dk 4 z.a0 + dx 
3 oO 
2 
yi 
da + 7 (1 "et ) d + dy 
Oo 
For more stringent requirements collinearity equations (according to Hellmut Schmid) may be set 
up as functions of time varying orientation parameters ( f (+,3) : 
Bay g Ny 2%, 85415 (X Brgy Ui7 
#135 Us j^ 92334 3 
5423 Uu 7 "o. 829; (7, - 
843; (x; - X ,) + 893; - 
= 110.15 (ty ) 
with the image coordinates related to time and scan angle: 
yv! (*; - t) (2e) 
c 0 (2r) 
The collinearity equations result from the following relations between image coordinates (always 
chosen as origin of a local system) and object coordinates: 
1 0 0 2414 8513 2253 
2123 22031 2325 
1 
Fx 
; 0 cos 9! sin 9! 
i i i 
0 -sin H cos 9; a a a 
13323) 55 
If the scanner does not defue a plane during ratation but a cone the right hand side of equation (3) 
must be premultipied by a rotational matrix B containing the squint angle 0 
cos $ 0 sin 6 
0 1 0 (3b) 
-sinó 0 cos § 
For sidelooking radar only the x' - image coordinate collinearity equation (2a), eventually 
including the squint as for (3b) is valid. 
The y' - image coordinate is a distance function: 
The differential formulae for SLAR become: 
dx. s y,.dK. + 7.48 + dx 
i X i o