GPS-supported bundle block adjustment based on dual quaternion

To solve coupling error of rotating and moving which is created by computing separately line elements and angle elements,a new GPS-supported bundle adjustment method based on dual quaternion was proposed.Using dual quaternion to integrally represent transform relationship between the image space coordinate system and WGS84 coordinate system,the mathematic model of GPS-supported bundle adjustment was established;then derived error equation formula to solve the exterior orientation elements of each image and the ground coordinates of undetermined point.The experimental results showed that the precision of dual quaternion GPS-supported bundle adjustment method was equal to the conventional GPSsupported method based on Euler angle,which provided a new idea for aerial triangulation of light little UAV aerial images.