rotations and three translations are used in the transformation:
a.The antenna coordinates at the time of exposure are converted
are then used to rotate the WGS84 coordinates into an East,
b.The covariance matrix from the interpolation model error propagation is similarly transformed to obtain a covariance matrix in the local vertical system.
c.The spatial offset components between the camera and antenna
then rotated into the standard gimbal form.
local coordinate system The rotation elements of
and drift are combined into a single rotation.
elements of Phi and pitch are also combined. No determination of roll was made during the flight, so is treated independently.
It may be argued that the camera rotates about a set
gimbals whose rotational center may or may not
exposure station, then the angles of exterior
be algebraically summed with the observed
orientation can angles of pitch begin with the
particular situation encountered pitch and swing angles are small
in NOAA's application (less than 2o).
By design of the RC-10 camera mount, the optical axis, about which swing is measured also coincides with the vertical axis of the mount, therefore swing and kappa angles can be
combined without an eccentricity correction.
is not the a vertical
separation of gimbal center
approximately 27 mm from the gimbal origin (the is probably at the camera's center of gravity).
The aircraft pitch relative to the camera mount was measured during actual flight conditions and is referenced to the
operating speed. eccentricity into
The consequences of not account are as follows:
Maximum pitch error = 0.027m * sin(1.50) = 0.0007 m
A displacement error of the exposure station of less than 1 mm in the direction of flight is introduced if the eccentricity
correction is neglected.
In the most
general case, a camera two orthogonal axis
The mechanical design of the gimbals and
of the rotation angles may dictate a more thorough
the magnitude investigation
The gimbal form rotation matrix (Merchant 1988) is formed by the product of the three independent rotations of pitch roll
and the the
The order of multiplication is important only in
general case mentioned above. specific case is not critical,
The order of rotation for considering, the design of