Analytic absolute orientation relation of photogrammetry model

Similarity transformation relation of spatial coordinates of model points. It has seven undetermined parameters, such as coordinate origin translation (three parameters), model space rotation (three parameters) and scale coefficient. The linear similarity transformation of three dimensions is:

Where r is the rotation matrix of the direction cosine composed of three absolute direction angles φ, ω and k as functions; XG, YG and ZG are the coordinate values of the center of gravity of the model (take the average of the coordinates of each point in the model); Dock, dock and dock are the coordinate values of the model points with the center of gravity as the origin before absolute orientation.

* * * line condition equation, * * plane condition agenda and spatial similarity transformation relation can be used to solve the external orientation elements of photos, relative orientation elements and absolute orientation elements of image pairs respectively. At this time, it is necessary to linearize the above strict relationship and solve it by least square method in the case of redundant observations.