GPS/INS系统HPR与OPK角元素的剖析与转换

Analysis of and transformation between HPR and OPK angles for the GPS/INS system

介绍了Heading Pitch Roll(HPR)和Omega Phi Kappa(OPK)两种角元素系统的定义,分析了HPR与OPK之间的区别,给出了相互转换的基本思路,并重点推导了利用GPS/INS系统获取的HPR角度和惯性测量单元(IMU)几何中心坐标计算影像外方位元素的数学公式和各种旋转矩阵的构成。实验结果表明,文中利用HPR角计算外方位元素的理论与方法正确、可行。

The definition of two kinds of angle systems,the Heading Pitch Roll(HPR)and Omega Phi Kappa(OPK),are introduced at first.Then the difference is analyzed and the basic theory to transform one to another is developed.The emphasis of the paper is to derive the equations to compute the exterior orientation elements and construct related rotation matrixes with HPR angles and geometric center coordinates of Inertial Measuring Unit(IMU)acquired by GPS/INS system.Test result shows that the theory and method to calculate the exterior orientation elements is right and feasible.