单像空间后方交会用C语言实现的

#include "stdio.h" #include "math.h" #include "Matrixmultiply.c" #include "Matrixtranspose.c" #include "Matrixinverse.c" void main() { int i,j,k,f=0; double x0=0.0, y0=0.0,fk=0.15324; //内方位元素 double m=39689; //估算比例尺 double R[3][3],XG[6][1],AT[6][8],ATA[6][6],ATL[6][1]; double AXG[8][1],V[8][1],VT[1][8],VTV[1][1],m0,D[6][6]; double Xs=0.0, Ys=0.0, Zs=0.0,Q=0.0,W=0.0,K=0.0; double X,Y,Z,L[8][1],A[8][6]; double B[4][5]={-0.08615,-0.06899,36589.41,25273.32,2195.17,-0.05340,0.08221,37631.08,31324.51,728.69,-0.01478,-0.07663,39100.97,24934.98,2386.80,0.01046,0.06443,40426.54,30319.81,757.31}; for(i=0;i<4;i++) { Xs=Xs+B[i][2]; Ys=Ys+B[i][3]; Zs=Zs+B[i][4]; } Xs=Xs/4; Ys=Ys/4; Zs=Zs/4+m*fk; do//迭代计算 { f++; //组成旋转矩阵 R[0][0]=cos(Q)*cos(K)-sin(Q)*sin(W)*sin(K); R[0][1]=-cos(Q)*sin(K)-sin(Q)*sin(W)*cos(K); R[0][2]=-sin(Q)*cos(W); R[1][0]=cos(W)*sin(K); R[1][1]=cos(W)*cos(K); R[1][2]=-sin(W); R[2][0]=sin(Q)*cos(K)+cos(Q)*sin(W)*sin(K); R[2][1]=-sin(Q)*sin(K)+cos(Q)*sin(W)*cos(K); R[2][2]=cos(Q)*cos(W); //计算系数阵和常数项 for( i=0, k=0,j=0;i<=3;i++,k++,j++) { X=R[0][0]*(B[i][2]-Xs)+R[1][0]*(B[i][3]-Ys)+R[2][0]*(B[i][4]-Zs); Y=R[0][1]*(B[i][2]-Xs)+R[1][1]*(B[i][3]-Ys)+R[2][1]*(B[i][4]-Zs); Z=R[0][2]*(B[i][2]-Xs)+R[1][2]*(B[i][3]-Ys)+R[2][2]*(B[i][4]-Zs); L[j][0]=B[i][0]-(x0-fk*X/Z); L[j+1][0]=B[i][1]-(y0-fk*Y/Z); j++; A[k][0]=(R[0][0]*fk+R[0][2]*(B[i][0]-x0))/Z; A[k][1]=(R[1][0]*fk+R[1][2]*(B[i][0]-x0))/Z; A[k][2]=(R[2][0]*fk+R[2][2]*(B[i][0]-x0))/Z; A[k][3]=(B[i][1]-y0)*sin(W)-((B[i][0]-x0)*((B[i][0]-x0)*cos(K)-(B[i][1]-y0)*sin(K))/fk+fk*cos(K))*cos(W); A[k][4]=-fk*sin(K)-(B[i][0]-x0)*((B[i][0]-x0)*sin(K)+(B[i][1]-y0)*cos(K))/fk; A[k][5]=B[i][1]-y0; A[k+1][0]=(R[0][1]*fk+R[0][2]*(B[i][1]-y0))/Z; A[k+1][1]=(R[1][1]*fk+R[1][2]*(B[i][1]-y0))/Z; A[k+1][2]=(R[2][1]*fk+R[2][2]*(B[i][1]-y0))/Z; A[k+1][3]=-(B[i][0]-x0)*sin(W)-((B[i][1]-y0)*((B[i][0]-x0)*cos(K)-(B[i][1]-y0)*sin(K))/fk-fk*sin(K))*cos(W); A[k+1][4]=-fk*cos(K)-(B[i][1]-y0)*((B[i][0]-x0)*sin(K)+(B[i][1]-y0)*cos(K))/fk; A[k+1][5]=-(B[i][0]-x0); k++; } Matrixtranspose(A,AT,8,6); Matrixmultiply(AT,A,ATA,6,8,6); Matrixinverse(ATA,6); Matrixmultiply(AT,L,ATL,6,8,1); Matrixmultiply(ATA,ATL,XG,6,6,1); Xs=Xs+XG[0][0]; Ys=Ys+XG[1][0]; Zs=Zs+XG[2][0]; Q=Q+XG[3][0]; W=W+XG[4][0]; K=K+XG[5][0]; }while(XG[3][0]>=6.0/206265.0||XG[4][0]>=6.0/206265.0||XG[5][0]>=6.0/206265.0); printf("迭代次数:%d",f); Matrixmultiply(A,XG,AXG,8,6,1); for( i=0;i<8;i++) //计算改正数 V[i][0]=AXG[i][0]-L[i][0]; Matrixtranspose(V,VT,8,1); Matrixmultiply(VT,V,VTV,1,8,1); m0=VTV[0][0]/2; for(i=0;i<6;i++) for(j=0;j<6;j++) D[i][j]=m0*ATA[i][j]; //屏幕输出误差方程系数阵、常数项、改正数 printf("\n\n误差方程系数矩阵A为:\n\n"); for (i=0;i<6;i++) { for(j=0;j<6;j++) printf("%13.5e ",A[i][j]); printf("\n"); } printf("\n常数项L为:\n\n"); for (i=0;i<8;i++) { for(j=0;j<1;j++) printf("%13.5e ",L[i][j]); printf("\n"); } printf("\n改正数XG为:\n\n"); for (i=0;i<6;i++) { for(j=0;j<1;j++) printf("%13.5e ",XG[i][j]); printf("\n"); } printf("\n相片的外方位元素为:\n\n"); printf(" Xs=%13.7e, Ys=%13.7e, Zs=%13.7e \n\n",Xs,Ys,Zs); printf(" Q=%13.7e, W=%13.7e, K=%13.7e \n",Q,W,K); printf("\n旋转矩阵R为:\n\n"); for (i=0;i<3;i++) { for(j=0;j<3;j++) printf("%13.5e ",R[i][j]); printf("\n"); } printf("\n精度评定结果D为:\n\n"); for (i=0;i<6;i++) { for(j=0;j<6;j++) printf("%13.5e ",D[i][j]); printf("\n"); } }