Karsten Jacobsen 
  
and the bundle block adjustments have been made with the Hannover program system for bundle block adjustment 
BLUH. In the module for the transformation of the IMU-data to photogrammetric orientation, the misalignment has 
been respected as linear function of the time. The same was done with the GPS-coordinates of the projection centers. 
The constant discrepancies of the GPS-data have been in the range of lm. After the correction of the systematic 
discrepancies, the mean square differences are in the range of +/- 0.2 — 0.5m for SX and SY and +/-0.2m for the height. 
The height is not influenced by strong correlation, so this is a realistic figure for the quality of the GPS-data. 
4 ANALYSIS OF THE ACHIEVED RESULTS 
In both check areas, marked in figure 4, an analysis of the of the direct determined sensor orientation was possible by 
bundle block adjustment. The first area includes 252 images measured manually, the second 460 images with image 
coordinates determined by automatic aero triangulation. 
  
  
  
  
  
  
  
  
  
  
  
  
  
  
  
  
ore PB 5 
figure 5: discrepancies at attitude data check area 1 figure 6: discrepancies at attitude data check area 2 
pitch | roll | yaw pitch | roll | yaw 
check area 1 check area 2 
absolute 0.028 0.020 0.059 0.023 0.031 0.049 
without shift 0.010 0.010 0.013 0. e 0.025 0.012 
linear fitting 0.010 0.010 0.007 0. 0.023 0.009 
  
  
  
  
  
  
  
  
Table 2: discrepancies of the attitude data [grads] corrected IMU — bundle block adjustment 
Figure 5 and 6 as well as table 2 are showing the 
discrepancies of the attitude data determined by 
  
  
  
  
X0 [m] YO [m] Z0 [m] direct sensor orientation (IMU improved by 
absolute 0.21 0.22 0.64 misalignment) against the results of the bundle 
without shift 0.15 0.13 0.05 block adjustment. Systematic errors are obvious, by 
errors this reason the systematic components are removed 
linear fitting 0.16 0.14 0.05 individually flight strip by flight strip - this 
  
  
  
  
  
x 7 ry represents the results shown under ‘without shift’ 
Table 3: discrepancies of the projection centers ve nai ; : 
and ‘linear fitting’. There is no general difference 
corrected GPS-data - bundle block adjustment between both areas. The result of the linear fitting 
is close to the relative accuracy (one orientation against the orientation of the neighbored image) which is important 
for the model setup. 
The photo orientations determined by bundle block adjustment based on control points are not free of errors. The 
adjustment is giving following mean square standard deviations as mean value of all: 
Sphi=0.0017 grads, Somega=0.0017 grads, Skappa=0.00042 grads, SX0=0.033m, SY0=0.034m, SZ0=0.015m. 
The discrepancies at the projection center coordinates between the GPS-data corrected by the reference blocks and the 
results of the bundle block adjustment of the check area (table 3) are corresponding to the discrepancies determined 
by the combined block adjustment itself. Especially the discrepancies in Z0 are obvious, but this has to be seen also 
in relation to the height-to-base-relation of 3.2 for the used normal angle camera. 
More important than the discrepancy of the individual orientation components are the discrepancies at the ground 
coordinates determined with the improved photo orientations. Because of the strong correlation of the orientation 
elements it is not possible to calculate the accuracy of the ground coordinates just by simple error propagation. With 
  
432 International Archives of Photogrammetry and Remote Sensing. Vol. XXXIII, Part B3. Amsterdam 2000.