bundle block adjustment with 3d natural cubic splines

y an intersection employing more than two images, bundle block adjustment providesthe redundancy for the intersection geometry and contributes to the eliminationof the gross error in the recovery of EOPs. Since in recent years the integration ofthe global positioning system (GPS) and inertial navigation system (INS) providesmore accurate information of the exposure station, the required control informationof the block adjustment is reduced.GPS was initially designed by the U.S. Department of Defense to determine thegeodetic position for military purposes accurately and quickly. GPS consists of 24medium Earth orbit satellites at an altitude of about 20,000 kilometers and at leastfive satellites are detected at any place on Earth.To determine a position, GPSestablishes the intersection from at least four satellites. INS records a position accelerationand angular acceleration to estimate the velocity, position and orientationinformation. The integration of GPS and INS provides more accurate trajectory informationsince INS generates the continuous positioning information to support thediscrete interval GPS information.In addition, INS can provide the location andorientation information by itself in case of a malfunction in receiving GPS signals.Incorporation of the GPS positions into the block adjustment can be implemented byGPS receivers and the data collection equipments. Three main considerations of theGPS position integration into the block adjustment are the offset between the GPSantenna position in the aircraft and camera position, the airplane’s turn at the end offlight lines, which can lose the GPS position information, and the systematic errorsof coordinate transformation from GPS coordinate system with respect to WGS84ellipsoid to local datum with respect to local geoid.3