Calculation flow of relative orientation elements of a single image pair

The calculation process of relative direction elements of a single image pair is as follows:

1. coordinate system: two-dimensional frame coordinate system x/y and image plane coordinate system X/Y. three-dimensional image space coordinate system S-X/Y/Z, image space auxiliary coordinate system S-U/V/W, ground survey coordinate system (left-handed system) T-Xt/Yt/Zt, ground photogrammetry coordinate system d-x/y/z. ..

2. Internal and external orientation elements: three internal orientation elements: the principal distance f and the coordinates x0 and y0 of the principal point of the image in the frame coordinate system; 6 External orientation element: 3 linear element: the coordinate value of the photography center in the ground space coordinate system Xs/Ys/Zs, usually the ground photogrammetry coordinate system is selected.

Thirdly, the information about photogrammetry is obtained from the application of collinear condition equations under different conditions, such as:

1, single image space rear intersection. It is known that the internal orientation elements x0/y0/F, the photographic scale m, the ground coordinates (X/Y/Z) of the ground control point and the corresponding image plane coordinates X/Y of a photographic photograph are solved by the six external orientation elements of the photograph.

2. The front intersection of stereo image pairs. It is known that the internal and external orientation elements and image plane coordinates (x/y) of two photos in a pair of stereo images are solved by the ground coordinates X/Y/Z of the corresponding ground points respectively.