基于单位四元数的绝对定向直接解法

摄影测量学中传统的绝对定向一般是迭代算法,需要比较准确的迭代初值。在简要介绍四元数的基础上,通过严格的理论推导得到了一套无需迭代、直接求解绝对定向参数的算法。算法的主要原理是用单位四元数描述坐标旋转变换关系,并将绝对定向问题转变为一个最优化问题进行求解。最后通过模拟数据进行仿真计算试验,验证了算法的正确性和可靠性。

A Close-form Solution of Absolute Orientation Using Unit Quaternions

The algorithm for traditional absolute orientation is an iterative algorithm which needs relatively accurate iterative initial value.Based on quaternion,a close-form solution is put forward in the paper which is used to calculate absolute orientation parameters without iteration method by way of strict theoretical deduction.The principal theories are as follows.Firstly,the unit quaternion is used to describe the rotational conversion relation of the coordinates.Then the problem about absolute orientation is transformed into a problem about optimization to solve.Finally,a simulation test using analogue data is carried out to validate the correctness and reliability of the algorithm.