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1、目录一、目的与要求3二、实验数学模型与算法分析3三、程序流程图4四、实验代码5五、实验结果截图10六、实验总结11一实验目的 掌握摄影测量空间后方交会的原理，利用计算机编程语言实现空间后方交会外方位元素的解算。二实验数据与实验设备计算机windows7系统，编程软件VS2015，地面控制点在摄影测量坐标系中的坐标与其像点坐标文件data.txt。条件摄影机主距f=153.24mm，x0=0.01mm，y0=-0.02mm, 像片比例尺为1:40000，像片上四个像点的框标坐标与其对应的地面坐标如下表。点号像点坐标地面坐标x(mm)y(mm)X(m)Y(m)Z(m)1-86.15-68.9936
2、589.4125273.322195.172-53.4082.2137631.0831324.51728.693-14.78-76.6339100.9724934.982386.50410.4664.4340426.5430319.81757.31以单像空间后方交会方法，求解该像片的外方位元素。三实验所用到的数学公式与程序计算步骤。单影像的空间后方交会：利用地面控制点数据与相应像点坐标 根据共线方程反求影像的外方位元素。 数学模型：共线条件方程式：求解过程：1获取数据。从航摄资料中查取平均航高与摄影机主距；获取控制点的地面测量坐标并转换为地面摄影测量坐标。2量测控制点的像点坐标并做系统改正。3
3、确定未知数的初始值。在竖直摄影且地面控制点大致分布均匀的情况下，按如下方法确定初始值，即：q=w=k=0 式中:m为摄影比例尺分母；n为控制点个数。4用三个角元素的初始值，计算个方向余弦，组成旋转矩阵R。5逐点计算像点坐标的近似值。利用未知数的近似值和控制点的地面坐标代入共线方程式，逐点计算像点坐标的近似值x、y。6逐点计算误差方程式的系数和常数项，组成误差方程式。7计算法方程的系数矩阵A和常数项L，组成法方程式。8解法方程，求得外方位元素的改正数dXs，dYs，dZs，dq，dw，dk。9用前次迭代取得的近似值，加本次迭代的改正数，计算外方位元素的新值。（10） 将求得的外方位元素改正数与规
4、定的限差比拟，假设小于限差那么迭代完毕。否那么用新的近似值重复49，直到满足要求为止。四程序流程图。五程序的主要源代码如下所示：#include stdafx.h#include KongJianHouFangJiaoHui.h#include KongJianHouFangJiaoHuiDlg.h#include afxdialogex.h#include CeHuiLei.h#include Matrix.h#ifdef _DEBUG#define new DEBUG_NEW#endifCMatrix xyXYZ;int ButtonClickeOk = 1;void CKongJianH
5、ouFangJiaoHuiDlg:OnBnClickedOk()/导入测量数据按钮代码CFileDialog dlgOpenFile(TRUE, _T(txt), NULL,OFN_FILEMUSTEXIST, _T(文本文件)|*.txt|(所有文件|*.*)|);if (dlgOpenFile.DoModal() = IDCANCEL)return;/如果选择取消按钮，那么退出CString strPathName = dlgOpenFile.GetPathName();/获取选择的文件的完整路径CString strFileTitle = dlgOpenFile.GetFileTitle
6、();/获取文件名CString strExtName = dlgOpenFile.GetFileExt();/获取文件扩展名CStdioFile sf; /创建文件对象/以读的形式打开文件，如果打开失败if (!sf.Open(strPathName, CFile:modeRead)MessageBox(_T(读取文件出错！);return;CString strLine;/存放每一行文本CStringArray strSplit;CeHuiLei SplitString;int hang = 0;while (sf.ReadString(strLine)if (hang = 1)hang+
7、;else int n = SplitString.SplitStringArray(strLine, , strSplit);int index1 = m_list1.GetItemCount();CString sno1 = _T();sno1.Format(_T(%d), index1 + 1);int nR = m_list1.InsertItem(index1, sno1);for (int i = 0; i 5; i+)m_list1.SetItemText(index1, i + 1, strSpliti);sf.Close();int Line = m_list1.GetIte
8、mCount();CMatrix listXYZ(Line, 5);for (int i = 0; i Line; i+)for (int j = 0; j 5;j+)listXYZ(i,j)=_wtof(m_list1.GetItemText(i, j + 1);xyXYZ = listXYZ;ButtonClickeOk = 0;/表示导入数据按钮已被点击并且已导入数据CMatrix CKongJianHouFangJiaoHuiDlg:GetX(CMatrix A, CMatrix L)/计算外方位元素改正数矩阵CMatrix X,_A,_AA,N_AA;_A = A;/A的转置_AA
9、= _A*A;N_AA = _AA.Inv();/_AA的逆矩阵X = N_AA*_A*L;return X;CMatrix CKongJianHouFangJiaoHuiDlg:GetA(CMatrix xyXYZ, double f, CMatrix #)/计算系数矩阵Aint iRow = xyXYZ.Row();CMatrix A(2 * iRow, 6);double XS = #(0, 0);double YS = #(0, 1);double ZS = #(0, 2);double w = #(0, 4);double k = #(0, 5);double q = #(0, 3)
10、;double a1 = cos(q)*cos(k) - sin(q)*sin(w)*sin(k);double a2 = -cos(q)*sin(k) - sin(q)*sin(w)*cos(k);double a3 = -sin(q)*cos(w);double b1 = cos(w)*sin(k);double b2 = cos(w)*cos(k);double b3 = -sin(w);double c1 = sin(q)*cos(k) + cos(q)*sin(w)*sin(k);double c2 = -sin(q)*sin(k) + cos(q)*sin(w)*cos(k);do
11、uble c3 = cos(q)*cos(w);f = f / 1000.0;for (int i = 0; i iRow; i+)double ZA = xyXYZ(i, 4);double XA = xyXYZ(i, 2);double YA = xyXYZ(i, 3);double x = (xyXYZ(i, 0)-_wtof(strx0)/1000.0;double y = (xyXYZ(i, 1)-_wtof(stry0)/1000.0;double _Z = a3*(XA - XS) + b3*(YA - YS) + c3*(ZA - ZS);A(2*i, 0) = (a1*f +
12、 a3*x) / _Z;A(2*i, 1) = (b1*f + b3*x) / _Z;A(2*i, 2) = (c1*f + c3*x) / _Z;A(2*i, 3) = y*sin(w) - (x*(x*cos(k) - y*sin(k) / f + f*cos(k)*cos(w);A(2*i, 4) = -f*sin(k) - x*(x*sin(k) + y*cos(k) / f;A(2*i, 5) = y;A(2*i+1, 0) = (a2*f + a3*y) / _Z;A(2 * i + 1, 1) = (b2*f + b3*y) / _Z;A(2 * i + 1, 2) = (c2*
13、f + c3*y) / _Z;A(2 * i + 1, 3) = -x*sin(w) - (y*(x*cos(k) - y*sin(k) / f - f*sin(k)*cos(w);A(2 * i + 1, 4) = -f*cos(k) - y/ f*(x*sin(k) + y*cos(k);A(2 * i + 1, 5) = -x;return A;CMatrix CKongJianHouFangJiaoHuiDlg:GetL(CMatrix xyXYZ, double f, CMatrix #)/计算L矩阵int iRow = xyXYZ.Row();CMatrix L(2 * iRow,
14、 1);double XS = #(0, 0);double YS = #(0, 1);double ZS = #(0, 2);double w = #(0, 4);double k = #(0, 5);double q = #(0, 3);double a1 = cos(q)*cos(k) - sin(q)*sin(w)*sin(k);double a2 = -cos(q)*sin(k) - sin(q)*sin(w)*cos(k);double a3 = -sin(q)*cos(w);double b1 = cos(w)*sin(k);double b2 = cos(w)*cos(k);d
15、ouble b3 = -sin(w);double c1 = sin(q)*cos(k) + cos(q)*sin(w)*sin(k);double c2 = -sin(q)*sin(k) + cos(q)*sin(w)*cos(k);double c3 = cos(q)*cos(w);f = f / 1000.0;for (int i = 0; i iRow; i+)double ZA = xyXYZ(i, 4);double XA = xyXYZ(i, 2);double YA = xyXYZ(i, 3);double x = (xyXYZ(i, 0) - _wtof(strx0) / 1
16、000.0;double y = (xyXYZ(i, 1) - _wtof(stry0) / 1000.0;double x0 = -f*(a1*(XA - XS) + b1*(YA - YS) + c1*(ZA - ZS) / (a3*(XA - XS) + b3*(YA - YS) + c3*(ZA - ZS);double y0 = -f*(a2*(XA - XS) + b2*(YA - YS) + c2*(ZA - ZS) / (a3*(XA - XS) + b3*(YA - YS) + c3*(ZA - ZS);L(2*i, 0) =x - x0;L(2*i+1, 0) =y - y
17、0;return L;void CKongJianHouFangJiaoHuiDlg:OnBnClickedButton1()/计算按钮UpdateData(true);if (ButtonClickeOk = 1)MessageBox(_T(请先点击“导入坐标按钮导入数据！), _T(提示);return;else if (strf = _T() | strm = _T() | strx0 = _T() | stry0 = _T()MessageBox(_T(请输入数据！), _T(提示);return;elseint c = strm.GetLength();double m = _wto
18、f(strm.Right(c - 2);int iRow = xyXYZ.Row();double sumX = 0;double sumY = 0;double sumZ = 0;for (int i = 0; i iRow; i+)sumX += xyXYZ(i, 2);sumY += xyXYZ(i, 3);sumZ += xyXYZ(i, 4);double XS = sumX / iRow;double YS = sumY / iRow;double ZS = sumZ / iRow + m*_wtof(strf) / 1000;double w = 0;double k = 0;d
19、ouble q = 0;CMatrix #(1, 6);#(0, 0) = XS;#(0, 1) = YS;#(0, 2) = ZS;#(0, 3) = q;#(0, 4) = w;#(0, 5) = k;CMatrix dX(6, 1);/迭代计算：do CMatrix A = GetA(xyXYZ, _wtof(strf), #);CMatrix L = GetL(xyXYZ, _wtof(strf), #);dX = GetX(A, L);for (int n = 0; n = 2.908882087e-5 | dX(4, 0) = 2.908882087e-5 | dX(5, 0) =
20、 2.908882087e-5);/各角元素迭代计算至其改正值小于6秒,6s=2.908882087e-5 弧度。CString strarray6;/输出外方位元素计算结果strarray0 = _T(XS);strarray1 = _T(YS);strarray2 = _T(ZS);strarray3 = _T(q);strarray4 = _T(w);strarray5 = _T(k);CString strOutPut = _T(外方位元素为：rn);CString str = _T();for (int i = 0; i 6; i+)str.Format(_T(%s=%.4f ), strarrayi, #(0, i);strOutPut += str;if (i = 2)strOutPut += _T(rn);MessageBox(strOutPut, _T(提示), 1);六程序运行的结果为：1导入数据和输入数据2点击计算按钮显示计算结果为：七实验总结： 通过这次的实验我学到了很多的东西，通过编程加深了对摄影测量空间后方交会相关知识的理解。在教师的严格要求下，我翻阅了很多的C+语言的书籍，看了很多的算法，这个程序最难的地方是矩阵的计算与迭代计算，以与如何将文本文档中的数据赋给程序中的矩阵，这些在以前的学习中都没有学到，感教师的严格要求。15 / 15
