摄影测量后方交会-前方交会(C#)
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双像解析摄影测量中的后交-前交解法，常用于已知像片的外方位元素、需确定少量待定点坐标的情况。解算过程分为两个阶段：后方交会、前方交会。
思路为利用后方交会计算外方位元素，利用前方交会解算待定地面点坐标。
后方交会的解算过程为：
（1）获取已知数据：比例尺分母m，内方位元素x0,y0,f，以及控制点的地面摄影测量坐标X、Y、Z。
（2）量测控制点的像点坐标：得到像点坐标x、y。
（3）确定未知数的初始值：在竖直摄影情况下，外方位角元素的初始值为0，即phi0=omiga0=kappa0=0;
线元素中，Zs0=H=mf，Xs0、Ys0的取值用四个控制点坐标的平均值，即Xs0=1/4*(X1+X2+X3+X4);Ys0=1/4 *（Y1+Y2+Y3+Y4）.
（4）计算旋转矩阵R：利用角元素的近似值计算方向余弦值，组成R阵。
（5）逐点计算像点坐标的近似值：利用未知数的近似值按共线方程计算控制点像点坐标的近似值（x），（y）。
（6）组成误差方程式：逐点计算误差方程式的系数和常数项。
（7）组成法方程式：计算法方程式的系数矩阵ATA与常数项ATL。
（8）解求外方位元素：根据法方程，解求外方位元素改正数，并与相应的近似值求和，得到外方位元素新的近似值。
（9）检查计算是否收敛：将求得的外方位元素的改正数与规定的限差比较，小于限差则计算终止，否则用新的近似值重复第4至第8步骤的计算，直到满足要求为止。
前方交会的解算过程：
（1）按照后方交会过程，计算出左右双片的外方位元素，用各片的外方位角元素计算左右片的方向余弦值，组成旋转矩阵R1和R2。
（2）逐点计算像点的像空间辅助坐标（u1，v1，w1）及（u2，v2，w2）。
（3）根据外方位线元素计算基线分量（Bu，Bv，Bw）。
（4）计算投影系数（N1，N2）。
（5）计算待定点在各自的像空间辅助坐标中的坐标（U1，V1，W1）及（U2，V2，W2）。
（6）最后计算待定点的地面摄影测量坐标（X，Y，Z）。
以下为C#实现代码：
using System;using System.Collections.Generic;using System.ComponentModel;using System.Data;using System.Drawing;using System.Linq;using System.Text;using System.Windows.Forms;namespace Resection{ public partial class Form1 : Form { public Form1() { InitializeComponent(); } public TextBox[] mytextbox = new TextBox[41]; //矩阵打包成类，矩阵为m * n,直接调用 public class Matrix { double[,] A; int m, n; string name; public Matrix(int am, int an) { m = am; n = an; A = new double[m, n]; name = "Result"; } public Matrix(int am, int an, string aName) { m = am; n = an; A = new double[m, n]; name = aName; } public int getM { get { return m; } } public int getN { get { return n; } } public double[,] Detail { get { return A; } set { A = value; } } public string Name { get { return name; } set { name = value; } } } /***********矩阵通用操作打包*************/ class MatrixOperator { //矩阵加法 public static Matrix MatrixAdd(Matrix Ma, Matrix Mb) { int m = Ma.getM; int n = Ma.getN; int m2 = Mb.getM; int n2 = Mb.getN; if ((m != m2) || (n != n2)) { Exception myException = new Exception("数组维数不匹配"); throw myException; } Matrix Mc = new Matrix(m, n); double[,] c = Mc.Detail; double[,] a = Ma.Detail; double[,] b = Mb.Detail; for (int i = 0; i < m; i++) for (int j = 0; j < n; j++) c[i, j] = a[i, j] + b[i, j]; return Mc; } //矩阵减法 public static Matrix MatrixSub(Matrix Ma, Matrix Mb) { int m = Ma.getM; int n = Ma.getN; int m2 = Mb.getM; int n2 = Mb.getN; if ((m != m2) || (n != n2)) { Exception myException = new Exception("数组维数不匹配"); throw myException; } Matrix Mc = new Matrix(m, n); double[,] c = Mc.Detail; double[,] a = Ma.Detail; double[,] b = Mb.Detail; for (int i = 0; i < m; i++) for (int j = 0; j < n; j++) c[i, j] = a[i, j] - b[i, j]; return Mc; } //矩阵乘法 public static Matrix MatrixMulti(Matrix Ma, Matrix Mb) { int m = Ma.getM; int n = Ma.getN; int m2 = Mb.getM; int n2 = Mb.getN; if (n != m2) { Exception myException = new Exception("数组维数不匹配"); throw myException; } Matrix Mc = new Matrix(m, n2); double[,] c = Mc.Detail; double[,] a = Ma.Detail; double[,] b = Mb.Detail; for (int i = 0; i < m; i++) for (int j = 0; j < n2; j++) { c[i, j] = 0; for (int k = 0; k < n; k++) c[i, j] += a[i, k] * b[k, j]; } return Mc; } //矩阵数乘 public static Matrix MatrixSimpleMulti(double k, Matrix Ma) { int m = Ma.getM; int n = Ma.getN; Matrix Mc = new Matrix(m, n); double[,] c = Mc.Detail; double[,] a = Ma.Detail; for (int i = 0; i < m; i++) for (int j = 0; j < n; j++) c[i, j] = a[i, j] * k; return Mc; } //矩阵转置 public static Matrix MatrixTrans(Matrix MatrixOrigin) { int m = MatrixOrigin.getM; int n = MatrixOrigin.getN; Matrix MatrixNew = new Matrix(n, m); double[,] c = MatrixNew.Detail; double[,] a = MatrixOrigin.Detail; for (int i = 0; i < n; i++) for (int j = 0; j < m; j++) c[i, j] = a[j, i]; return MatrixNew; } //矩阵求逆（伴随矩阵法） public static Matrix MatrixInvByCom(Matrix Ma) { double d = MatrixOperator.MatrixDet(Ma); if (d == 0) { Exception myException = new Exception("没有逆矩阵"); throw myException; } Matrix Ax = MatrixOperator.MatrixCom(Ma); Matrix An = MatrixOperator.MatrixSimpleMulti((1.0 / d), Ax); return An; } //对应行列式的代数余子式矩阵 public static Matrix MatrixSpa(Matrix Ma, int ai, int aj) { int m = Ma.getM; int n = Ma.getN; if (m != n) { Exception myException = new Exception("矩阵不是方阵"); throw myException; } int n2 = n - 1; Matrix Mc = new Matrix(n2, n2); double[,] a = Ma.Detail; double[,] b = Mc.Detail; //左上 for (int i = 0; i < ai; i++) for (int j = 0; j < aj; j++) { b[i, j] = a[i, j]; } //右下 for (int i = ai; i < n2; i++) for (int j = aj; j < n2; j++) { b[i, j] = a[i + 1, j + 1]; } //右上 for (int i = 0; i < ai; i++) for (int j = aj; j < n2; j++) { b[i, j] = a[i, j + 1]; } //左下 for (int i = ai; i < n2; i++) for (int j = 0; j < aj; j++) { b[i, j] = a[i + 1, j]; } //符号位 if ((ai + aj) % 2 != 0) { for (int i = 0; i < n2; i++) b[i, 0] = -b[i, 0]; } return Mc; } //矩阵的行列式,矩阵必须是方阵 public static double MatrixDet(Matrix Ma) { int m = Ma.getM; int n = Ma.getN; if (m != n) { Exception myException = new Exception("数组维数不匹配"); throw myException; } double[,] a = Ma.Detail; if (n == 1) return a[0, 0]; double D = 0; for (int i = 0; i < n; i++) { D += a[1, i] * MatrixDet(MatrixSpa(Ma, 1, i)); } return D; } //矩阵的伴随矩阵 public static Matrix MatrixCom(Matrix Ma) { int m = Ma.getM; int n = Ma.getN; Matrix Mc = new Matrix(m, n); double[,] c = Mc.Detail; double[,] a = Ma.Detail; for (int i = 0; i < m; i++) for (int j = 0; j < n; j++) c[i, j] = MatrixDet(MatrixSpa(Ma, j, i)); return Mc; } } private void button1_Click(object sender, EventArgs e) //计算左片后方交会 { double[] x = { Convert.ToDouble(t1.Text), Convert.ToDouble(t6.Text), Convert.ToDouble(t11.Text), Convert.ToDouble(t16.Text) }; double[] y = { Convert.ToDouble(t2.Text), Convert.ToDouble(t7.Text), Convert.ToDouble(t12.Text), Convert.ToDouble(t17.Text) }; double[] X = { Convert.ToDouble(t3.Text), Convert.ToDouble(t8.Text), Convert.ToDouble(t13.Text), Convert.ToDouble(t18.Text) }; double[] Y = { Convert.ToDouble(t4.Text), Convert.ToDouble(t9.Text), Convert.ToDouble(t14.Text), Convert.ToDouble(t19.Text) }; double[] Z = { Convert.ToDouble(t5.Text), Convert.ToDouble(t10.Text), Convert.ToDouble(t15.Text), Convert.ToDouble(t20.Text) }; double f = Convert.ToDouble(t22.Text) / 1000, _m = Convert.ToDouble(t21.Text); for (int i = 0; i < 4; i++) //单位换算 { x[i] = x[i] / 1000; y[i] = y[i] / 1000; } /////定义外方位元素，并附初值 double Xs, Ys, Zs, phi = 0, omiga = 0, kappa = 0; Xs = (X[0] + X[1] + X[2] + X[3]) / 4.0; Ys = (Y[0] + Y[1] + Y[2] + Y[3]) / 4.0; Zs = _m * f; /////定义x,y近似值,即计算值 double[] _x = new double[4]; double[] _y = new double[4]; /////定义共线方程中的分子分母项，便于计算 double[] _X = new double[4]; double[] _Y = new double[4]; double[] _Z = new double[4]; /////定义旋转矩阵R double[,] R = new double[3, 3]; double[,] L = new double[8, 1];//误差方程中的常数项 double[,] XX = new double[6, 1];//X向量 /////开始迭代 do { /////计算旋转矩阵 R[0, 0] = Math.Cos(phi) * Math.Cos(kappa) - Math.Sin(phi) * Math.Sin(omiga) * Math.Sin(kappa);//a1 R[0, 1] = -Math.Cos(phi) * Math.Sin(kappa) - Math.Sin(phi) * Math.Sin(omiga) * Math.Cos(kappa);//a2 R[0, 2] = -Math.Sin(phi) * Math.Cos(omiga);//a3 R[1, 0] = Math.Cos(omiga) * Math.Sin(kappa);//b1 R[1, 1] = Math.Cos(omiga) * Math.Cos(kappa);//b2 R[1, 2] = -Math.Sin(omiga);//b3 R[2, 0] = Math.Sin(phi) * Math.Cos(kappa) + Math.Cos(phi) * Math.Sin(omiga) * Math.Sin(kappa);//c1 R[2, 1] = -Math.Sin(phi) * Math.Sin(kappa) + Math.Cos(phi) * Math.Sin(omiga) * Math.Cos(kappa);//c2 R[2, 2] = Math.Cos(phi) * Math.Cos(omiga);//c3 for (int i = 0; i < 4; i++) { //用共线方程计算 x，y 的近似值 ,即计算值 _X[i] = R[0, 0] * (X[i] - Xs) + R[1, 0] * (Y[i] - Ys) + R[2, 0] * (Z[i] - Zs); _Y[i] = R[0, 1] * (X[i] - Xs) + R[1, 1] * (Y[i] - Ys) + R[2, 1] * (Z[i] - Zs); _Z[i] = R[0, 2] * (X[i] - Xs) + R[1, 2] * (Y[i] - Ys) + R[2, 2] * (Z[i] - Zs); _x[i] = -f * _X[i] / _Z[i]; _y[i] = -f * _Y[i] / _Z[i]; } Matrix B = new Matrix(8, 6, "B");//4个控制点，每个是2行6列，4个是8行6列 int n = B.getN; int m = B.getM; double[,] b = B.Detail; for (int i = 0; i < 4; i++) { //计算系数矩阵 b[2 * i, 0] = (R[0, 0] * f + R[0, 2] * x[i]) / _Z[i]; b[2 * i, 1] = (R[1, 0] * f + R[1, 2] * x[i]) / _Z[i]; b[2 * i, 2] = (R[2, 0] * f + R[2, 2] * x[i]) / _Z[i]; b[2 * i, 3] = y[i] * Math.Sin(omiga) - ((x[i] / f) * (x[i] * Math.Cos(kappa) - y[i] * Math.Sin(kappa)) + f * Math.Cos(kappa)) * Math.Cos(omiga); b[2 * i, 4] = -f * Math.Sin(kappa) - (x[i] / f) * (x[i] * Math.Sin(kappa) + y[i] * Math.Cos(kappa)); b[2 * i, 5] = y[i]; b[2 * i + 1, 0] = (R[0, 1] * f + R[0, 2] * y[i]) / _Z[i]; b[2 * i + 1, 1] = (R[1, 1] * f + R[1, 2] * y[i]) / _Z[i]; b[2 * i + 1, 2] = (R[2, 1] * f + R[2, 2] * y[i]) / _Z[i]; b[2 * i + 1, 3] = -x[i] * Math.Sin(omiga) - ((x[i] / f) * (x[i] * Math.Cos(kappa) - y[i] * Math.Sin(kappa)) - f * Math.Sin(kappa)) * Math.Cos(omiga); b[2 * i + 1, 4] = -f * Math.Cos(kappa) - (y[i] / f) * (x[i] * Math.Sin(kappa) + y[i] * Math.Cos(kappa)); b[2 * i + 1, 5] = -x[i]; //计算常数项 L[2 * i, 0] = x[i] - _x[i]; L[2 * i + 1, 0] = y[i] - _y[i]; } Matrix C = MatrixOperator.MatrixTrans(B); //系数矩阵的转置矩阵 C.Name = "C"; Matrix D = MatrixOperator.MatrixMulti(C, B); //系数矩阵与其转置矩阵相乘 D.Name = "C*B"; Matrix dn = MatrixOperator.MatrixInvByCom(D); //系数矩阵与其转置矩阵积的逆矩阵 dn.Name = "dn"; Matrix dn2 = MatrixOperator.MatrixMulti(dn, C); //ATA的逆阵乘以A的转置 dn2.Name = "dn2"; double[,] ATARAT = dn2.Detail; ////计算ATARAT * L，存在XX中 for (int i = 0; i < 6; i++) for (int j = 0; j < 1; j++) { XX[i, j] = 0; for (int l = 0; l < 8; l++) XX[i, j] += ATARAT[i, l] * L[l, 0]; } ////计算外方位元素值 Xs += XX[0, 0]; Ys += XX[1, 0]; Zs += XX[2, 0]; phi += XX[3, 0]; omiga += XX[4, 0]; kappa += XX[5, 0]; } while (Math.Abs(XX[0, 0]) >= 0.000029 || Math.Abs(XX[1, 0]) >= 0.000029 || Math.Abs(XX[2, 0]) >= 0.000029 || Math.Abs(XX[3, 0]) >= 1000 * 0.000029 || Math.Abs(XX[4, 0]) >= 1000 * 0.000029 || Math.Abs(XX[5, 0]) >= 1000 * 0.000029); t23.Text = Convert.ToString(Xs); //输出到文本框 t24.Text = Convert.ToString(Ys); t25.Text = Convert.ToString(Zs); t26.Text = Convert.ToString(phi); t27.Text = Convert.ToString(omiga); t28.Text = Convert.ToString(kappa); } private void button2_Click(object sender, EventArgs e) //清空数据，并输入右片数据 { for (int i = 0; i < 20; i++) { mytextbox[i].Text = ""; } } private void Form1_Load(object sender, EventArgs e) //文本框编译成数组，方便调用 { int i = 0, j = 0; TextBox t; foreach (Control c in this.Controls) { if (c is TextBox) { mytextbox[i] = (TextBox)c; i++; } } for (i = 0; i < 41; i++) { for (j = 0; j < 41; j++) { if (mytextbox[j].Name == "t" + Convert.ToString(i + 1)) { t = mytextbox[i]; mytextbox[i] = mytextbox[j]; mytextbox[j] = t; // mytextbox[i].Text = Convert.ToString(i); } } //mytextbox[i].Text = " "; } } private void button3_Click(object sender, EventArgs e) //计算右片后方交会 { double[] x = { Convert.ToDouble(t1.Text), Convert.ToDouble(t6.Text), Convert.ToDouble(t11.Text), Convert.ToDouble(t16.Text) }; double[] y = { Convert.ToDouble(t2.Text), Convert.ToDouble(t7.Text), Convert.ToDouble(t12.Text), Convert.ToDouble(t17.Text) }; double[] X = { Convert.ToDouble(t3.Text), Convert.ToDouble(t8.Text), Convert.ToDouble(t13.Text), Convert.ToDouble(t18.Text) }; double[] Y = { Convert.ToDouble(t4.Text), Convert.ToDouble(t9.Text), Convert.ToDouble(t14.Text), Convert.ToDouble(t19.Text) }; double[] Z = { Convert.ToDouble(t5.Text), Convert.ToDouble(t10.Text), Convert.ToDouble(t15.Text), Convert.ToDouble(t20.Text) }; double f = Convert.ToDouble(t22.Text) / 1000, _m = Convert.ToDouble(t21.Text); for (int i = 0; i < 4; i++) //单位换算 { x[i] = x[i] / 1000; y[i] = y[i] / 1000; } /////定义外方位元素，并附初值 double Xs, Ys, Zs, phi = 0, omiga = 0, kappa = 0; Xs = (X[0] + X[1] + X[2] + X[3]) / 4.0; Ys = (Y[0] + Y[1] + Y[2] + Y[3]) / 4.0; Zs = _m * f; /////定义x,y近似值,即计算值 double[] _x = new double[4]; double[] _y = new double[4]; /////定义共线方程中的分子分母项，便于计算 double[] _X = new double[4]; double[] _Y = new double[4]; double[] _Z = new double[4]; /////定义旋转矩阵R double[,] R = new double[3, 3]; double[,] L = new double[8, 1];//误差方程中的常数项 double[,] XX = new double[6, 1];//X向量 /////开始迭代 do { /////计算旋转矩阵 R[0, 0] = Math.Cos(phi) * Math.Cos(kappa) - Math.Sin(phi) * Math.Sin(omiga) * Math.Sin(kappa);//a1 R[0, 1] = -Math.Cos(phi) * Math.Sin(kappa) - Math.Sin(phi) * Math.Sin(omiga) * Math.Cos(kappa);//a2 R[0, 2] = -Math.Sin(phi) * Math.Cos(omiga);//a3 R[1, 0] = Math.Cos(omiga) * Math.Sin(kappa);//b1 R[1, 1] = Math.Cos(omiga) * Math.Cos(kappa);//b2 R[1, 2] = -Math.Sin(omiga);//b3 R[2, 0] = Math.Sin(phi) * Math.Cos(kappa) + Math.Cos(phi) * Math.Sin(omiga) * Math.Sin(kappa);//c1 R[2, 1] = -Math.Sin(phi) * Math.Sin(kappa) + Math.Cos(phi) * Math.Sin(omiga) * Math.Cos(kappa);//c2 R[2, 2] = Math.Cos(phi) * Math.Cos(omiga);//c3 for (int i = 0; i < 4; i++) { //用共线方程计算 x，y 的近似值 ,即计算值 _X[i] = R[0, 0] * (X[i] - Xs) + R[1, 0] * (Y[i] - Ys) + R[2, 0] * (Z[i] - Zs); _Y[i] = R[0, 1] * (X[i] - Xs) + R[1, 1] * (Y[i] - Ys) + R[2, 1] * (Z[i] - Zs); _Z[i] = R[0, 2] * (X[i] - Xs) + R[1, 2] * (Y[i] - Ys) + R[2, 2] * (Z[i] - Zs); _x[i] = -f * _X[i] / _Z[i]; _y[i] = -f * _Y[i] / _Z[i]; } Matrix B = new Matrix(8, 6, "B");//4个控制点，每个是2行6列，4个是8行6列 int n = B.getN; int m = B.getM; double[,] b = B.Detail; for (int i = 0; i < 4; i++) { //计算系数矩阵 b[2 * i, 0] = (R[0, 0] * f + R[0, 2] * x[i]) / _Z[i]; b[2 * i, 1] = (R[1, 0] * f + R[1, 2] * x[i]) / _Z[i]; b[2 * i, 2] = (R[2, 0] * f + R[2, 2] * x[i]) / _Z[i]; b[2 * i, 3] = y[i] * Math.Sin(omiga) - ((x[i] / f) * (x[i] * Math.Cos(kappa) - y[i] * Math.Sin(kappa)) + f * Math.Cos(kappa)) * Math.Cos(omiga); b[2 * i, 4] = -f * Math.Sin(kappa) - (x[i] / f) * (x[i] * Math.Sin(kappa) + y[i] * Math.Cos(kappa)); b[2 * i, 5] = y[i]; b[2 * i + 1, 0] = (R[0, 1] * f + R[0, 2] * y[i]) / _Z[i]; b[2 * i + 1, 1] = (R[1, 1] * f + R[1, 2] * y[i]) / _Z[i]; b[2 * i + 1, 2] = (R[2, 1] * f + R[2, 2] * y[i]) / _Z[i]; b[2 * i + 1, 3] = -x[i] * Math.Sin(omiga) - ((x[i] / f) * (x[i] * Math.Cos(kappa) - y[i] * Math.Sin(kappa)) - f * Math.Sin(kappa)) * Math.Cos(omiga); b[2 * i + 1, 4] = -f * Math.Cos(kappa) - (y[i] / f) * (x[i] * Math.Sin(kappa) + y[i] * Math.Cos(kappa)); b[2 * i + 1, 5] = -x[i]; //计算常数项 L[2 * i, 0] = x[i] - _x[i]; L[2 * i + 1, 0] = y[i] - _y[i]; } Matrix C = MatrixOperator.MatrixTrans(B); //系数矩阵的转置矩阵 C.Name = "C"; Matrix D = MatrixOperator.MatrixMulti(C, B); //系数矩阵与其转置矩阵相乘 D.Name = "C*B"; Matrix dn = MatrixOperator.MatrixInvByCom(D); //系数矩阵与其转置矩阵积的逆矩阵 dn.Name = "dn"; Matrix dn2 = MatrixOperator.MatrixMulti(dn, C); //ATA的逆阵乘以A的转置 dn2.Name = "dn2"; double[,] ATARAT = dn2.Detail; ////计算ATARAT * L，存在XX中 for (int i = 0; i < 6; i++) for (int j = 0; j < 1; j++) { XX[i, j] = 0; for (int l = 0; l < 8; l++) XX[i, j] += ATARAT[i, l] * L[l, 0]; } ////计算外方位元素值 Xs += XX[0, 0]; Ys += XX[1, 0]; Zs += XX[2, 0]; phi += XX[3, 0]; omiga += XX[4, 0]; kappa += XX[5, 0]; } while (Math.Abs(XX[0, 0]) >= 0.000029 || Math.Abs(XX[1, 0]) >= 0.000029 || Math.Abs(XX[2, 0]) >= 0.000029 || Math.Abs(XX[3, 0]) >= 1000 * 0.000029 || Math.Abs(XX[4, 0]) >= 1000 * 0.000029 || Math.Abs(XX[5, 0]) >= 1000 * 0.000029); t29.Text = Convert.ToString(Xs); //输出到文本框 t30.Text = Convert.ToString(Ys); t31.Text = Convert.ToString(Zs); t32.Text = Convert.ToString(phi); t33.Text = Convert.ToString(omiga); t34.Text = Convert.ToString(kappa); } private void button5_Click(object sender, EventArgs e) //清空待定地面点像点坐标 { t35.Text = ""; t36.Text = ""; t37.Text = ""; t38.Text = ""; t39.Text = ""; t40.Text = ""; t41.Text = ""; } private void button4_Click(object sender, EventArgs e) //计算前方交会 { double Xs1, Ys1, Zs1, phi_1, omiga_1, kappa_1, Xs2, Ys2, Zs2, phi_2, omiga_2, kappa_2; double N1, N2, X, Y, Z; double Bu, Bv, Bw; Xs1 = Convert.ToDouble(t23.Text); //十二个外方位元素 Ys1 = Convert.ToDouble(t24.Text); Zs1 = Convert.ToDouble(t25.Text); phi_1 = Convert.ToDouble(t26.Text); omiga_1 = Convert.ToDouble(t27.Text); kappa_1 = Convert.ToDouble(t28.Text); Xs2 = Convert.ToDouble(t29.Text); Ys2 = Convert.ToDouble(t30.Text); Zs2 = Convert.ToDouble(t31.Text); phi_2 = Convert.ToDouble(t32.Text); omiga_2 = Convert.ToDouble(t33.Text); kappa_2 = Convert.ToDouble(t34.Text); Matrix tt1 = new Matrix(3, 1, "tt1"); Matrix tt2 = new Matrix(3, 1, "tt2"); double[,] a1 = tt1.Detail; double[,] a2 = tt2.Detail; int n = tt1.getN; int m = tt1.getM; a1[0, 0] = Convert.ToDouble(t35.Text); //地面点A相应的像点a1、a2的像空间坐标系 a1[1, 0] = Convert.ToDouble(t36.Text); a1[2, 0] = -Convert.ToDouble(t22.Text); a2[0, 0] = Convert.ToDouble(t37.Text); a2[1, 0] = Convert.ToDouble(t38.Text); Matrix rr1 = new Matrix(3, 3, "rr1"); Matrix rr2 = new Matrix(3, 3, "rr2"); double[,] rrr1 = rr1.Detail; double[,] rrr2 = rr2.Detail; /////计算左片旋转矩阵 rrr1[0, 0] = Math.Cos(phi_1) * Math.Cos(kappa_1) - Math.Sin(phi_1) * Math.Sin(omiga_1) * Math.Sin(kappa_1);//a1 rrr1[0, 1] = -Math.Cos(phi_1) * Math.Sin(kappa_1) - Math.Sin(phi_1) * Math.Sin(omiga_1) * Math.Cos(kappa_1);//a2 rrr1[0, 2] = -Math.Sin(phi_1) * Math.Cos(omiga_1);//a3 rrr1[1, 0] = Math.Cos(omiga_1) * Math.Sin(kappa_1);//b1 rrr1[1, 1] = Math.Cos(omiga_1) * Math.Cos(kappa_1);//b2 rrr1[1, 2] = -Math.Sin(omiga_1);//b3 rrr1[2, 0] = Math.Sin(phi_1) * Math.Cos(kappa_1) + Math.Cos(phi_1) * Math.Sin(omiga_1) * Math.Sin(kappa_1);//c1 rrr1[2, 1] = -Math.Sin(phi_1) * Math.Sin(kappa_1) + Math.Cos(phi_1) * Math.Sin(omiga_1) * Math.Cos(kappa_1);//c2 rrr1[2, 2] = Math.Cos(phi_1) * Math.Cos(omiga_1);//c3 /////计算右片旋转矩阵 rrr2[0, 0] = Math.Cos(phi_2) * Math.Cos(kappa_2) - Math.Sin(phi_2) * Math.Sin(omiga_2) * Math.Sin(kappa_2);//a1 rrr2[0, 1] = -Math.Cos(phi_2) * Math.Sin(kappa_2) - Math.Sin(phi_2) * Math.Sin(omiga_2) * Math.Cos(kappa_2);//a2 rrr2[0, 2] = -Math.Sin(phi_2) * Math.Cos(omiga_2);//a3 rrr2[1, 0] = Math.Cos(omiga_2) * Math.Sin(kappa_2);//b1 rrr2[1, 1] = Math.Cos(omiga_2) * Math.Cos(kappa_2);//b2 rrr2[1, 2] = -Math.Sin(omiga_2);//b3 rrr2[2, 0] = Math.Sin(phi_2) * Math.Cos(kappa_2) + Math.Cos(phi_2) * Math.Sin(omiga_2) * Math.Sin(kappa_2);//c1 rrr2[2, 1] = -Math.Sin(phi_2) * Math.Sin(kappa_2) + Math.Cos(phi_2) * Math.Sin(omiga_2) * Math.Cos(kappa_2);//c2 rrr2[2, 2] = Math.Cos(phi_2) * Math.Cos(omiga_2);//c3 Matrix Ss1 = MatrixOperator.MatrixMulti(rr1, tt1); //地面点A在像空间辅助坐标系的矩阵 Matrix Ss2 = MatrixOperator.MatrixMulti(rr2, tt2); double[,] S1 = Ss1.Detail; double[,] S2 = Ss2.Detail; Bu = Xs2 - Xs1; //摄影基线B的分量 Bv = Ys2 - Ys1; Bw = Zs2 - Zs1; N1 = (Bu * S2[2, 0] - Bw * S2[0, 0]) / (S1[0, 0] * S2[2, 0] - S2[0, 0] * S1[2, 0]); N2 = (Bu * S1[2, 0] - Bw * S1[0, 0]) / (S1[0, 0] * S2[2, 0] - S2[0, 0] * S1[2, 0]); X = Xs1 + N1 * S1[0, 0]; Y = 0.5 * ((Ys1 + N1 * S1[1, 0]) + (Ys2 + N2 * S2[1, 0])); Z = Zs1 + N1 * S1[2, 0]; t39.Text = Convert.ToString(X); //输出地面坐标 t40.Text = Convert.ToString(Y); t41.Text = Convert.ToString(Z); } }}程序界面如下：
程序源代码链接：后方交会_前方交会 C#
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