-X2*Z1)；計算地面攝影測量坐標Xt=(N1*X1+Xs1)+(N2*X2+Xs2)/2；Yt=(N1*Y1+Ys1)+(N2*Y2+Ys2)/2；Zt=(N1*Z1+Zs1)+(N2*Z2+Zs2) /2 ；結束程序 程序中的主要函數設計子函數（矩陣求積multiply，計算函數Resection，矩陣轉置transpose，矩陣求逆inMerse1，輸出函數shuchu，左片的外方位元素求解函數zuobian。右片的外方位元素求解函數youbian。） 程序源代碼#include stdio.h#include math.hdouble Xs1,Xs2,Ys1

7、,Ys2,Zs1,Zs2,p01,p02,w01,w02,k01,k02;/求矩陣a的轉置矩陣b，a為m行、n列void transpose(double *a, double *b, int m, int n);/矩陣a乘以矩陣b，結果存儲在c中，a為mn大小，b為nl大小void multiply(double *a, double *b, double *c, int m, int n, int l);/求矩陣a的逆int inMerse1(double *a, int n);/輸出m行、n列的矩陣avoid shuchu(double *a, int m, int n);/計算并輸出左

8、片的外方位元素void zuobian();/計算并輸出右片的外方位元素void youbian();void zuobian() FILE *fp = NULL;FILE *fp1 = NULL;if(fp=fopen(F:image.txt,r) = NULL)printf(Open file error!);return;if(fp1=fopen(F:ground.txt,r) = NULL)printf(Open file error!);return;/像點坐標和地面點坐標double imagecontrol42=0.0;double groundcontrol43=0.0;/攝影

9、比例尺分母double m = 9943;double f=0.15;long i,j,k; for(i=0; i4; i+)for(j=0; j2; j+)fscanf(fp, %lf, &imagecontrolij);imagecontrolij /= 1000.0;for(k=0; k3; k+)fscanf(fp1, %lf, &groundcontrolik);fclose(fp);fclose(fp1); /計算外方位元素初始值for( i=0;i4;i+)Xs1+=groundcontroli0;Ys1+=groundcontroli1;Zs1+=groundcontroli2

10、;Xs1/=4.0;Ys1/=4.0; Zs1/=4.0;Zs1+=m*f;double R33=0.0;double L3=0.0,L1=0.0,L2=0.0;double L81=0.0,x=0.0,y=0.0;double A86=0.0,AT68=0.0,ATA66=0.0,B68=0.0;double V61=0.0;int n=0;do/計算旋轉矩陣R00=cos(p01)*cos(k01)-sin(p01)*sin(w01)*sin(k01);R01=(-1)*cos(p01)*sin(k01)-sin(p01)*sin(w01)*cos(k01);R02=(-1)*sin(p0

11、1)*cos(w01);R10=cos(w01)*sin(k01);R11=cos(w01)*cos(k01);R12=(-1)*sin(w01);R20=sin(p01)*cos(k01)+cos(p01)*sin(w01)*sin(k01);R21=(-1)*sin(p01)*sin(k01)+cos(p01)*sin(w01)*cos(k01);R22=cos(p01)*cos(w01);for(i=0,j=0;j=0.00001|fabs(V40)=0.00001|fabs(V50)=0.00001);R00=cos(p01)*cos(k01)-sin(p01)*sin(w01)*si

12、n(k01);R01=(-1)*cos(p01)*sin(k01)-sin(p01)*sin(w01)*cos(k01);R02=(-1)*sin(p01)*cos(w01);R10=cos(w01)*sin(k01);R11=cos(w01)*cos(k01);R12=(-1)*sin(w01);R20=sin(p01)*cos(k01)+cos(p01)*sin(w01)*sin(k01);R21=(-1)*sin(p01)*sin(k01)+cos(p01)*sin(w01)*cos(k01);R22=cos(p01)*cos(w01);/進行未知數的精度評定double AV81,X8

13、1,XT18,XTX11,mo,D66,mi6;multiply(&A00,&V00,&AV00,8,6,1);for(i=0;i8;i+)Xi0=AVi0-Li0;transpose(&X00,&XT00,8,1);multiply(&XT00,&X00,&XTX00,1,8,1);mo=XTX00/2; for(i=0;i6;i+)for(j=0;j6;j+)Dij=mo*ATAij; for(i=0;i6;i+)mii=sqrt(Dii);printf(左片結果為：nn);printf(旋轉矩陣R為：n);shuchu(&R00,3,3);printf(外方為元素為：n);printf(

14、Xs1=%lfn,Xs1);printf(Ys1=%lfn,Ys1);printf(Zs1=%lfn,Zs1);printf(p01=%lfn,p01);printf(w01=%lfn,w01);printf(k01=%lfn,k01);printf(各外方位元素精度為：n); printf(m1=%lfnm2=%lfnm3=%lfnm4=%lfnm5=%lfnm6=%lfn,mi0,mi1,mi2,mi3,mi4,mi5);printf(迭代次數為：%dnnnn,n);fclose(fp);void youbian()FILE *fp = NULL;FILE *fp1 = NULL;if(f

15、p=fopen(F:image2.txt,r) = NULL)printf(Open file error!);return;if(fp1=fopen(F:ground.txt,r) = NULL)printf(Open file error!);return;/像點坐標和地面點坐標double imagecontrol42=0.0;double groundcontrol43=0.0;/攝影比例尺分母double m = 10177;double f=0.15;long i,j,k; for(i=0; i4; i+)for(j=0; j2; j+)fscanf(fp, %lf, &image

16、controlij);imagecontrolij /= 1000.0;for(k=0; k3; k+)fscanf(fp1, %lf, &groundcontrolik);fclose(fp);fclose(fp1); /計算外方位元素初始值for( i=0;i4;i+)Xs2+=groundcontroli0;Ys2+=groundcontroli1;Zs2+=groundcontroli2;Xs2/=4.0;Ys2/=4.0; Zs2/=4.0;Zs2+=m*f;double R33=0.0;double L3=0.0,L1=0.0,L2=0.0;double L81=0.0,x=0.0

17、,y=0.0;double A86=0.0,AT68=0.0,ATA66=0.0,B68=0.0;double V61=0.0;int n=0;doR00=cos(p02)*cos(k02)-sin(p02)*sin(w02)*sin(k02);R01=(-1)*cos(p02)*sin(k02)-sin(p02)*sin(w02)*cos(k02);R02=(-1)*sin(p02)*cos(w02);R10=cos(w02)*sin(k02);R11=cos(w02)*cos(k02);R12=(-1)*sin(w02);R20=sin(p02)*cos(k02)+cos(p02)*sin

18、(w02)*sin(k02);R21=(-1)*sin(p02)*sin(k02)+cos(p02)*sin(w02)*cos(k02);R22=cos(p02)*cos(w02);for(i=0,j=0;j=0.00001|fabs(V40)=0.00001|fabs(V50)=0.00001);R00=cos(p02)*cos(k02)-sin(p02)*sin(w02)*sin(k02);R01=(-1)*cos(p02)*sin(k02)-sin(p02)*sin(w02)*cos(k02);R02=(-1)*sin(p02)*cos(w02);R10=cos(w02)*sin(k02

19、);R11=cos(w02)*cos(k02);R12=(-1)*sin(w02);R20=sin(p02)*cos(k02)+cos(p02)*sin(w02)*sin(k02);R21=(-1)*sin(p02)*sin(k02)+cos(p02)*sin(w02)*cos(k02);R22=cos(p02)*cos(w02);/進行未知數的精度評定double AV81,X81,XT18,XTX11,mo,D66,mi6;multiply(&A00,&V00,&AV00,8,6,1);for(i=0;i8;i+)Xi0=AVi0-Li0;transpose(&X00,&XT00,8,1)

20、;multiply(&XT00,&X00,&XTX00,1,8,1);mo=XTX00/2; for(i=0;i6;i+)for(j=0;j6;j+)Dij=mo*ATAij; for(i=0;i6;i+)mii=sqrt(Dii);printf(右片結果為：nn);printf(旋轉矩陣R為：n);shuchu(&R00,3,3);printf(外方為元素為：n);printf(Xs2=%lfn,Xs2);printf(Ys2=%lfn,Ys2);printf(Zs2=%lfn,Zs2);printf(p02=%lfn,p02);printf(w02=%lfn,w02);printf(k02

21、=%lfn,k02);printf(各外方位元素精度為：n); printf(m1=%lfnm2=%lfnm3=%lfnm4=%lfnm5=%lfnm6=%lfn,mi0,mi1,mi2,mi3,mi4,mi5);printf(迭代次數為：%dn,n);fclose(fp);/求矩陣a的轉置矩陣b，a為m行、n列void transpose(double *a, double *b, int m, int n)int i,j;for(i=0;im;i+)for(j=0;jn;j+)bj*m+i = ai*n+j;/矩陣a乘以矩陣b，結果存儲在c中，a為mn大小，b為nl大小void multi

22、ply(double *a, double *b, double *c, int m, int n, int l)int i,j,k;double t;for(i=0;im;i+)for(j=0;jl;j+)t=0;for(k=0;kn;k+)t += ai*n+k*bk*l+j;ci*l+j=t;/求矩陣a的逆int inMerse1(double *a, int n)int *is, *js, i, j, k, l, u, M;double d,p;is = new intn;js = new intn;for(k=0; k=n-1; k+)d=0.0;for(i=k; i=n-1; i+

23、)for(j=k; jd) d=p; isk=i; jsk=j;if(d+1.0=1.0)delete is;delete js;printf(Error, not inMerse!n);return 0;if(isk != k)for(j=0; j=n-1; j+)u=k*n+j; M=isk*n+j;p=au; au=aM; aM=p; if(jsk!=k)for(i=0; i=n-1; i+)u=i*n+k;M=i*n+jsk;p=au; au=aM; aM=p;l=k*n+k;al=1.0/al;for(j=0; j=n-1; j+)if(j!=k)u=k*n+j; au=au*al;

24、for(i=0; i=n-1; i+)if(i!=k)for(j=0; j=n-1; j+)if(j!=k)u=i*n+j;au=au-ai*n+k*ak*n+j; for(i=0; i=0; k-)if (jsk!=k)for(j=0; j=n-1; j+) u=k*n+j; M=jsk*n+j;p=au; au=aM; aM=p; if(isk!=k)for(i=0; i=n-1; i+) u=i*n+k; M=i*n+isk;p=au; au=aM; aM=p;delete is;delete js;return 1;/輸出m行、n列的矩陣avoid shuchu(double *a,

25、int m, int n)int i,j;for(i=0;im;i+)for(j=0;jn;j+)printf(%9lf ,ai*n+j);printf(n);void main()zuobian();youbian();double a11,a12,a13,a21,a22,a23,b11,b12,b13,b21,b22,b23,c11,c12,c13,c21,c22,c23;double x1,y1,x2,y2,X1,Y1,Z1,X2,Y2,Z2,N1,N2,Xt,Yt,Zt,Bx,By,Bz;double f=0.15;scanf(x1=%lf,y1=%lf,x2=%lf,y2=%lf,&

26、x1,&y1,&x2,&y2); /scanf(y1=%lf,&y1);/printf(x2=); /scanf(x2=%lf,&x2);/旋轉矩陣a11=cos(p01)*cos(k01)-sin(p01)*sin(w01)*sin(k01); a12=(-1)*cos(p01)*sin(k01)-sin(p01)*sin(w01)*cos(k01);a13=(-1)*sin(p01)*cos(w01);a21=cos(p02)*cos(k02)-sin(p02)*sin(w02)*sin(k02); a22=(-1)*cos(p02)*sin(k02)-sin(p02)*sin(w02)*

27、cos(k02);a23=(-1)*sin(p02)*cos(w02);b11=cos(w01)*sin(k01);b12=cos(w01)*cos(k01);b13=(-1)*sin(w01);b21=cos(w02)*sin(k02);b22=cos(w02)*cos(k02);b23=(-1)*sin(w02);c11=sin(p01)*cos(k01)+cos(p01)*sin(w01)*sin(k01);c12=(-1)*sin(p01)*sin(k01)+cos(p01)*sin(w01)*cos(k01);c13=cos(p01)*cos(w01);c21=sin(p02)*co

28、s(k02)+cos(p02)*sin(w02)*sin(k02);c22=(-1)*sin(p02)*sin(k02)+cos(p02)*sin(w02)*cos(k02);c23=cos(p02)*cos(w02);/計算各待定點的像空間輔助坐標X1=a11*x1/1000+a12*y1/1000-a13*f;Y1=b11*x1/1000+b12*y1/1000-b13*f;Z1=c11*x1/1000+c12*y1/1000-c13*f;X2=a21*x2/1000+a22*y2/1000-a23*f;Y2=b21*x2/1000+b22*y2/1000-b23*f;Z2=c21*x2/1000+c22*y2/1000-c23*f;/計算攝影基線分量Bx=Xs2-Xs1;By=Ys2-Ys1;Bz=Zs2-Zs1;/計算點投影系數N1=(Bx*Z2-Bz*X2)/(X1*Z2-X2*Z1);N2=(Bx*Z1-Bz*X1)/(X1*Z2-X2*Z1);/計算待定點的地面攝影測量坐標Xt=(N1*X1+Xs1)+(N2*X2+Xs2)/2;Yt