yed
der
rs
to
thich
cal
[TONS
MBAT
ments
64)
that
yti-
rs
flying velocity along the Strip, these sensors were assumed to introduce
auxiliary observational equations of the form
- 0 = e. ° ve " ( .. + ° co 2 II set ....
bei e Var; * opt ay Tis Fa, dn 2 T; + Gay COs 5 127
(ad Mate” (observed. (residual. Ae. #
value) value) Error Model
0
E ‘ HC
CT 77 Age Vy! D4 50h, pot b 455 * b, 4n E Tyg * b, ; cos i Ug
(adjusted (observed ( residhal) un S J
value) value) Erron Model
2 2
hs; - hy + = Yh, à + Cog + Ciuj + eH
(adjusted (observed (residhal) —— pen d
value) value) Error Model
in which
EE M) = latitude, longitude and height of jth exposure
on {th strip;
Tz;4 * t;;-t;g = time of exposure 1j relative to time t-
vj 1g “10 : ; ; : VO
arbitrarily adopted to index Zth strip;
P =
Shuler Period (approximately 84 minutes);
Gro) tus Med ; ; ;
0250125025, «*- error coefficients of inertial navigator
prt an (a's and b's) and of statoscope (C's)
CoZ, Cig5 Cod» : EM T ?
The coefficients of the error model of the inertial sensor were chosen to
reflect the unknown dominant linear drift of the navigational error as modu-
lated by the Schuler period, and the coefficients of the error model for the
statoscope were chosen to reflect the unknown but slowly varying departure
of the adopted isobaric surface from the reference spheroid along the course
of the {th strip. Each of the error coefficients was considered to be
subject to appropriate apriori constraints governed by prespecified covariance
matrices.
The specialization of the development of Brown, Davis, Johnson
(1964) to apply to the particular set of auxiliary sensors considered above
leads ultimately to a banded-bordered system of normal equations with the
border accommodating the parameters of the auxiliary sensors. As formulated,
a fresh set of error parameters could be introduced for each strip or for
specified sub-blocks, in which case the border itself would assume a
patterned structure subject to special exploitation.
The general development of Brown, Davis, Johnson (1964) consti-
tutes in its broadest form the theory of self-calibration of photogrammetric
Systems embracing auxiliary sensors affected by possible systematic errors
governed. by error models of known functional form and having error
-]1-
