CN112070891A - Image area network adjustment method and system with digital ground model as three-dimensional control - Google Patents
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Abstract
The invention provides a digital ground model as a three-dimensional control image area network adjustment method and a system, which comprises the steps of sequencing images according to the connection relation of remote sensing images and establishing a connection point image point coordinate observation equation; establishing a space curved surface as an observation equation of three-dimensional control based on a digital ground model; calculating the directional derivative of the space curved surface according to the discrete points, counting the mean value and the standard deviation of the distance observed value, and calculating the weight of the space curved surface three-dimensional control observed value aiming at the influence of the precision and the gross error of the distance observed value on the adjustment positioning result; and calculating the remote sensing image block adjustment taking the space curved surface corresponding to the digital ground model as three-dimensional control information by taking the connection point image point coordinate observation equation and the space distance observation equation as a combined observation equation of the remote sensing image block adjustment to obtain the remote sensing image positioning parameters and the connection point object space coordinates. The method not only improves the elevation positioning precision of the remote sensing image, but also effectively improves the plane positioning precision under the condition of no ground control point.
Description
Technical Field
The invention belongs to the technical field of remote sensing, and relates to a stereo image area network adjustment positioning method using a space curved surface as three-dimensional control information, which is suitable for high-precision three-dimensional positioning of a stereo image without a ground control point.
Background
The conventional method generally utilizes uniformly distributed obvious ground object points as adjustment control points to invert the geometric correlation between an image space and a ground space coordinate system and eliminate various system errors in the image imaging process, thereby meeting the precision requirement of mapping of a corresponding scale map. Therefore, obtaining enough ground control points is one of the important prerequisites to ensure the geometric positioning accuracy and reliability of the block adjustment of the satellite remote sensing image. In actual production, due to the limitation of various conditions, the measurement of the ground control points is time-consuming and labor-consuming, and the acquisition difficulty of the ground control points is higher for the mapping in difficult areas or in a global large range. The method fully utilizes the existing geographic information data resources, adopts a high-precision geometric positioning technology with rare control or even no ground control to reduce the operation requirement on ground control points, is an effective way for realizing the mapping of areas with global large-area coverage and difficult ground control information acquisition, reducing the production cost and improving the production efficiency, and is also a hotspot and pursuit target of long-term research in the fields of photogrammetry and remote sensing.
For example, a scaling error in the direction of a CCD linear array, which is generated due to insufficient calibration of a sensor, may cause scaling of the entire area in the direction of a vertical track, and this error may cause systematic accumulation with an increase in the area range, thereby causing a decrease in absolute positioning accuracy of the uncontrolled free net adjustment. In order to get rid of dependence on ground control points and realize fusion application of multi-source geographic information big data, researchers provide concepts and technologies of 'cloud control', and generalized geometric control information is automatically acquired from images, vectors and LIDAR point cloud data with geographic space information.
The relevant prior art can be found in:
CN103823981B satellite image block adjustment method assisted by digital elevation model
CN110006408B LIDAR data cloud control photogrammetry method
Zhangzu, Taoyngjie. The cloud control photogrammetry of the data era is referred to, and pages 1238-1248 of the journal of the survey and drawing, 2017.
The Digital Elevation Model (DEM) generally expresses three-dimensional terrain information in a regular grid form and can be used as control information to improve the satellite image uncontrolled positioning precision. Current technologies can be divided into two categories: one is that DEM is used as elevation control in the adjustment of image area network, the image intersection condition is improved, and the system error in the imaging model corresponding to the image is corrected, so as to improve the elevation positioning accuracy of the image, but the improvement of the plane positioning accuracy also needs to depend on other control information; and the other type of the satellite image positioning correction method comprises the steps of registering a DSM (digital elevation model) or DEM (digital elevation model) generated by image matching with a reference DEM, calculating space similarity transformation parameters between the DSM or DEM and the reference DEM, and correcting satellite image positioning parameters. However, this method requires the automatic matching of stereo satellite images to generate DEM in advance, which increases the computation time and complexity of application and limits the use conditions of satellite image data.
The most classical and widely applied method is called ICP (iterative closed Point) method, the ICP method determines the transformation parameters between two groups of space point sets by iteratively searching the nearest point as the same name point, and then the nearest point searching calculation amount in the iterative process is the biggest defect of the method.
Disclosure of Invention
The invention aims to take the space curved surface of a target corresponding to a stereo image as three-dimensional control information in adjustment of an area network by introducing an observation equation of the distance from a connecting point to the space curved surface, and simultaneously meet the registration constraint of the connecting point and the corresponding curved surface in the adjustment process of the area network of the stereo image, thereby realizing high-precision three-dimensional positioning of the elevation and the plane of the stereo image.
In order to achieve the purpose, the technical scheme provided by the invention provides an image area network adjustment method using a digital ground model as three-dimensional control, which is characterized by comprising the following steps of: comprises the following steps of (a) carrying out,
the digital ground model is used as a curved surface in a three-dimensional space, the distance from a three-dimensional space point to the curved surface is defined, an observation equation using the space curved surface as three-dimensional control information is correspondingly obtained, and then corresponding distance observation equations are listed for all connection points to obtain a space distance observation equation;
step 5, counting the mean value and standard deviation of the distance observation value, the realization method is as follows,
estimating the distance precision between the connecting points and the space curved surface according to the precision of the digital ground model and the resolution of the remote sensing image, calculating a statistical histogram of the distance between the connecting points and the space curved surface corresponding to the digital ground model by taking the distance precision as an interval, and calculating the mean value and the standard deviation of the distance between the effective connecting points and the space curved surface in the distance range based on the statistical histogram;
step 6, calculating the weight of the three-dimensional control observation value of the space curved surface according to the result obtained in the step 5 and aiming at the influence of the precision of the distance observation value and the rough difference on the adjustment positioning result;
and 7, taking the connecting point image point coordinate observation equation established in the step 2 and the space distance observation equation established in the step 3 as a combined observation equation of the remote sensing image area network adjustment, forming a normal equation by using a least square principle, resolving the remote sensing image area network adjustment taking the space curved surface corresponding to the digital ground model as three-dimensional control information, and obtaining the remote sensing image positioning parameters and the connecting point object space coordinates.
Furthermore, in step 1, the images are quickly ordered according to the connecting points between the remote sensing images, and the implementation mode is as follows,
firstly, establishing an associated image list of each scene image according to a connection point, calculating the number of images associated with each scene image to be used as the total connection number of the images, and selecting the image with the maximum total connection number to be used as a first scene image;
traversing the unsorted images in the sorted image association list, calculating the number of common images associated with the images and the sorted images as the number of common connections, and selecting the image with the maximum number of common connections or the image with the maximum total number of connections as a next image;
the search and calculation is repeated until all images are sorted.
In step 2, according to the coordinates of the image points of the connecting points and the remote sensing image imaging model, calculating the initial values of the coordinates of the object space of the connecting points by adopting a multi-piece forward intersection method, further obtaining the observation equations of the coordinates of the image points of the connecting points, and establishing a first group of observation equations, wherein the matrix expression form is as follows:
V1＝B11X1+B12X2-l1，P1
wherein, V1Is a residual vector of the coordinates of the image point, X1Is a location parameter correction vector, X, of the stereoscopic image2Is a connecting point object space coordinate correction vector, B11、B12Respectively X in the first set of observation equations1、X2The corresponding coefficient matrix is calculated by the corresponding first derivative of the imaging model,/1Is a constant term vector, P1Is the corresponding weight matrix;
setting all image point coordinates as independent observation values, corresponding weight matrix P1Is a diagonal matrix; weight p corresponding to each connecting point image point coordinate observation valueiThe calculation is carried out according to the following formula,
wherein σ0Is the error in the unit weight, m is the number of observations corresponding to the connection point, vxiAnd vyiAs the coordinates of the image point are x andresidual in the y-direction.
Furthermore, the implementation of step 3 is as follows,
selecting a three-dimensional rectangular coordinate system as an object space coordinate system, wherein corresponding three coordinate axes are X, Y and Z respectively; taking the digital ground model S as a curved surface in a three-dimensional space, expressed as equation S (X, Y, Z) 0, the distance d from a three-dimensional space point P to the curved surface is defined as,
wherein, Xp，Yp，ZpIs the spatial coordinate of point P, S (X)p，Yp，Zp) For the value of the curve equation for point P, Sx，Sy，SzIs the first derivative of the surface equation relative to X, Y, Z;
the observation equation having the spatial curved surface as the three-dimensional control information is thus derived as follows,
wherein, DeltaX, DeltaY and DeltaZ are correction quantity of object space coordinates of connecting points, pdWeight of distance observation, vdIs an observed residual;
corresponding distance observation equations are listed for all the connection points to obtain a space distance observation equation which is used as a second group of observation equations in a matrix form,
V2＝B22X2-l2,P2
wherein, V2Is the distance observation residual vector, X2Is a connecting point object space coordinate correction vector, B22For X in the second set of observation equations2The corresponding coefficient matrix is calculated by the first-order directional derivative of the space surface equation,/2Is a constant term vector, P2Is the corresponding weight matrix;
in step 5, if the statistical histogram has a significant peak, the distance range corresponding to the maximum peak is calculated, and if no significant peak is present, the range corresponding to the connection point with relatively concentrated distances is counted.
In step 6, the weight p of the distance observation is calculated using the following formulad，
Wherein σ0For error in unit weight, exp (-) is an exponential function of the natural number e; α is a positive number less than 1, d is the distance calculated in step 3, edAnd σdRespectively, the mean and standard deviation of the distance observations;
assuming that the distance from each connection point to the digital ground model is an independent observation value, the weight matrix P2Is a diagonal matrix whose diagonal elements are computed point-by-point according to the above formula.
Furthermore, in step 7, a point-by-point elimination method is used to eliminate the unknown number X2The composition only comprises a correction vector X of the remote sensing image positioning parameter1The reduction equation of (1); solving the equation of the reduction method, correcting the positioning parameters of the three-dimensional image, and updating the object space coordinates of the connecting points by using a multi-sheet forward intersection method to realize the cross solution of two groups of unknown numbers.
The invention also provides a digital ground model as a three-dimensional controlled image block adjustment system, which is used for realizing the digital ground model as the three-dimensional controlled image block adjustment method.
Compared with the prior art, the invention has the advantages and beneficial effects that:
according to the invention, the digital elevation model or the space curved surface is directly used as three-dimensional control information in the adjustment process of the remote sensing image area network, open source geographic information data is fully utilized, system offset in the imaging model parameters of the remote sensing image is effectively eliminated, and high-precision three-dimensional positioning of the remote sensing image under the condition of no ground control point is realized. By taking a digital ground model as an example of three-dimensional control application, not only can the elevation positioning precision be improved, but also the plane positioning precision can be effectively improved under the condition of no ground control point.
Drawings
Fig. 1 is a flow chart of calculating adjustment of a digital ground model as a three-dimensional control remote sensing image area network according to an embodiment of the invention.
Fig. 2 is a schematic diagram illustrating calculation of a distance from an arbitrary point in a three-dimensional space to a curved surface in the space according to the embodiment of the present invention.
FIG. 3 is a schematic diagram of a coefficient variation curve of an observation value weight function of a distance from a connection point to a spatial curved surface according to an embodiment of the present invention.
Detailed Description
The technical solution of the present invention is further explained with reference to the drawings and the embodiments.
The present invention notes that there is no direct correspondence between the homonymous points (connection points) between the stereo images and the grid points of the spatial curved surface, but the connection points and the spatial curved surface grid are descriptions of the corresponding target, and the registration problem between the two should be understood as the matching of the three-dimensional space point set and the spatial curved surface. Based on the basic facts, the three-dimensional space positioning method and the three-dimensional space positioning device have the advantages that the corresponding observation equation is introduced, the space curved surface of the target corresponding to the stereo image serves as three-dimensional control information in the adjustment of the area network, the registration constraint of the connecting point and the corresponding curved surface is met in the adjustment process of the area network of the stereo remote sensing image, and the high-precision three-dimensional positioning of the stereo remote sensing image is achieved.
The embodiment of the invention provides a remote sensing image block adjustment method using a digital ground model as three-dimensional control information. And taking the distance from the connecting point in the three-dimensional object space to the corresponding space curved surface of the digital ground model as an observed value of three-dimensional control, and calculating the directional derivative of the curved surface through local fitting, thereby establishing a corresponding three-dimensional control observation equation. And (3) counting the mean value and the variance of the distance observation value, constructing a corresponding distance observation value weight function, and effectively eliminating the influence of the block adjustment from the gross error while considering the distance observation value error. The method not only can improve the elevation positioning precision of the remote sensing image, but also can effectively improve the plane positioning precision under the condition of no ground control point.
Referring to fig. 1, the method for positioning a stereoscopic image using a space curved surface as three-dimensional control information according to the embodiment of the present invention includes the following steps:
and step 1, sequencing the images according to the connection relation of the remote sensing images.
When the distribution of the remote sensing images does not have the characteristic of regular aerial bands, the traditional photogrammetry block adjustment minimum bandwidth calculation and image sequencing method is not suitable for large-scale remote sensing image block adjustment. In order to effectively reduce the bandwidth of the normal equation and improve the adjustment calculation efficiency, the related images need to be arranged together as much as possible in principle.
The invention further provides a method for rapidly sequencing the images according to the connecting points among the remote sensing images. The specific technical scheme is as follows: firstly, establishing an associated image list of each scene image according to a connection point, calculating the number of images associated with each scene image, taking the number of images as the total connection number of the images, and selecting the image with the maximum total connection number as a first scene image; traversing the unsorted images in the sorted image association list, calculating the number of common images associated with the images and the sorted images as the number of common connections, and selecting the image with the maximum number of common connections or the image with the maximum total number of connections as a next image; the search and calculation is repeated until all images are sorted.
And 2, establishing a coordinate observation equation of the connecting point image point according to the remote sensing image imaging model.
According to the coordinates of the image points of the connecting points and the remote sensing image imaging model, calculating the initial values of the coordinates of the object space of the connecting points by adopting a multi-piece forward intersection method, further obtaining the observation equations of the coordinates of the image points of the connecting points, and obtaining a first group of observation equations at the moment, wherein the matrix expression form of the observation equations is as follows:
V1＝B11X1+B12X2-l1,P1 (1)
wherein, V1Is a residual vector of the coordinates of the image point, X1Is a location parameter correction vector, X, of the stereoscopic image2Is a connecting point object space coordinate correction vector, B11、B12Respectively X in the first set of observation equations1、X2The corresponding coefficient matrix is calculated by the corresponding first derivative of the imaging model,/1Is a constant term vector, P1Is the corresponding weight matrix.
The invention assumes all the image point coordinates as independent observation values and corresponding weight matrix P1Is a diagonal matrix. Further, the weight p corresponding to the observed value of the image point coordinate of each connecting pointiThe calculation is carried out according to the following formula,
wherein σ0Is the error in the unit weight, m is the number of observations corresponding to the connection point, vxiAnd vyiIs the residual of the coordinates of the image point in the x and y directions.
And 3, establishing a space curved surface as an observation equation of three-dimensional control to obtain a space distance observation equation.
Referring to fig. 2, in the embodiment, a three-dimensional rectangular coordinate system is selected as an object space coordinate system, and three coordinate axes thereof are X, Y, and Z, respectively. The digital ground model S is a curved surface in three-dimensional space, and its general mathematical form can be expressed as equation S (X, Y, Z) being 0, the distance d from the three-dimensional space point P to the curved surface is preferably defined as,
wherein, Xp,Yp,ZpIs the spatial coordinate of point P, S (X)p,Yp,Zp) For the value of the curve equation for point P, Sx,Sy,SzIs the first directional derivative of the surface equation with respect to X, Y, Z. In specific implementation, other distance definition modes can be adopted.
An observation equation with a spatial curved surface as three-dimensional control information can thus be derived as follows,
wherein, DeltaX, DeltaY and DeltaZ are correction quantity of object space coordinates of connecting points, pdWeight of distance observation, vdTo observe the residual error.
For all the connection points, corresponding distance observation equations, i.e. spatial distance observation equations, are listed, at which time a second set of observation equations is obtained, in matrix form,
V2＝B22X2-l2,P2 (5)
wherein, V2Is the distance observation residual vector, X2Is a connecting point object space coordinate correction vector, B22For X in the second set of observation equations2The corresponding coefficient matrix is calculated by the first-order directional derivative of the space surface equation,/2Is a constant term vector, P2Is the corresponding weight matrix.
And 4, calculating the directional derivative of the space curved surface according to the discrete points.
In practical application, a complete mathematical expression of the digital ground model corresponding to the space surface equation is difficult to obtain, and a local fitting mode is generally adopted for approximation. When the expression form of the space curved surface is a three-dimensional grid, a local approximate curved surface can be obtained through bilinear fitting or bicubic fitting, and the directional derivative and the distance of the local approximate curved surface are calculated. Further, the space curved surface corresponding to the digital ground model may be expressed by a space triangulation network formed by a set of three-dimensional discrete points, in this case, the local approximation of the digital elevation model or the space curved surface is a plane determined by three vertices of a triangle, and the corresponding directional derivatives and distances thereof may be calculated by corresponding plane equations, thereby calculating point by point and forming a coefficient matrix B in the observation equation (5)22。
And 5, counting the mean value and the standard deviation of the distance observation value.
Estimating the distance precision from the connecting point to the space curved surface according to the precision of the digital ground model and the resolution of the remote sensing image, and calculating the statistical length from the connecting point to the space curved surface corresponding to the digital ground model by taking the distance precision as an intervalA block diagram. If the histogram has an obvious peak value, calculating a distance range corresponding to the maximum peak value; if no peak is evident, a certain number (e.g., 10%) of distributed relatively discrete distance values at both ends of the histogram are deleted, resulting in a distance range corresponding to a relatively concentrated set of connection points. On the basis, the mean value e of the distances from the effective connecting points to the space curved surface in the distance range is calculated statisticallydAnd standard deviation σdI.e. the mean and standard deviation from the observation.
And 6, calculating the weight of the three-dimensional control observation value of the space curved surface according to the result obtained in the step 5 and aiming at the influence of the precision of the distance observation value and the rough difference on the adjustment positioning result.
Errors may exist between the digital ground model corresponding space curved surface expressed by the grid or the discrete point set and the real terrain or target curved surface, and due to different data acquisition modes, the digital ground model corresponding space curved surface may not be completely consistent with the connection points acquired on the remote sensing image. Therefore, the weight of the distance observation value should be determined according to the statistical accuracy, and the influence of the gross error on the adjustment positioning result needs to be effectively eliminated. The embodiment of the invention preferably uses the following formula to calculate the weight p of the distance observed valued，
Wherein σ0For errors in unit weights, exp (-) is an exponential function of the natural number e. α is a positive number less than 1, d is the distance calculated in step 3, edAnd σdRespectively, mean and standard deviation of the range observations.
Referring to fig. 3, selecting α to 0.03, a weight coefficient function with (-e) can be calculatedd)/σdAnd (3) a change curve of the ratio, wherein the weight coefficient is approximately equal to 1 when the ratio is less than 1, and the weight coefficient is close to 0 when the ratio is more than 3.3. It will be appreciated that a weight function constructed in this manner can take into account both the accuracy of the range observations and eliminate the effect of gross errors on the adjustment positioning results.
In specific implementation, the weight of the distance observation value can be calculated in other ways.
The invention assumes the distance from each connection point to the digital ground model as an independent observation value, and observes a weight matrix P corresponding to an equation (5)2Is a diagonal matrix whose diagonal elements can be computed point by point according to equation (6).
And 7, forming a reduction method equation and resolving.
And (3) taking the connection point image point coordinate observation equation (1) established in the step (2) and the space distance observation equation (5) established in the step (3) as a combined observation equation of the remote sensing image area network adjustment, forming a normal equation by using a least square principle, resolving the remote sensing image area network adjustment taking the space curved surface corresponding to the digital ground model as three-dimensional control information, and obtaining the remote sensing image positioning parameters and the connection point object space coordinates. Furthermore, considering that the number of correction items of object space coordinates of connecting points is generally large, in order to improve the resolving efficiency, the embodiment of the invention adopts a point-by-point elimination method to eliminate the unknown number X2The composition only comprises a correction vector X of the remote sensing image positioning parameter1Equation of the reduction method. Solving the equation of the reduction method, correcting the positioning parameters of the three-dimensional image, and updating the object space coordinates of the connecting points by using a multi-sheet forward intersection method to realize the cross solution of two groups of unknown numbers.
In specific implementation, a person skilled in the art can implement the automatic operation process by using a computer software technology, and a system device for operating the method, such as a computer-readable storage medium storing a corresponding computer program according to the technical solution of the present invention and a computer device including a corresponding computer program for operating the corresponding computer program, should also be within the scope of the present invention.
The embodiment of the invention also provides a digital ground model as a three-dimensional control image area network adjustment system, which is used for realizing the digital ground model as the three-dimensional control image area network adjustment method. The system implementation can be conveniently implemented by referring to the method, and the invention is not repeated.
In some possible embodiments, a digital ground model is provided as a three-dimensionally controlled video area network adjustment system, comprising a processor and a memory, the memory for storing program instructions, the processor for invoking the stored instructions in the processor to execute a digital ground model as a three-dimensionally controlled video area network adjustment method as described above.
In some possible embodiments, a digital ground model is provided as a three-dimensionally controlled image area network adjustment system, which includes a readable storage medium having stored thereon a computer program that, when executed, implements a digital ground model as a three-dimensionally controlled image area network adjustment method as described above.
It will be apparent to those skilled in the art that various changes and modifications can be made in the above embodiments without departing from the scope and spirit of the invention, and it is intended that all such changes and modifications as fall within the true spirit and scope of the invention be interpreted in accordance with the principles of the invention. And the invention is not limited to the example embodiments set forth in the description.
Claims (8)
1. A digital ground model is used as an image area network adjustment method of three-dimensional control, which is characterized in that: comprises the following steps of (a) carrying out,
step 1, sequencing images according to the connection relation of the remote sensing images;
step 2, establishing a coordinate observation equation of the connecting point image point according to the remote sensing image imaging model;
step 3, based on the digital ground model, establishing a space curved surface as an observation equation of three-dimensional control to obtain a space distance observation equation, wherein the realization method comprises the following steps,
the digital ground model is used as a curved surface in a three-dimensional space, the distance from a three-dimensional space point to the curved surface is defined, an observation equation using the space curved surface as three-dimensional control information is correspondingly obtained, and then corresponding distance observation equations are listed for all connection points to obtain a space distance observation equation;
step 4, calculating the directional derivative of the space curved surface according to the discrete points, wherein the method comprises the steps of approximating the local part of the space curved surface corresponding to the digital elevation model to a plane determined by three vertexes of a triangle, and calculating the corresponding directional derivative and the distance through a corresponding plane equation, thereby calculating point by point and forming a coefficient matrix in a space distance observation equation;
step 5, counting the mean value and standard deviation of the distance observation value, the realization method is as follows,
estimating the distance precision between the connecting points and the space curved surface according to the precision of the digital ground model and the resolution of the remote sensing image, calculating a statistical histogram of the distance between the connecting points and the space curved surface corresponding to the digital ground model by taking the distance precision as an interval, and calculating the mean value and the standard deviation of the distance between the effective connecting points and the space curved surface in the distance range based on the statistical histogram;
step 6, calculating the weight of the three-dimensional control observation value of the space curved surface according to the result obtained in the step 5 and aiming at the influence of the precision of the distance observation value and the rough difference on the adjustment positioning result;
and 7, taking the connecting point image point coordinate observation equation established in the step 2 and the space distance observation equation established in the step 3 as a combined observation equation of the remote sensing image area network adjustment, forming a normal equation by using a least square principle, resolving the remote sensing image area network adjustment taking the space curved surface corresponding to the digital ground model as three-dimensional control information, and obtaining the remote sensing image positioning parameters and the connecting point object space coordinates.
2. The method of adjusting the image area network of the digital ground model as three-dimensional control according to claim 1, wherein: in step 1, images are rapidly sequenced according to connecting points among remote sensing images, the realization method is as follows,
firstly, establishing an associated image list of each scene image according to a connection point, calculating the number of images associated with each scene image to be used as the total connection number of the images, and selecting the image with the maximum total connection number to be used as a first scene image;
traversing the unsorted images in the sorted image association list, calculating the number of common images associated with the images and the sorted images as the number of common connections, and selecting the image with the maximum number of common connections or the image with the maximum total number of connections as a next image;
the search and calculation is repeated until all images are sorted.
3. The digital ground model as claimed in claim 1 or 2 as a three-dimensional controlled image block adjustment method, wherein: in step 2, calculating an initial value of the object space coordinate of the connecting point by adopting a multi-piece forward intersection method according to the connecting point image point coordinate and the remote sensing image imaging model, further obtaining a connecting point image point coordinate observation equation, establishing a first group of observation equations, wherein the matrix expression form is as follows:
V1＝B11X1+B12X2-l1，P1
wherein, V1Is a residual vector of the coordinates of the image point, X1Is a location parameter correction vector, X, of the stereoscopic image2Is a connecting point object space coordinate correction vector, B11、B12Respectively X in the first set of observation equations1、X2The corresponding coefficient matrix is calculated by the corresponding first derivative of the imaging model,/1Is a constant term vector, P1Is the corresponding weight matrix;
setting all image point coordinates as independent observation values, corresponding weight matrix P1Is a diagonal matrix; weight p corresponding to each connecting point image point coordinate observation valueiThe calculation is carried out according to the following formula,
wherein σ0Is the error in the unit weight, m is the number of observations corresponding to the connection point, vxiAnd vyiIs the residual of the coordinates of the image point in the x and y directions.
4. The method of adjusting the image area network of the digital ground model as three-dimensional control according to claim 3, wherein: the implementation of step 3 is as follows,
selecting a three-dimensional rectangular coordinate system as an object space coordinate system, wherein corresponding three coordinate axes are X, Y and Z respectively; taking the digital ground model S as a curved surface in a three-dimensional space, expressed as equation S (X, Y, Z) 0, the distance d from a three-dimensional space point P to the curved surface is defined as,
wherein, Xp，Yp，ZpIs the spatial coordinate of point P, S (X)p，Yp，Zp) For the value of the curve equation for point P, Sx，Sy，SzIs the first derivative of the surface equation relative to X, Y, Z;
the observation equation having the spatial curved surface as the three-dimensional control information is thus derived as follows,
wherein, DeltaX, DeltaY and DeltaZ are correction quantity of object space coordinates of connecting points, pdWeight of distance observation, vdIs an observed residual;
corresponding distance observation equations are listed for all the connection points to obtain a space distance observation equation which is used as a second group of observation equations in a matrix form,
V2＝B22X2-l2，P2
wherein, V2Is the distance observation residual vector, X2Is a connecting point object space coordinate correction vector, B22For X in the second set of observation equations2The corresponding coefficient matrix is calculated by the first-order directional derivative of the space surface equation,/2Is a constant term vector, P2Is the corresponding weight matrix.
5. The digital ground model as claimed in claim 1 or 2 as a three-dimensional controlled image block adjustment method, wherein: in step 5, if the statistical histogram has an obvious peak value, calculating the distance range corresponding to the maximum peak value, and if no obvious peak value exists, calculating the range corresponding to the connection points with relatively concentrated distances.
6. The method of adjusting the image area network of the digital ground model as three-dimensional control according to claim 4, wherein: in step 6, the weight p of the distance observation value is calculated by using the following formulad，
Wherein σ0For error in unit weight, exp (-) is an exponential function of the natural number e; α is a positive number less than 1, d is the distance calculated in step 3, edAnd σdRespectively, the mean and standard deviation of the distance observations;
assuming that the distance from each connection point to the digital ground model is an independent observation value, the weight matrix P2Is a diagonal matrix whose diagonal elements are computed point-by-point according to the above formula.
7. The method of adjusting the image area network of the digital ground model as three-dimensional control according to claim 6, wherein: in step 7, a point-by-point elimination method is adopted to eliminate the unknown number X2The composition only comprises a correction vector X of the remote sensing image positioning parameter1The reduction equation of (1); solving the equation of the reduction method, correcting the positioning parameters of the three-dimensional image, and updating the object space coordinates of the connecting points by using a multi-sheet forward intersection method to realize the cross solution of two groups of unknown numbers.
8. A digital ground model is as the adjustment system of image area network of three-dimensional control, characterized by that: method for implementing a digital ground model as claimed in any of claims 1-7 as a three-dimensional controlled block adjustment of the image area.
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