evaluating the product of known vectors on the right- 
hand side as v; gives, 
Nip = Vi 
Nop = va 
(18) 
N,p =v, 
Rewriting as a matrix equation gives, 
Vi 
V2 S 
Jor ND= vv. (19) 
Vn 
  
Hence the solution for p is as follows where NT denotes 
the pseudo-inverse of N, 
P= Niv. (20) 
8 Conclusion 
À new simplification of the free-moving scanner resec- 
tion problem has been formulated and accurate solu- 
tions presented. The new approach makes use of angu- 
lar and linear velocity data typically recorded during 
the imaging period (c.f. the SPOT satellite attitude 
and orbit control system [Spo, 1991]) to simplify the 
scanner resection problem to the simpler case of the 
frame camera. À robust solution to frame camera re- 
section is required since ground control point vectors 
are translated closer together in order to achieve the 
simplification. The frame camera problem has been 
separated into two — one for the determination of 
rotation, and one for position. This facilitates the ac- 
curate determination of unknowns despite the poorly- 
distributed ground control. 
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