A Study Of The Theory Of Orientation In Photogrammetry Based On The Description Of Quaternion

As a member of the family of numbers, quaternion has a long history and it has a lot of special properties. Quaternion was well used in many field of the engineering, especially in the field of the navigation it can faultlessly express the position of the aircraft and avoid the singularity caused by the using of the Eulerian angles. With the sustainment of the national natural science fund, a part of theory of the orientation in photogrammetry based on the description of quaternion has been finished. The article primarily makes research as following:1. The method for using unit quaternion describing spatial rotational matrix has been given and proved. Based on quaternion theory, a new collinearity condition equation is proposed. It is the theory's gist of the innovation of the orientation in photogrammetry.2. Using the characters of unit quaternion, a linearization precept of the collinearity condition equation described by unit quaternion has been proved through the rigorous analysis formula.3. The model of space resection algorithm using unit quaternion based on the theory of pyramid was presented and proved that was correct and feasible by many system experimentations.4. The model of space resection algorithm using unit quaternion based on the theory of collinear equation was presented. The article discussed particularly the method and flowline of calculation. Through the comparing experimentations in three methods of space resection algorithm, we proved 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 characters of fewer times in iteration, shorter time in solution and so on.5. A new bundle block adjustment model is established based on the collinearity condition equation expressed by unit quaternion. Using the theory of bundle block adjustment and unit quaternion's characters, we finished the experimentation of integrated calculation of stereomodel's position and pose elementary, when photographic attitude changed constantly and photos' slope angle increased constantly. Through the experimentation we proved that integrated calculation of stereomodel's position and pose elementary using unit quaternion have some merit. It's solution's precision will not be influenced by the photo's declination and the method has a strong stability. Through the comparing experimentations using the actual datum of aerial photography, we prove that the bundle block adjustment based the theory of unit quaternion is a feasible method.