一种基于四元数的空间后方交会全局收敛算法

摘要

结合四元数在摄影测量中的良好应用，提出一种基于四元数的空间后方交会全局收敛算法。该算法利用四元数描述影像姿态，采用绝对定向和正交投影两种变换来代替中心投影的共线条件方程，再利用非线性方程直接迭代的方法进行求解，从而无需进行线性化，最后从理论上对算法的全局收敛性进行了证明。试验结果表明该算法正确可靠，对外方位元素初值没有要求，真正做到无初值依赖空间后方交会，具有很好的稳定性和适应性。%A globally convergent algorithm of space resection based on quaternion is presented by combining good application of quaternion in photogrammetry, Firstly the unit quaternion is used to describe the attitude of the image in this algorithm, and absolute orientation equation and orthogonal projection formula are used to replace the collinear equation. Then the iterativesolution of nonlinear equation is used to solve this problem. So that, the linearization of collinear equation is needless. Lastly the globally convergent property of this algorithm is proved in theory. Experimental results indicate that this algorithm, which is a real space resection solution independent of initial values, is right, stable and adaptive, and have no requirement for initial values of exterior orientation elements.