: à ; ; T 
where; m (i, j = 1 to 3) are the elements of the rotation matrix R . 
XA» YA Zu 
X Y. Z projection center coordinates 
the object coordinates of point A 
XA? YA image coordinates of point A 
X Jo principal point coordinates 
f principal distance 
Correction terms dV. and dV are given by (El-Hakim and Faig, 1977): 
  
dv, = (x, FX «T 
and (2) 
d. = (A "y T 
with T being the harmonic function, 
; ; 2 
T = 200 + aj, cos À + b, sin À ajgt T aj9r cos 2A + bor sin 2) + as Tr 
21:4 2 2. 
cos À + bait sin À + a,3r COS 3) + baat sin 3X +... (3) 
and ST 
= 2 2 = Á 0 
r = Vix, x) + (Ya Yo) , A = arctan x,” x, 
The observation equation for the ground measurements are as follows: 
For slope distance, S i 
S = C, (dX, - dX,) T Cr, - dy) + Cz. _ dz.) + (S; - 2 (4) 
where Ci = (X, — X,)/S = AX/S | 
C9 = s - Y.)/S = A/S | 
C3 = (7, - Z1)/8 m. AS 
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S. is computed as [ (AX)? + (AY)? + (Az)? from approximate coordinates 
X. Y, 4 of points i and j, and Se is the observed value. 
For height difference: 
V = (Z, -Z,) - ^ 
hi j j o; 
where Ah, is the observed value. 
The program has the following limitations: 
Maximum number of photographs: 4 
Maximum number of object points: 80 (up to 320 image points) 
Maximum number of points connected 
with distances or height differences: 40 
There is no limit on the number of points per photograph, number of control 
points, and number of distances or height differences. 
If extra photographs or object points are needed, the dimensions in 
the main program only are needed to be modified. 
The program needs about 240 K plus 2 external files. 
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