基于LM方法的单位四元数光束法平差模型解算

A Solution to Unit Quaternion Bundle Adjustment Model Based on LM Method

以单位四元数描述遥感影像共线条件方程,建立基于单位四元数的光束法平差模型。针对共线条件方程的非线性问题,基于LM(Levenberg-Marquardt)方法解算单位四元数光束法平差模型,并引入丹麦法实现无人机影像外方位元素的抗差估计。基于仿真数据和无人机影像对该方法进行了验证,结果表明:与基于单位四元数的无初值依赖算法进行比较,LM方法具有与单位四元数法相当的可靠性;引入丹麦法方法后可消除粗差观测值对参数估计的不利影响,得到较高精度的外方位元素估值。

In tJiis paper,the col linearity equation of the remote image is described by the unit quaternion.Then the unit quaternion bundle adjustment model is constructed.For the nonlinear problem of the col linearity equation, the LM （Levenberg-Marquardt） method is proposed to solve the quaternion bundle adjustment model. The robust estimation method of the UAV image orientation elements is available based on the Danish method. The feasibi lity of the proposed method is validated based on the simulation and UAV images. The experiment also shows that the rel iabi l i ty of the LM method is equal to the unit quaternion method. The robust estimation method of the UAV image orientation elements is available and reliable based on the Danish method.