基于单位四元数的无初值依赖空间后方交会

Space Resection Independent of Initial Value Based on Unit Quaternions

为解决基于欧拉角的传统空间后方交会算法对初值强烈依赖的问题,提出一种利用四元数描述姿态的解算方法。本算法采用单位四元数描述旋转矩阵,然后对严格的共线条件方程进行线性化,并按照带有约束条件的间接平差进行迭代解算。试验表明本算法的可靠性和稳定性不依赖于像片位置和姿态的初值,并具有迭代次数少和解算时间短等优点。

For solving the problem,in which the traditional space resection algorithm based on Euler angles depends strongly on the initial value, a solution which uses quaternions to describe attitude is presented. Firstly the unit quaternions are used to describe rotation matrix in the algorithm. Then the strict collinear equation is linearized, and at the same time it is calculated using iteration method according to indirect adjustment with constraints. The test proves that the reliability and stability of the algorithm are both independent of the image＇ s initial values of position and attitude, and the algorithm possesses the advantages of fewer times in iteration, shorter time in solution and so on.