7.2 IMU data

Using RELAX is not necessary if GPS/IMU data are available for all photos. AEROoffice (IGI) and Poseo (Applanix) provide the GPS/IMU data directly in the BINGO format.

# AEROoffice V4.0.7b Release 2003-06-25

# Copyright by IGI mbH, 1996-2001

# Datamanager Outputfile

# Dongle-ID: 07CF-0073-0011-A7AB

# Owner: IGI mbH, Jens Kremer

# Project: ASI-Allamakee

# Format Type: GIP Bingo

# Meridian Convergence corrected

# Local Coordinate System:

# USA/IOWA

# NORTH 1401 NAD83

# Selected Units:

# Angular Units: Grad/Gon (0..400)

# Length Units: US Survey Feet

# Output of event data

# LINE 076 111000

76001 227807.355 5412808.950 4013924.708 16272.320 -0.9542 -1.1344 -0.1516 0.23 0.011 0.031

76002 227835.328 5422458.224 4014161.176 16242.679 -0.4751 1.4099 -0.5799 0.17 0.013 0.033

: : : : : : : : : : :

76011 228082.469 5508498.285 4016365.677 16239.902 -2.6286 1.5772 -1.5855 0.40 0.010 0.045

76012 228110.876 5518063.945 4016603.641 16303.767 -1.6002 -0.5489 2.2389 0.27 0.009 0.045

# LINE 075 111000

75012 228699.305 5518349.093 4000053.216 16325.435 0.8761 -0.2281 199.4888 0.26 0.009 0.031

75011 228730.369 5508785.238 3999736.071 16260.395 -0.4985 -0.1621 -198.6797 0.29 0.009 0.032

: : : : : : : : : : :

75002 229005.184 5422772.315 3997364.420 16289.300 0.8097 -0.8286 199.0372 0.18 0.008 0.041

75001 229035.940 5413207.824 3997242.820 16280.070 -0.1585 0.5982 199.8737 0.22 0.009 0.043

# LINE 074 111000

74002 229472.129 5423216.568 3980622.892 16312.850 -0.6935 0.4484 -0.5458 0.20 0.010 0.031

74003 229500.043 5432776.516 3980945.382 16333.956 -1.2422 0.6908 -0.7385 0.18 0.012 0.033

: : : : : : : : : : :

Example for an IMU data file from AEROoffice

The data sequence in an IMU file is:

Event-Number GPS-time X Y Z Φ Ω Κ s_GPS s_ΦΩ s_Κ

The data sequence and rotation sequence are then Φ, Ω, Κ. In case of the sequence being Ω, Φ, Κ, this has to be considered during data input (compare FILE statements chapter 5.3).

The standard deviations s_GPS, s_ΦΩ, s_Κ are not required in each line. Then the values of the previous line are valid. Additionally global factors can be given for the standard deviations (FILE statement).

The LINE statements can be activated when needed. They refer exclusively to the GPS data. For details refer to chapter 7.2.

If for selected photos GPS and/or IMU data shall be excluded from the adjustment, negative standard deviations can be set in the corresponding line in the GPS/IMU file for all or for single values. In this case, these GPS/IMU data will not be considered.

Attention: As the standard deviations are automatically copied from the prior line, if the following lines do not indicate standard deviations, a positive standard deviation has to be specified necessarily in the next line.