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1. NOTES 1 2 Line 1 is a three character string capital letters AER Line 2 is a string max length of 80 char to describe the input data by project name etc NumCam Number of cameras used in the block of photos NumPht Number of photos in the block Also See Program Aero 126 AeroSys v3 0 Aerotriangulation User Guide Aero Data Block No 2 Camera Calibration Data A minimum of one data line per camera that is used in the photo block Must appear in AERO DATA BLOCK NO 2 Notes 1 NumFids Number of fiducial marks used to transform the image coordinates Program AERO can transform unrefined photo coordinates into the fiducial system if this option is enable in the CONFIG Menu The value of NumFids can range within the interval 0 9 2 IF NumFids is greater than zero Then one additional line for each fiducial used in the camera must be provided immediately afterwards ordered sequentially according to FidID The value of FidID can range within the interval 1 9 3 FidID ID number of the fiducial mark Xf Yf Calibrated fiducial coordinates Sx Sy Standard deviations of calibrated fiducials 4 CFL Calibrated focal length 5 Xo Yo Principal point coordinates 6 K0 K1 K2 K3 Coefficients of radial lens distortion dR where dR KO r K1 r3 K2 r5 K3 r7 7 P1 P2 P3 Coefficients of tangential distortion 8 P1 P2 P3 should be set to 0 unless precise values are known
2. demo which is located in the C AeroSys asw30 data demo directory The asterisk in demo indicates that the project file basename is set to demo and all other project data files that are automatically generated by AeroSys will be named by appending the appropriate three character file extension to the file basename 35 AeroSys v3 0 Aerotriangulation User Guide Men u The menu bar contains six menu items 1 File contains menu functions to Open or Setup a new project switch a Bar project view project info view project input and output data files set AeroSys preferences and exit the application AeroSys C AeroSys asw30 data demo demo ASW v3 0 1989 1 MIE File Bundle gt Aero Figure 9 File Menu 2 Translate contains menu functions to convert various OEM photocoordinate formats to native AeroSys and convert other data file types to and from native AeroSys AeroSys C AeroSys asw30 data demo demo ASW v3 0 1989 1 fa F3 Translate s from Figure 10 Translate Menu 36 AeroSys v3 0 Aerotriangulation User Guide 3 Aerial contains menu functions to launch the auto execution sequence flip flop photo order within a data strip launch the PREPROcessing dialog at various entry points in the sequence and view 8 clear the general error log AeroSys C AeroSys asw30 data demo demo ASW v3 0 1989 1 MN Aerial E aya Spit Harea Pnietecearaina
3. For surveying observation types 1 or 2 StaAT 0 zero 3 Observ Observed measurement If Type 1 or 2 Then Observ a single real number If Type 3 Then Observ three integers Deg Min Sec If the angle observation is negative in value only the first non zero integer needs to be prefaced with a minus sign eg 115 7 24 or 0 48 11 or 0 O 51 4 StdDev Standard deviation of the surveying observation If Type 1 or 2 Then StdDev a single real number If Type 3 Then StdDev is reported in units of arc seconds 5 NumObsrv Total number of surveying observations 6 The data block must end with a negative number i e the first non blank character must be a minus sign Also See Program Aero 131 AeroSys v3 0 Aerotriangulation User Guide BaseName APB Line 1 APB string Line 2 Title Project ID string Line 3 StriplD LftPht RgtPht PhtBase 3 integers 1 real Line 3 NumSPs 99 to indicate no more lines integer Notes 1 Line 1 is a three character string capital letters APB 2 Line 2 is a string to describe the input data by project name etc maximum length equals 80 characters 3 StripID Strip ID number 4 LftPht ID number of the left photo of the stereopair 5 RgtPht ID number of the right photo of the stereopair 6 PhtBase Approximate photo base mm of the stereopair 7 NumSPs Number of stereopairs in the block of photos 8 The data file mu
4. Height Difference 3 Horizontal Angle 4 StaAT StaFROM StaTO Point ID number This ID number cannot exceed 16 characters in length For surveying observation types 1 or 2 StaAT 0 5 Observ Observed measurement If Type 1 or2 Then Observ A single real number If Type 3 Then Observ Three integers Deg Min Sec IF the angle observation is negative in value only the first non zero integer needs to be prefaced with a minus sign eg 115 7 24 or0 48 11 or0 0 51 6 StdDev Standard Deviations of the Surveying Observation If Type 1 2 or 3 Then StdDev a single real number If Type 3 Then StdDev is reported in units of arc seconds 7 The data file must end with a negative number i e the first non blank character must be a minus sign 8 This file is no longer separate but it is incorporated into the basename AER data file for the Aero bundle adjustment Also See Program Aero 175 AeroSys v3 0 Aerotriangulation User Guide BaseName TSF See Data Format of File Basename MEA Also See Program Coordinate Translations 176 AeroSys v3 0 Aerotriangulation User Guide BaseName TXT See Data Format of File StripFile TXT This file is automatically generated by Program Simulate Also See Program Simulate 177 AeroSys v3 0 Aerotriangulation User Guide BaseName UPD See Data Format of File Basename AER This file is automatically generat
5. Notes 1 SDx SDy SDz Default standard deviations assigned to the object space coordinates of points which are not designated as control 2 PtID Point ID number This Id label cannot exceed 16 characters 3 X Y Z Object space coordinates 4 PtType Point Type value ranging between 1 3 POINT TYPES PassPoint CheckPoint___ ControlPoint Non Feature 1 2 3 5 Sx Sy Sz Standard deviations of control point coordinates If PtType is a pass point or check point then Sx Sy Sz need not be specified and are automatically assigned the defaults as SDx SDy SDz 6 Points connected by survey observations must be placed first in the listof XYZ points 7 NumPts Total number of object space points 9 The data block must end with a negative number i e the first non blank character must be a minus sign Also See Program Aero 129 AeroSys v3 0 Aerotriangulation User Guide Aero Data Block No 5 Photo coordinates This data block is broken into an equal number of sub blocks as the number of photos The data format of a sub block is shown below Line 1 PhiNum CamNum Sx Sy Beta ScaleX ScaleY PosNeg Trans 2 int 5 reals 2 int Line 2 PtID X Y Flag string 2 reals integer Line 2 NumPts 99 to indicate no more points integer Notes 1 PhtNum Photo ID number integer assigned to the photograph 2 CamNum ID number integer of the camera 1 NumCam 3 S
6. User Guide Version 3 0 AeroSys Consulting Voice FAX 651 645 5320 1401 Portland Avenue AeroSys bigfoot com Saint Paul MN 55104 http www bigfoot com AeroSys USA Overview About this Manual Below is a brief overview of the manual Chapter 1 Introduction Chapter 2 Getting Started Chapter 3 Airborne GPS Blocks Chapter 4 The Basics Chapter 5 AeroSys Programs Appendix A Data File Formats provides a HOW TO guide to setup a project and successfully process your data starting with pre processing and ending with the bundle adjustment provides a HOW TO guide to use airborne GPS data with the AERO bundle adjustment shows the IN s and OUT s about key AeroSys program dialog windows and menu functions provides detailed information on all system programs provides detailed information about all data formats that are used by the AeroSys programs Appendix B Photocoordinate Formats 2 AeroSys v3 0 Aerotriangulation User Guide TABLE OF CONTENTS About this Manual 1 0 INTRODUCTION 1 1 Technical Support 1 2 Software Installation 1 3 AeroSys Directories 1 4 License Policy 1 5 Warrantee 2 0 GETTING STARTED 2 1 Collect AT data 2 3 Setup a Project 2 4 Translate Photocoordinate Data 2 5 Bundle Adjustment Pre Processing 2 5 Aero Bundle Adjustment 3 0 AIRBORNE GPS BLOCKS 4 0 THE BASICS 4 1 AeroSys Main Menu 4 2 AeroSys Preferences 4 3 Photocoordinate Format Translation 4 4 Pre
7. 7 StriplD n ID number of the flight strip that contains PhotolD n 8 PhotolD n Photo ID number for the data contained in Filename n 9 Filename n Name of the text file that contains measured pixel data in Rwell s CP format for PhotolD n 10 Each photo should have an unique data file associated with it 141 AeroSys v3 0 Aerotriangulation User Guide BaseName CRL See Data Format of File Basename MEA Also See Program Coordinate Translation 142 AeroSys v3 0 Aerotriangulation User Guide BaseName CTL Line 1 CTL string Line 2 Title Project ID string Line 3 ctNumPts PtID X Y Z Sxy Sz string 5 reals Line 4 ctNumPts 99 to indicate no more control points integer Line 5 ckNumPts PtID X Y Z Sxy Sz string 5 reals Last Line 99 integer Notes 1 Line 1 is a three character string capital letters CTL 2 Line 2 is a string to describe the input data by project name etc maximum length equals 80 characters 4 ctNumPts Number of control points listed in the file ckNumPts Number of check points listed in the file 4 PtID Point ID number This ID number cannot exceed 16 characters in length 5 X Y Z Ground control coordinates 6 Sxy Standard deviation of the control point in X and Y 7 Sz Standard deviation of the control point in Z 8 For horizontal control points Set Z Sz 0 zero 9 For vertical control points Set X Y
8. 9 Data lines must be listed by camera order that is camera no 1 line s are listed first camera no 2 line s appear second etc Also See Program Aero 127 AeroSys v3 0 Aerotriangulation User Guide Aero Data Block No 3 Camera Position and Orientation Two data lines are required for each photograph in the aerial block Notes 1 PhtNum Photo ID number integer assigned to the photograph 2 Omega Phi Kappa Orientation of the camera at the time of exposure Each of these three rotations is each expressed as a group of 3 integers degrees minutes and seconds If a rotational value is negative then only the first non zero integer of the three deg min sec needs to be prefaced with a negative sign ie 110 13 42 or 0 7 18 or 0 0 51 3 Sw Sp Sk Standard deviations of the camera rotations expressed in arc minutes 4 XL YL ZL Ground coordinates of the camera exposure station 5 Sx Sy Sz Standard deviations of camera exposure station 1 IMPORTANT The order of the photo unknowns in the numerical solution of the bundle adjustment corresponds to the same order listed in the data block Also See Program Aero 128 AeroSys v3 0 Aerotriangulation User Guide Aero Data Block No 4 Object Space Coordinates Line 1 SDx SDy SDz real Line 2 PtID X Y Z PtType Sx Sy Sz string 3 reals Int 3 reals Line 2 NumPts 99 to indicate no more XYZ points integer
9. AER Data ASW v3 0 1989 19 lal F3 112 AeroSys v3 0 Aerotriangulation User Guide 5 15 Simulate GPS Data Purpose To compute simulated GPS camera station observations Output File s Basename GPS Input File s Basename ORN This file is generated by the Aero bundle adjustment Notes on Program Operation 1 Select Run from the menu bar to perform the calculations 2 Enter the desired GPS antenna offsets for your simulated data TO OPERATE select program SimGPS from the BUNDLE menu AA SS Simulate GPS Data ASW v3 0 1989 1999 MHS qmtech tech orn E mapping UWmadison Joon aera_51 GPS Ola 113 AeroSys v3 0 Aerotriangulation User Guide 5 16 Space Intersection Purpose To perform the analytical space intersection of a point in object space Output File s LOG file Input File s Basename SPI Notes on Program Operation 1 The point must be imaged in a minimum of two photos for a solution to be solved 2 The general error statistics and final point position values are listed in file Basename 014 TO OPERATE select program SP_INTERSECT from the UTILS menu C AeroSys aswa0 data demo Demo SPI 508238 836 0 15063 TA 0 00301 182561 071 1019 157 114 AeroSys v3 0 Aerotriangulation User Guide 5 17 Space Resection Purpose To perform the analytical space resection of a photo exposed in any spatial orientation O
10. All variables on Line 1 to the right of PhotoNum are disregarded 3 The next NumFid lines after Line No 1 must contain the measured fiducial coordinates 4 FidNum Fiducial ID number 5 X Y Unrefined photo coordinate measurements 6 NumPts Number of image points measured in the photo 7 PtID Point ID number This ID number cannot exceed 16 characters in length 8 The data block for each photo must end with a negative number i e the first non blank character must be a minus sign 9 There is no limit to the number of image point measurements contained in a photo data block 10 There is no limit to the number of photos that can be concatenated together to form a photo strip 11 The order of photos listed for a strip must correspond to the exposure sequence in the direction of the strip flight line If the file is listed oppositely to the direction of flight then use Program REVERSE to flip flop the order of photos in the data file 12 The operator must create this file 181 AeroSys v3 0 Aerotriangulation User Guide Aero CFG Line 1 CFG string Line 2 Program Command Line text heading Line 3 text heading Line 4 SPLIT integer Line 5 CP2PHC integer Line 6 BUILD integer Line 7 REVERSE integer Line 8 REFINE integer char char Line 9 COMBINE integer Line 10 I2SORT integer Line 11 RELORN integer char Line 12 STRIPFORM integer Line 13 BLOCKFORM inte
11. Help 6 Disabled CameraNo Enabled initial Value rStd Dev A 0 00000E 0000 1 00000E 0000 TAB 0 00000E 0000 1 00000E 0000 TB 0 00000E 0000 1 00000 0000 C BB 0 00000E 0000 1 00000E 0000 Y OK x Cancel 69 AeroSys v3 0 Aerotriangulation User Guide 5 1 1 8 5 Self Calibration Affinity Use this menu to select the specific SelfCal parameters to use in the AERO Bundle Adjustment 1 Use the radio control buttons to enable and disable the use of these parameters 2 If you enable the parameters you must use all 3 of them 3 Enter values for each parameter selected and its standard deviation 4 These parameters can only be used in BLOCK IN VARIENT MODE o AeroSys Bundle Adjustment Configurations Options N ASW v3 0 1989 1999 MHS Termination Statistical DOFs Work Dir General Atmospheric Trace SeltCal Mode Physical Params Empirical Params 3rd Order Film Deformation Atini nee cnnne eee 46 Defauts C Enabled 7 Help Disabled Affinity Parameters Enabled initial Value Std Dev M Bo beta 0 00000E 0000 1 00000E 0000 M Sy scale Y 1 00000E 0000 1 00000E 0000 M Sx scale X 1 00000E 0000 1 00000E 0000 Y OK X Cancel 70 AeroSys v3 0 Aerotriangulation User Guide 5 1 2 Close Range Preprocessing This GUI has two functions 1 Photo Resection 2 Point Intersection a ASW Close Range Pre
12. LAT 876 127 556 lt 1 35 036 056 470 000 80 763 80 951 69 962 91 991 48 541 4 237 47 158 89 456 85 813 48 464 4 217 44 561 92 221 0 000 79 001 78 834 71 822 1 082 11 465 91 302 47 958 3 562 47 867 90 229 83 177 45 966 6 503 46 699 94 222 83 031 50 792 4 852 38 252 83 705 0 000 AeroSys v3 0 Aerotriangulation User Guide 50006 0 000 0 000 0 000 0 000 1 0 000 0 000 0 000 0 000 2 0 000 0 000 0 000 0 000 3 0 000 0 000 0 000 0 000 4 0 000 0 000 0 000 0 000 601 11 434 75 570 100 655 72 725 602 64193 13 168 84 977 10330 603 97 844 62 773 5 389 67 838 5101 6 464 88 543 86 958 92 404 5102 0 153 41 622 92 545 44 628 5103 0 670 0 528 92 125 3 236 5104 0 375 48 370 89 616 45 522 5105 10 112 95 097 78 043 91 445 6101 93 911 85 570 0 744 90 886 6102 88 821 37 557 2 695 42 221 6103 92 175 6 771 1 970 2 134 6104 87 216 55 924 1 915 51 031 6105 87 543 88 407 2 006 83 000 99 0 000 0 000 0 000 0 000 60007 0 000 0 000 0 000 0 000 1 0 000 0 000 0 000 0 000 2 0 000 0 000 0 000 0 000 3 0 000 0 000 0 000 0 000 4 0 000 0 000 0 000 0 000 603 5 380 67 846 85 440 68 573 6101 0 741 90 885 90 293 91 643 6102 2 703 42 223 93 078 43 028 6103 1 963 24130 88 018 1 330 6104 1 923 51 032 91 891 50 125 6105 2 012 83 012 93 084 82 037 7101 93 424 92 082 2 694 92 137 7102 98 595 58 574 8 168 58 524 7103 92 007 6 841 1 545 6 779 7104 87
13. as input files and a Camera CAM as an output file NOTE The CAM file must be the same file that was previous generated by the RESECTION pre processing step This program will calculate the camera center XYZ s and substitutes them into the CAM data file using the newly assigned weights The next step is to re run the MERGE pre processing function to re combine the data files into an AER file for the Aero bundle adjustment Finally re run the Aero bundle adjustment with the new AER data file containing the weighted camera center XYZ s observations Check your final statistics to verify that predicted accuracy s and RMSE s have improved Your new results will be updated in the XYZ and ORN data files 34 AeroSys v3 0 Aerotriangulation User Guide Tip Create a separate data directory for each project to avoid confusion All project data files must be placed in this directory 4 0 The Basics 4 1 AeroSys Main Menu To launch AeroSys Aerotriangulation 1 Click the Start button and select t
14. inspect is the Root Mean Square Errors RMSE for the photocoordinate observations This statistic is an overall measure of the magnitude of the absolute photocoordinate observation residuals For most projects measured from film diapositives on an analytical stereoplotter the RMSE for Sx 8 Sy should range from 3 to 8 microns provided that no blunders or gross errors are present in the data For softcopy projects the target RMSE will vary depending upon scanning resolution of the imagery Other factors that will influence the predicted range of the RMSE are quality of the control coordinates and photo identifiable pass points In general the two RMSE s should be nearly the same in magnitude For example if an adjustment results in RMSEx 2 microns and RMSEy 9 microns then one should suspect an error in the data A good starting point to check for irregularities is the Relative Orientation Log and the Error log If every model in the block has not formed a SQUEAKY CLEAN independent model e residuals no greater than 3 microns in the Y axis then you need to re observe the model and re measure its pass and tie points If the OVERRIDE option has been turned on you must also check to see that the final standard deviations assigned to the photocoordinate are within a range of logical reason If a blunder or gross error exists in the data then the final Sxy s will be inflated to compensate for the error On the other hand if the dat
15. maximum length equals 80 characters 3 PhtNum ID number assigned to the photograph 4 Omega Phi Kappa Orientation of the camera at the time of exposure Each of these three rotations is expressed as a group of 3 integers degrees minutes and seconds If a rotational value is negative then only the first non zero integer of the group of three deg min sec needs to be prefaced with a minus sign eg 110 13 42 or 0 7 18 or 0 0 51 6 Sw Sp Sk Standard deviations of omega phi and kappa 7 Units arc minutes 6 XL YL ZL Ground coordinates of the camera exposure station 7 Sx Sy Sz Standard deviations of camera exposure station 8 The data file must end with a negative number i e the first non blank character must be a minus sign 9 This file is automatically generated by Program RESECT Also See Program Resect 138 AeroSys v3 0 Aerotriangulation User Guide BaseName CAO CAO string Title Project ID string Ax Ay Az 3 reals Sx Sy Sz 3 reals Notes 1 Line 1 is a three character string capital letters CAO 2 Line 2 is a string to describe the input data by camera name etc maximum length equals 80 characters 3 Ax Ay Az Calibrated OFFSET for the GPS antenna with respect to the camera station 4 Sx Sy Sz Standard deviation of the OFFSET values 139 AeroSys v3 0 Aerotriangulation User Guide BaseName CMP Line 1 CMP string Line 2 Pr
16. string Line 3 Dxo Dyo Dzo 3 reals Line 4 SDx SDy SDz 3 reals Line 5 NumPts PhtID Xgps Ygps Zgps integer 3 reals Last Line 99 to indicate no more XYZ points integer Notes 1 Line 1 is a three character string capital letters GPS 2 Line 2 is a string to describe the input data by project name etc maximum length equals 80 characters 3 Dxo Dyo Dzo GPS antenna coordinate offsets from the camera station 4 SDx SDy SDz Default standard deviations assigned to the camera station positions 5 PhtID photo id number corresponding the basename AER data file 6 Xgps Ygps Zgps GPS antenna coordinates at the time of exposure 7 The data file must end with a negative number i e the first non blank character must be a minus sign Also See Program AddGPS 150 AeroSys v3 0 Aerotriangulation User Guide BaseName IDX Line 1 IDX string Line 2 Title Project ID string Line 3 NumStrips CFL integer real Line 3 NumStrips SiripID NumPht PhtNo s PhtNo e Flag integers Line 4 NumStrips DataFile 1 string to Line 3 NumStrips N DataFile N Last Line 99 To indicate no more data files integer Notes 1 Line 1 is a three character string capital letters IDX 2 Line 2 is a string to describe the input data by project name etc maximum length equals 80 characters 3 NumStrips Number of flight strips in the photo block 4 CFL Calibrated
17. string NumSirips integer Sirip Data 1 Strip Data NumStrips Notes 1 Line 1 is a three character string capital letters STP for file Basename STP capital letters BLK for file Basename BLK 2 Line 2 is a string to describe the input data by project name etc maximum length equals 80 characters 3 NumStrips Number of strips In the case of Basename BLK the variable NUMSTRIPS is set equal to 1 4 Adjoining strips must be listed in consecutive order across the direction of the flight lines as they physically appear in the photo block Additional cross strips should appear last in the list after the primary strips which compose the bulk of the photo block 5 Strip Data 1 NumStrips have the following data format Line 1 NumPts PtID X Y Z Flag string 3 reals Integer Line 2 NumPts 99 e idle no more points integer 6 NumPts Number of points appearing in the strip model 7 PtID Point ID number This ID number cannot exceed 16 characters in length 8 X Y Z strip model coordinates 173 AeroSys v3 0 Aerotriangulation User Guide 9 Flag A point identifier to designate it for use by the polynomial strip adjustment The value of FLAG may range between 0 3 This variable should be set to 0 zero in file Basename BLK Flag 1 Designates pass points which lie near the center of the initial and terminal models of a strip The axis of flight is arbitrarily d
18. 14 832 8 776 11 346 11 18 081 0 572 1 048 3 358 16 14 020 14 084 3 269 17 805 3 4 10 1061 0 953 17 860 13 421 13 484 3061 0 205 17 114 lt 1 1 952 21 069 1081 12 584 17 574 1 857 14 171 2081 11 678 0 235 1 617 3 016 3081 10 679 14 673 1 246 17 843 11 1 048 3 358 12 012 7 402 16 3 263 17 802 14 963 21 979 14 11 143 13 388 2 949 9 957 2061 0 984 3 602 113997 7 635 17 18 207 14 670 6 308 17 281 194 AeroSys v3 0 Aerotriangulation User Guide ALBANY mea 1 1 1 107 065 LUIS 1 1 2 102 813 93 055 1 1 3 107 194 92 633 1 1 4 102 910 116 946 1 1 5 TTS 135 12 377 1 1 6 110 844 11 935 1 1 7 2 201 100 823 1 1 8 2 089 125 111 1 1 1011 1 566 103 819 1 1 1012 4 161 16 506 1 1 1013 2 741 75 234 1 1 1021 13 917 108 972 1 1 1022 71233 35 282 1 1 1023 78 707 72 858 1 1 303 18 615 2 681 1 1 105 14 498 80 061 1 2 1 103 439 114 697 1 2 2 107 400 94 530 1 2 3 102 610 95 287 1 2 4 106 539 115 467 1 2 5 111 029 9 678 1 2 6 114 950 10 505 1 2 7 2 417 102 885 1 2 8 1 507 123 044 1 2 1011 74 311 95 593 1 2 1012 69 991 9 090 1 2 1013 72 843 84 462 1 2 1021 0 530 99 275 1 2 1022 2 784 43 928 1 2 1023 4 687 82 406 1 2 303 55 601 10 383 1 2 1031 93 344 93 799 1 2 1032 93 612 9 647 1 2 1033 92 420 82 165 1 2 307 28 304 81 582 195 AeroSys v3 0 Aerotriangulation User Guide ATP 1 ROLL 15 501 502 601 15101 15102 15103 15104 15105 16101 16102 1
19. 58 AeroSys v3 0 Aerotriangulation User Guide The following parameters can be set from this dialog window 1 Maximum Number of Iterations The bundle adjustment will terminate after reaching this limit 2 Correction Limits Change in Camera Orientation Omega Phi Kappa in arc secs Change in Camera Position XL YL ZL Change in Object Point Position Xg Yg Zg Change in Standard Deviation of Unit Weight So The bundle adjustment will terminate when the changes in each of the four criteria above are smaller than the values assigned by the operator aj AeroSys Bundle Adjustment Configurations Options ASW v3 0 1989 1999 MHS x 0 00100 59 AeroSys v3 0 Aerotriangulation User Guide The following parameters can be set from this dialog window 1 DOF Definition The choice is either ENHANCED or STANDARD Default ENHANCED 3 Standard Deviation Thresholds Camera Orientation Omega Phi Kappa in arc secs Camera Position XL YL ZL Object Point Position Xg Yg Zg The number of DOF s will be incremented by one for every observation that has an assign standard deviation that is smaller than the values assigned by the operator These thresholds are only used in the ENHANCED definition mode aj AeroSys Bundle Adjustment Configurations Options ASW v3 0 1989 1999 MHS 0 00100 0 00100 60 AeroSys v3 0 Aerotriangulation User Guide The following parameters can be set from this dialog window 1 Blunder Det
20. 618 57 161 1 926 57 232 1105 89 7191 87 312 1 170 87 402 9 9 0 000 0 000 0 000 0 000 198 AeroSys v3 0 Aerotriangulation User Guide Intergraph Image Station begin photo measurements 0101 010101 4 150698 95 017127 4 1507319 95 017903 1 010203 99 232002 92 740095 99 226737 92 735175 1 010102 0 86569402 10 135728 0 86572789 10 136126 1 010103 3 3991188 93 11181 3 3991783 93 113439 1 010202 92 316096 18 393604 92 317576 18 393899 Al 010201 87 282978 84 89633 87 281227 84 894627 1 010104 44 143826 41 453175 44 146507 41 455693 t 010105 42 594208 59 655728 42 59581 59 657971 1 020101 61 187119 106 25449 61 185256 106 25125 1 end photo measurements begin photo measurements 0102 010101 88 341008 98 343145 88 339767 98 341764 il 010203 4 0253176 89 026167 4 0254125 89 028265 1 010102 94 42634 7 4693833 94 427091 7 4694428 1 010103 90 478417 89 366444 90 476591 89 36464 1 010202 1 847211 15 946284 1 8472824 15 946901 1 010201 4 7457463 87 535823 4 7457527 87 535941 1 010104 49 912121 38 637065 49 913419 38 63807 1 010105 49 796986 62 281103 49 797376 62 281591 1 010303 93 377583 104 8153 93 371903 104 80892 1 010302 93 688913 4 8271601 93 690461 4 8272399 1 010301 95 653227 82 955063 95 651012 82 953142 1 010205 40 366948 43 804168 40 369191 43 806601 1 7002 73 698444 86 997689 7369727 86 996303 1 020201 47 365614 70 696181 47 367008 70 698261 1 020101 33 695999 102 19758 33 695933 102 19738 1 end
21. 988 105 989 40000 106 008 106 009 106 012 106 013 1022 88 849 81 218 2 005 88 613 1020 88 691 794 1 846 6 586 1021 85 550 95 131 1 222 87 785 1013 48 283 7 021 38 863 1 294 112 89 546 57 128 2 677 63 750 1012 7 372 79 793 97 045 87 147 1010 2 143 15992 SBOE 26025 1011 3 640 74 088 89 891 67 577 101 12 410 99 506 73 571 92 154 99 10031002 0 000 0 000 0 000 0 000 10000 106 007 106 007 105 990 105 991 20000 106 003 106 004 106 013 106 014 30000 105 993 105 993 105 990 105 991 40000 105 998 105 998 106 007 106 008 1022 81 768 87 752 2 008 88 605 1020 82 411 6 369 1 858 6 588 1021 86 035 88 306 1 227 87 782 112 81 271 63 151 2 684 63 745 1032 2 019 76 137 85 913 77 890 1030 2 640 3 312 86 464 1 595 1031 3 313 86 866 87 211 84 274 1023 27 502 3 LOIL 56 626 2 008 99 10031004 0 000 0 000 0 000 0 000 10000 106 007 106 007 105 984 105 984 20000 106 003 106 004 106 008 106 009 30000 105 993 105 993 105 994 105 994 40000 105 998 105 998 106 014 106 015 1042 79 074 77 930 6 500 74 782 1040 93 220 2 195 7 199 5 192 1041 93 942 88 797 7 570 93 25 16 1033 62 967 2 430 23 182 4 913 1032 2 004 76 142 82 953 74 199 1030 2 632 3 317 83 662 4 769 1031 3 298 86 864 84 561 89 858 106 21 119 1 780 65 147 3 542 99 203 AeroSys v3 0 Aerotriangulation User Guide PAT B 1 152 923 0 1 107065 0 117351 0 2 102813 0 93055 0 3 107194 0 92633 0 4 102910 0 116
22. AeroSys v3 0 Aerotriangulation User Guide Schematically the user follows the flow chart below Collect Setup LA A E SES Files y Preferences File Setup Project Block Configuration Edit Data AERO Bundle Adjustment AER data file Analyze Statistics Output Files ORN XYZ etc 16 AeroSys v3 0 Aerotriangulation User Guide 2 1 Collect AT data The AT data collection software that drives your analytical or softcopy stereoplotter should provide a download function or utility to export collected AT data into one or more industry accepted photocoordinate formats Be careful to note whether the exported data is listed as 1 paired vs un paired measurements 2 units being millimeters vs micrometers 3 plate raw vs transformed and 4 if radial lens distortion errors have been removed The above information is needed during the translation step Note ABC users exported photocoordinates in the ABC TRI format are raw plate coordinate without any radial lens distortion corrections ADAM users exported photocoordinates are refined for radial lens distortion and transformed to the camera fiducial axis system Good EP It_is recommended that an AeroSys project is setup such that a single Idea photocoordinate data file corresponds to a unique flight strip that makeup an entire photo block project Some AT collection systems
23. File Input File s Basename AER Notes on Program Operation 1 Program RAYS reads in the basename AER data file and performs a space intersection for each ground point in the data set The output file lists each ground point and each image ray which intersects the point In addition the photocoordinate residuals for each image ray are listed 2 Photocoordinate residuals which are greater than XX micrometers in magnitude are flagged as a possible blunder where XX can be sent in the AeroSys preferences These flagged image rays should be checked for proper labeling and correct image point identification before running a bundle adjustment with the data TO OPERATE select program IMAGE RAYS from the UTILS menu 3 Check Image Rays for Gross Errors ASW v3 0 1989 1999 MHS x 108 AeroSys v3 0 Aerotriangulation User Guide 5 12 Flip Flop Photo Order Purpose To reverse the listed order of photo data blocks in a PHC 8 REF data file Input 3 Output File s Basename REF or Basename PHC Notes on program operation 1 The reversed order of the photos is re written to the same text file A Flip Flop Photo Order ASW v3 0 1989 1999 MHS h CE da J En o o f k tech REF meso mapping test REF gmtech 109 AeroSys v3 0 Aerotriangulation User Guide 5 13 Coordinate Rotations To transform two or three dimensional coordinates from an assumed coordinate system with ori
24. Focal Length of the aerial camera 5 StripID Id number of the flight strip 6 NumPht Number of photos in the flight strip 7 PhtNo s ld number of the first photo exposed in the flight strip 8 PhtNo e ld number of the last photo exposed in the flight strip 9 ao Increment or decrement of photo Id numbers in the direction of 1g where 1 photo Id s decrease 1 photo Id s increase 10 DataFile N file name of data file 11 This file is generated by the project setup GUI Also See Program Translate Photocoordinates 151 AeroSys v3 0 Aerotriangulation User Guide BaseName llS The following data format convention is used by PS International Imaging Systems Alpha 2000 plotter system PointlD NOTES 1 Only one ground control point is listed on each data line 2 There are no blank lines at the beginning end or within the bulk of the data file 3 PointID is a text string that is right justified in a 16 character data field 4 X Y Z are the ground control coordinates of the point 5 Flag is a text string that is left justified in a 3 character data field This string may contain one of the following three identifiers a XYZ to designate a point that is both horiz and vertical control point b XY to designate a point that is a horizontal control point c Z to designate a point that is a vertical control point Also See Program General Translations 152 AeroSys v3 0 Aerotria
25. PRJ roject file Photocoord Data E I Translate to AeroSys Format ASW v3 0 D 1989 1999 MHS AAA PRJ i ESmappingvAMTechgmtechh E mapping AMTechigmtechitech PHC o o e o o o o o L 1 L 1 o e 82 AeroSys v3 0 Aerotriangulation User Guide Program Notes 1 2 To execute select Convert under the TRANSLATE menu item On the left side of the GUI select the appropriate radial button in each of the four group boxes if necessary The output file will be automatically named based on the project Basename Selection settings are saved to the registry View the translated file before quitting If the translation has a problem the Error Messages box will contain the info where it failed Look at your data files to check for usual formatting Send the data file if you cannot resolve the problem If your special format is not supported will work with you to incorporate it into the translation GUI NOTE ABC Users If using multiple TRI files i e a separate file for each flight strip in your photo block Chances are that each file starts with a photo ID of 1 and increment 2 3 4 Etc When using AeroSys all photo ID s must be unique within the entire photo block therefore the translation uses the strip s to add a constant to the photo ID s as they exist in the TRI data file The user can select the value of this constant from the
26. Sxy 0 zero 10 The data file must end with a negative number i e the first non blank character must be a minus sign 11 The operator must create this file WARNING If you are creating this file from the data listing of a control survey make sure that you enter your data as PtID EASTING NORTHING zZ RIGHT and NOT PtID NORTHING EASTING z WRONG Also See Program Relorn Also See Program Estimate 143 AeroSys v3 0 Aerotriangulation User Guide BaseName DLT Line 1 DLT string Line 2 Project ID string Line 3 NumPht 1 N Maxlter Tol1 integer integer real Line 4 PtID X Y Z Sx Sy Sz string 6 reals End of Pts 99 AAA integer Repeat next sub block NumPhoto s N time s PhtID 1 ssx ssy Scale Focal Lens NumPar string 2 reals 4 ints CFLx CFLy Xo Yo KO K1 K2 P1 P2 9 reals PtD xp yp string real real 99 No more points for this photo 1 integer PhtlD 2 ssx ssy Scale Focal Lens NumPar Notes 1 Line 1 is a three character string capital letter DLT 2 Line 2 is a is string to describe the input data by project name 3 NumPht 1 N Number of photos 4 Maxlter Maximum iterations allowed per DLT solution 5 Tol1 Maximum change in DLT parameter for termination 6 PtID Point ID Number 7 X Y Z Object space coordinates of the 3D control points 8 Sx Sy Sz Standard deviations of the object space coordinates 9 The last l
27. Wisconsin in his Ph D Thesis 1985 This mathematical model was modified to solve for all six camera elements of exterior orientation The program simultaneously solves for the camera principal distance F the principal point coordinate offsets Xo amp Yo the radial lens distortion coefficients K1 K2 K3 for the odd powers 1 3 amp 5 of the polynomial and six exterior orientation elements of the camera omega phi kappa XL YL ZL Single Photo Station 3D Plumb Line Camera Calibration ASW v3 0 1989 1999 MHS Ls C AeroSys asw30 data demo Demo spc i 798 805 1 055 ZE EEI 1342 227 vr y 178 816 7 0063 OOOO 8 647E 0005 Poo This solution method will only work if 1 you have a sufficiently large number of control points and 2 the distribution of the control points are sufficiently non flat in three dimensional space with respect to the camera position 99 AeroSys v3 0 Aerotriangulation User Guide The three dimensional plumb line calibration scene illustrated above consists of seven mylar coated steel wires hung from a ceiling frame The beaded plumb lines are suspended from a rigid frame permanently mounted to the ceiling The frame contains recesses in which machined fittings attached to the wires are precisely inserted into place The wires are weighted at the opposite end of the machine fitting with a 2 lb brass weight which is immersed in 90 WT gear oil or an appropriate substitute t
28. are not capable of this feature therefore AeroSys also accommodates these systems by allowing a single file to contain multiple strips Export Data b sal Any source of 2 D photocoordinate data may be used The user may d y collect data from any instrument ranging from classical measuring instruments om such as encoder modified analog stereoplotters and mono comparators Stri ps analytical stereoplotters digitizing tablets and state of the art softcopy digital photogrammetric workstations 1 Strip per Data File 17 AeroSys v3 0 Aerotriangulation User Guide Point Types IMPORTANT 2 2 Make CTL ground control file This file contains the object space or ground control point values for the project area AeroSys has several format conversion utilities that can assist the user in creating this data file without the need to manually edit An example data file is shown on the next page Starting with the third line in the text file each data line contains six white space delimited free format tokens PID Xg Yg Zg Sxy Sz Where PtID point ID number an alpha numerical string max 16 chars Xg X ground coordinate surveyors easting Yg Y ground coordinate surveyors northing Zg Z ground coordinate surveyors elevation Sxy Standard deviation of horizontal component of ground control i e its horizontal estimated accuracy Sz Standard deviation of vertical component of ground control i e its vertical est
29. block If Not as in GPS blocks use the hybrid Rigid body 3D coordinate transformation to estimate ground XYZ s from model space Auto Sequence Configuration k Program Run Sequence Options Translate to Aero 5 s Format pj Delete PassPoint Prefix T Refine PhotoCoords V Relative Orientation M Photo Resection E E NF Point Intersection Help V Build Data File V Refine PhotoCoords M Merge FT Combine l z Remove Camera Lens Distortions lv Relative Orientation T Refine PhotoCoords V StripForm d000 Estimate Ground Coords amn Input Data Source e cu en ms ias eLo from Program StripForm aa Coe Grail dur C from Program BlockForm ay Y Photo Resection Adjustment Type MV Point Intersection Polynomial Strip Adjustment Y Automatic Degree Selection Y Merge Data Files zh k C Rigid Body 3D Coordinate Transformation 7 Help M Image Rays M Aero Bundle Brief Output File m Check Image Rays I Stop if Gross Error is Found L o x caca 2 D T Bi Figure 17 Auto Sequence Configuration Dialog The user can enable and disable functions that are invoked during the preprocessing in the Program Run Sequence group box The sequence starts at the top of the list and works it ways to the bottom ending with the Aero Bundle Adjustment This sequence can be invoked by clicking on the AIRPLANE button
30. camera center locations can be calculated directly by the post processing of the GPS data In any case if all goes well i e satellite lock is not lost during the flight one might expect to get coordinates that are accurate to a couple of tenths of a foot or less Then this coordinate data can be used as initial approximations when weighted appropriately will result in superior aerotriangulation results with very few ground control points included This version of AeroSys does not incorporate scale and flight line offset parameters for GPS blocks it only allows one to weight the camera XYZ center observations Therefore if you suspect that scale change and drift has occurred in your photo block then you must reconcile the GPS data prior to using AeroSys The general strategy that AeroSys employs is to first have the user perform a conventional bundle adjustment in order to solve for reasonable estimates of each photo s exterior angular orientation being Omega Phi and Kappa Then second using the a orientation data b antenna offsets and c GPS antenna coordinates to compute the estimated camera center XYZ coordinates using an Utility program Thirdly re combine this data into the bundle adjustment data AER file with the appropriate weights and re solve the block adjustment To summarize the above paragraph 1 Perform conventional bundle adjustment 2 Compute camera center XYZ coordinates and 3 Substitute camer
31. data file If an observation s residual is greater than this limit it is removed from the polynomial adjustment and a new solution is computed Bad observations are recorded in the basename err data file TO OPERATE select program ESTIMATE from the AERIAL menu General Output File The text file Estimate log contains the error analysis of the direct transformation or the polynomial strip adjustment depending upon which option was chosen ls Bundle Adjustment Pre Processing ASW v3 0 1989 1999 MHS Estimate XYZ Ground Coordinates 92 AeroSys v3 0 Aerotriangulation User Guide 5 2 9 Prepro Step Resect Purpose To calculate approximations for the six elements of exterior orientation for each photo in the photo block These approximations are used in forthcoming analytical space intersection calculations and the AERO Self Cal bundle adjustment Output File s Basename RST Basename CAM RESECT log Input File s Basename EST Basename REF Notes on Program Operation An option is provided to remove the generic point ID prefix that is commonly used during data collection to designate an image point as a primary pass point If this option is invoked the prefix characters are removed and the modified point IDs are written to the output file only If the least square solution to the analytical space resection fails to converge or terminates due to numerical problems then only the initial approximations to
32. each time the program is run In the case of data that has no dirty data problems this has the effect of improving the initial estimates of the pass point ground coordinates and the exterior orientations of photos provided by the pre processing Assuming the OVERRIDE Option is turned off if the Standard Deviation of Unit Weight results in a value much greater than unity 1 0 when the bundle converges to a solution there are probable gross errors in the data In this case the coordinates calculated by AERO for the pass points will also be in error and subsequent runs of the adjustment will therefore use these approximations and may compound the existing problems To stop AERO from updating the input data uncheck the Update basename AER Data File box listed under the Option Config General Tab Should the initial estimates in the AER input data file be made unusable return to the MERGE step in the pre processing to re compile the old approximations 30 AeroSys v3 0 Aerotriangulation User Guide Quick Summary After the bundle adjustment is done the user can look at two output sources to interpret the results The first place the user should look at is the QUICK SUMMARY dialog To display this dialog click on the last icon in the button bar The second source is the AERO log file which is created in the project directory See section 2 5 5 for a description of this GUI The first statistic that one should
33. has been exported to Also select the appropriate attributes in the two radial group boxes that correspond to the photocoordinate type that you have chosen ASW Project Info and Configuration ASW v3 0 1989 1999 MHS X Adam Technology Figure 2 Photocoordinate Type Paired Format Types ADAM Technology pco BLUH Intergraph Image Station IIS Alpha 2000 Kern DSR pla Zeiss Un Paired Format Types AeroSys raw PHC AeroSys refined REF ABC _ raw only W gt gt SS ae O E gt U gt T A m m 21 AeroSys v3 0 Aerotriangulation User Guide ASW Project Info and Configuration ASW v3 0 1989 1999 MHS he p y ps ae fs pa Figure 3 Block Configuration Click on the NEXT button to shift to the BLOCK CONFIGURATION tab Enter the BLOCK TOTAL strips then one at a time select the strip number and then click on the green PLUS SIGN button to select the data file that corresponds to each strip Depending upon the format of the data AeroSys will try to read the data file and automatically count and report the number of photos in the strip as well as determine the first and last photo ID s in the strip Otherwise the user must correctly specify the ID numbers of the first and last exposure each flight strip as they were flown at the time of the aerial photography The photocoordinate translation program uses this information to order the photo ID s in the direct
34. identify primary pass points 8 which are located near the photo center The last character of a point ID number is compared to the IDflag For example if we specify that IDflag 2 then the 2 in point No 908012 would indicate that this primary pass point is located near the center of the photo The IDflag test character is only active for point IDs being a minimum MinLength characters in length which contain the primary pass point prefix that is specified in AERO PFX The IDflag test character is used only by Program RELORN and identifies primary pass points located only in the initial and terminal models of a photo strip These points are used for transformation purposes by the polynomial strip adjustment option in Program ESTIMATE FX FY dimensions in millimeters of the camera format The nominal values for a 9 inch by 9 inch format is FX FY 228 mm F an arbitrary percentage of the largest format dimension and specifies the size of a square region centered over the XY fiducial axis If an image point is contained in this square region it is flagged by Program RELORN as being a primary pass point located near the photo center This file must be located in the asw sys directory This file is no longer used in ASW v3 0 and is super ceded by the ASW pro binary record file Parameters are edited via the FILE PREFERENCES menu 187 AeroSys v3 0 Aerotriangulation User Guide Aero PAR Line 1 M
35. in the main menu button bar The preprocessing will automatically step through each function that is enabled box is checked and then finally launch if checked the Aero Bundle Adjustment If an error occurs the sequence will terminate at that particular preprocessing step notifying the user Options for these preprocessing steps are set in the right hand group box If the passpoint and tiepoint data has been collected and numbered using a character prefix to identify photo passpoint numbers the user can elect to Remove Passpoint Prefix from the given point ID This prefix removal is only applied to the output file for that particular step the input file s are unchanged This feature is provided for compatibility with data sets that have been collected using criteria established for use in JFK s BRATS system If the raw photocoordinate data contains lens distortion errors the user can elect to remove this systematic error from their data during the refinement step by checking this box 41 AeroSys v3 0 Aerotriangulation User Guide Std Dev Defaults Tip Most analytical plotters can obtain a pointing accuracy of 3 to 5 microns for the photocoordinates Camera Orientations and passpoint observations are normally allowed to float by assigning a large Std Dev During the Estimate step in the preprocessing two separate types of data reduction may be perform 1 Polynomial Strip Adjustment or a 2 Rigid body
36. menu bar 83 AeroSys v3 0 Aerotriangulation User Guide 5 2 1 Prepro Step Split To rearrange a text file of photocoordinate data which is formatted as paired coordinates grouped together by model into a format which is group together by a photo ID Output File s Strip 1 TXT Strip 2 TXT Strip N TXT Input File s Basename SPL Basename CAL Strip 1 2 Strip 2 Strip N Notes on Program Operation Before using this program first check if the regular PHOTOCOORDINATE TRANSLATION program supports your particular format If not you are better off calling me and I will personally add support for your new format no charge Program Split separates paired photocoordinate data into two separate blocks of text The text from an input file Strip n must be formatted as follows Photo1Photo2 Misc PTID1 XL YL XR YR PTID2 XL YL XR YR PTIDn XL YL XR YR 99 Photo3Photo2 Where 1 Photo1Photo2 is a single character string i e no blank spaces within the string that identifies the pair of photos for the immediately following data 2 PTID n is a string to identify each point using a maximum of 16 characters 3 XL YL XR YR are measured photocoordinates of the image point in the left and right photos of the given model 4 99 is a flag to indicate the end of the data for the model labeled by Photo1Photo2 TO OPERATE select program SPLIT from the
37. step All input output and log files produced by the pre processing are simple ASCII text files and can be viewed by the user using NOTEPAD EXE If the user desires to step through the pre processing by hand click on the AERIAL Desired Step menu item to bring up the pre processing dialog One can manually step through the pre processing by alternating between the GO and Next buttons located at the bottom of the dialog La Bundle Adjustment Pre Processing ASW v3 0 1989 1999 MHS Photocoordinate Refinement Click on GO to start a pre processing step Click on NEXT to advance to the next step Figure 7 Bundle Pre processing Dialog 28 AeroSys v3 0 Aerotriangulation User Guide EEE GH 0000 iii El ta g E ek Briefly the following describes each pre processing step REFINE Corrects plate coordinates with respect to the camera fiducial coordinates with the option of removing symmetrical radial lens distortion RELORN Calculates a relative orientation for each overlapping pair of vertical photos computing an independent model and model coordinates for each common image point STRIPFORM Connects adjoining independent models into a single strip in model space BLOCKFORM Connects adjoining independent strip models into a single block in model space This step is needed after Stripform and before Estimate if any strip in the block fails to contain enou
38. the choice of either P or D P Polynomial D Direct Transform 8 Blank lines are not allowed in the data file This file must reside in the asw sys directory This file is no longer used in ASW v3 0 and is super ceded by the ASW pro binary record file Parameters are edited via the FILE PREFERENCES menu 183 AeroSys v3 0 Aerotriangulation User Guide Aero DFL Line 1 Sopk Sxl SYL SZL real Line 2 Sxg Syg SZg real Line 3 Sy Sy real Notes 1 This file contains the default standard deviations assigned to the solution unknowns in the bundle adjustment in Program AERO This file is read by several AeroSys programs and its values are incorporated into the CAM EST and AER data files 2 Sopk Standard deviations of the camera station orientation parameters omega phi and kappa Units arc minutes 3 SxL SYL SZL Standard deviation of the camera station ground coordinates XL YL and ZL Units ground system units 4 Sxg SYg SZg Standard deviations of the pass point ground coordinates Xg Yg and Zg Units ground system units 5 Sx Sy Standard deviation of the photo coordinate measurements Units millimeters 6 This file must reside in the asw sys directory This file is no longer used in ASW v3 0 and is super ceded by the ASW pro binary record file Parameters are edited via the FILE PREFERENCES menu 184 AeroSys v3 0 Aerotriangulation User Guide Aero D
39. 3 0 015 10103 8436 41 13554 32 878 98 0 014 0 019 10104 10440 33 11809 56 898 51 0 011 0 020 10105 7581 32 10031 12 860 70 0 010 0 014 99 10106 11189 77 10033 01 984 63 0 010 0 018 99 Also see Basename CTL 19 AeroSys v3 0 Aerotriangulation User Guide 2 3 Setup a Project In the AeroSys main menu click on FILE OPEN PROJECT or click on the left most icon in the button bar The ASW Project Info and Configuration dialog will appear fa asw Project Info and Configuration ASW v3 0 1989 1999 MHS SG Karoi CA eroSys asw30datalminidemoiDemo CTL ar Figure 1 ASW Project Info and Configuration Dialog From the menu bar above select FILE NEW A file selection dialog window appears New AeroSys Project File AeroSys Project PRJ El Traverse to the desired data directory and type in the name of your new project using the PRJ three character file extension Click on the TWO button to select the ground control CTL data file A file select dialog will appear select the desired data file Note that the name of this file does not need to use the same basename as the project PRJ file 20 AeroSys v3 0 Aerotriangulation User Guide Click the NEXT button in the lower right hand corner to shift to the PHOTOCOORDINATE TYPE tab Change the format to the one that your coordinate data
40. 3D coordinate transformation Depending upon the previous step performed StripForm or BlockForm the user can designate which data file and type of transformation to be used The Image Rays function is a data filter that performs a check on the input data for the Aero Bundle Adjustment It performs a space point intersection calculation for each point ID listed to check for blunders 6000 006 z aE a Figure 18 Standard Deviation Defaults AeroSys will use these values as the default standard deviations when weighting a given observation value The actual units Ft or M used are left up to the user s data and are determined by their ground control data 42 AeroSys v3 0 Aerotriangulation User Guide Max Residual Limits Watch out for Poor Fitting Ground Control w Maximum Residual Limits Fous Fous Poor fomo foin Poor fomo fom som 3000 1000 porno 0100 Poos o Figure 19 Maximum Residual Limits During preprocessing if observation residuals exceed these user defined limits then an error is flagged and printed to the Error Log file AeroSys contains a special feature in the ESTIMATE step During this processing step_if the residuals of ground control points exceed the set max residual limits then the particular control point is temporarily remove as a control point and later re introduced into the data during the Point Intersection step The effect of this results i
41. 5934 613 3838 997 1 571 o o o o 73 0 15 49 0 17 43 1 LU 27 0 1 30 73 55206 746 26011 183 3864 465 1 122 o o o o 74 0 20 36 0 10 23 T 20 1 88 0 EE 74 57013 197 26103 343 3841 533 1 434 o 75 0 10 52 20 55 33 2 1 LEE 37 0 1 45 75 58761 237 26215 997 3835 590 2 130 Omega 0 1 35 Phi 0 1 521 Kappa 0 ot 41 XL 1 723 YL 1 674 ZL 1 13d 79 AeroSys v3 0 Aerotriangulation User Guide Adjusted Point Coordinates Standard Errors and Residuals lt CONTROL POINTS gt lt 3D gt 1 1001 53789 630 27603 647 799 190 0 269 0 279 lt CONTROL POINTS gt lt Horizontal gt 2 103 53703 198 24921 504 807 413 0 274 0 274 3 108 56994 266 215211365 775 285 0 269 0 275 4 114 56912 004 24989 314 809 560 0 269 0 271 lt CONTROL POINTS gt lt Vertical gt 5 101 53723 176 25933 029 800 800 02353 0 383 6 107 55341 281 24703 294 838 490 0 494 0 498 7 111 56857 985 26283 973 788 730 0 344 0 373 lt PASS POINTS gt 8 11 51596 710 27734 098 777 764 0 789 1 071 9 12 53483 466 27809 449 793 795 0 434 0 575 10 13 55086 582 27971 951 802 463 0 398 0 597 27 106 55289 141 24814 711 833 127 0 381 0 450 29 113 57039 897 25469 696 787 024 0 372 0 405 30 120 56812 373 26519 866 788 985 0 345 0 379 including Control Points excluding Control Points 0 473 Sx 0 518 0 564 Sy 0 633 1 028 Sz 1 209 e me 1 264 Spherical 1 459 rs 80 AeroSys v3 0 Aerotriangulation User Gu
42. 6 3 If the data file indicates the use of DLT constraints then the program will first solve an unconstrained solution to compute approximations to the first eleven DLT parameters followed by the introduction of constraints Program LT ASW v3 0 1989 1999 MHS 106 AeroSys v3 0 Aerotriangulation User Guide 5 10 GPS Antenna Offsets Purpose To compute the XYZ offset from the camera exposure station to the exterior mounted GPS antenna Output File s Basename CAO Input File s Basename GPS Basename ORN This file is generated by a bundle adjustment Notes on Program Operation 1 This program should be run only after processing a bundle adjustment which has both a fully controlled photo strips and or models and b accurate GPS data readings 2 The program calculates the difference between the GPS observation corrected for camera station rotations and the aerial triangulation result for each photo in the block The calibrated offsets are the computed average over the entire block of photos A Estimate GPS Antenna Offsets ASW v3 0 1989 1999 MHS EA de2241 ORN E mapping dmi De224m de2241 GPS le E mapping dmi De224m de2241 CA0 lt E mapping dmi De224m GPSofttsets lag ie 107 AeroSys v3 0 Aerotriangulation User Guide 5 11 Image Rays Purpose To provide a method of error checking for mis labeled points and other errors found in dirty data sets Output File s Log
43. 6103 16104 16105 99 16 501 502 601 602 603 15101 15102 15103 15104 15105 16101 16102 16103 16104 16105 17101 17102 17103 17104 17105 99 88 196 1 0 47 141 62 Die 0 0 193 7 404 608 701 901 528 6 82 86 88 88 85 40 16 30 83 996 206 83 36l 472 a LILT 883 lt II 876 127 556 86 88 84 86 82 119 83 83 84 000 214 457 806 414 446 935 000 523 25 664 925 709 571 019 135 036 056 470 4 152 874 4800 0 80 80 69 O 48 237 47 89 85 464 217 561 221 4 48 4 44 92 78 3 83 45 503 699 222 46 94 83 792 852 232 50 4 38 83 000 aT Dhs 834 71 l LT 91 47 562 47 90 177 000 763 951 962 991 541 158 456 813 001 822 082 465 302 958 867 229 966 031 705 AeroSys v3 0 Aerotriangulation User Guide BINGO 197 15 501 502 601 ISTOL 15102 15103 15104 15105 16101 16102 16103 16104 16105 99 16 501 502 601 602 603 15101 15102 15103 15104 LSTOS 16101 16102 16103 16104 16105 17101 17102 17103 17104 17105 99 214 141 457 806 414 2193 446 404 608 701 901 528 2935 000 523 664 2925 709 z571 996 206 019 361 472 LT 883
44. 68640 87 35944 80 96449 0 29012 12001 41 89351 39 65051 36 43972 48 83516 12002 14 86597 65 08636 20 88238 23 19956 22001 91 07516 36 83103 98 16584 52 19401 22002 73 88330 5 50865 68 55807 83 91483 MODEL 01050104 INNER TRANSFORMATION LEFT 1 00000 0 00000 125 0000 0 00000 1 00000 125 0000 INNER TRANSFORMATION RIGHT 1 00000 0 00000 125 0000 0 00000 1 00000 125 0000 1051 72 57820 2 19786 74 00636 84 52095 1052 1 41861 0 52285 3 12525 86 25079 1053 80 96449 0 29012 79 79069 85 39919 1041 85 81725 84 05199 88 98332 1 41963 1042 0 15920 83 92094 2 47942 0 80459 1043 68 49963 83 34798 67 06643 0 96001 12003 1 98240 38 06047 0 12354 47 14478 MODEL 01040103 INNER TRANSFORMATION LEFT 1 00000 0 00000 125 0000 0 00000 1 00000 125 0000 INNER TRANSFORMATION RIGHT 1 00000 0 00000 125 0000 0 00000 1 00000 125 0000 1041 88 98332 1 41963 85 04184 89 54268 1042 2 47942 0 80459 0 32825 91 33833 1043 67 06643 0 96001 70 51241 93 64672 1044 4 84039 51 47786 2 84659 38 68678 1031 77 37594 90 48453 73 95186 2 39419 1032 1 64732 91 09145 0 19594 0 54179 1033 78 51230 89 51004 81 74751 0 80718 12004 0 20280 77 64820 2 08893 12 82903 16112 107 07370 52 16466 102 24454 38 07531 26114 90 49341 20 23191 86 50580 69 29272 6122 67 92762 25 70814 64 80883 64 62902 201 AeroSys v3 0 Aerotriangulation User Guide Kern DSR mea Kern DSR 1 Operating System This file is called RELATI MEA This f
45. 7 200 NYHUPWNEH 8 501 502 601 101 102 103 104 105 101 102 103 104 105 1 I OU amp W N 8 501 502 601 602 603 101 102 103 104 105 101 102 103 104 105 101 102 103 104 105 17817 8714 17746 121633 225522 234619 225591 121719 168834 183754 197123 122443 122069 128462 129135 128111 204209 208315 210535 210178 207605 17970 7567 15292 119067 223059 233451 225722 121976 78998 93851 104528 151195 203894 32392 31742 37499 36821 35257 114330 118042 119491 118246 113610 201956 199553 203444 204020 206020 14370 118265 222179 231256 222250 118342 14430 5351 199048 199242 48392 210255 166822 122538 71163 28881 204109 166776 114116 73788 26145 13448 117218 221245 231620 223908 120124 16109 5726 197113 197137 46662 120146 131204 208811 165471 121162 69739 27370 201742 164590 112155 71955 24386 202724 170463 124587 81503 36089 AeroSys v3 0 Aerotriangulation User Guide IIS Alpha 2000 MODEL 01060105 INNER TRANSFORMATION LEFT 1 00000 0 00000 125 0000 0 00000 1 00000 125 0000 INNER TRANSFORMATION RIGHT 1 00000 0 00000 125 0000 0 00000 1 00000 125 0000 1061 81 89766 3 91507 88 43290 94 33179 1062 1 56077 0 29185 3 90186 90 55571 1063 75 56368 2 79211 70 27086 92 37256 1064 1 03272 48 87062 4 69664 39 47318 1051 65 50418 90 72647 72 57820 2 19786 1052 4 55145 87 40506 1 41861 0 52285 1053 86
46. 9 106 012 106 013 1022 88 849 81 218 2 005 88 613 1020 88 691 794 1 846 6 586 1021 85 550 9513 1 1 222 87 785 1013 48 283 7 021 38 863 1 294 112 89 546 57 128 2 677 63 750 1012 7 372 79 793 97 045 87 147 1010 2 143 7 992 89 777 2 325 1011 3 640 74 088 89 891 67 577 101 12 410 994506 13 571 92 154 99 0 000 0 000 0 000 0 000 10031002 001 001 001 001 10000 106 007 106 007 105 990 105 991 20000 106 003 106 004 106 013 106 014 30000 105 993 105 993 105 990 105 991 40000 105 998 105 998 106 007 106 008 1022 81 768 87 752 2 008 88 605 1020 82 411 6 369 1 858 6 588 1021 86 035 88 306 1 227 87 782 112 81 271 63 151 2 684 63 745 1032 22019 716 137 85 913 77 890 1030 2 640 34342 86 464 595 1031 3 313 86 866 87 211 84 274 1023 27 502 35191 56 626 2 008 99 0 000 0 000 0 000 0 000 10031004 001 001 001 001 10000 106 007 106 007 105 984 105 984 20000 106 003 106 004 106 008 106 009 30000 105 993 105 993 105 994 105 994 40000 105 998 105 998 106 014 106 015 1042 79 074 77 930 6 500 74 782 1040 93 220 2195 Pol G9 5 192 1041 93 942 88 797 7 570 93 576 1033 62 967 2 430 23 182 4 913 1032 2 004 76 142 82 953 74 199 1030 2 632 3 317 83 662 4 769 1031 3 298 86 864 84 561 89 858 106 21 119 1 780 65 147 3 542 99 0 000 0 000 0 000 0 000 207 AeroSys v3 0 Aerotriangulation User Guide
47. 946 0 5 115135 0 12377 0 6 110844 0 I1935 0 7 2201 0 100823 0 8 2089 0 125111 0 1011 1566 0 103819 0 1012 4161 0 16506 0 1013 2741 0 75234 0 1021 T3917 0 108972 0 1022 712330 35282 0 1023 78707 0 72858 0 303 18615 0 2681 0 105 14498 0 80061 0 99 2 152923 0 1 103439 0 114697 0 2 107400 0 94530 0 3 102610 0 95287 0 4 106539 0 115467 0 5 111029 0 9678 0 6 114950 0 10505 0 7 2417 0 102885 0 8 1507 0 123044 0 1011 74311 0 95593 0 1012 69991 0 9090 0 1013 72843 0 84462 0 1021 530 0 99275 0 1022 2784 0 43928 0 1023 4687 0 82406 0 303 55601 0 10383 0 1031 93344 0 93799 0 1032 93612 0 9647 0 1033 92420 0 82165 0 307 28304 0 81582 0 99 204 AeroSys v3 0 Aerotriangulation User Guide RWEL CP raw plate coords 105645 1 109409 2 1 105161 1 102513 9 2 106804 1 102044 2 3 106283 1 109912 9 4 90580 4 94840 1 901021 92409 9 8495 7 901022 93809 6 62468 2 901023 3391 5 78451 3 901011 385 8 180 8 901012 4540 4 87445 2 901013 22604 1 90418 1 22003 77019 6 59470 3 2093 53610 9 23115 9 12007 36117 5 22233 9 2094 84594 8 29984 2 2092 85509 8 45197 4 12006 12650 0 47072 5 2083 205 AeroSys v3 0 Aerotriangulation User Guide WIS DOT 206 AeroSys v3 0 Aerotriangulation User Guide Zeiss 10011002 001 001 001 001 10000 105 995 105 996 105 991 105 992 20000 106 007 106 007 106 008 106 009 30000 105 990 105 991 105 988 105 989 40000 106 008 106 00
48. AERIAL menu 84 AeroSys v3 0 Aerotriangulation User Guide 5 2 2 Prepro Step Build To build a single text file of photo coordinate measurements from several smaller text files each containing measurements from a single strip of photos Output File s Basename PHC Input File s Basename BLD Strip 1 TXT Strip 2 TXT Strip N TXT Notes on Program Operation This program concatenates multiple text files of photo coordinate measurements into a single text file named Basename PHC The listed order of the Strip TXT files in file Basename BLD should correspond to the physical structure of the entire block of photos i e adjoining photo strips in the photo block should be consecutively listed in the data file Additionally cross strips should be listed after the primary photo strips which compose the block of photos To insure the success of the strip formation process with AeroSys programs it is extremely important that the order of photos listed in each Strip TXT data file match the same sequence of exposures taken during the airborne flight of each strip If the listed order is opposite the direction of flight then use Program Flip Flop to reverse the listed order of photos The above rule applies to other data files used by the AeroSys programs These data files have the following file extensions PHC REF and REL Again photo and model data must be listed in consecutive order in the direction
49. DIT sequence quickly and efficiently System Requirements AeroSys runs on most Pentium class or 586 compatible computers configured with at least 64 MB RAM 128 MB recommended running under WinNT 98 95 Comprehensive Documentation An easy to read totally on line users manual is provided along with sample data files The Getting Started chapter gives the user a step by step introduction Great Versatility AeroSys bundle adjustment can be used to solve networks of aerial blocks as well as close range designs It can simultaneously employ multiple cameras within a block has self calibration capability can incorporate surveying observations and kinematic airborne GPS coordinates Technological Advantage Mapping companies can move their operations off of older UNIX based computers and on to state of the art PC workstations For small companies needing aerotriangulation services they can avoid the high cost of UNIX workstations and have in house capabilities at an affordable price AeroSys programs are compiled into optimized 32 bit exe s for top performance AeroSys v3 0 is the best valued AT package on the market INTROduction amp PROduction packages include CD ROM Marx Crypto Box User s manual in HTML 8 PDF formats sample data sets 30 day money back guarantee of satisfaction 60 day free software configuration support from the date of purchase Purchase provides license for use of the program system on a stand alone PC works
50. F Input File s Basename CRL Basename MEA Notes on Program Operation 1 The user has a choice of three types of two coordinate transformations 1 Conformal 2 Affine and 3 Projective 2 The minimum numbers of control points that are required for each type of transformation are 2D Conformal 2 control points 2D Affine 3 control points 2D Projective 4 control points 3 Control coordinates or System No 1 must be listed in file Basename CRL 4 Measures coordinates or System No 2 must be listed in file Basename MEA 5 Transformed coordinates are listed in file Basename TSF 6 The general error statistics and final transformation coefficients are listed in file Basename 011 TO OPERATE select program COORD TRANS from the UTILS menu See GUI on the next page 117 AeroSys v3 0 Aerotriangulation User Guide fa Coordinate Transformations ASW v3 0 1989 1999 MHS E mapping AMTech gmtech tech crl e E E mapping AMTech gmtech tech mea eS En E mapping AMT ech gmtech tech tst E e 0 0000 0 0000 0 0000 0 000 40 000 0 000 118 AeroSys v3 0 Aerotriangulation User Guide 5 20 Stereoplotter Setup Purpose To calculate stereoplotter dial settings and rotation matrices for adjusted stereopairs Output File s LOG file Basename setup format varies depending upon stereoplotter Input File s Basename ORN Notes on Program Operation 1 At present o
51. Guide Appendix A Data File Formats BaseName 3DR Line 1 3DR string Line 2 TiTle Project string Line 3 ScaleX ScaleY ScaleZ 3 reals Line 4 Tx Ty Tz 3 reals Line 5 DMSOmega DMSPhi DMSKappa 9 integers Line 6 PID X Y Z 1 string 3 reals to Last Line 99 to indicate no more points integer Notes 1 Line 1 is a three character string capital letters 3DT 2 Line 2 is a string max length of 80 char to describe the input data by project name etc 3 ScaleX ScaleY ScaleZ Scale factors in X Y and Z 4 Tx Ty Tz Translations in X Y and Z 5 DMS omega DMSphi DMS kappa Rotational values about the X Y and Z coordinate axis respectively 6 PtID Point ID number 7 X Y Z Original point coordinates 8 The last line must begin with a negative integer number 9 The operator must create this file Also See Program Coordinate Rotation 121 AeroSys v3 0 Aerotriangulation User Guide BaseName 3DT 3DT string TiTle Project string ScaleX ScaleY ScaleZ real Omega Phi Kappa real Tx Ty Tz real Notes 1 Line 1 is a three character string capital letters 3DT 2 Line 2 is a string max length of 80 char to describe the input data by project name etc 3 ScaleX ScaleY ScaleZ Scale factors in X Y and Z 4 Omega Phi Kappa Rotational values about the X Y and Z axis Units Degrees 5 Tx Ty Tz Translations in X Y and Z 6 The operator must creat
52. Guide BaseName RES Line 1 RES string Line 2 Title Project ID string Line 3 PointlD PhtID Vx Vy 1 string int 2 reals int Line 3 NumPts 99 to indicate no more lines integer Notes 1 Line 1 is a three character string capital letters RES 2 Line 2 is a string to describe the input data by project name etc maximum length equals 80 characters 3 NumPts Number of points in the block 4 PointID Point ID number This ID number cannot exceed 16 characters in length 5 PhtID Photo ID number must be a positive integer value 6 Vx Vy Photo coordinate residuals in X and Y 7 The three numbers PhtID Vx Vy are printed for every photo in which a point is imaged 8 Each point line No 3 to 2 NumPts must end with a negative integer value 9 The data file must end with a negative number i e the first non blank character must be a minus sign 10 This file is automatically generated by Program AERO Also See Program Aero 164 AeroSys v3 0 Aerotriangulation User Guide BaseName RLD Line 1 RLD string Line 2 Title Project ID string Line 3 CFL real Line 4 FAng D 0 D 90 D 180 D 270 5 real Line 5 NumAng 99 To indicate no more data lines integer Notes 1 Line 1 is a three character string capital letters RLD 2 Line 2 is a string to describe the input data by project name etc maximum length equ
53. IR Line 1 DataDir string Notes 1 DataDir a string that identifies the name of the directory where the AeroSys programs will find its data files to process 2 This file must reside in the asw sys directory This file is no longer used in ASW v3 0 and is super ceded by the ASW pro binary record file and WinNT registery Parameters are edited via the FILE PREFERENCES menu 185 AeroSys v3 0 Aerotriangulation User Guide Aero ERR Line 1 ERR 3 charater string Line 2 Description text string Line 3 Vx Vy 0 0 Refine 3 reals string Line 4 Vx Vy 0 0 Relorn 3 reals string Line 5 Vx Vy Vz StripForm 3 reals string Line 6 Vx Vy Vz BlockForm 3 reals string Line 7 Vx Vy Vz Estimate P 3 reals string Line 8 Vx Vy Vz Estimate D 3 reals string Line 9 Vx Vy 0 0 Resect 3 reals string Line 10 Vx Vy 0 0 Intersect 3 reals string Notes 1 Line 1 is a three character string capital letters ERR 2 Vx Maximum residual limit in X 3 Vy Maximum residual limit in Y 4 Vz Maximum residual limit in Z 5 This file must reside in the asw sys directory This file is no longer used in ASW v3 0 and is super ceded by the ASW pro binary record file Parameters are edited via the FILE PREFERENCES menu 186 AeroSys v3 0 Aerotriangulation User Guide Aero FMT Line 1 IDflag FX FY F char real real real Notes 1 IDflag is a single character and is used to
54. Output File s Log File Input File s Basename AER Notes on Program Operation 1 Program RAYS reads in the basename AER data file and performs a space intersection for each ground point in the data set The output file lists each ground point and each image ray which intersects the point In addition the photocoordinate residuals for each image ray are listed 2 Photocoordinate residuals which are greater than XX micrometers in magnitude are flagged as a possible blunder where XX can be sent in the AeroSys preferences These flagged image rays should be checked for proper labeling and correct image point identification before running a bundle adjustment with the data TO OPERATE select program IMAGE RAYS from the AERIAL menu Bundle Adjustment Pre Processing ASW v3 0 1989 1999 MHS R Check ImageRays for Gross Errors 96 AeroSys v3 0 Aerotriangulation User Guide 5 3 AddGPS Purpose To add GPS camera station observations i e XYZ position amp Std Dev s to the bundle adjustment data stream Output File s Basename CAM Input File s Basename GPS Basename ORN This file is generated by the Aero bundle adjustment Notes on Program Operation 1 This program is normally run after the first preliminary bundle adjustment to refine the GPS camera station observations in order to computed precise camera rotations omega phi kappa 2 After executing this program a ru
55. Processing These commands are used primarily to refine the initial approximations for data used in Close Range type of applications Both command functions will display a status window to update the operator on the progress of the calculations The AER data file is automatically updated by these two processes 71 AeroSys v3 0 Aerotriangulation User Guide 5 1 2 1 Space Resection This pre processing routine calculates the six elements of exterior orientation of a photo by the method of a least squares analytical space resection solution Please note that a minimum requirement of three 3D xyz control points listed in AERO DATA BLOCK No 4 must be imaged in each photo Otherwise the space resection calculations will be terminated for that photo The values of the exterior orientations listed in AERO DATA BLOCK No 3 are used as initial approximations for the resection calculations If the resection converges to a solution then the initial approximations are updated by the newly computed exterior orientations which are written to the BaseName AER data file 5 1 2 2 Space Intersection This preprocessing routine calculates the object space coordinates of a point by the method of a least squares analytical space intersection solution This is performed for each pass point listed in AERO DATA BLOCK No 4 Please note that a point must be imaged in a minimum of two photos listed in AERO DATA BLOCK No 3 Otherwise the spa
56. a center XYZ observations and re solve the bundle adjustment 32 AeroSys v3 0 Aerotriangulation User Guide Order Flight Strips in Project setup If one only has ground control points in the extreme corners of the block how does one solve a conventional bundle adjustment block In theory it is possible that a photo block can be solve with only 4 three dimensional ground control points one in each corner of the block In practice one might place a few extra points in to gain a bit of redundancy and as a check A typical GPS photo block might have several east west flight strips that are tied together using a single north south flight strip on each side of the block ie both east and west sides The location of the ground control should be positioned in the extreme corners of the block thus pinning down the ends of the first and last east west stereo mapping flight strips and also pinning down the north south cross strips Also one might want to include some rough ground control that can be digitized or picked off of existing topo maps and orthophotos to supplement the ground control density This is perfectly ok to do as long as these points are weighted appropriately i e very loosely First the user needs to reset the FILE PREFERENCES AERIAL AUTO SEQUENCE and check on the BLOCK FORMATION pre processing step This step is performed immediately after the Strip Formation and prior to the Estimate step In t
57. a contains only normal random measurement error then the final Sxy s will be adjusted relative to the strength of the ground control distribution in the photo block and quality of the photocoordinate measurements For example in a digital softcopy project using a 20 micron pixel size one might reasonably expect to an Sxy equal to approximately half a pixel or 10 microns in this case The next group of statistics that the user should inspect is the Standardize Residuals for both the photocoordinate and ground control observations These are unit less numbers that represent a location in a Normal Probability Distribution bell shaped curve If a blunder or gross error exists in the data one or more residuals will be located at the tail ends of this curve usually with a value greater than 4 0 right hand side or less than 4 0 left hand side It is generally best to check your control points first if you suspect that there is a problem You may inspect individual observations in the AERO log data file Also one should check the Mean Predicted Accuracy of the triangulated passpoints For the overall photo block this describes the mean accuracy within 1 standard deviation If these values are not satisfactory you may need to introduce a new distribution of ground control points and possibly additional cross strips in the project The output from program AERO that is needed for other mapping applications is the adjusted exterior orientatio
58. abled 6 This file is automatically created by program Aero when the user enters exits the CONFIG ATMOSPHERIC Menu command 133 AeroSys v3 0 Aerotriangulation User Guide BaseName BLD Line 1 BLD string Line 2 Title Project ID string Line 3 NumsStrips Focal NumFid integer real integer Line 4 NumStrips FileSpec StripNo NumPhts string integer integer Notes 1 Line 1 is a three character string capital letters BLD 2 Line 2 is a string to describe the input data by project name etc maximum length equals 80 characters 3 NumStrips Number of photo strips 4 Focal Calibrated focal length mm of the aerial camera 5 NumFid Number of camera fiducials measured per photo 6 FileSpec Name of the file containing the unrefined photo coordinate measurements for each photo strip FileSpec is composed of 3 elements FileSpec DriveSpec Basename Ext DriveSpec e g c RawData Basename e g Strip10 Ext e g TXT Resulting in c RawData Strip10 TXT 7 StripNo Id number for the photo strip 8 NumPhts Number of photos contained in the photo strip 9 The order of strip files must correspond to the same sequence which forms the photo block i e physically adjacent photo strips must be ordered sequentially Additional cross strips should be placed at the end of the data file after the primary photo strips 10 All variables are delimited by blank spaces 11 The opera
59. al step in the entire process after pre processing This program adjusts the photogrammetric observations according to their observation type and assigned weight related to standard deviation If the data set is clean i e contains no major errors or blunders the program will distribute the random measurement error among the observations and compute a solution for the ground coordinates of the pass points and exterior orientation of each photo in the block In the ideal situation the final STANDARD DEVIATION OF UNIT WEIGHT S_not will result in a predicted value of unity or 1 0 If S_not is greater than 1 0 then the relative weights assigned to your observations are too tight If S_not is less than 1 0 then the opposite is true and they maybe too loose To automatically compensate for this the user can invoke or check on the S_not OVERRIDE option in the Aero configuration dialog This will cause Aero to reassign the weights assigned to the photocoordinate observations and re iterate the solution until the final S_not is within an interval that is sufficiently close to 1 0 This Chi square interval can be also specified in the setup In addition to the OVERRIDE Option there are several others for this program for which the pre set defaults are usually OK To change these options select or click on the TAB Sheet icon in the button bar The default options configuration in AERO will update the AER input data file
60. als 80 characters 3 CFL Calibrated Focal Length mm 4 FAng Field Angle decimal degrees 5 D s Radial distortion microns 6 NumAng Total number of field angles 7 The data file must end with a negative number i e the first non blank character must be a minus sign 8 The operator must create this file Also See Program Distortion 165 AeroSys v3 0 Aerotriangulation User Guide BaseName RST amp ORN Line 1 RST or ORN string Line 2 TiTle Project ID string Line 3 PhtID Omega Phi Kappa XL YL ZL 1 integer 6 reals Line 4 NumPhts 99 to indicate no more photos integer Notes 1 Line 1 is a three character string For file Basename RST capital letters RST For file Basename ORN capital letters ORN 2 Line 2 is a string to describe the input data by project name etc maximum length equals 80 characters 3 NumPhts Number of photos listed in the data file 4 PhtID Photo ID number This ID must be a positive integer i e values ranging between 1 32767 5 Omega Phi Kappa Angular orientations of the photo rotated about the X axis Y axis and Z axis respectively Values must be in units of decimal degrees 6 XL YL ZL Camera station ground coordinates 7 The data file must end with a negative number i e the first non blank character must be a minus sign 8 File Basename RST is automatically generated by Program RESECT and
61. als 80 characters 3 SDx SDy SDz Default standard deviations assigned to the non control point object space coordinates 4 PtID Point ID number This ID number cannot exceed 16 characters in length 5 X Y Z Object Space Coordinates 6 PtType Point Type value ranging between 1 3 where PassPoint 1 CheckPoint 2 ControlPoint 3 7 Sx Sy Sz Standard deviations of Control Point Coordinates If PtType is a pass point or check point then Sx Sy Sz does not need to be specified and are automatically assigned as the default values SDx SDy SDz respectively 8 NumPts Number of object points 9 The data file must end with a negative number i e the first non blank character must be a minus sign 10 See AERO DATA BLOCK No 4 in Data Format of Text File Basename AER for further information 11 This file is automatically generated by Program ESTIMATE Also See Program Estimate 148 AeroSys v3 0 Aerotriangulation User Guide BaseName GCP The following data format convention is used by Rwel s Desktop Mapping System X 1 Y 1 Point ID 1 Z 1 real real string real X n Y n Point ID n Z n NOTES 1 X Y Z Ground Control Coordinates 2 Point ID Point Identification label 3 There are no blank lines in the data file Also See Translate Menu 149 AeroSys v3 0 Aerotriangulation User Guide BaseName GPS Line 1 GPS string Line 2 Title Project ID
62. aseName SPO 171 BaseName SPR 172 6 AeroSys v3 0 Aerotriangulation User Guide BaseName STP amp BLK 173 BaseName SV Y 175 BaseName TSF 176 BaseName TXT 177 BaseName UPD 178 BaseName XYP or Rwell CP 179 BaseName XYZ amp ADJ 180 StripFile TXT 181 Aero CFG 182 Aero DFL 184 Aero DIR 185 Aero ERR 186 Aero FMT 187 Aero PAR 188 Aero PFX 191 Aero PID 192 APPENDIX B PHOTOCOORDINATE FORMATS 193 ABC tri raw plate coordinates 193 ADAM Technology pco refined coords 194 ALBANY mea 195 ATP 196 BINGO 197 BLUH 198 Intergraph Image Station 199 IMA 200 IIS Alpha 2000 201 Kern DSR mea 202 7 AeroSys v3 0 Aerotriangulation User Guide Kern pla plate coords PAT B RWEL CP raw plate coords WIS DOT Zeiss AeroSys v3 0 Aerotriangulation User Guide 203 204 205 206 207 Welcome Processing Tools Photocoordinate Formats 1 0 Introduction Welcome to AeroSys v3 0 for WinNT 95 98 The new and improved 32 bit AeroSys is a fast easy to use windows based aerotriangulation system designed specifically for GIS professionals photogrammetrists and mapping specialists AeroSys offers an integrated set of menu driven GUl based programs that provides tools to complete aerial triangulation process including Project Setup Camera Data Base Editor Image Coordinate Format Translations Image Coordinate Refinement Independent Model Relative Orientation Strip and Block Formation in M
63. axiter integer Line 2 AngleLimit real Line 3 PhtXYZlimit real Line 4 PtsXYZlimit real Line 5 SigmaLimit real Line 6 DOFstatus 2 char string Line 7 AngThrshld real Line 8 StaThrshld Line 9 PtsThrshlid Line 10 Crit Line 11 Fish Line 12 LowSo Line 13 HighSo Line 14 TempDrv 5 char string Line 15 TempDir string Line 16 OPSstatusA 10 char string Line 17 OPSstatusB 5 char string Line 18 SCstatusA 6 char string Line 19 SCstatusB 25 char string Line 20 GEOstatus 3 char string Notes 1 This data file contains default operating parameter values for 188 Program AERO These parameters specify the following a The convergence criterion used by the least squares solution routines for the space resection space intersection and bundle adjustment modules Lines No 1 thru 5 b The method of calculating the degrees of freedom DOF in the bundle adjustment Line No 6 thru 9 c The test statistics for blunder detection and significance of additional parameters Line No 10 and 11 d The interval for testing the significance of Sigma_not S in the Self Cal bundle adjustment while operating in the Override Mode Line No 12 and 13 e The path of the temp numerical work areas Line No 14 and 15 f The OPTIONS status selection Line No 16 and 17 g The SELCAL status selection Line No 18 and 19 h The GEOMETRIC status selection Line No 20 AeroSys v3 0 A
64. ce intersection calculations will be terminated for that point The values of the object space coordinates listed in AERO DATA BLOCK No 4 are used as initial approximations for the intersection calculations If the intersection converges to a solution then the initial approximations are updated by the newly computed object space coordinates which are written to the BaseName AER data file 72 AeroSys v3 0 Aerotriangulation User Guide 5 1 3 Adjust Menu To start processing a bundle adjustment 1 Select RUN BUNDLE from this pull down menu While it is working A pop up process dialog window will appear on top of the AERO menu This dialog window displays the following information 1 Operating Modes NON_CAL or SELF_CAL OVERRIDE or STATIC EXT STATS or NORMAL NORMAL or SIMULATE 2 Iteration Number and Standard Deviation of Unit Weight 3 Progress status of the bundle adjustment in progress SWAPMEM DISK IRTUA O COMPUTING INVERSE STATS Processing Row No 250 out of 417 iere Status information is grouped into three phases of operation 73 AeroSys v3 0 Aerotriangulation User Guide Phase No 1 Least Squares Solution to the Bundle Adjustment gt Building the normal equations gt Solving the normal equations gt Updating the approximations to the unknowns gt Checking for convergence of the solution Phase No 2 Computing the Inverse of the Normal Equations Phase No 3 Computing Extende
65. ck SGstrip1 AER SGstrip2 AER SGstrip3 AER SGstrip4 AER SGstrip5 AER SGstrip6 AER 99 TO OPERATE select program CUT amp PASTE from the UTILS menu 104 AeroSys v3 0 Aerotriangulation User Guide 5 8 Distortion Purpose To compute the coefficients for a polynomial equation which models the symmetrical radial lens distortion curve of a camera Output File s Screen output Input File s Basename RLD Notes on Program Operation 1 The polynomial used to model symmetrical radial lens distortion takes the form of 3 5 7 or Kor Kr Kor Kar where radial distance r Ko ve K3 first four coefficients for odd powers of r r radial distortion Radial Lens Distortion TE v3 0 1989 19 F7 E mapping dmi De224m de2241 ld 5 105 AeroSys v3 0 Aerotriangulation User Guide 5 9 DLT Purpose To perform the direct linear transformation of 2D image space coordinates into 3D object space coordinates Output File s Log File Input File s Basename DLT Notes on Program Operation 1 A minimum of six 3D control points must be provided for an 11 parameter solution to the analytical problem You may choose between 11 and 16 parameters but a solution requires at least one 3D control point for every two parameters used 2 The possible DLT parameters are Symbol 11 12 L3 L4 L5 L6 L7 L8 L9 L10 L11 K1 K2 K3 P1 P2 Number 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 1
66. combine multiple blocks of data in an REF data file which is identified by the same photo ID into a single block of data This process retains all uniquely labeled point numbers and averages duplicate point coordinates Output File s Basename REF Input File s Basename REF Notes on Program Operation This program was developed in conjunction with Program SPLIT to process photocoordinate data that is formatted as LEFT 8 RIGHT pairs After the splitting process is performed by Program SPLIT all interior photos from a flight strip i e not including the first and last photos of the strip will appear twice within the resulting text file of photocoordinates This new data file can be processed normally by Programs BUILD and REFINE since these programs only consider or work with a single block of data i e one photo at a time during their execution Therefore they also do not care whether or not multiple data blocks with the same photo ID appear in the data file The same is not true with Program RELORN which requires only one block of data per photo Also the listed order of data blocks in the data file must appear exactly the same as the sequence of exposure of the photos in the flight strip i e in the direction of the flight line Program COMBINE will read the REF data file and store all photocoordinates in a data structure that is organized by photo ID For any two data blocks from different models havin
67. contains approximate values File Basename ORN is automatically generated by Program AERO and contains adjusted values Also See Program Resect 166 AeroSys v3 0 Aerotriangulation User Guide BaseName SIM SIM string Title Project ID string See AERO DATA BLOCK NO 1 AERO DATA BLOCK NO 2 AERO DATA BLOCK NO 3 AERO DATA BLOCK NO 4 Line N NumPhts PhtlD CamNum integers Notes 1 Line 1 is a three character string capital letters SIM 2 Line 2 is a string to describe the input data by project name etc maximum length equals 80 characters 3 Line 3 is exactly the same as line 3 in AERO DATA BLOCK NO 1 4 See AERO DATA BLOCK NO 2 3 and 4 listed under Data Format of Text File Basename AER for the format requirements of the data lines which follow Line No 3 5 PhtID Photo ID number This number must correspond to a photo ID number which is listed in AERO DATA BLOCK No 3 6 CamNum Camera ID number This number must correspond to a camera ID number that is possible for the data listed in AERO DATA BLOCK No 2 In the most common case of aerial mapping usually only one camera is used i e CamNum 1 7 NumPhts Total number of photos listed in AERO DATA BLOCK No 3 8 The operator must create this file Also See Program Simulate 167 AeroSys v3 0 Aerotriangulation User Guide BaseName SPC Line 1 SPC string Line 2 Title Project ID string Line 3 F Xo Yo K1 K2 K3 r
68. d Statistics and Writing Output Files In terms of computing time Phase No 2 usually requires the most time to complete its task followed by Phase No 1 and finally Phase No 3 An exact breakdown of the computing time is listed at the end of the AERO log output file If the Override Option is invoked then Phase No 1 will be repeated until the post adjustment Sigma_not S lies within the interval LowS HighS During the initialization the program performs several checks to test whether the given bundle adjustment problem is capable of being solved on the computer system The program will be terminated at this stage if any one of the system checks are violated These system checks are described below 1 The total number of unknowns in the data cannot exceed the maximum limit of the program The total number of unknowns is calculated by the following formula NumUnks 6 x NumPhts 3 x NumPts NumAps Where NumUnks Total number of unknowns NumPhts Total number of photos NumPts Total number of object space points NumAps Total number of additional parameters 2 The program tests the computer system for the amount of virtual memory space and disk drive space available to solve the given problem These tests and their error messages are given below Flag 1 Insufficient RAM Memory This error occurs if the amount of dynamic RAM memory available on the system at this stage of the program is less than twice the siz
69. d calculate the position of additional object points Processing is done in the order shown on the GUI photo resections first followed by point intersections The AER data file is automatically updated with the computations In the close range case the user must generate an AER by hand using a text editor The user should provide some reasonable estimates of each camera or photo s exterior orientation and exact coordinates of the ground or object space control points All other non control points maybe have initial estimates i e such as the center of the target array 54 AeroSys v3 0 Aerotriangulation User Guide 4 5 4 Running the Bundle Adjustment wil AeroSys Bundle Adjustment Processing ASW v3 0 1989 1999 MHS Bundle Type PhcSTD s Statistics DataType Memory and Disk Usage SELF_CAL RRIDE EXTENDED SIMULATED JRE MEM JAL S0 NC Disk DECOMP BCK SUBS 13 9958 5 1055 WD ELM 5 1055 Z INVERSE SOLVING NORMAL EQUATIONS STATS Processing Row No 450 out of 540 DONE Figure 32 Bundle Adjustment processing window The Aero bundle adjustment is started by clicking on the Stop Light icon in the button bar The program will read the given AER data file and launch a process window shown in figure 38 The process window contains three group boxes 1 Op Mode 2 Adjustment Status and 3 Progress It also contains a progress bar and two action buttons at the bottom of the window To termina
70. der detection A measurement observation photo coordinates ground control distances etc is identified as a blunder if its standardized residual is greater than the value of CRIT Fish Value of the test statistic used to evaluate the significance of additional parameters used in the Self Cal bundle adjustment If the adjusted value of the additional parameter divided by its posterior standard deviation is greater than the value of FISH then it is deemed to be significant TempDrv and TempDir specify the Disk Drive and Temporary Work Directory where Program AERO will perform it s numerical calculations which require external disk access e g TempDrv C e g TempDir TEMP Please note and include the and that are bracketing the C DOFstatus is a two 2 character string that indicates which method is used to calculate the DOF in the Self Cal bundle adjustment AeroSys v3 0 Aerotriangulation User Guide 13 14 15 16 17 Each character in this string must only be either a T or an F e g DOFstatus TF use ENHANCE method of computing Degrees of Freedom e g DOFstatus FT use STANDARD method OPSstatusA is a ten 10 character string that indicates which operating options are enabled in program AERO Each character in this string must only be either a T or an F OPSstatusB is a five 5 character string that indicates which tracing options are enabled in program AERO Each c
71. e of the data structure which store the diagonal elements of the normal equations Flag 2 Insufficient System Memory This error occurs if the total pages of virtual memory available on the system are less than or equal to 1 page of memory This check is performed after the initialization of the permanent and temporary data structures which store the diagonal elements of the normal equations Therefore it is possible to pass the system check at Flag 1 but fail at Flag 2 74 AeroSys v3 0 Aerotriangulation User Guide Flag 3 Insufficient Free Disk Space This error occurs if the amount of disk storage available on the default DOS drive is less than the amount required for storage of the normal equations This test is only performed for data sets which are too big to be solved strictly within RAM memory If either error flag No 1 or 2 occur you need to do one or more of the following Add more memory to your computer system Configure Windows to use 386 Enhanced Mode Configure a permanent swap disk partition on your hard disk Do the Obvious Reduce the size of your problem by breaking up your single large photo block into several smaller blocks If flag No 3 occurs then you must delete old and unused files which are taking up valuable space on your disk drive For a large block of photos you will want several megabytes of free space on the disk drive for storage of the normal equations When it is done Close the proces
72. e this file Also See Program Coordinate Transformation 122 AeroSys v3 0 Aerotriangulation User Guide BaseName ADJ See Data Format of File BaseName xyz This file is automatically generated by Program Aero Contains XYZ points including adjusted ground control Also See Program Aero 123 AeroSys v3 0 Aerotriangulation User Guide BaseName AER The data format of Basename AER consists of six blocks of data These data blocks are listed below Block No Description See Details 1 Header Project Information See Aero Data Block No 1 2 Interior Orientation See Aero Data Block No 2 3 Exterior Orientation See Aero Data Block No 3 4 Object Space Coordinates See Aero Data Block No 4 5 Image Coordinates See Aero Data Block No 5 6 Survey Observations See Aero Data Block No 6 All input is free format i e variables are delimited by blank spaces This file is automatically generated by Program MERGE for data for a strip or block of photos that have been processed by the Front End aerial data reduction programs listed in the AERIAL MENU A sample Basename AER data file is shown below This data set uses 3 photos each from a separate camera 5 object space points 1 distance observation and refined image coordinates Notice that there are no control points specified in the data set but the orientation and position of photo No 3 is fixed in space This approach to solve a photo block with the bundle adjustment is use
73. eal Line 4 Omega Phi Kappa XL YL ZL real Line 5 PtID Xc Yc Zc string 3 reals Line 6 NumPts 99 Indicate no more control points integer Line 7 NumPts PtID Xp Yp string 2 reals Line 6 2xNumPts 99 Indicate no more photo coordinates integer Notes 1 Line 1 is a three character string capital letters SPC 2 Line 2 is a string to describe the input data by project name etc maximum length equals 80 characters 3 F Approximate focal length 4 Xo Yo Approximate principle point coordinates Use Xo Yo 0 5 K1 K2 K3 Approximate values for the coefficients of symmetrical radial lens distortion Use K1 1 0E 004 K2 K3 0 6 Omega Phi Kappa Approximate camera orientations Dec Deg 7 XL YL ZL Approximate camera station position 8 PtID Point ID number 9 Xc Yc Zc 3D control point coordinates 10 Xp Yp refined photo coordinates of the imaged control points 11 NumPts Total number of control points 12 Program CAMCAL will automatically determine which control points have a matching pair of photo coordinates 13 The operator must create this file Also See Program CamCal 168 AeroSys v3 0 Aerotriangulation User Guide BaseName SPI Line 1 SPI string Line 2 Project ID string Line 3 Focal Tol1 Tol2 real Line 4 X Y Z real Line 5 PhtlD Omega Phi Kappa XL YL ZL xp yp string 8 reals Last Line 99
74. ection Level for Standardize Residuals Default 3 290 2 Significance Level for Additional Parameter Testing Default 1 98 3 Chi square Test Interval for significance testing of Sigma_O Interval LowSo HighSo gt Default 0 9000 1 1000 jaj AeroSys Bundle Adjustment Configurations Options ASW v3 0 1989 1999 MHS 61 AeroSys v3 0 Aerotriangulation User Guide The following parameters can be set from this dialog window 1 Temporary Work Directory Select the desired disk drive directory path from the combo box and tree structure Available space is reported jaj AeroSys Bundle Adjustment Configurations Options ASW v3 0 1989 1999 MHS E c ms dos_6 AAA TEM ans ans 62 AeroSys v3 0 Aerotriangulation User Guide 5 1 1 5 General The following operating options can be enabled or disabled from this dialog window Text Ouput Options 1 Brief General Output File 2 Update Input File with results of the bundle adjustment 3 Generate output results even if adjustment diverges Basic Operation Perform Post Adjustment Extended Statistics Invoke the Override Mode Perform Lens Distortion Corrections on raw photocoordinate data Use Surveying Observations if available Use Self Calibration Parameters Note Data set must use unrefined photocoordinates Special Operation Mode 9 Using Simulated Data without Random Error Induced ONOo BR Note Do Not enable the OVERRIDE option
75. ed This section of the manual will lead the user through the steps needed to process their AT data The steps are grouped into the following 0 Setup AeroSys user preferences See 4 2 AeroSys Preferences 1 Collect all AT photocoordinates data files into a uniquely name data directory e g d AT_Projects Job_No1 2 Generate a CTL ground control data file AeroSys has several translation functions that the user may find useful to do this 3 Setup a project file using the AeroSys GUl base dialog windows During this step the user may need to update the camera database with additional camera data that correspond to the given AT data 4 Translate the photocoordinate data into AeroSys format if necessary 5 Perform the pre processing steps The starting point for this step will vary depending upon the format and amount of refinement that characterizes your photocoordinate data The sample data included with AeroSys would start this process at BUILD although many users will start at the RELORN step since their photocoordinate data may be already refined In the very last step check your data for blunders with Image Rays Make corrections to point ID numbers or photocoordinate measurements where necessary 6 Run the Aero bundle adjustment Review adjustment statistics Eliminate poor observation measurements or ground control point where deemed necessary Re run the bundle adjustment if needed 15
76. ed by Program Aero Also See Program Aero 178 AeroSys v3 0 Aerotriangulation User Guide BaseName XYP or Rwell CP The following data format convention is used by Rwel s Desktop Mapping System X Y Fid ID real real integer X Y Point ID real real string NOTES 1 X Y Measured Image Coordinates 2 Point ID Point Identification label 3 Fid ID Fiducial ID number Each ID is prefaced with a minus The fiducial measurements must appear first in the data file 4 There are no blank lines in the data file The following is a sample data file for measured image coordinates 104370 1 108834 2 106448 1 103064 9 2 105472 1 105183 2 3 107550 1 106763 9 4 4152 2 79998 6 901061 874 3 3390 2 901062 1480 6 77398 9 901063 90618 3 64548 7 901051 87987 2 5516 4 901052 88749 6 87624 3 901053 6800 8 75636 8 22002 40616 3 433 193 12001 49431 3 2380 8 1064 65485 1 13673 3 12002 36489 7 89576 9 22001 Also See Program GenTrans 179 AeroSys v3 0 Aerotriangulation User Guide BaseName XYZ 8 ADJ Line 1 XYZ string Line 2 Title Project ID string Line 3 PointiD X Y Z Ptype string 3 reals integer Line 4 NumPts 99 to indicate no more data lines integer Notes 1 Line 1 is a three character string capital letters XYZ 2 Line 2 is a string to describe the input data by project name etc maximum length equals 80 characters 3 NumPts Number of
77. efined as passing through these two points Flag 2 Designates horizontal control points near the initial and terminal ends of the strip These two points are used to transform the ground horizontal coordinates into the axis of flight system These two control points should be located near the pass points selected to define the arbitrary axis of flight Flag 3 Designates points used both as pass points to define the arbitrary axis of flight and horizontal control points Flag 0 Do not use point as a pass point to define the axis of flight nor as a horizontal control point 10 The data block for each strip must end with a negative number i e the first non blank character must be a minus sign 11 There is no limit to the number of strips that can be concatenated together to form a Basename STP data file 12 This file is automatically generated by Program STRIPFORM Also See Program StripForm Also See Program BlockForm 174 AeroSys v3 0 Aerotriangulation User Guide BaseName SVY Line 1 SVY string Line 2 Title Project ID string Line 3 Type StaAT StaFROM StaTO Observ StdDev 11 3S 2R Line 4 NumObsv 99 to indicate no more data lines string Notes 1 Line 1 is a three character string capital letters SVY 2 Line 2 is a string to describe the input data by project name etc maximum length equals 80 characters 3 Type Kind of surveying observation 1 Slope Distance 2
78. enu This menu has five menu functions that the user can use to customize how AeroSys operates on aerotriangulation data AeroSys C AeroSys asw30 data demo demo ASW v3 0 1989 1 Ma 3 File Figure 16 AeroSys Preferences Aerial Auto Sequence dialog window is used to set which preprocessing functions are enabled during auto processing Std Dev Defaults dialog window is used to set the default values that are used as standard deviations when applied to certain data observations Max Residuals Limits dialog window is used to set the default residual limits which are used to identify a abnormally large observation residual Observations with residuals larger than these limits are recorded to the Error Log Pass Point ID dialog window is used to set the point identifier notation that is used to name pass points in the photos Also the user can setup the default text editor to be used by AeroSys to view or edit text data files 40 AeroSys v3 0 Aerotriangulation User Guide Aerial Auto Sequence Tip Normally one does not remove the passpoint prefix until after the photo coordinate refinement Tip Most analytical and softcopy plotters have removed lens distortions from this data for you If so you may skip the photocoordinate refinement step Tip Only use the Polynomial Strip Adjustment if your data contains a sufficient number of ground control points along each and every flight strip in the
79. erotriangulation User Guide 10 11 12 189 Maxlter Maximum number of iterations allowed to solve the least squares solutions SigmaLimit Minimum change in the value of Sigma_not S between two consecutive iterations which will cause the least squares solution to terminate converge PhtXYZlimit Minimum change in the value of the ground coordinates of the photo stations which will cause the least squares solution to terminate converge PtsXY Zlimit Minimum change in the value of the ground point coordinates which will cause the least squares solution to terminate converge AngleLimit Minimum change in the value of the angular orientations of the photo stations which will cause the least squares solution to terminate converge AngThrshld StaThrshld PtsThrshlid Threshold values for photo orientations photo ground positions and ground control points respectively If the ENHANCED method of calculating the DOFs in the Self Cal bundle adjustment is used then the DOFs are incremented by one for every photo orientation variable and ground control coordinate which is assigned an a priori standard deviation less than its listed threshold value LowSo HighSo End points of the interval used to test the significance of the standard error of unit weight S This interval only applies to bundle adjustments performed while operating in the Override Mode Crit Value of the test statistic used in blun
80. ersect log Input File s Basename RST Basename EST Basename REF Notes on Program Operation An option is provided to remove the generic point ID prefix which is commonly used during data collection to designate an image point as a primary pass point If this option is invoked the prefix characters are removed and the modified point IDs are written to the output file only If the least squares solution to the analytical space intersection fails to converge or terminates due to numerical problems then only the initial approximations to the three ground coordinates are reported as the final result The ability of an analytical space intersection procedure to calculate precise estimates for ground point coordinates is highly dependent upon the accuracy of the exterior orientations of the photos in which the point is imaged Large residual values Vx and Vy do not necessarily indicate poor photo coordinate measurements but instead may indicate poor estimates of the photos orientation parameters If any additional points are found then the error analysis for each point is reported to the Basename 006 file The new coordinates are appended onto the Basename EST file TO OPERATE select program INTERSECT from the AERIAL menu 94 AeroSys v3 0 Aerotriangulation User Guide 5 2 11 Prepro Step Merge Purpose To generate a single input data file for program AERO Program MERGE conveniently combines the results from Program
81. esired Data File Source by checking the appropriate radial button 2 Choose the desired Adjustment Type by checking the appropriate radial button Note Polynomial cannot be selected if the data file source is from BLOCKFORM 3 If you want the program to automatically determine the degree of polynomial to use then check the Auto Degree Selection box If you do not check this box an input dialog will appear periodically for each strip to be adjustment Enter the desired degree to be used at this time 4 If you want a Brief Output file then check its box If you are planning to use the P option make sure that 2 model points per strip in the Basename STP file have been designated to serve as transformation points from the model coordinate system to an arbitrary axis of flight coordinate system These points should be located near the center of the initial and terminal models of the strip Also 2 horizontal control points one each located near the selected model points need to be designated as well These points are selected automatically by Program RELORN for this purpose but the operator may override these assignments by modifying the text file The program will automatically identify bad control point observations that are extra ordinarily large compared to the bulk of the data This is done by 91 AeroSys v3 0 Aerotriangulation User Guide comparing each residual to the appropriate value specified in the aero ERR system
82. ffsets 5 11 Image Rays 5 12 Flip Flop Photo Order 4 AeroSys v3 0 Aerotriangulation User Guide 98 99 102 103 105 106 107 108 109 5 13 Coordinate Rotations 5 14 Simulate 5 15 Simulate GPS Data 5 16 Space Intersection 5 17 Space Resection 5 18 Stereopair Orientation 5 19 Coordinate Transformations 5 20 Stereoplotter Setup 5 21 General Translations APPENDIX A DATA FILE FORMATS BaseName 3DR BaseName 3DT BaseName ADJ BaseName AER Aero Data Block No 1 Aero Data Block No 2 Aero Data Block No 3 Aero Data Block No 4 Aero Data Block No 5 Aero Data Block No 6 BaseName APB BaseName ATM BaseName BLD BaseName BLK BaseName C amp P BaseName CAL BaseName CAM BaseName CAO BaseName CMP 5 AeroSys v3 0 Aerotriangulation User Guide 110 111 113 114 115 116 117 119 120 121 121 121 122 123 124 126 127 128 129 130 131 132 133 134 135 136 137 138 139 140 BaseName CP2 141 BaseName CRL 142 BaseName CTL 143 BaseName DLT 144 BaseName DOF 146 BaseName ERR 147 BaseName EST 148 BaseName GCP 149 BaseName GPS 150 BaseName IDX 151 BaseName IIS 152 BaseName INF 153 BaseName MEA CRL amp TSF 154 BaseName OFF 155 BaseName OLD 156 BaseName ORN 157 BaseName PHC 158 BaseName REF 160 BaseName REL 162 BaseName RES 164 BaseName RLD 165 BaseName RST amp ORN 166 BaseName SIM 167 BaseName SPC 168 BaseName SPI 169 BaseName SPL 170 B
83. for use by the polynomial strip adjustment The value of FLAG may range between 0 3 This variable is not used in the operation of Program STRIPFORM but it is transferred to the Basename STP file for calculation purposes in Program ESTIMATE Flag 1 Designates pass points which lie near the center of the initial and terminal models of a strip The axis of flight is arbitrarily defined as passing through these two points Flag 2 Designates horizontal control points near the initial and terminal ends of the strip These two points are used to transform the ground horizontal coordinates into the axis of flight system These two control points should be located near the pass points selected to define the arbitrary axis of flight Flag 3 Designates points used both as pass points to define the arbitrary axis of flight and horizontal control points Flag 0 Do not use point as a pass point to define the axis of flight nor as a horizontal control point The data block for each model must end with a negative number i e the first non blank character must be a minus sign The listed order of models in a strip must correspond to the photo exposure sequence in the direction of the strip flight line There is no limit to the number of models that can be concatenated together to form a strip This file is automatically generated by Program RELORN Also See Program Relorn 163 AeroSys v3 0 Aerotriangulation User
84. ful in dynamic scenes when establishing control points is not feasible or necessary 124 AeroSys v3 0 Aerotriangulation User Guide AER Sample Input File for Program AERO 3 3 0 28 619 0 458 0 025 1 5E 04 2 4E 07 1 5E 10 0 0 0 0 28 573 0 146 0 010 1 2E 04 9 2E 08 1 1E 10 0 0 0 0 24 064 0 128 0 049 2 1E 04 2 5E 07 3 3E 10 0 0 0 Y 112 21 33 10 14 54 78 42 57 6000 6000 6000 1 199 8650 158 3790 6 7113 1000 1000 1000 2 121 21 30 39 36 55 68 40 55 6000 6000 6000 2 175 9437 178 9040 3 2790 1000 1000 1000 3 124 23 42 21 42 55 71 52 24 0 0001 0 0001 0 0001 3 196 9983 182 8812 6 0132 0 0001 0 0001 0 0001 100 0 100 0 100 0 61 199 991 199 634 41 140 1 67 199 762 199 629 9 882 1 901 200 510 200 842 40 946 1 902 198 507 212 861 12 362 1 903 210 391 201 765 13 052 1 99 1 1 0 005 0 005 0 0 1 0 1 0 1 0 61 9 983 3 215 1 67 8 174 6 974 1 901 9 374 3 043 1 902 7 276 7 515 1 903 7 183 0 428 1 99 2 2 0 005 0 005 020 1 0 1 0 1 0 61 14 226 1 824 1 67 2 673 2 141 1 901 13 479 1 496 1 902 5 490 5 268 1 903 5 066 6 154 1 99 3 3 0 005 0 005 0 0 1 0 1 0 1 0 61 16 042 2 292 1 67 7 496 7 801 1 901 14 939 2 309 1 902 10 547 4 821 1 903 7 774 6 067 1 99 1 0 61 67 31 177 0 053 99 Also See Program Aero 125 AeroSys v3 0 Aerotriangulation User Guide O O O Aero Data Block No 1 Header Project Information AER string Title Project string NumCam NumPht 2 integers
85. g same photo ID some of the point data will be unique only to it s particular model and some will be duplicated between models These multiple photocoordinate readings are averaged and this average is written to the output data file along with the unique coordinates to produce a new Basename REF data file If your raw or unrefined photocoordinates are reported in paired fashion Then proceed as follows Execute Program SPLIT Execute Program BUILD Execute Program REFINE Execute Program COMBINE Execute Program RELORN Proceed as normal O O1 ND 87 AeroSys v3 0 Aerotriangulation User Guide 5 2 5 Prepro Step RELative ORieNtation To perform the analytical relative orientation for strips of overlapping vertical photos An independent mathematical model is formed for each pair of overlapping photos for the forthcoming strip formation process Output File s Basename REL Basename APB RELORN log Input File s Basename REF Notes on Program Operation An option is provided to remove the generic point ID prefix which is commonly used during data collection to designate an image point as a primary pass point If this option is invoked the prefix characters are removed and the modified point IDs are written to the output file only To invoke this option click on the YES button when the message box appears Only the first 75 listed image points that are common to both ph
86. ger Line 14 ESTIMATE SIB P D YIN YIN YIN integer 5 characters Line 15 RESECT Y N integer char Line 16 INTERSECT Y N integer char Line 17 CAM20RN NONE integer Line 18 AddGPS NONE integer Line 19 MERGE Y N integer char Line 20 RAYS NONE integer Line 21 AERO NONE integer Notes 1 Line 1 is a three character string capital letters CFG 2 The number of line in the text file can be variable and depends on your workflow 3 The order of programs should follow the example above and are executed sequentially 4 The character must immediately follow the AeroSys program name 0 1 indicates the choice of either the integer 0 zero or the integer 1 one where 1 execute the program on this data line 0 do not execute the program on this data line 6 Several programs have internal options which are presented as questions to the user These questions can be pre answered by providing the appropriate answer on the program command line thus saving the user the some time and effort If the program does not require a command line option then the word NONE is substituted If a program has more than one command line parameter then parameters must be separated by at least one blank space 182 AeroSys v3 0 Aerotriangulation User Guide 7 Y N indicates the choice of either Y or N Y YES N NO S B indicates the choice of either S or B S Stripform B Blockform P D indicates
87. gh ground control points per strip to perform a polynomial strip adjustment This is a common situation by design in GPS aero triangulated blocks ESTIMATE Computes estimated XYZ ground coordinate approximations for model points contained in the previously formed strips or block It posses two algorithms to do this 1 a polynomial strip adjustment and 2 Hybrid rigid coordinate transformation RESECT Performs analytical space resections to compute the approximate exterior orientations for each photo in the block The results from ESTIMATE are used as ground point coordinates in these calculations INTERSECT Performs analytical space intersections to compute approximate ground coordinates for missing points not contained in the strip formation The results from RESECT are used as known photo orientations in these calculations MERGE Combines the ASCII text files generated in the previous steps into a single input data file for the AERO bundle adjustment IMAGE RAYS Performs a space intersection for each point listed in the AER data file as a rough check and a means to identify gross errors prior to executing the bundle adjustment AERO Performs the aerial triangulation of blocks or strips of photos using the mathematical method of the non linear least squares simultaneous bundle adjustment 29 AeroSys v3 0 Aerotriangulation User Guide S not OVERRIDE Option 2 5 Aero Bundle Adjustment This is the fin
88. gin at 0 0 0 to another coordinate system specified by scales rotations and translations Output File s Screen output Basename TSF Input File s Basename 3DR Notes on Program Operation 1 The new transformed coordinate appear in both LOG amp TSF data files TO OPERATE select program COORD ROTATATIONS from UTILS menu a Coordinate Rotations RASW v3 0 1989 1999 MHS x E mapping AMTech gmtech tech mea E mapping AMTech gmtech itech tsf 2 WE po00 fon fox 2 0 0000 0 0000 0 0000 0 000 0 000 0 000 110 AeroSys v3 0 Aerotriangulation User Guide 5 14 Simulate To generate synthesized data used in simulation studies to investigate the strength of photogrammetric networks and hypothetical point positioning accuracy Output File s Basename AER Basename TXT Input File s Basename SIM Notes on Program Operation This program calculates the theoretical image coordinate positions for object space point and photo configurations specified in the Basename SIM data file Two output files are generated 1 an AER file is written for processing by program AERO and 2 a TXT file is written for transport of the photo coordinate data to other proprietary aerotriangulation programs The Basename TXT file contains the generated photo coordinate data which is written to the text file in units of millimeters An option is provided to perturb the calculated photo c
89. haracter in this string must only be either a T or an F SCstatusA is a six 6 character string that indicates which SELFCAL options are enabled in program AERO Each character in this string must only be either a T or an F SCstatusB is a twenty five 25 character string that indicates which SELFCAL parameters will be used if the SELFCAL option is enabled in program AERO Each character in this string must only be either a T or an F GEOsiatus is a three 3 character string that indicates which GEOMETRIC Constraint parameters are enabled in program AERO Each character in this string must only be either a T or an F The Aero PAR data file must be located in the asw sys directory These values are arbitrary and may be changed to suit the characteristics of your data set If you modify these values using the CONFIG MENU within Program AERO make sure that you exit each dialog window by clicking on the OK button so that your changes will be saved for later analyses This file is no longer used in ASW v3 0 and is super ceded by the ASW par binary record file Parameters are edited via the FILE PREFERENCES menu 190 AeroSys v3 0 Aerotriangulation User Guide Aero PFX Line 1 PreFixChar MinLength char integer Notes 1 PreFixChar a character used to identify a primary passpoint by its Point IDname This prefix character is usally removed if option is chosen or stripped away during proce
90. he ASW v3 0 item AeroSys loads and then displays its main menu shown below in figure 1 The AeroSys main menu contains default project name and location in the window caption 2 menu bar and button bar AeroSys C AeroSys asw30 data demo demo ASW v3 0 1989 1 Ma FG File Translate Aerial Bundle Utils Help N Figure 8 AeroSys Main Menu The caption of the main menu window contains the name and location of the current project that AeroSys will operate on This information is contained in between the set of square brackets By default the current project after installation is set to
91. hese tracing options are provided primarily to help the user and developer to debug dirty data sets which may cause program AERO to fail Normally these options are DISABLED 1 Click on the check box to enable disable corrections 2 AeroSys Bundle Adjustment onfigurations Options ASW v3 0 1989 1999 MHS 65 AeroSys v3 0 Aerotriangulation User Guide Use this menu to select how SelfCal parameters are implemented in the AERO Bundle Adjustment 1 Check the BLOCK IN VARIENT radial button to use only one set of AP s for the entire block of photos 2 Check the CAMERA VARIENT radial button to use one set of AP s for each camera in the entire block of photos 2 AeroSys Bundle Adjustment Configurations Options ASW v3 0 1989 1999 MHS 66 AeroSys v3 0 Aerotriangulation User Guide 5 1 1 8 2 Self Calibration Physical Parameters Use this menu to select the specific SelfCal parameters to use in the AERO Bundle Adjustment 1 Use the radio control buttons to enable and disable the use of these parameters 2 Click on the check box of the AP to enable or disable the specific parameter 3 Enter values for each parameter selected and its standard deviation 4 If you are in CAMERA VARIENT MODE click the spin button to display the next camera s values A maximum of four cameras per photo block is supported o AeroSys Bundle Adjustment Configurations Options ASW v3 0 1989 1999 MHS Termination Statistica
92. his case the Estimate step will not perform a polynomial strip adjustment but instead perform a Hybrid rigid body 3D 2D coordinate transformation on the block of model coordinates to calculate ground coordinate estimates for the pass and tie points To process the data with AeroSys that represents the typical block above one would order the east west stereo mapping flight strips first in the block e g say six strips progressing from North to South followed by the two cross strips being strip Nos 7 and 8 in the project setup dialog By ordering the flight strips in this way adjacent strips numbered sequentially followed by any cross strips the prepro Block Formation can sequentially transform independent strip models together into a single contiguous block in model space Then in Estimate a hybrid rigid body 3D 2D coordinate transformation is done to compute ground coordinate values for all non control model points in the block 33 AeroSys v3 0 Aerotriangulation User Guide CAM data file After the conventional bundle adjustment has solved the user must now compute the GPS camera center XYZ coordinates using the utility program that is executed from the main AeroSys menu by clicking on BUNDLE GPS Add GPS Camera Observations The following GUI dialog appears Add GPS Camera Station Observations ASW v3 0 O 1989 1 PI Select the newly generated Orientation file ORN and an user generated GPS GPS
93. ically generated by Program REFINE Also See Program Refine 161 AeroSys v3 0 Aerotriangulation User Guide BaseName REL REL string Title Project ID string NumSirips integer Sirip Data 1 Strip Data NumStrips Notes ll 2 Line 1 is a three character string capital letters REL Line 2 is a string to describe the input data by project name etc maximum length equals 80 characters NumStrips Number of photo strips Adjoining strips must be listed in consecutive order across the direction of the flight lines as they physically appear in the photo block Additional cross strips should appear last in the list after the primary strips that compose the bulk of the photo block Strip Data 1 NumStrips have the following data format StripNo NumModels integers Model Data 1 Model Data NumModels Line 1 StripNo Id number for the photo strip NumModels Number of models in the photo strip Model Data 1 NumModels have the following data format PtID X Y Z Flag string 3 reals integer Line 2 NumPts 10 11 162 99 to indicate no more points integer NumPts Number of points in the model PtID Point ID number This ID number cannot exceed 16 characters in length X Y Z neat model coordinates AeroSys v3 0 Aerotriangulation User Guide 12 13 14 15 16 Flag A point identifier to designate it
94. ide 5 2 Pre processing Prepro Auto Sequence Purpose To streamline the execution of the front end programs to the bundle adjustment that are listed under the AERIAL menu Input File s Varies depending upon starting point in pre processing sequence Program Notes 1 To execute select Auto Sequence under the AERIAL menu item 2 See FILES PREFERENCES for details on how to configure the execution stream Program Run Sequence rOptions Delete PassPoint Prefix FE T Refine PhotoCoords V Relative Orientation M Build Data File M Photo Resection oa M Refine PhotoCoords E Ponele 7 Help lv Merge M Combine Remove Camera Lens Distortions M Relative Orientation El I Refine PhotoCoords 7 Help F StripForm adan Estimate Ground Coords Input Data Source Fees ES from Program StripForm M Estimate Ground Coords den C from Program BlockForm ay M Photo Resection Ta Adjustment Type M Point Intersection y Polynomial Strip Adjustment lv Automatic Degree Selection F Merge Data Files EX a C Rigid Body 3D Coordinate Transformation M Image Rays Ex F Aero Bundle M Brief Output File 7 Help 5 eCheck Image Rays F Stop if Gross Error is Found Cancel amp Default Op 1 Gross Erroris Foun 81 AeroSys v3 0 Aerotriangulation User Guide 5 2 0 Prepro Step Convert Photocoordinates to AeroSys Format Output File s Basename PHC or Basename REF Input File s Basename
95. if you are adjusting perfect simulated data E AeroSys Bundle Adjustment ons Options ASW v3 0 1989 1999 MHS Termination Statistical DOFs Work Dir General Atmospheric Trace SelfCal gt Defaut pText Output F Update baseName AER data file after adjustment M Generate results even though adjustment diverges Basic Operation Special Operation Mode Compute extended adjustment statistics ee T Input date is simulated w o random error M OverRide photocoordinate Sxy s by Sigma_O T Apply lens distortion corrections to raw photocoordinates M Enable Surveying Observation if present T Enable SeltCalibration Parameters in adjustment Y OK x Cancel 63 AeroSys v3 0 Aerotriangulation User Guide Al MOSEL neric Use this dialog window to Enable Disable the automatic correction for image coordinate displacements due to atmospheric refraction 1 Click on the check box to enable disable corrections 2 Select UNITS and Location of Air Temperature and Pressure values 3 Enter Air Temperature and Pressure values jaj AeroSys Bundle Adjustment Configurations Options ASW v3 0 1989 1999 MHS 64 AeroSys v3 0 Aerotriangulation User Guide Use this dialog window to Enable Disable the TRACING options available for the Aero Bundle Adjustment operation If a TRACE mode is enabled a pop up message box will appear at key operational points during the operation of program AERO T
96. ile has been updated 13 Sep 1994 Time 9 36 Operator SDC Project PIERCE CO LINE TO TUKWILA Model Identification Base Out Model Left photograph number Right photograph number 90 29 Left principal distance 152 299 mm Right principal distance 152 299 mm Relative Orientation Elements Used LEFT RIGHT KAPPA No KAPPA Yes PHI No PHI Yes OMEGA No OMEGA Yes BY No BY Yes BZ No BZ Yes LEFT RIGHT KAPPA 0 0000 gons KAPPA PHI 0 0000 gons PHI OMEGA 0 0000 gons OMEGA BY 0 000 mms BY BZ 0 000 mms BZ BX 76 860 mms Number of Parallax Points 14 Fiducial Coordinates Point Name Fiducial Coordinates Xl um Yl um Xr um Yr um 1 16281 3075 89348 79935 89057 2 16282 7061 10914 69865 10832 3 16283 8000 80884 66741 80873 4 16291 73393 76836 3625 76516 5 16292 91372 1215 14010 1004 6 16192 58422 75649 16526 75758 T 16294 56858 45299 18369 45414 8 4028 39289 64464 35546 64531 9 8192 49634 53591 25420 53686 10 16182 18693 38574 94411 38525 11 8281 15170 46326 90765 46275 12 3007 4659 3881 81494 3915 13 16181 3287 26755 79971 26649 14 6010 68135 5111 9237 4938 202 AeroSys v3 0 Aerotriangulation User Guide 0 0000 0 0000 0 0000 0 000 0 000 gons gons gons mms mms Kern pla plate coords 10011002 0 000 0 000 0 000 0 000 10000 105 995 105 996 105 991 105 992 20000 106 007 106 007 106 008 106 009 30000 105 990 105 991 105
97. imated accuracy A ground control point can be either a horizontal only vertical only or 3D point type A 3D point type contains non zero values for both Sxy and Sz A horizontal point type has Sz Zg 0 zero A vertical point type has Sxy Xg Yg 0 zero The values assigned to Sxy and Sz should be derived from the surveyor s horizontal and or vertical adjusted network data In general this will mean that the values of Sxy and Sz will vary slightly from point to point An error ellipse diagram usually shows a graphical representation of this variation f your ground control is generated by GPS data collection techniques be sure to ask for the NETWORK SOLUTION which is usually available as a post processing option 18 AeroSys v3 0 Aerotriangulation User Guide A sample ground control file is shown below This file contains both ground control and checkpoints Check points are listed after the first 99 and terminated by a second 99 During the solution of the bundle adjustment checkpoints are treated as passpoints but their final adjusted values are compared to their original values to calculate a RMS difference CTL Pine Bend Martinez 21041 0 0 0 0 877 20 0 000 0 013 21042 0 0 0 0 885 70 0 000 0 017 21043 0 0 0 0 855 30 0 000 0 009 11041 4727 14 13923 29 0 0 0 019 0 000 11042 6412 48 10132 98 0 0 0 012 0 000 10101 8698 26 14006 85 863 98 0 010 0 017 10102 11140 07 14006 84 897 86 0 01
98. in Basename CMP The mean and standard deviations are computed for each common point TO OPERATE select program COMPARE from the UTILS menu 102 AeroSys v3 0 Aerotriangulation User Guide 5 7 Cut Paste Purpose To easily create a single AER data file e g for a large photo block from many smaller AER data files e g each strip of the block Output File s Basename AER Input File s Basename C amp P and other AER files listed in basename c amp p Cut amp Paste AER 103 AeroSys v3 0 Aerotriangulation User Guide Notes on Program Operation 1 This program reads blocks of data from multiple AER data files and combines them into a single AER data file using a cut amp paste method with the following exceptions A Duplicate photo data lines are eliminated i e ones using the same photo ID This also includes blocks of photocoordinate data which are identified by duplicate photo IDs B Duplicate object point data lines are eliminated i e ones using the same point ID C Duplicate survey observations ARE NOT eliminated i e you must do this yourself with a text editor D The program assumes that the same camera focal length Xo Yo etc are assigned to the entire block of photos This also applies the data lines containing the fiducial coordinates 2 Example The data file below represents SouthGt C amp P C amp P South Gate Project Main Blo
99. in an insufficient number of control points to perform a polynomial strip adjustment or a direct 3D transformation of the model coordinates to the ground system Type of Adjustment Minimum Number of Control Points per Strip Horizontal Vertical Polynomial Strip Adjustment 1stdegree 2 4 2nd degree 3 5 3rd degree 4 7 Direct 3D Transformation 2 3 The sequence of strips within the Basename STP data file must be listed in consecutive order across the direction of the flight lines as they appear in the actual photo block Additional cross strips should appear last in the list after the primary strips that compose the bulk of the photo block TO OPERATE select program BLOCKFORM from the AERIAL menu General Output File The text file BlockForm log contains the error analysis of the block formation performed for each set of strip models in the photo block The output is similar to that of StripForm log generated by program STRIPFORM 90 AeroSys v3 0 Aerotriangulation User Guide 5 2 8 Prepro Step Estimate Ground Coordinates Purpose To calculate ground coordinate approximations for model points which appear in a strip or block of photos These approximations are used in forthcoming analytical space resection computations and as input to the AERO bundle adjustment Output File s Basename EST Estimate LOG Input File s Basename STP or Basename BLK Basename CTL Notes on Program Operation 1 Choose the d
100. ine in the list of control points must end with a negative number ie 99 144 AeroSys v3 0 Aerotriangulation User Guide 10 11 12 13 14 15 16 17 18 19 20 A sub block of data must exist for each photo specified by the parameter NumPht PhtID Photo ID number ssx ssy A priori standard deviation of the image coordinates Scale Focal Lens Flags to indicate the use of a DLT constraint Scale O No 1 Yes specifies that ScaleX ScaleY Focal 0 No 1 Yes uses calibrated focal lengths Lens 0 No 1 Yes uses calibrated lens distortion coef NumPar Number of parameters used 11 to 16 CFLx CFLy Calibrated focal lengths in X and Y Xo Yo Principle point coordinates K0 K1 K2 Coefficients of symmetrical radial lens distortion P1 P2 Coefficients of tangential lens distortion Xp yp Image coordinates The last line in the list of image points for each camera must end with a negative number ie 99 Also See Program DLT 145 AeroSys v3 0 Aerotriangulation User Guide BaseName DOF Line 1 DOF Line 2 project no id Line 3 CamOrn Line 4 to Line 3 Nstrips Line 4 Nstrips Description of Parameters DOF 3 character string composed of the capital letters DOF project no id 80 character string CamOrn Orientation of the cameras positive Y axis in the airplane with respect to the direction of flight normal case Po
101. input data by project name etc maximum length equals 80 characters 3 NumStrips Number of photo strips 4 Focal Calibrated focal length mm of the aerial camera 5 NumFid Number of camera fiducials measured per photo 6 Strip Data 1 NumStrips have the following data format Line 1 StripNo NumPhis integers Photo Data 1 Photo Data NumPhts 7 StripNo Id number for the photo strip 8 NumPhts Number of photos contained in the photo strip 9 Photo Data 1 NumPhts have the following data format Line 1 PhotoNum Focal Misc integer disregarded Line 2 FidNum X Y integer 2 reals Line 2 NumFid PtID X Y string 2 reals Line 2 NumFid NumPts 99 to indicate no more points integer 10 PhotoNum Photo ID number 11 All variables on Line 1 to the right of PhotoNum are disregarded 12 The next NumFid lines after Line No 1 of a photo data block must contain the measured fiducial coordinates if NumFid is greater than zero 158 AeroSys v3 0 Aerotriangulation User Guide 13 14 15 16 17 18 19 20 21 22 23 FidNum Fiducial ID number X Y Unrefined photo coordinate measurements NumPts Number of image point measured in the photo PtID Point ID number This ID number cannot exceed 16 characters in length The data block for each photo must end with a negative number i e the first non blank cha
102. integer Notes 1 Line 1 is a three character string capital letters SPI 2 Line 2 is a is string to describe the input data by project name 3 Focal Calibrated focal length 4 Tol1 Tol2 Tolerance values for solution termination Tol1 Maximum change in position X Y and Z Tol2 Maximum change in standard deviation of unit weight 5 X Y Z Initial approximations to the object space coordinates of the point 6 PhtID Photo ID number 7 Omega Phi Kappa Camera orientation 8 XL YL ZL Camera station position 9 Xp yp Image space refined coordinates of the point 10 The last line must end with a negative number ie 99 to indicate no more photos in the data file Also See Program SPintersect 169 AeroSys v3 0 Aerotriangulation User Guide Line 1 Line 2 BaseName SPL SPL string Title Project ID string Line 3 Filename DAT string Line 4 NumFiles 99 Indicate no more data files to process integer Notes 1 Line 1 is a three character string capital letters SPL 2 Line 2 is a string to describe the input data by project name etc maximum length equals 80 characters 3 IDwidth The number of characters that make up the photo identification string labeling the paired photocoordinate data Photo1Photo2 Misc PTID1 XL YL XR YR PTID2 XL YL XR YR PTIDn XL YL XR YR 99 Photo3Photo2 For example Photo1Photo2 could appear as the string 30013002 to indicate
103. ion of flight In addition all photo ID s must be uniquely named within the photo block i e Strip no 1 may have ID s 101 102 103 where strip no 2 may have 201 201 203 Etc If all the photocoordinate data for the entire block is contained in a single data file then click on the Additional Files radial selection button and add the data file to the drop down combo list box You must then enter the First and Last photo ID s for each strip manually 22 AeroSys v3 0 Aerotriangulation User Guide rcB asc 1996 Figure 4 Camera Data Click on the NEXT button to shift to the CAMERA DETAILS tab Select the name of the camera from the drop down list If the desired camera is not listed then click on the blue EDIT CAMERA DATABASE button to enter a new set of camera data 23 AeroSys v3 0 Aerotriangulation User Guide A A a Figure 5 Camera Database Editor Click on the NEW button to initialize the dialog window for a new set of camera data Enter the required data for each tab NOTE Be sure to enter the fiducial coordinates with the same numbering scheme that you use to read the photos during interior orientation in your mapping software or on your analytical plotter Note If your exported photocoordinate data has been already refined by the AT collection software or softcopy system Then only the calibrated focal length CFL is important to the project All other calibration parameters are dis
104. l DOFs Work Dir General Atmospheric Trace Sel Cal Phyical Parameters Camera Variant Mode 2 Detauts C Enabled x Help 6 Disabled Camera No fi Enabled initial Value Std Dev hs PadialLens Distorion ki 0 00000E 0000 1 00000 0000 T Radial Lens Distortion K2 0 00000E 0000 1 00000E 0000 T Radial Lens Distortion K3 0 00000E 0000 1 00000 0000 F Decentering Distortion P1 0 00000 0000 1 00000 0000 l Decentering Distortion P2 0 00000E 0000 1 00000E 0000 I Interior Orientation Xo 0 000 1 00000E 0000 F Interior Orientation Yo 000 1 00000 0000 T Interior Orientation dC 0 000 8 1 00000E 0000 L d 4 x Cancel 67 AeroSys v3 0 Aerotriangulation User Guide 5 1 1 8 3 Self Calibration Empirical Film Deformation Use this menu to select the specific SelfCal parameters to use in the AERO Bundle Adjustment 1 Use the radio control buttons to enable and disable the use of these parameters 2 Click on the check box of the AP to enable or disable the specific parameter 3 Enter values for each parameter selected and its standard deviation 4 If you are in CAMERA VARIENT MODE click the spin button to display the next camera s values Maximums of four cameras per photo block are supported a AeroSys Bundle Adjustment Configurations Options ASW v3 0 1989 1999 MHS i x Ter
105. mber of photos contained in the photo strip 8 Photo Data 1 NumPhts have the following data format Line 1 PhotoNum integer Line 2 PtID X Y Flag string 2 reals integer Line 2 NumPts 99 to nent no more points integer 9 PhotoNum Photo ID number 10 NumPts Number of image point measured in the photo 11 PtID Point ID number This ID number cannot exceed 16 characters in length 12 X Y refined photo coordinate observations Flag a tag to indicate to Program Aero to use the observation Always set to 1 160 AeroSys v3 0 Aerotriangulation User Guide 13 14 15 16 17 18 19 The data block for each photo must end with a negative number i e the first non blank character must be a minus sign The order of photos listed in the strip must correspond to the exposure sequence in the direction of the strip flight line There is no limit to the number of photos that can be concatenated together to form a photo strip The order of strips within the data file must correspond to the same sequence that forms the photo block i e physically adjoining photo strips must be listed in sequential order Additional cross strips should be placed at the end of the data file after the primary photo strips There is no limit to the number of strips that can be concatenated together to form the data file All variables are delimited by blank spaces This file is automat
106. mination Statistical DOFs Work Dir General Atmospheric Trace SelfCal Mode Physical Params Empirical Params 3rd Order Film Deformation Affinity Empirical Parameters Camera Variant Mode 7 C Enabled patos amp Disabled Camera No ft lt Help Enabled Initial Value Std Dev TA fo oooooe 0000 1 00000 0000 r A2 0 00000E 0000 1 00000 0000 As fo oooooe 0000 100000e 0000 TAS 0 00000E 0000 1 00000E 0000 C Bi 0 00000E 0000 1 00000 0000 C B2 0 00000E 0000 1 00000E 0000 C B3 0 00000E 0000 1 00000E 0000 T Ba 0 00000E 0000 1 00000E 0000 Fes fo oooooe 0000 1 00000 0000 M B6 0 00000E 0000 1 00000 0000 Y OK x Cancel 68 AeroSys v3 0 Aerotriangulation User Guide 5 1 1 8 4 Self Calibration 3rd Order Film Deformation Use this menu to select the specific SelfCal parameters to use in the AERO Bundle Adjustment 1 Use the radio control buttons to enable and disable the use of these parameters 2 Click on the check box of the AP to enable or disable the specific parameter 3 Enter values for each parameter selected and its standard deviation 4 If you are in CAMERA VARIENT MODE press the NEXT CAMERA button to display the next camera s values Maximums of four cameras per photo block are supported 3rd Order Parameters Camera Variant Mode lt gt Defaults C Enabled 3
107. n MERGE pre processing then b run Program AERO again TO OPERATE select program AddGPS from the Bundle GPS menu Fa Add GPS Camera Station Observations ASW v3 0 1989 1 E 4 ie 224 E mapping dmi De224m de2241 GPs E mapping dmi De224m de2241 CAM E ae Ban TS 97 AeroSys v3 0 Aerotriangulation User Guide 5 4 Atmospheric Corrections Purpose To calculate image coordinate displacement due to atmospheric refraction Output File s Screen output Input File s Screen Input Notes on Program Operation 1 Click on COMPUTE in the menu bar to show the input output dialog window 2 Select UNITS for Air Temperature Air Pressure and Elevation 3 Enter VALUES for Air Temperature Air Pressure and Elevations 4 Select LOCATION of Air Temperature and Air Pressure values 5 Enter VALUES for Calibrated Focal Length CFL and image radial distance 6 Click on the COMPUTE button to calculate image displacement Compute Atmospheric Refraction Image Distortion 152 40 98 AeroSys v3 0 Aerotriangulation User Guide 5 5 Camera Calibration Purpose To compute camera calibration parameters from a single photo of a three dimensional camera calibration scene Output File s Screen Output and Log File Input File s Basename SPC Notes on Program Operation This program is based upon the mathematical model developed by Dr Massoud S Wheda at the University of
108. n the AER bundle adjustment data file still containing these down graded control points as simple passpoints i e their weights have been loosened up considerably When this happens the user is not actively warned but the information is annotated in the Error Log file If you have ground control points that don t fit well in ESTIMATE but still want to include them as normal control points then the user must increase the appropriate max residual values in X Y and Z accordingly 43 AeroSys v3 0 Aerotriangulation User Guide Pass Point ID Tip The prefix character can be any alpha numeric character except for the set L lt gt 33 00 20 1V Pass Point ID 4 Position Para OI x 228 60 _4X XConcel Deteut Figure 20 Passpoint ID The user can set three AeroSys attributes in this dialog window 1 General Identification of a passpoint alpha numerical ID 2 the suffix character of the center passpoint for each photo and 3 a user definable area centered in a photo that generally contains the center passpoint Some mapping operations like to use a prefix character or number to label a primary passpoint during AT collection but then strip off this prefix during the final bundle adjustment processing For example let the dollar sign character be the chosen prefix A point with the name 9012 would be converted or rename to 9012 when the prefix characters were striped away Als
109. nate Transformations 154 AeroSys v3 0 Aerotriangulation User Guide BaseName OFF OFF string project no id string Ox Oy Oz 3 reals Sx Sy Sz 3 reals Description of Parameters OFF 3 character string composed of the capital letters OFF project no id 80 character string Ox Oy Oz Offset of the GPS antenna from the aerial camera center Units must be the same as ground control Sx Sy Sz Standard deviations applied to the exposure stations in the bundle adjustment These values should be approximately the same in magnitude as the perceived accuracy of the GPS antenna coordinates e g 2 to4 cm Also See Program General Translations 155 AeroSys v3 0 Aerotriangulation User Guide BaseName OLD See Data Format of File Basename AER This file is automatically generated by Program Aero by renaming the aer file to old if the update option is enabled Also See Program Aero 156 AeroSys v3 0 Aerotriangulation User Guide BaseName ORN See Data Format of File Basename RST This file is automatically generated by Program Aero Also See Program Aero 157 AeroSys v3 0 Aerotriangulation User Guide BaseName PHC PHC string Title Project ID string NumStrips Focal NumFid integer real integer Strip Data 1 Strip Data NumStrips Notes 1 Line 1 is a three character string capital letters PHC 2 Line 2 is a string to describe the
110. ng The pre processing is the steps that are performed after data translation to form the input file for the bundle adjustment The starting point for these series of steps will vary depending upon the type of photocoordinate data translation done If the translation was done on RAW plate coordinates then the pre processing will start at the REFINE step If the translation was done on REFINED photocoordinates then the first step will begin at the RELATIVE ORIENTATION as shown below 26 AeroSys v3 0 Aerotriangulation User Guide The entire pre processing workflow is shown below Stripform NO Ground Control A for each strip YES Blockform p 27 Ground Coordinates 2 Rigid Transform Estimate 1 Polynomial Photo RESECTION Check AERO Image Rays Bundle Adjustment AeroSys v3 0 Aerotriangulation User Guide The sequence of these pre processing steps are configured from the main AeroSys menu by clicking on FILE PREFERENCES AERIAL AUTO SEQUENCE To launch this sequence click on the airplane icon in the main menu button bar or click on the AERIAL AUTO EXECUTION item from the menu bar Afterwards the PREPRO dialog window will appear and automatically step through the sequence and finally launch the bundle adjustment program If a data error occurs the sequence will stop at the given pre processing
111. ngulation User Guide BaseName INF Line 1 INF 3 character string Line 2 to Project InFo string 4 Y string Last Line ES string Notes 1 Line 1 is a three character string capital letters INF 2 Lines 2 through Last Line are character strings that describe each information field Also See Program Information 153 AeroSys v3 0 Aerotriangulation User Guide BaseName MEA CRL amp TSF Line 1 MEA or CRL or TSF string Line 2 Title Project ID string Line 3 PtID X Y lt Z gt string reals Line 3 NumPts 99 To indicate no more points integer Notes 1 Line 1 is a three character string capital letters MEA for the file of measured coordinates capital letters CRL for the file of control coordinates capital letters TSF for the file of transformed coords 2 Line 2 is a string to describe the input data by project name etc maximum length equals 80 characters 3 PtID Point ID number This ID number cannot exceed 16 characters in length 4 X Y Z Point Coordinates The lt Z gt coordinate is only required by program 3DTRANS 5 NumPts Total number of points listed in the data file 6 The data file must end with a negative number i e the first non blank character must be a minus sign 7 Files Basename MEA and CRL must be created by the user File Basename TSF is automatically created by program 2DTRANS and 3DTRANS Also See Program Coordi
112. nly two stereoplotter are supported Wild A 10 Lieca Heleva 2 These calculations are done as a post bundle adjustment function 3 Additional stereoplotters can be supported free of charge for registered AeroSys users but you will need to work with me a little to accomplish it Stereoplotter Setup ASW v3 0 1989 1999 MHS 119 AeroSys v3 0 Aerotriangulation User Guide 5 21 General Translations Purpose To provide data translations between various formats TO OPERATE select program from the TRANSLATION menu F Data Translation ASW v3 0 1989 1999 MHS E mapping AMTech gmtech tech gct E mapping AMTech gmtech tech ctl IIS Ground Control Format GCF to AeroSys CTL Notes on Program Operation 1 Select Translation Type 2 Select Input and output data files 3 Enter additional parameters if needed 4 Click the GO button to translate 5 Translations Available Aer o Sys XYZ to RWEL GCP Aer o Sys XYZ to IISGround Control Format GCF Aer o Sys XYZ to Aero Sys EST Aer o Sys CTL to IISGround Control For mat GCF Aer o Sys CAM to Aero Sys ORN ISGround Control For mat GCF to Aero Sys CTL RWEL GCP to Aero Sys CTL Surveyor FLD to Aero Sys CTL Trimble MET to Aero Sys GPS Zeiss FRP to AeroSys CAM Aer o Sys XYZ to Generic Text PXYZ Gen er ic Text PXYZ to Aero Sys CTL 120 AeroSys v3 0 Aerotriangulation User
113. ns of the photos ORN file and the adjusted ground coordinates of the passpoints XYZ file AeroSys also has a stereoplotter setup program that will compute stereoplotter dial settings for a limited number of analog stereoplotter Additional stereoplotter can be supported by request 31 AeroSys v3 0 Aerotriangulation User Guide 3 0 Airborne GPS Blocks This chapter describes how to process your aerotriangulation data with AeroSys when incorporating kinematic airborne GPS observations In general the main reason for using kinematic airborne GPS during the process of collecting the aerial photography is to reduce or eliminate the need for expensive surveyed ground control points used to control the photo block The ideal is to obtain a very good estimate of the XYZ position of the camera center s at the time of exposure for each and every photo in the block This is done by using an on board GPS receiver unit and externally mounted antenna usually directly above vertical displacement only the nodal point of the aerial camera lens In the latest systems a GPS antenna coordinate reading is recorded precisely at the mid point of the camera exposure The XYZ coordinates of the camera center can be calculated using the a XYZ antenna coordinates b antenna offset vector and c the exterior angular orientation omega phi kappa of the camera If an Inertial Navigation System INS is used in combination with the airborne GPS then XYZ
114. nter cable connect this to the Marx Key Log on to your computer as Administrator or as a user that has full administrator privileges Place the AeroSys CD in your computer s CD ROM drive If auto sensing is enabled the installation program will automatically launch itself from the disk Follow the installation menu s to load AeroSys onto your computer s C drive under C AeroSys asw30 The very last step in the installation will load and register the Marx Crypto box drivers into your winNT 95 98 system directory If this step fails you can perform this step again after the installation by executing the regCBN exe which is located in the C AeroSys asw30 cBox win32 directory To do this bring up an Explorer Window traverse to the above directory and double click on the regCBN exe icon in the list Re boot your computer Launch AeroSys by clicking on its icon in the windows Start menu on your computer s desktop 12 AeroSys v3 0 Aerotriangulation User Guide 1 3 AeroSys Directories AeroSys AT package is installed onto your computer s C drive under C AeroSys asw30 The following sub directories are also created C AeroSys Top Level directory Asw30 Bin ASW30 program EXE s and DLL s cBox Marx Crypto Box Drivers and install scripts win32 win3x win95 winNT Data Sample data sets and projects Demo Intro Pro Doc AeroSys documentation files Etc miscellaneous files Formats various
115. ntered the pre processing sequence is terminated ER The user may pass over a step if desired by clicking on the Skip action button Log files are written for each step and storage in the default project data directory Input and Output data files are automatically generated for each processing step All files can be view and or edited with a simple text editor The Aero bundle adjustment can be launched from this GUI as the final step 48 AeroSys v3 0 Aerotriangulation User Guide 4 5 Aero Bundle Adjustment Run bundle adjustment Show Quick GUI Based Summary Data File Editor Gs 1989 1999 MHS Data File Select Input Edit Close range Data File Edit Input File configuration Pre using simple parameters processing text editor Figure 24 Aero Bundle Adjustment Main Menu The main menu of the Aero bundle adjustment contains a 1 menu bar 2 button bar and 3 Input Data File selection group box 49 AeroSys v3 0 Aerotriangulation User Guide 4 5 1 Aero AER Data Editor You can launch a GUl based editor to edit an AER data file by clicking on the yellow magnify glass icon ASW Aero AER Data File Editor Aero a D at a Fi l e C AeroSys asw30 data intro INTRO aer Editor Figure 25 GUI based AER data file editor The GUl based editor has five dialog windows to facilitate the editing of the different sections
116. o a point named 09012 would again renamed to 9012 but a point named 19012 would be renamed to 19012 This feature can be disabled if desired see figure no 10 To identify the primary passpoint at the center of the photo a suffix character can be specified Normal convention has been to use either a 0 zero as in the sequence 1 0 2 or a 2 two in the sequence 1 2 3 being the suffixes of the three primary passpoints per photo from top to bottom Again any alpha character except punctuation can be used in addition to numerals If this convention is not used one can specify an area in the center of the photo as a percentage of the photo s overall format maximum dimension 44 AeroSys v3 0 Aerotriangulation User Guide Choose Desktop Editor amp Viewer Choose Desktop Editor A Figure 21 Select Editor amp Viewer The user can browse the computer system to select their favorite programs to be used to edit and view text data files 45 AeroSys v3 0 Aerotriangulation User Guide AeroSys supports the translation of several industry accepted photocoordinate formats both refined and raw measurement formats The translation program can be launched from the main AeroSys GUI by clicking on the icon to the left located in the main menu button bar Some information in the dialog window may already be set which was retrieved from the previously configured project file If not click on the yellow file open but
117. o dampen vibration The wires are hung symmetrically about a nominal 1 3 meter diameter circle On each wire plastic beads are glued into place nominally 0 15 meter apart Bead size on each wire alternate between 3mm and 6mm in diameter Use a dark colored bead against a white backdrop to provide good image contrast also your camera fiducials will show up on the film When photographing the 3D plumb line scene position the camera in front of the scene on a sturdy tripod Orient the camera so that 1 the plumb lines appear parallel to the long dimension of the camera format 2 maximize the number of beads and wires imaged in the photo and 3 fill the whole image frame with the scene not just the center portion of the photo Generally you will be centering the camera on wire No 7 therefore take note of the specific numbered bead on this wire which is located in the center of the image This will help you later when figuring out the approximate camera rotations Also mark the approximate position of the nodal point of the camera lens on the floor use a surveyors plumb line to do this and measure its approximate height above the floor Extremely Important Assuming that you are calibrating a non metric camera be sure to secure or fix the focal setting of the lens into the position in which it will be used in the field usually set at infinity A good non stretch tape should do the trick The program requires the following input da
118. odel Space Polynomial Strip Adjustment 3D Rigid Body Coordinate Transformation Space Photo Resection Space Point Intersection Pre Adjustment Image Rays Checking Bundle Adjustment with Self Calibration AeroSys supports photocoordinate translations for the following formats o ABC ADAM Technology ATP BINGO BLUH Intergraph Image Station IMA ASCII I2S Alpha 200 JFK Kern DSR mea amp pla PAT B Rwel cp WIS DOT ZEISS OOOUOODOOOOODOOOOCD Other program features include e Data Manipulation and Inspection Aero AER Data File Editor Data Simulation Generator Close Range Camera Calibration 2D amp 3D Coordinate Transformations Error amp Data Checking and other Utilities Project Information Retrieval Support for Kinematic Airborne GPS 9 AeroSys v3 0 Aerotriangulation User Guide Features Good Value Easy Data Setup Data files for AeroSys programs consist entirely of FREE FORMAT ASCII text files that can be easily prepared or modified using most window s based text editors AeroSys automatically creates most of its own data files for fast efficient progression from start to finish throughout the system Input data text files are structured as free format and freely viewable Simple Operation AeroSys s user friendly programs are entirely menu driven at the click of a mouse The intuitive graphical user interface GUI environment allows the user to easily repeat the usual RUN ANALYZE E
119. of flight for each photogrammetric strip TO OPERATE select program BUILD from the AERIAL menu 85 AeroSys v3 0 Aerotriangulation User Guide 5 2 3 Prepro Step Refine Purpose To transform raw image measurements into a reference system defined by the calibrated fiducial marks of the camera Photo coordinate refinement is performed for 1 Shrinkage expansion of the film media by using a 2D AFFINE coordinate transformation and 2 Measurement errors caused symmetrical radial and tangential lens distortion Output File s Basename REF Refine log Input File s Basename PHC Basename CAL NOTE only the 1st set of camera data is read Notes on Program Operation An option is provided to correct the photo coordinate measurements for errors caused by radial and tangential lens distortion and the offset of the principal point of symmetry Be sure to verify that this procedure has not been previously performed on your data before using this option Also An option is provided to remove the generic point ID prefix which is commonly used during data collection to designate an image point as a primary pass point If this option is invoked the prefix characters are removed and the modified point IDs are written to the output file only Also See POINT NUMBERING CONVENTION TO OPERATE select program REFINE from the AERIAL menu 86 AeroSys v3 0 Aerotriangulation User Guide 5 2 4 Prepro Step Combine To
120. of the AER data file After making an edit the user must click on the save button to save their changes for that section In addition they must also click on the save button at the top level dialog The five dialog windows are shown below Interior Orientation Parameters Figure 26 Interior Orientation Parameters 50 AeroSys v3 0 Aerotriangulation User Guide ientation Parameters E 1 1000 000 2 il o 3 El 509102 440 A 986 570 100000 000 000 10000 000 100000 000 Figure 28 Object Space Coordinates 51 AeroSys v3 0 Aerotriangulation User Guide hotocoordinate Observations rvey Observations few Figure 30 Surveying Observations 52 AeroSys v3 0 Aerotriangulation User Guide 4 5 2 Aero Configuration Clicking on the tabbed notebook icon button in the menu bar configures the Aero Bundle Adjustment This brings up a series up tabbed pages that the user can set how the bundle adjustment operates These tabbed pages are shown in section 5 1 1 See Section 5 1 1 for more details 53 AeroSys v3 0 Aerotriangulation User Guide 4 5 3 Close Range Pre processing Click here FIRST Figure 31 Close Range Pre processing In a close range application one generally has a good estimate of the camera orientations as well as several 3 or more established 3D object space control points This dialog allows the user to refine these estimates an
121. oject ID string Line 3 FileSpec SkipN string integer Last Line 99 integer Notes 1 Line 1 is a three character string capital letter CMP 2 Line 2 is a string to describe the input data by project name 3 FileSpec Name of a DOS file containing XYZ point coordinates for a photo strip FileSpec is composed of 3 elements FileSpec DriveSpec Basename Ext DriveSpec e g c DakCty Basename e g Strip1 Ext e g XYZ Resulting in c DakCty Strip1 XYZ 4 SkipN Number of data lines to be skipped at the top of the text file containing the xyz coordinates until coming to the first line with point information 5 The last line must end with a negative number ie 99 to indicate no more point files are listed in the data file Also See Program Compare 140 AeroSys v3 0 Aerotriangulation User Guide BaseName CP2 CP2 string Project ID string NumStrips CFL NumFIDS NPhotos integer real 2 integers SiripID 1 PhotolD 1 Filename 1 2 integers string to Line 3 NPhotos StriplD n PhotolD n Filename n 2 integers string Notes 1 Line 1 is a three character string capital letters CP2 2 Line 2 is a string to describe the input data by project name 3 NumSirips Number of flight line strips in the block of photos 4 CFL Calibrated focal length 5 NumFIDS Number of measured fiducial marks in each photo 6 NPhotos Number of photos in the block listed below
122. oordinates The value of NumFids can be an integer ranging between the values of 0 and 9 4 IF NumFids gt 0 Then one additional line for each fiducial used in that camera must be provided immediately afterwards These lines are ordered by the value of FidID The value of FidlD can range within the interval 1 9 5 Xf Yf Calibrated Fiducial Coordinates Sx Sy Standard Deviations of Calibrated Fiducials 6 FL Calibrated Focal Length 7 Xo Yo Principal Point Offset Coordinates 8 K0 K1 K2 K3 Coefficients of Radial Lens Distortion 9 P1 P2 P3 Coefficients of Tangential Distortion These values should be set to zero unless precise values are known 10 Line No 3 to No 3 NumFids are repeated for each camera used in the block of photos These data lines must be listed by camera order i e camera No 1 is listed first camera No 2 second etc 11 This file is created by the project setup GUI Also See Program Merge 137 AeroSys v3 0 Aerotriangulation User Guide BaseName CAM Line 1 CAM string Line 2 Title Project ID string Line 3 PhiNum Omega Phi Kappa Sw Sp Sk 10 integers 3 reals Line 4 PhiNum XL YL ZL Sx Sy Sz 1 integer 6 reals Repeat Line No 3 and No 4 for each photo Line 3 2 x NumPhts 99 to indicate no more photos integer Notes 1 Line 1 is a three character string capital letters CAM 2 Line 2 is a string to describe the input data by camera name etc
123. oordinates from their theoretical positions Adding normally distributed random measurement error does this If invoked the operator must enter a value in um which corresponds to one standard deviation of the perturbations produced by the random error generator Also an option is provided to modify the photo coordinates for lens distortion characteristics The image displacements due to lens distortion are applied to the theoretical photo coordinate positions prior to the addition of random measurement error Photo coordinates are generated for only those points that are imaged within the hypothetical camera format Data sets comprised of perfect observations i e no random error induced will produce perfect results when processed by a functional bundle adjustment program In this case the photo coordinate observations and control point residuals should be exactly zero provided the photo coordinate observations are listed with a sufficient number of significant digits to the right of the decimal point Photo coordinate residuals that occur from the adjustment of perfect data will be approximately an order of magnitude smaller than the last reported significant digit In other words one could expect residuals to the hundredths of a 111 AeroSys v3 0 Aerotriangulation User Guide micrometer if the photo coordinates were rounded to the nearest tenth of a micrometer TO OPERATE select program SIMULATE from the B a Simulate
124. otos of a stereopair are used by the program to perform relative orientation and to compute model coordinates TO OPERATE select program RELORN from the AERIAL menu 88 AeroSys v3 0 Aerotriangulation User Guide 5 2 6 Prepro Step StripForm HUUL Purpose To perform the analytical formation of photogrammetric strips from overlapping independent mathematical models Adjoining independent mathematical models ordered in the direction of flight are connected together to form a single mathematical strip by repeated 3D conformal coordinate transformations Output File s Basename STP Stripform log Input File s Basename REL Notes on Program Operation 1 There must be a minimum of 3 passpoints that are common to each adjacent pair of independent models that form the photo strip in order for STRIPFORM to operate successfully TO OPERATE select program STRIPFORM from the AERIAL menu 89 AeroSys v3 0 Aerotriangulation User Guide 5 2 7 Prepro Step BlockForm Purpose To form a single contiguous model block from adjoining photo strip models Connecting adjoining photo strips performs this step by the same method that is used to connect together independent mathematical models that form a single strip model Output File s Basename BLK BlockForm log Input File s Basename STP Notes on program operation This program should only be used when one or more strips within a block of photos conta
125. photo measurements begin photo measurements 0103 010201 96 277824 88 082154 96 27642 88 080869 1 010303 1 1472851 104 01533 1 1472857 104 01538 1 010202 93 91441 15 33464 93 915128 15 334757 1 010203 87 87759 87 898068 87 876075 87 896553 1 010302 1 6629961 4 3833521 1 6631545 4 3837695 1 010301 4 1435227 83 728008 4 143619 83 729953 i 010205 51 63829 44 316922 51 639211 44 317712 1 7002 18 449788 86 218967 18 450017 86 220036 T 010403 89 585941 101 57209 89 581247 101 56677 X 010402 96 650734 2 6110836 96 651904 2 6111152 1 010401 92 849994 87 658801 92 847791 87 656721 aL 010305 45 841183 33 14894 45 843898 33 150903 1 020201 44 791335 69 916347 44 792034 69 917439 i 020301 45 324528 44 035723 45 327147 44 038267 1 7001 42 209593 63 414341 42 211015 63 416478 1 end photo_measurements begin photo_parameters 0101 camera_name top15 152 73 camera_orientation 0 image_id usr3 images 941220 0101 cmp type of IO AFFINE IO_parameters 7679 559031802618 7679 986957742476 66 69046180383712 0 007448715468648784 0 0001376642930910601 66 69309598717271 IO num iters 1 IO num DOF 10 IO_apost_std_dev 5 48565053548359 199 AeroSys v3 0 Aerotriangulation User Guide IMA L5 15 15 15 15 15 15 15 15 15 15 1515 1515 1515 1515 1515 1516 1516 1516 1516 1516 16 16 16 16 16 16 16 16 16 16 16 16 16 1615 1615 1615 1615 1615 1616 1616 1616 1616 1616 1617 1617 1617 1617 161
126. photocoordinate formats supported Help AeroSys help files WINHELP HTML amp PDF Info Project information file bin Log Log file bin Sys AeroSys system files Tmp Temp directory 13 AeroSys v3 0 Aerotriangulation User Guide 1 4 License Policy Both United States copyright law and international treaty provisions protect this software Only registered users of this software are authorized to make archival copies of the software for the sole purpose of backing up the software and protecting their investment from loss This is a single workstation site license which entitles a registered user of AeroSys to freely install multiple copies of this software on more than one computer provided that copies are not transported off the building site or premises Additional Marx Crypto box software security keys can be purchased to activate these installations All rights not specifically granted in this statement are reserved by Dr Matt H Stevens 1 5 Warrantee The entire and exclusive liability of this Warranty shall be limited to the replacement of defective CD ROM media and shall not include or extend to any claim for or right to recover any other damages including but nat limited to loss of profit data or use of the software or special incidental or consequential damages or other similar claims All other warranties expressed or implied are disclaimed 14 AeroSys v3 0 Aerotriangulation User Guide 2 0 Getting Start
127. points in the photo block 4 PointID Point IDnumber This ID number cannot exceed 16 characters in length 5 X Y Z adjusted ground coordinates Control points values are not changed except for the non controled axis i e horizontal control points will have adjusted Z values 6 Ptype Point type identifier The following 2 character codes are used to designate the type of point 3D Three dimenisional control point HC Horizontal control point VC Vertical control point CP Check point PP Pass point 7 The data file must end with a negative number i e the first non blank character must be a minus sign 8 This file is automatically generated by Program AERO 9 In an ADJ the ground control point coordinates are adjusted values 10 In an XYZ the ground control point coordinates are not adjusted Also See Program Aero 180 AeroSys v3 0 Aerotriangulation User Guide StripFile TXT A strip file contains unrefined photo coordinate measurements grouped together by photo number Photo Block 1 Photo Block N Each photo consists of a block of data with the following format Line 1 PhotoNum Focal Misc integer disregarded Line 2 FidNum X Y integer 2 reals Line 2 NumFid PtID X Y string 2 reals Line 2 NumFid NumPts 99 to indicate no more points integer Notes 1 PhotoNum Photo ID number must be a positive integer 2
128. processing 4 5 Aero Bundle Adjustment 4 5 1 Aero AER Data Editor 4 5 2 Aero Configuration 4 5 3 Close Range Pre processing 4 5 4 Running the Bundle Adjustment 4 5 5 Post Adjustment Quick Summary 3 AeroSys v3 0 Aerotriangulation User Guide 11 12 13 14 14 15 17 20 25 26 30 32 35 35 40 46 5 0 AEROSYS PROGRAMS 5 1 Aero 5 1 1 Options Dialog 5 1 1 1 Termination Criterion 5 1 1 2 Degrees of Freedom 5 1 1 3 Statistical Levels 5 1 1 4 Work Directory 5 1 1 5 General 5 1 1 6 Atmospheric 5 1 1 7 Trace 5 1 1 8 Self Calibration 5 1 1 8 1 Self Calibration Mode 5 1 1 8 2 Self Calibration Physical Parameters 5 1 1 8 3 Self Calibration Empirical Film Deformation 5 1 1 8 4 Self Calibration 3rd Order Film Deformation 5 1 1 8 5 Self Calibration Affinity 5 1 2 Close Range Preprocessing 5 1 2 1 Space Resection 5 1 2 2 Space Intersection 5 1 3 Adjust Menu 5 2 Pre processing Prepro Auto Sequence 5 2 0 Prepro Step Convert Photocoordinates to AeroSys Format 5 2 1 Prepro Step Split 5 2 3 Prepro Step Refine 5 2 4 Prepro Step Combine 5 2 5 Prepro Step RELative ORieNtation 5 2 6 Prepro Step StripForm 5 2 7 Prepro Step BlockForm 5 2 8 Prepro Step Estimate Ground Coordinates 5 2 9 Prepro Step Resect 5 2 11 Prepro Step Merge 5 2 12 Prepro Step Image Rays 5 3 AddGPS 5 4 Atmospheric Corrections 5 5 Camera Calibration 5 6 Compare 5 7 Cut amp Paste 5 8 Distortion 5 9 DLT 5 10 GPS Antenna O
129. racter must be a minus sign The order of photos listed in the strip data must correspond to the exposure sequence in the direction of the strip flight line There is no limit to the number of photos that can be concatenated together to form a photo strip The order of strips listed in the data file must correspond to the same sequence that forms the photo block i e physically adjoining photo strips must be listed in sequential order Additional cross strips should be placed at the end of the data file after the primary photo strips There is no limit to the number of strips that can be concatenated together to form the data file All variables are delimited by blank spaces This file is automatically generated by Program BUILD Also See Program Build 159 AeroSys v3 0 Aerotriangulation User Guide BaseName REF REF string Title Project ID string NumsStrips Focal integer real Strip Data 1 Strip Data NumStrips Notes 1 Line 1 is a three character string capital letters REF 2 Line 2 is a string to describe the input data by project name etc maximum length equals 80 characters 3 NumStrips Number of photo strips 4 Focal Calibrated focal length mm of the aerial camera 5 Strip Data 1 NumStrips have the following data format Line 1 StripNo NumPhis integers Photo Data 1 Photo Data NumPhts 6 StripNo Id number for the photo strip 7 NumPhts Nu
130. regarded Click on the DONE button when finished entering data and then the OK button to save your new data entry This will return you to the CAMERA DETAILS tab of the project setup dialog Select your new camera from the drop down list Then click OK to save the project data file 24 AeroSys v3 0 Aerotriangulation User Guide 2 4 Translate Photocoordinate Data In the main AeroSys menu click the TRANSLATE CONVERT TO AEROSYS PHOTOCOORDINATE FORMAT menu item or on the third icon in the button bar to bring up the Translation dialog window A Translate to AeroSys Format ASW v3 0 1989 1999 MHS E mapping AMTechigmtechitech PRJ B E mapping AMTechigmtech EXmapping AMTechigmtechs JE mapping AMTechigmtechitech PHC PHC EN ol e e s e o e e e e s e s Figure 6 Translation Dialog If the correct photocoordinate format is not already selected select it now as well as the attributes in the other three radio group boxes Click the TRANSLATE button If there is an error it is reported in the Error Messages group box Note Refined coordinate types will produce an REF output file while non refined coordinate types e g ABC etc produce a PHC output file After the translation It is recommended that the user check the result of the translation by clicking on the blue arrow icon to view the text file 25 AeroSys v3 0 Aerotriangulation User Guide 2 5 Bundle Adjustment Pre Processi
131. rged together to form the basic input data file for the bundle adjustment Clicking on several but not all of the Pink black 8 gray button bar buttons can launch this dialog window The dialog will open with the tab selected that corresponds to the button clicked a lol File Help N Status Info Current Status Ide Pre Processing Step Estimate XYZ Ground Coordinates Progress as spn CE Build E Refine H Combine OO00 StripForm den Estimate y Intersection Ba Image Rays Processing Options Data File Source E Reiom P Merge oro coo a BlockForm ay Resection BundleTS from StripForm C from BlockForm Flight Strip No gt PEER Polynomial Strip Adjust C Rigid Body 3D Hybrid Degree of Polynomial C 1st Degree C 2nd Degree 3rd Degree Other M Brief Output Stat File Messages so Ana _ x ski Close Current Project gt gt E mapping airsvy Gweru strip GweruSTP1 Figure 23 Pre processing Dialog 47 AeroSys v3 0 Aerotriangulation User Guide The pre processing dialog window is composed of a tabbed panel several message feedback areas option selection area if needed and three action buttons Go Next and Skip The tabbed panel with toggle through the auto sequence as one click on the GO button followed by the Next button after each individual process is preformed If a major error or blunder is encou
132. s REFINE ESTIMATE RESECT and INTERSECT into a single text file Output File s Basename AER Input File s REQUIRED Basename CAL Basename CAM Basename EST Basename REF Program Notes There are four Basename data files which are required for successful operation CAL CAM EST and REF These text files are combined to form a single AER data file for processing by program AERO In addition program MERGE will automatically detect the existence of Basename data files with the file extension of SVY If this file is present in the data directory then it will be incorporated into the AER data file Also program MERGE will ignore any fiducial measurements in the Basename CAL data file i e the NumFids variable is set equal to zero since it is assumed that the Basename REF file contains refined photo coordinate measurements An option is provided to remove the generic point ID prefix which is commonly used during data collection to designate an image point as a primary pass point If this option is invoked the prefix characters are removed and the modified point IDs are written to the output file only TO OPERATE select program MERGE from the AERIAL menu 95 AeroSys v3 0 Aerotriangulation User Guide 5 2 12 Prepro Step Image Rays Purpose To provide a method of error checking for mis labeled points and other errors found in dirty data sets prior to running the bundle adjustment
133. s window by double clicking on the system box located in the upper left corner 75 AeroSys v3 0 Aerotriangulation User Guide General Output File The AERO log text file contains the error analysis of the bundle adjustment program An appended abbreviated form of the output file follows KKKKKKKKKKKKKKKX PHOTO COORDINATE POINT IGNORED REKXKKKKKKX Point No 109 is not listed in Data Block No 4 x Photo No 74 but does appear in Data Block No 5 Pts Pht No Wx Wy Redun No 1001 71 2 32 20 0 27 72 0 01 0 64 0 50 73 1 15 0 66 0 42 103 71 1 32 37 0 34 72 0 04 1 57 0 52 73 0 63 00 25 0 39 101 71 2 04 0 93 0 38 72 1 33 0 39 0 54 73 0 03 0 56 0 39 107 72 1 56 21 0 30 73 1 56 0 21 0 29 111 73 0 98 02 0 37 74 52 0 10 0 58 75 0 00 0 08 0 36 21 71 2 18 2 26 0 11 72 2 24 2 26 0 10 14 73 0 29 0 84 0 23 74 0 25 0 05 0 41 75 0 25 0 92 0 18 24 73 0 73 0 99 0 36 74 0 66 0 17 0 58 75 0 63 0 81 0 36 112 73 0 69 0 31 0 36 74 0 69 0 69 0 58 75 0 69 0 37 0 36 113 73 0 76 0 14 0 36 74 0 76 0 17 0 58 75 0 75 0 04 0 35 Critical Value of 3 29 exceeded ie possible gross error Maximum Standardized Residual 3 04 from Point No 105 on Photo No 74 76 AeroSys v3 0 Aerotriangulation User Guide 77 o 1 o 1 2 3 x o 5 aaa 1 5 x x x 7 aaa aK Q Ke RARE 7 kaa 5 x x x 7 AHH a RA 6 x x x 4 x x x 3 x 3 x 3 x o 2 4 x
134. sible values 0 Y axis pointing toward the nose 90 Y axis pointing toward the left 180 Y axis pointing toward the tail 270 Y axis pointing toward the right StripNum Strip Number integer pht1 photo number of the first exposure in a flight strip integer pht n photo number of the last exposure in a flight strip integer exp1 exposure number of the first exposure in a flight strip used in FRP amp MET files integer exp n exposure number of the last exposure in a flight strip used in FRP amp MET files integer Kappa_cor Fudge Factor counter clockwise rotation in degrees from the Y axis of the camera to the approximate value of its kappa orientation integer Also See program General Translations 146 AeroSys v3 0 Aerotriangulation User Guide BaseName ERR This file contains a record of possible bad data points and unusually large observations that have been encountered during the front end processing Also See Error Log 147 AeroSys v3 0 Aerotriangulation User Guide BaseName EST Line 1 EST string Line 2 Title Project ID string Line 3 SDx SDy SDz 3 reals Line 4 NumPts PtID X Y Z PtType Sx Sy Sz string 3 reals integer 3 reals Last Line 99 to indicate no more XYZ points integer Notes 1 Line 1 is a three character string capital letters EST 2 Line 2 is a string to describe the input data by project name etc maximum length equ
135. ssing by the AeroSys Front End programs This prefix character should be kept intact up until executing Program Relorn where then it may be removed i e if PreFixChar then Point ID No 8032 is equivalent to Point ID No 8032 3 MinLength minimum length of the point ID string that activates PreFixChar i e if MinLength 6 then Point ID No 8032 is equivalent to Point ID No 8032 and Point ID No 537 will experience no net change 4 This file must be located in the asw sys directory This file is no longer used in ASW v3 0 and is super ceded by the ASW pro binary record file Parameters are edited via the FILE PREFERENCES menu 191 AeroSys v3 0 Aerotriangulation User Guide Aero PID Line 1 Basename string Notes L Basena me Defa ult DOS file name assigned to all data files used by the AeroSys progra ms during an operating session AeroSys progra ms automatically assign reserved file extensionsto this Basena me to identify input and output data files 2 The maximum length of Basena me can not exceed 8 characters 3 Ba sena me must reside within the first 8 spacesof the data line 4 This file must reside in the asw sys directory This file is no longer used in ASW v3 0 and is super ceded by the ASW pro binary record file and the WinNT registry Parameters are edited via the FILE PREFERENCES menu 192 AeroSys v3 0 Aerotriangulation User Guide Appendix B Photocoordina
136. st end with a negative number i e the first non blank character must be a minus sign 9 This file is automatically generated by Program RELORN Also See Program Relorn 132 AeroSys v3 0 Aerotriangulation User Guide BaseName ATM ATM string Project Title string TEMP real PRESS real UNITS 11 char string NOTES 1 Line 1 is a three character string capital letters ATM 2 Line 2 is a string to describe the input data by project name etc maximum length equals 80 characters 3 TEMP Air Temperature 4 PRESS Air Pressure 5 UNITS 11 character string showing the status Each character in the status string can only be a T oran F T Enabled F Disabled POSITION DESCRIPTION UNITS Char No 1 Flying Height FEET Char No 2 Flying Height METERS Char No 3 Air Temperature DEGREES F Char No 4 Air Temperature DEGREES C Char No 5 Air Pressure INCHES Hg Char No 6 Air Pressure MILLIBARS Hg Char No 7 Air Temperature GROUND Char No 8 Air Temperature CAMERA Char No 9 Air Pressure GROUND Char No 10 Air Pressure CAMERA Char No 11 Atmospheric Corrections ENABLED DISABLED Characters are grouped into pairs i e 1 amp 2 3 amp 4 etc Except for No 11 Each pair must contain only one T and only one F Both characters cannot be the same T T or F F If UNITS TFTFTFTFTFT Then the measurement units used are Feet Degrees F Inches Hg Ground level and corrections are En
137. ta 1 Approximate values of the camera calibration parameters a Use the nominal focal length for the principal distance b Use Xo Yo 0 zero for the principle point coordinates c Use K2 K3 0 zero and estimate K1 for the coefficients of symmetrical radial lens distortion K1 1 0E 004 for most 24mm to 35mm SLR camera lenses 2 Approximate values of the camera position and orientation relative to the position of the beaded plumb line coordinates 3 Control values of the beaded plumb line coordinates 4 Measured and refined photo coordinates of the beads 100 AeroSys v3 0 Aerotriangulation User Guide TO OPERATE select program CAMCAL from the UTILS menu Ceiling Fixture Camera Station hd s 4 E E 6 1 h E E 5 7 2 4 E E s 4 3 kd 4 Ei 6 1 E Plan View 5 7 2 4 3 Elevation View of Beaded PLumb Lines 101 AeroSys v3 0 Aerotriangulation User Guide 5 6 Compare To compare and statistically analyze the differences between sets of coordinate values XYZ points which were computed by different procedures and data sets This procedure is useful for tie point analysis i e comparing coordinate values of tie points from adjacent photo strips and locating duplicated points Output File s Log File Input File s Screen Input Basename CMP Notes on Program Operation 1 This file contains all points which are common to two or more data files listed
138. tation at a single site 10 AeroSys v3 0 Aerotriangulation User Guide Telephone Fax E mail Home Page Postal Address Remember 1 1 Technical Support AeroSys Consulting offers technical support to registered customers If you have questions comments or suggestions you can contact us by telephone fax or e mail Program bug fixes updates will be posted to the AeroSys Software web site You can personally contact us before 9 00 am or after 6 00 pm CDT or send a FAX anytime at Voice Fax 651 645 5320 We can also be contacted through the Internet Please e mail inquires to AeroSys bigfoot com http www bigfoot com AeroSys By mail you can write us at Dr Matt H Stevens AeroSys Consulting 1401 Portland Ave Saint Paul MN 55104 USA In your request for resolving a problem be sure to include 1 Attach your zipped data files to your email 2 A clearly written description of the problem 3 The product version and ASW crypto box serial number 11 AeroSys v3 0 Aerotriangulation User Guide Tip INTROduction and PROduction packages only The free demo does not require a Marx Crypto Box but in this case the Aero Bundle Adjustment is limited to a maximum of four photos and 20 object points 1 2 Software Installation 1 Connect the Marx Crypto Box software security key directly to your 4 5 x workstation s main parallel port i e LPT1 If you have a pri
139. te Formats ABC tri raw plate coordinates 1 108 640 105 477 2 112 974 112 892 3 106 979 114 466 4 111 270 107 039 901041 di IS 80 263 901042 3 027 0 774 901043 1 863 90 140 901051 80 923 79 895 901052 81 461 0 898 901053 81 449 88 756 11041 42 594 77 206 21041 47 482 73 042 1 107 958 111 283 2 109 219 111 618 3 110 706 108 623 4 111 958 108 309 CNN SNS RRPRRPRRPRPRPRPRRPRRPRRRPRPRPRRPRRPRRPRRPRRP RPRRP RPRRPRPRR R R R REH 901041 85 237 19 916 901042 85 767 1 267 901043 83 207 88 938 901051 2 075 81 479 901052 1 692 1 245 901053 0 168 86 257 11041 40 489 17 931 21041 35 689 73 907 901061 83 154 85 578 901062 83 501 0 015 901063 82 099 84 068 21042 10 708 15 007 11042 33 802 74 964 21043 39 476 85 743 10105 82 843 78 013 193 AeroSys v3 0 Aerotriangulation User Guide ADAM Technology pco refined coords 1 2 10 1031 0 305 210371 14 002 14 867 2031 3 323 0 039 11 630 6 239 3031 3 903 15 451 11 345 21 987 1051 T5163 19 167 0 607 12 371 2051 16 559 3 348 1 641 3 262 3051 13 919 9 869 0917 16 510 5 1 934 9 641 13 237 15 936 6 LL 2417 2 866 3 784 3 0587 12 4 711 17 649 9 800 11 156 13 22 053 21 897 7 493 14 832 2 3 9 1051 0 607 12 371 15 843 9 161 2051 1 641 3 262 15 658 6 548 3051 0 911 16 510 18 483 19 701 1061 16 897 21775 0 953 17 860 2061 17 949 0 315 0 984 3 602 3061 17 008 13 281 0 205 17 114 13 7 493
140. te a running process just click on the ABORT action button The OP Mode area shows what modes the bundle is operating under The Progress area gives visual feedback with regard to the overall numerical progress of the adjustment The Adjustment Status area reports the value of S_not for each iteration of the solution as well as text feedback 55 AeroSys v3 0 Aerotriangulation User Guide 4 5 5 Post Adjustment Quick Summary Largest standardized photocoordinate residuals f Mode Indicator Photocoordinate post adjustment OverRide Wts vary Root Mean photocoordinate Static Wts no vary Square Errors weights Wts Top 10 largest photocoordinate residuals in mm Bundle Adjustmey uick Summ ASW v3 0 1989 1999 ee 12 39 EC 0 0030 3063 paz Static Wits E 0 192 Image EA Figure 33 Quick Summary Window Root Mean Largest Mean predicted Square Errors a far Control and Standardized standard Residual deviations Check Points This window provides as quick summary of the common statistical parameters used to evaluate or judge the quality of the results of a bundle adjustment 56 AeroSys v3 0 Aerotriangulation User Guide 5 0 AeroSys Programs 5 1 Aero Purpose To perform the least squares adjustment of photogrammetric observations by the method of the simultaneous bundle adjustment Ou
141. tes combine Multiple Enote Model Formation Error Log Figure 11 Aerial Menu 4 Bundle contains menu function to launch the Aero Bundle Adjustment program add GPS camera station observations to the Aero aer data file and generate simulated block data AeroSys C AeroSys asw30 data demo demo ASW v3 0 1989 1 Ea ES Bundle amp Add GPS Ca A era Figure 12 Bundle Menu 37 AeroSys v3 0 Aerotriangulation User Guide 5 Utils contains menu functions to launch several utility programs AeroSys C AeroSys asw30 data demo demo ASW v3 0 1989 1 al Utils a Calibration close range Shift C Figure 13 Utils Menu 6 Help contains menu functions to launch the On Line Help view the AeroSys Home page with your computer s web browser send a message to AeroSys via e mail and view the AeroSys About Dialog AeroSys C AeroSys asw30 data demo demo ASW v3 0 1989 1 FQ Help Figure 14 Help Menu 38 AeroSys v3 0 Aerotriangulation User Guide B The button bar contains quick access buttons that launch the project setup utton dialog auto execution sequence various entry points into the PREPROcessing dialog and the Aero bundle adjustment Bar Start Auto Execution Sequence Figure 15 AeroSys Button Bar 39 AeroSys v3 0 Aerotriangulation User Guide 4 2 AeroSys Preferences Preferences for AeroSys are set from the File Preferences sub m
142. tes for a point common to both left and right photos of the stereopair 7 The last line must end with a negative number ie 99 to indicate no more points in the data file Also See Program Stereopair Orientation 171 AeroSys v3 0 Aerotriangulation User Guide BaseName SPR Line 1 SPR string Line 2 Project ID string Line 3 Focal Tol1 Tol2 Tol3 real Line 4 Omega Phi Kappa XL YL ZL real Line 5 PtID X Y Z string 3 reals 99 integer PtiD xp yp string 2 reals Last Line 99 integer Notes 1 Line 1 is a three character string capital letter SPR 2 Line 2 is a is string to describe the input data by project name 3 Focal Calibrated focal length 4 Tol1 Tol2 Tol3 Tolerance values for solution termination Tol1 Maximum change in rotations Omega Phi and Kappa Tol2 Maximum change in stations XL YL and ZL Tol3 Maximum change in standard deviation of unit weight 5 Omega Phi Kappa Initial approximations to camera orientation 6 XL YL ZL Initial approximations to camera station position 7 PtID Point ID number 8 X Y Z Object space coordinates of the point 9 Xp yp Image space refined coordinates of the point 10 The last line must end with a negative number ie 99 to indicate no more points in the file Also See Program SPResect 172 AeroSys v3 0 Aerotriangulation User Guide BaseName STP BLK STP or BLK string Title Project ID
143. that the following paired data represented photos 3001 and 3002 Then IDwidth 8 in this case NOTE Dwidth must be an even numbered integer 4 6 Filename DAT Filename of data file that contains the paired photocoordinate data It is recommended that you use the DAT file extension to name the text files DO NOT USE the TXT file extension Program SPLIT will overwrite these files with a TXT data file that it creates Remember Filename DAT gt SPLIT exe gt Filename TXT The last line of the file must begin with a 99 to indicate that there are no more data files to process The operator must create this file Also See Program Split 170 AeroSys v3 0 Aerotriangulation User Guide BaseName SPO Line 1 SPO string Line 2 Project ID string Line 3 Focal Tol1 Tol2 Tol3 Tol4 real Line 4 PID XL YL XR YR string real real real real Last Line integer Notes 1 Line 1 is a three character string capital letter SPO 2 Line 2 is a is string to describe the input data by project name 3 Focal Calibrated focal length 4 Tol1 Tol2 Tol3 Tol4 Tolerance values for solution termination Tol1 Maximum change in rotation of the right photo Tol2 Maximum change in translation of the right photo Tol3 Maximum change in position of the model points Tol4 Maximum change in standard deviation of unit weight 5 PtID Point ID number 6 XL YL Xp Y R Refined image coordina
144. the six parameters are reported as the final result The general output file will note this fact and the approximations omega and phi will be recorded as zero The ability of an analytical space resection procedure to calculate precise estimates of a photo s exterior orientation is highly dependent upon the accuracy of the ground point coordinates Large residual values Vx and Vy in the photo coordinates do not necessarily indicate poor image measurements but instead may indicate poor estimates of the ground point coordinates Xg Yg and Zg The program will automatically identify bad photocoordinate observations that are extra ordinarily large compared to the bulk of the data Standardizing each observation residuals into a unit less statistical value does this If an observation is considered a blunder it is removed from the space resection adjustment and a new solution is computed Bad observations are recorded in the basename err data file TO OPERATE select Program RESECT from the AERIAL menu 93 AeroSys v3 0 Aerotriangulation User Guide 5 2 10 Prepro Step Intersect Purpose To calculate ground coordinate approximations for points in the photo block which were not established by the strip formation procedure These points are usually tie points between strips located in the initial and terminal models of the strips or points not appearing in consecutively ordered photos Output File s Basename EST Int
145. ton to select a project file PRJ or an index file IDX that contains the data files to be converted into native AeroSys format If an error occurs during the translation it is reported to the window with the exact line in the data file where the error occurred 8 Translate to AeroSys Format ASW v3 0 1989 1999 MHS a 9 e e m o o e e e tech E mapping AMTech gmtechy E mapping AMTech gmtechitech PHC Output File fE mappingAMTechigmtechech PHC ea E mapping AMTechigmtechitech PRJ E mapping AMTech gmtech tech PRJ B Figure 22 Translation Dialog 46 AeroSys v3 0 Aerotriangulation User Guide MF 4 4 Pre processing The pre processing stage is performed prior to the bundle adjustment The result of this series of steps within pre processing is to derive suitable estimates of the unknown parameters that are solved by the bundle adjustment In short it makes an input data file that has estimates which are close enough to the final solution in order for the non linear least squares bundle adjustment to converge to a solution The known or measured observations are the a Camera s focal length b 2 D photocoordinates and c 3 D ground control From these the pre processing calculates initial estimates for d Camera position and orientation for each photo in the strip block and e 3 D ground coordinates for each passpoint and tiepoint in the block This data is me
146. tor must create this file Also See Program Build 134 AeroSys v3 0 Aerotriangulation User Guide BaseName BLK See Data Format of File Basename sTP This file is automatically generated by Program BLOCKFORM Also See Program BlockForm 135 AeroSys v3 0 Aerotriangulation User Guide BaseName C amp P LINE 1 C amp P string LINE 2 Project Name string LINE 3 Filename 1 string Filename 2 Filename n string LAST LINE 99 integer Notes 1 Line No 1 is a three character string capital letters C amp P 2 Line No 2 is a string to describe the input data by project name 3 Filename 1 N Complete file path 1 Use only one filename per line of text I Important The format of these text files must be exactly identical to the Basename AER data files 4 The last line must end with a negative number i e 99 to indicate no more file names Also See Program Cut amp Paste 136 AeroSys v3 0 Aerotriangulation User Guide BaseName CAL Line 1 CAL string Line 2 Title Project ID string Line 3 NumFids FL Xo Yo KO K1 K2 K3 P1 P2 P3 1 int 10 reals Line 4 NumFids FidlD Xf Yf Sx Sy 1 int 4 reals Notes 1 Line 1 is a three character string capital letters CAL 2 Line 2 is a string to describe the input data by camera name etc maximum length equals 80 characters 3 NumFids Number of fiducial marks used to transform the image c
147. tput File s Basename ADJ Final object point coordinate values Basename XYZ Final object point coordinate values Basename ORN Final exterior orientation values for each photo Basename RES List of photocoordinate residuals Basename UPD Updated AER data file AERO log General Text Statistical Output k includes adjusted control point values control point values are not adjusted Input File s Basename AER Main Observational Data Notes on Program Operation Program AERO has four command menus 1 File Menu 2 Options Menu 3 Close Range Menu 4 Adjust Menu The FILE MENU is used to edit and view a text file and to exit program Aero The Options MENU is used to set the run time parameters The Close Range MENU is used to refine initial approximations for Close Range type data The ADJUST MENU is used to invoke the bundle adjustment AeroSys Bundle Adjustment ASW v3 0 1989 1999 MHS ISE 57 AeroSys v3 0 Aerotriangulation User Guide 5 1 1 Options Dialog This pull down menu has eight tabbed pages to set operating parameters Termination Criterion Statistical Levels Degrees of Freedom Work Directory General Atmospheric Trace Self Calibration Mode Physical Parameters Empirical Film Deformation 3rd Order Film Deformation Affinity Y O O1 ON These parameters are used to configure the operating behavior of the Pre Process functions and the bundle adjustment
148. utput File s LOG file Input File s Basename SPR Notes on Program Operation 1 A minimum of three 3D control points must be provided in the data file to obtain an unique solution 2 The general error statistics and final camera orientation values are listed in file Basename 013 TO OPERATE select program SP_RESECT from the UTILS menu i 2 97351 0 03984 345 44 29 0 00687 507173 860 2541 570 115 AeroSys v3 0 Aerotriangulation User Guide 5 18 Stereopair Orientation Purpose To perform the analytical relative and absolute orientation of a single overlapping pair of photos Output File s LOG file Input File s Basename SPO Notes on Program Operation 1 A minimum of five points must be provided for a solution to the analytical problem 2 The general error statistics and final model coordinate values are listed in file Basename 015 TO OPERATE select program SP_RELORN from the UTILS menu Stereopair Orientation ASW v3 0 1989 1999 MHS C AeroSys aswa0 data demo Demo spo 75 15727 1 12703 0 02198 0 00943 Exterior Orientation Omega Phi Kappa X1 Y1 2Z1 40 3 15 59 28 13 507976 972 154450 940 2531 978 116 AeroSys v3 0 Aerotriangulation User Guide 5 19 Coordinate Transformations To transform two and three dimensional coordinates from one coordinate system to another coordinate system Output File s LOG file Basename TS
149. x Sy Default standard deviations of the photo coordinates 4 Beta Affinity Term angle of non orthogonallity between the xy axis of the measuring device Beta should be set to zero seconds unless a precise value is known 5 ScaleX ScaleY Scale factors in x and y axis Scale factors should be set to 1 0 unless precise values are known 6 PosNeg 1 for slide positive film 2 for negative film no transformation conformal affine projective 7 Trans ND IF TRANS does not equal zero Trans lt gt 0 then the next NumFids data lines PtID x y after Line No 1 must correspond to the measured fiducial marks for the photograph 8 PtID Point ID number This ID label cannot exceed 16 characters 9 X Y Photo coordinate measurements These must be uncorrected for lens distortions if the SELF CAL option is used in the bundle adjustment 10 Flag 0 Do not use photocoordinate in the adjustment 1 Use photocoordinate in the adjustment 11 The data sub block for each photo must end with a negative number i e the first non blank character must be a minus sign Also See Program Aero 130 AeroSys v3 0 Aerotriangulation User Guide Aero Data Block No 6 Survey Observations Notes 1 Type Kind of surveying observation 1 Slope Distance 2 Height Difference 3 Horizontal Angle 2 StaAT StaFROM StaTO Point ID number This ID number cannot exceed 16 characters
150. x x 1 o 1 o o o AeroSys v3 0 Aerotriangulation User Guide PRNRRPRPRPOPp ooOo 4 x x 6 x x x 5 x x x 14 kkkkkkkkkkkxkkXk 7 kaa LL k k k 7 AAA xx 6 x x x 3 x 3 x 2 ol 1 1 1 o 1 ol o o Root Mean Square Image Coordinate Errors RMS Vx RMS Vy RMS Vxy 7 1 micrometers 9 2 micrometers 13 2 micrometers 78 AeroSys v3 0 Aerotriangulation User Guide E Object Space or Ground Control Units gt No lt PtIdNo gt lt X gt lt Y gt lt Z gt lt Res X gt lt Res Y gt lt Res Z gt 1 1001 53789 987 27603 607 799 199 0 357 0 040 0 009 2 103 53703 026 24921 360 0 172 0 144 3 108 56994 133 27511 628 0 133 0 263 4 114 56911 952 24989 235 0 052 0 079 5 101 800 786 0 014 6 107 838 501 0 011 7 111 788 724 0 006 E CE ot Control Point Root Mean Square Errors RMS Vx 0 357 0 179 RMS Vy 0 040 0 132 RMS Vz 0 009 0 010 RMS Vs 0 359 Final Adjusted Exterior Orientations Standard Errors amp Residuals lt PhtNo gt lt Omega gt lt Phi gt lt Kappa gt lt So gt lt lt PhtNo gt lt gt gt lt Y gt lt Zg gt lt Sx gt lt o o o o 71 0 13 1 0 8 16 1 14 36 0 LE TA 51627 166 25842 253 3831 470 2 358 o o o o 72 0 48 21 0 50 3 0 50 18 0 132 72 53336 478 2

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