基于单位四元数的单独像对相对定向

摘要

目前对单位四元数描述空间旋转的应用，基本上是将其转换成旋转矩阵的形式，而忽略了单位四元数描述空间向量旋转具有描述几何关系的直观性以及运算简洁的优势。基于此提出一种基于单位四元数的单独像对相对定向法，方法首先采用向量描述同名光线，然后利用单位四元数描述立体像对中左右影像同名光线的变换关系，建立单位四元数共面条件方程模型，再按照带有约束条件的间接平差原理进行最小二乘平差，确定相对定向元素。针对RC30航空影像和低空无人机影像采用单位四元数法分别进行单独像对相对定向实验，结果表明单位四元数相对定向方法计算精度较高，为解决摄影测量中坐标变换问题提供更多选择。%The main method of describing spatial rotation with unit quaternion is rotation matrix ,without considering property of unit quaternion .Unit quaternion can intuitively and succinctly describe rotation of vectors .Based on this ,an innovative method in the independent relative orientation based on unit quaternion is proposed .The algorithm describes corresponding image rays as vectors ,then uses unit quaternion to describe the rotational relationship of corresponding image rays .Coplanarity condition equation is linearized by the eight elements of two unit quaternion and elements of relative orientation and calculated using an iterative method according to indirect adjustment with constraints .The relative orientation of RC30 aerial images and UAV images are realized with method unit quaternion and method Euler angles .The results show that the relative orientation accuracy of the method unit quaternion is better than method Euler angle .It provides more options to solve the problems of coordinate transformation in photogrammetry .