Metodo Giros.

X´ Y´ -f X´´ Y´´ -f
1 -6.889 -8.300 -153.670 -90.767 -5.770 -153.670
2 60.142 -2.590 -153.670 -23.583 0.089 -153.670
3 80.546 101.459 -153.670 -2.725 104.033 -153.670
4 3.099 101.831 -153.670 -81.343 104.195 -153.670
5 -4.219 -100.417 -153.670 -88.067 -98.112 -153.670
6 90.122 -99.047 -153.670 6.607 -96.608 -153.670
7 42.611 49.980 -153.670 -41.294 52.599 -153.670
8 42.871 -49.706 -153.670 -41.435 -47.122 -153.670

f= 153.67

1ª ITERACIÓN
1. calculo de las coordenadas reducidas

X´ Y´ -f X´´ Y´´ -f
-0.045 -0.054 -1.000 -0.591 -0.038 -1.000
0.391 -0.017 -1.000 -0.153 0.001 -1.000
0.524 0.660 -1.000 -0.018 0.677 -1.000
0.020 0.663 -1.000 -0.529 0.678 -1.000
-0.027 -0.653 -1.000 -0.573 -0.638 -1.000
0.586 -0.645 -1.000 0.043 -0.629 -1.000
0.277 0.325 -1.000 -0.269 0.342 -1.000
0.279 -0.323 -1.000 -0.270 -0.307 -1.000

2. Calculo de la matriz de coeficientes.

0 0 0
( y ' y '' 1) 2  x ' y '' 1  x '' y '  2  x ' 1  x ''  2    x ' y ' 1 R 0 0 1
T
1

 0 1 0

Matriz A
f1 k1 w2 f2 k2
0.00168327 0.04482983 1.0020280363 -0.03190273 -0.59066181
0.00022667 -0.39137112 0.9999902386 -0.00258655 -0.15346522
0.35484355 -0.52414915 1.4469752926 0.0117079 -0.0177328
0.01367383 -0.02016659 1.4493127112 0.35076965 -0.52933559
0.01752885 0.02745494 1.4172066179 -0.37449176 -0.57309169
 -0.36869371 -0.5864645 1.4052063426 0.02771197 0.04299473
0.09491198 -0.277289 1.1113257313 0.08739871 -0.26871868
-0.08554786 -0.27898093 1.0991869071 -0.08721636 -0.26963623

3. Calculo matriz rotación , parametros iniciales y base

E.O.R Iniciales
f1 0 Matriz Rotacion Haz Izquiedo
k1 0 1 0 0 0
w2 0 0 1 0 0
f2 0 0 0 1 0
k2 0 R1
w1 0

Base
0 0 0
0 0 1
0 -1 0

4. Calculo matriz de coeficientes para obtener paralaje Y

Py
-0.01646385 -0.05459101 -0.731001497 -0.7320557 0.58444719 0.57465999
0.02069369 -0.01743346 -0.693843951 -0.69489816 0.62160474 0.61181753
0.69778747 0.65966031 -0.016750179 -0.01780439 1.29869851 1.2889113
0.70020824 0.66208108 -0.014329407 -0.01538361 1.30111928 1.29133208
-0.61591072 -0.65403787 -1.330448363 -1.33150257 -0.01499967 -0.02478688
-0.60699551 -0.64512267 -1.321533155 -1.32258736 -0.00608447 -0.01587167
0.3627904 0.32466324 -0.351747251 -0.35280146 0.96370144 0.95391423
-0.28591137 -0.32403852 -1.000449014 -1.00150322 0.31499967 0.30521247

5. Calculo de las correciones a los parametros iniciales.

E.O.R correciones E.O.R corregidos

f1 -0.001695781 f1 -0.001695781
k1 0.038842765 k1 0.038842765
w2 0.003362649 w2 0.003362649
 f2 -0.000341189 f2 -0.000341189
k2 0.03652658 k2 0.03652658
w1 0 w1 0

2ª ITERACIÓN
1. calculo de las coordenadas reducidas

X´ Y´ -f X´´ Y´´ -f
-0.045 -0.054 -1.000 -0.591 -0.038 -1.000
0.391 -0.017 -1.000 -0.153 0.001 -1.000
0.524 0.660 -1.000 -0.018 0.677 -1.000
0.020 0.663 -1.000 -0.529 0.678 -1.000
-0.027 -0.653 -1.000 -0.573 -0.638 -1.000
0.586 -0.645 -1.000 0.043 -0.629 -1.000
0.277 0.325 -1.000 -0.269 0.342 -1.000
0.279 -0.323 -1.000 -0.270 -0.307 -1.000

2. Calculo de la matriz de coeficientes.

0 0 0
( y ' y '' 1) 2  x ' y '' 1  x '' y ' 2  x ' 1  x ''  2    x ' y ' 1 R 0 0 1
T
1

 0 1 0

Matriz A
f1 k1 w2 f2 k2
0.00168327 0.04482983 1.0020280363 0.03190273 -0.59066181
0.00022667 -0.39137112 0.9999902386 0.00258655 -0.15346522
0.35484355 -0.52414915 1.4469752926 -0.0117079 -0.0177328
0.01367383 -0.02016659 1.4493127112 -0.35076965 -0.52933559
0.01752885 0.02745494 1.4172066179 0.37449176 -0.57309169
-0.36869371 -0.5864645 1.4052063426 -0.02771197 0.04299473
0.09491198 -0.277289 1.1113257313 -0.08739871 -0.26871868
-0.08554786 -0.27898093 1.0991869071 0.08721636 -0.26963623

3. Calculo matriz rotación , parametros iniciales y base

E.O.R Iniciales
f1 -0.001695781 Matriz Rotacion Haz Izquiedo
 k1 0.038842765 0.9992442779 -0.038832943 -0.00169578 0
w2 0.003362649 0.0388329988 0.999245715 0 -0.001695781
f2 -0.000341189 0.001694501 -6.58522E-05 0.999998562 0.038842765
k2 0.03652658 R1
w1 0

Base
0 0 0
0 0 1
0 -1 0

4. Calculo matriz de coeficientes para obtener paralaje Y

Py
-6.1712E-07 -0.05405271 -0.734883435 -0.71726645 0.59979557 0.56753271
0.05404813 1.80074E-05 -0.680436938 -0.6628203 0.65351074 0.62125443
0.73604585 0.68180023 -0.000118642 0.01765416 1.33676621 1.30429861
0.71893449 0.66464835 -0.017812204 -2.8358E-05 1.32013286 1.28764315
-0.59856014 -0.65241082 -1.331802015 -1.31432609 -4.129E-06 -0.03207421
-0.56585637 -0.61966166 -1.298421127 -1.28095588 0.03214158 9.46285E-05
0.39160159 0.33744831 -0.343938931 -0.32623963 0.99186972 0.95949899
-0.25680303 -0.31073969 -0.990587312 -0.9730403 0.34213909 0.30997626

5. Calculo de las correciones a los parametros iniciales.

E.O.R correciones E.O.R corregidos

f1 -0.00029216 f1 -0.001987941
k1 -9.79091E-05 k1 0.038744856
w2 -4.51917E-05 w2 0.003317457
f2 3.436825E-05 f2 -0.000306821
k2 -0.000090691 k2 0.036435889
w1 0 w1 0

CALCULO DE LAS COORDENADAS MODELO.

E.O.R
 f1 -0.001987941 Matriz Rotacion Haz Izquiedo
k1 0.038744856 0.9992475375 -0.038735087 -0.001987939 0
w2 0.003317457 0.0387351633 0.999249512 0 -0.001987941
f2 -0.000306821 0.0019864475 -7.70032E-05 0.999998024 0.038744856
k2 0.036435889 R1
w1 0

X´ Y´ -f X´´
-6.889 -8.300 -153.670 -90.767
60.142 -2.590 -153.670 -23.583
bx 80.546 101.459 -153.670 -2.725
83.878 3.099 101.831 -153.670 -81.343
-4.219 -100.417 -153.670 -88.067
90.122 -99.047 -153.670 6.607
42.611 49.980 -153.670 -41.294
42.871 -49.706 -153.670 -41.435

rotado rotado
-6.257 -8.561 -153.683 -90.449
60.503 -0.258 -153.550 -23.523
76.861 104.503 -153.518 -6.466
-0.542 101.875 -153.671 -85.037
-0.021 -100.505 -153.670 -84.387
94.196 -95.482 -153.483 10.169
40.948 51.593 -153.589 -43.136
45.070 -48.008 -153.581 -39.644

t' t'' X Y
0.99657181 0.9962848188 -6.235 -8.531
0.99847316 0.9976356425 60.410 -0.258
1.00652015 1.007773519 77.362 105.184
0.99066906 0.9926827767 -0.537 100.924
0.99654097 0.9942078715 -0.021 -100.157
0.99782934 0.9945732813 93.992 -95.275
0.9972977 0.9977907373 40.838 51.454
0.99092792 0.9892413209 44.661 -47.573

Py X Y
 0.000 -6.235 -8.531
0.002 60.410 -0.259
-0.001 77.362 105.185
-0.004 -0.537 100.926
0.004 -0.021 -100.159
-0.001 93.992 -95.274
-0.002 40.838 51.455
0.000 44.661 -47.573
 0 0 0   x '' 
y ' 1 R 0 0 1  R2  y '' 
T
1

0 1 0   1
 Matriz Rotacion Haz Derecho
w1 1 0 0 0 w2
f1 0 1 0 0 f2
k1 0 0 1 0 k2
R2

Py = L Py(mm)
-0.39629726 0.25263226 -0.01646385 -2.53
-0.35913971 0.28978981 -0.01743346 -2.679
0.31795406 0.96688358 -0.01675018 -2.574
0.32037483 0.96930435 -0.01538361 -2.364
-0.99574413 -0.3468146 -0.01499967 -2.305
-0.98682892 -0.33789939 -0.01587167 -2.439
-0.01704301 0.63188651 -0.01704301 -2.619
-0.66574478 -0.01681525 -0.01681525 -2.584
 0 0 0   x '' 
y ' 1 R 0 0 1  R2  y '' 
T
1

0 1 0   1

Matriz Rotacion Haz Derecho

 w1 0.99933292 -0.036518456 -0.000341189 0.003362649
f1 0.036517106 0.999327371 -0.003362642 -0.000341189
k1 0.000463758 0.00334794 0.999994288 0.03652658
R2

Py = L Py(mm)
-0.39128358 0.25716793 0.000 0.000
-0.33702336 0.31106787 0.000 0.003
0.34407623 0.99353188 0.000 -0.018
0.32665498 0.9766273 0.000 -0.004
-0.98896594 -0.34185928 0.000 -0.001
-0.95590183 -0.30939828 0.000 0.015
-0.00003382 0.64893058 0.000 -0.005
-0.6474996 2.68073E-05 0.000 0.004

DENADAS MODELO.
 Matriz Rotacion Haz Derecho
w1 0.999336239 -0.036427826 -0.000306821 0.003317457
f1 0.03642661 0.999330824 -0.003317451 -0.000306821
k1 0.000427463 0.003304072 0.99999445 0.036435889
R2

Y´´ -f bx
-5.770 -153.670 83.878
0.089 -153.670 83.725
104.033 -153.670 83.271
104.195 -153.670 84.442
-98.112 -153.670 83.848
-96.608 -153.670 83.515
52.599 -153.670 83.905
-47.122 -153.670 84.306
83.861

rotado
-8.563 -153.727
-0.260 -153.679
104.374 -153.327
101.672 -153.360
-100.745 -154.031
-95.793 -153.986
51.569 -153.513
-48.090 -153.843

Z X Y Z
-153.156 -6.235 -8.531 -153.156
-153.316 60.410 -0.260 -153.316
-154.518 77.362 105.185 -154.518
-152.237 -0.537 100.928 -152.237
-153.139 -0.021 -100.161 -153.139
-153.150 93.992 -95.273 -153.150
-153.174 40.838 51.455 -153.174
-152.187 44.661 -47.573 -152.187

Z
-153.156
-153.316
-154.518
-152.237
-153.139
-153.150
-153.174
-152.187
 ORIENTACION RELATIVA - MÉTODO DEL PROYECTOR DERECHO

N -xFizq- -yFizq- -xFder- -yFder-

1 -6.889 -8.300 -90.767 -5.770
2 60.142 -2.590 -23.583 0.089 D. Focal
3 80.546 101.459 -2.725 104.033
4 3.099 101.831 -81.343 104.195 bx
5 -4.219 -100.417 -88.067 -98.112
6 90.122 -99.047 6.607 -96.608
7 42.611 49.980 -41.294 52.599
8 42.871 -49.706 -41.435 -47.122

( x' x' ' ) y  ( x' y' ' x' ' y' ) z  ( y' y' '1) 2  x' ' y'  2  x' '  2    x' y' 

Reducion de los valores

N -xFizq- -yFizq- -zFder- -xFder- -yFder- -zFder-

1 -0.045 -0.054 -1 -0.591 -0.03754799 -1
2 0.391 -0.017 -1 -0.153 0.00057916 -1
3 0.524 0.660 -1 -0.018 0.67698965 -1
4 0.020 0.663 -1 -0.529 0.67804386 -1
5 -0.027 -0.653 -1 -0.573 -0.63845904 -1
6 0.586 -0.645 -1 0.043 -0.62867183 -1
7 0.277 0.325 -1 -0.269 0.34228542 -1
8 0.279 -0.323 -1 -0.270 -0.30664411 -1

Matriz A
0.545831978 -0.03021946 1.002028036 -0.03190273 -0.59066181
Matriz de coeficientes 0.544836338 -0.00235988 0.999990239 -0.00258655 -0.15346522
0.541881955 0.36655145 1.446975293 0.0117079 -0.0177328
0.54950218 0.36444348 1.449312711 0.35076965 -0.52933559
0.545636754 -0.3569629 1.417206618 -0.37449176 -0.57309169
0.543469773 -0.34098174 1.405206343 0.02771197 0.04299473
0.546007679 0.18231069 1.111325731 0.08739871 -0.26871868
 0.548617167 -0.17276422 1.099186907 -0.08721636 -0.26963623
By Bz w f k

py = [Haz(iq)] * [base] * [R] * [Haz(der)]

E.O.R iniciales
βy 0 Base
βz 0 0 0 0
w2 0 0 0 1
f2 0 0 -1 0
k2 0

Falta de coplanaridad = Py = - [Haz(iq)] * [base] * [R] * [Haz(

-0.016463851 -0.05459101 -0.731001497 -0.7320557 0.58444719
0.020693694 -0.01743346 -0.693843951 -0.69489816 0.62160474
0.697787467 0.65966031 -0.016750179 -0.01780439 1.29869851
0.700208238 0.66208108 -0.014329407 -0.01538361 1.30111928
-0.615910718 -0.65403787 -1.330448363 -1.33150257 -0.01499967
-0.60699551 -0.64512267 -1.321533155 -1.32258736 -0.00608447
0.362790395 0.32466324 -0.351747251 -0.35280146 0.96370144
-0.285911369 -0.32403852 -1.000449014 -1.00150322 0.31499967

N
2.38255192 0.005785877 5.41905264 -0.00913367
0.00578588 0.574873529 0.05360935 0.28832942
5.41905264 0.053609355 12.6246217 0.00023219
-0.00913367 0.288329423 0.00023219 0.28045816
-1.29047876 0.006304013 -2.88494261 0.04919881

N^-1
19.9419598 0.813165531 -8.05032851 -0.57375589
0.81316553 3.656474006 -0.28586888 -3.79274169
-8.05032851 -0.285868876 3.44299488 0.10025049
-0.57375589 -3.792741694 0.10025049 7.5703723
2.2453264 0.344111168 -0.40692251 -0.70890751
 E.O.R corregidos
Aβy -0.038842765
Aβz -0.001695781
Aw2 0.003362649
Af2 0.001354592
Ak2 -0.002316185

E.O.R iniciales
βy -0.038842765 Base
βz -0.001695781 0 -0.00169578 0.03884277
w2 0.003362649 0.001695781 0 1
f2 0.001354592 -0.038842765 -1 0
k2 -0.002316185

Falta de coplanaridad = Py = [Haz(iq)] * [base] * [R] * [Haz(d

5.181037E-05 -0.05403853 -0.735385121 -0.71775802 0.60030334
0.054128573 6.34304E-05 -0.680904644 -0.66328155 0.65404507
0.736584844 0.68234495 -5.27314E-05 0.01768034 1.33774109
0.719471773 0.66519034 -0.017749909 -4.6263E-06 1.3211065
-0.598912788 -0.65283747 -1.332774647 -1.31524808 0.00011437
-0.566198913 -0.62007625 -1.299380031 -1.28186635 0.03226929
0.391912504 0.33774437 -0.344139015 -0.32645611 0.99262562
-0.25693058 -0.31092083 -0.991297225 -0.97372271 0.34247365

N
2.38255192 0.005785877 5.41905264 -0.00913367
0.00578588 0.574873529 0.05360935 0.28832942
5.41905264 0.053609355 12.6246217 0.00023219
-0.00913367 0.288329423 0.00023219 0.28045816
-1.29047876 0.006304013 -2.88494261 0.04919881

19.9419598 0.813165531 -8.05032851 -0.57375589

0.81316553 3.656474006 -0.28586888 -3.79274169
-8.05032851 -0.285868876 3.44299488 0.10025049
-0.57375589 -3.792741694 0.10025049 7.5703723
2.2453264 0.344111168 -0.40692251 -0.70890751
 E.O.R corregidos
Aβy 8.535607E-05 βy
Aβz -0.000291362 βz
Aw2 0.000005785 w2
Af2 0.000124532 f2
Ak2 1.02911E-06 k2

E.O.R iniciales
βy -0.038757409 Base
βz -0.001987143 0 -0.00198714 0.03875741
w2 0.003368434 0.001987143 0 1
f2 0.001479124 -0.038757409 -1 0
k2 -0.002315156

Falta de coplanaridad = Py = [Haz(iq)] * [base] * [R] * [Haz(d

1.885629E-07 -0.05405008 -0.735392528 -0.71781288 0.60026084
0.054038021 1.58441E-05 -0.680862853 -0.66328481 0.65388732
0.736548495 0.68230373 3.520721E-06 0.01774909 1.33761482
0.719484904 0.66519193 -0.017750535 8.33664E-06 1.32111794
-0.59902558 -0.65286611 -1.33277963 -1.3153517 7.19933E-06
-0.566370801 -0.62015673 -1.299315737 -1.28190102 0.03199556
0.391867038 0.33771537 -0.344110363 -0.32644312 0.99253319
-0.257040571 -0.31096687 -0.991267881 -0.97376439 0.34231589

Calculo de las coordenadas Modelo.

E.O.R iniciales
βy -0.038757409 Matriz Rotacion Haz Derecho
βz -0.001987143 0.999996226 0.00231515 0.00147912
w2 0.003368434 -0.002310159 0.99999166 -0.00336842
f2 0.001479124 -0.001486909 0.00336499 0.99999323
k2 -0.002315156

bx 83.878
by -3.250893982
 bz -0.166677568

-xFizq- -yFizq- -f -xDcha- -yDcha-

-6.889 -8.300 -153.67 -90.767 -5.770
60.142 -2.590 -153.67 -23.583 0.089
80.546 101.459 -153.67 -2.725 104.033
3.099 101.831 -153.67 -81.343 104.195
-4.219 -100.417 -153.67 -88.067 -98.112
90.122 -99.047 -153.67 6.607 -96.608
42.611 49.980 -153.67 -41.294 52.599
42.871 -49.706 -153.67 -41.435 -47.122

x''' y''' z''' t' t''

-91.007 -5.043 -153.553 0.99749814 0.99717003
-23.810 0.661 -153.634 0.99935905 0.99851096
-2.711 104.556 -153.315 1.00741298 1.00865955
-81.329 104.900 -153.197 0.99158971 0.99356071
-88.521 -97.390 -153.868 0.9974555 0.99508768
6.156 -96.105 -154.004 0.99871406 0.99546662
-41.399 53.212 -153.431 0.99819211 0.9986635
-41.771 -46.508 -153.766 0.99181125 0.99010862

X Y Z X Y
-6.872 -8.279 -153.286 -6.872 -8.279
60.103 -2.588 -153.572 60.103 -2.591
81.143 102.211 -154.809 81.143 102.211
3.073 100.975 -152.378 3.073 100.973
-4.208 -100.161 -153.279 -4.208 -100.163
90.006 -98.920 -153.472 90.006 -98.920
42.534 49.890 -153.392 42.534 49.890
42.520 -49.299 -152.412 42.520 -49.299

X Y Z
-6.872 -8.279 -153.286
60.103 -2.590 -153.572
81.143 102.211 -154.809
3.073 100.974 -152.378
-4.208 -100.162 -153.279
90.006 -98.920 -153.472
42.534 49.890 -153.392
42.520 -49.299 -152.412
ERECHO

153.67 mm by (mm) 0 by/bx=βy

bz (mm) 0 bz/bx=βz
83.878 mm w2 0 Λw2 rad
f2 0 Λf2
k2 0 Λk2

Se utiliza el metodo del proyector derecho, ya que

todos los parametros tienen subindice 2.
Si los dos centros estan en la posicion correcta, los
rayos se intersectarian correctamente, no existiendo
 0  z   y   x' ' paralaje.

'  2    x' 
y'  1    z 0 1  R2  y' '
Como existe falta de COPLANARIDAD, existirá un
paralaje Y, que eliminaremos realizando una
orientacion relativa.
  y  1 0    1

Lo unico que nos interesa hallar es el paralaje que se

produce en Y a la hora de realizar la interseccion.

Py reducidas Py imagen = Pyreduci * f

-0.01646385 -2.530
-0.01743346 Matriz L -2.679
-0.01675018 -2.574
-0.01538361 -2.364
-0.01499967 -2.305
-0.01587167 -2.439
-0.01704301 -2.619
 -0.01681525 -2.584

 cos  cos   cos  sin sin 

R  cos  sin  sin sin cos  cos  cos   sin  sin sin  sin cos  

sin sin  cos  sin cos  sin cos   cos  sin sin  cos  cos  

Matriz Rotacion Haz Derecho

1 0 0 0w
0 1 0 0f
0 0 1 0k

(iq)] * [base] * [R] * [Haz(der)] Matriz L Py imagen = Pyreduci * f

0.574659986 -0.39629726 0.2526322639 -0.01646385 -2.530
0.611817531 -0.35913971 0.2897898093 -0.01743346 -2.679
1.288911303 0.31795406 0.9668835817 -0.01675018 -2.574
1.291332075 0.32037483 0.9693043535 -0.01538361 -2.364
-0.024786881 -0.99574413 -0.346814603 -0.01499967 -2.305
-0.015871673 -0.98682892 -0.337899395 -0.01587167 -2.439
0.953914232 -0.01704301 0.6318865101 -0.01704301 -2.619
0.305212468 -0.66574478 -0.016815253 -0.01681525 -2.584

t
-1.290478761 -0.071355731
0.006304013 -0.000643362
-2.884942613 -0.161447355
0.049198805 0.0001325669
1.128139623 0.0378676887

2.245326396
0.344111168
-0.406922514
-0.708907506
2.443231308
 Matriz Rotacion Haz Derecho
0.9999964 0.0023161809 0.00135459 0.00336265 w
-0.00231161 0.9999916745 -0.00336264 0.00135459 f
-0.00136237 0.003359496 0.99999343 -0.00231619 k

iq)] * [base] * [R] * [Haz(der)] Matriz L Py imagen = Pyreduci * f

0.568019906 -0.39152608 0.2574175794 5.18104E-05 0.008
0.621772634 -0.33723455 0.3113471253 6.34304E-05 0.010
1.305313324 0.34436506 0.9942899141 -5.2731E-05 -0.008
1.288655227 0.32694105 0.9773831295 -4.6263E-06 -0.001
-0.032025407 -0.98964991 -0.342032454 0.00011437 0.018
0.000155328 -0.9565737 -0.309560396 0.00015533 0.024
0.960266464 5.99051E-06 0.6494503255 5.99051E-06 0.001
0.310269166 -0.64793769 8.885743E-05 8.88574E-05 0.014

t
-1.290478761 0.0002305632
0.006304013 -0.00013078
-2.884942613 0.0005170227
0.049198805 -4.98099E-05
1.128139623 -0.000121389

2.245326396
0.344111168
-0.406922514
-0.708907506
2.443231308
 E.O.R corregidos
-0.038757409
-0.001987143
0.003368434
0.001479124
-0.002315156

Matriz Rotacion Haz Derecho

0.99999623 0.0023151514 0.00147912 0.00336843 w
-0.00231016 0.9999916584 -0.00336842 0.00147912 f
-0.00148691 0.0033649941 0.99999323 -0.00231516 k

iq)] * [base] * [R] * [Haz(der)] Matriz L Py imagen = Pyreduci * f

0.568034422 -0.39155258 0.2573990858 1.88563E-07 0.000
0.621670399 -0.33725322 0.31125413 1.58441E-05 0.002
1.305173654 0.34437752 0.9942057451 3.52072E-06 0.001
1.288650323 0.32694641 0.977387185 8.33664E-06 0.001
-0.032013831 -0.98970204 -0.342082351 7.19933E-06 0.001
2.708565E-06 -0.95661667 -0.309717201 2.70856E-06 0.000
0.960193762 4.58853E-07 0.6493934626 4.58853E-07 0.000
0.310197858 -0.64797119 1.002696E-06 1.0027E-06 0.000

enadas Modelo.

0.003368434 w
0.001479124 f
-0.002315156 k
 -f
-153.67
-153.67
-153.67
-153.67
-153.67
-153.67
-153.67
-153.67

Z Py
-153.286 0.000
-153.572 0.002
-154.809 0.001
-152.378 0.001
-153.279 0.001
-153.472 0.000
-153.392 0.000
-152.412 0.000
 yector derecho, ya que
tienen subindice 2.
a posicion correcta, los
ctamente, no existiendo
je.
ANARIDAD, existirá un
emos realizando una
relativa.

llar es el paralaje que se

ealizar la interseccion.
 INTERSECCION DIRECTA

HAZ IZQUIERDO HAZ DERECHO

Ω 0º 0 1,9153º 0.033428291
Ф 0º 0 -2,1785º -0.038022
K 0º 0 1,7248º -0.03010344
Xo 0 99.07
Yo 0 -3.265
Zo 0 1.506
Zo 152.819 154.325
FOCAL 152.819

Fotocordenadas Refinidas
x1 y1 x2 y2
1 68.671 17.768 -30.699 14.656

1ª ITERACION

1. Calculo de las coordenadas aproximadas

B 99.123786878 Xa 68.708282716
Pa 99.07 Ya 17.777646566
H 0.753 Za -152.1489682

2. calculo de la matriz de rotacion izquierda y derecha

Matriz Rotacion Haz Izquiedo

1 0 0 0w
0 1 0 0f
0 0 1 0k
R1

3. Calculo matrices de coeficientes

AX AY AZ r s q
68.708282716 17.777646566 -152.1489682 68.708282716 17.777646566 -152.1489682

b14 b15 b16 J

1.0044037882 0 0.4535742849 -0.339859439
b24 b25 b26 K
0.1173582428 1.0044037882 0.1173582428 -0.087935555
4. Formamos el sistema de ecuaciones

Matriz A L
1.0044037882 0 0.4535742849 -0.339859439
0.1173582428 1.0044037882 0.1173582428 -0.087935555
0.9864155534 0.0245544824 -0.191549803 -7.007121537
0.1436375101 0.9982790148 0.1415868613 -12.26596053

X
-4.950271438 63.758011278
-6.744947884 11.032698682
9.5802213635 -142.5687468

2º ITERACIÓN

Matriz Rotacion Haz Izquiedo

1 0 0 0w
0 1 0 0f
0 0 1 0k
R1

3. Calculo matrices de coeficientes

AX AY AZ r s q
63.758011278 11.032698682 -142.5687468 63.758011278 11.032698682 -142.5687468

b14 b15 b16 J

1.0718969158 0 0.4793618319 0.3289843508
b24 b25 b26 K
0.0829488647 1.0718969158 0.0829488647 5.9420843098

4. Formamos el sistema de ecuaciones

 Matriz A L
1.0718969158 0 0.4793618319 0.3289843508
0.0829488647 1.0718969158 0.0829488647 5.9420843098
1.0469332237 0.0243598889 -0.254180588 0.3119850202
0.1141561899 1.0600828609 0.1119799186 -6.678841304

X
0.2838746614 64.04188594
-0.28356704 10.749131642
-0.622623094 -143.1913699

3º ITERACIÓN

Matriz Rotacion Haz Izquiedo

1 0 0 0w
0 1 0 0f
0 0 1 0k
R1

3. Calculo matrices de coeficientes

AX AY AZ r s q
64.04188594 10.749131642 -143.1913699 64.04188594 10.749131642 -143.1913699

b14 b15 b16 J

1.0672361058 0 0.4773179627 0.3231870415
b24 b25 b26 K
0.0801155922 1.0672361058 0.0801155922 6.2961386061

4. Formamos el sistema de ecuaciones

Matriz A L
1.0672361058 0 0.4773179627 0.3231870415
0.0801155922 1.0672361058 0.0801155922 6.2961386061
1.0425721119 0.0243619581 -0.250024746 -0.13464668
0.1110801094 1.0554624005 0.1089134132 -6.302279842
 X
0.001 64.042904897
0.028 10.777548939
0.000 -143.1908891

4º ITERACIÓN

Matriz Rotacion Haz Izquiedo

1 0 0 0w
0 1 0 0f
0 0 1 0k
R1

3. Calculo matrices de coeficientes

AX AY AZ r s q
64.042904897 10.777548939 -143.1908891 64.042904897 10.777548939 -143.1908891

b14 b15 b16 J

1.0672396893 0 0.4773287627 0.3218700734
b24 b25 b26 K
0.0803279319 1.0672396893 0.0803279319 6.2657720181

4. Formamos el sistema de ecuaciones

Matriz A L
1.0672396893 0 0.4773287627 0.3218700734
0.0803279319 1.0672396893 0.0803279319 6.2657720181
1.0425832868 0.0243625981 -0.250016094 -0.136281122
0.1112875753 1.0554804295 0.109120835 -6.332297746

X
0.000 64.043
0.000 10.778
0.000 -143.191
Coordenadas finales
Xa 64.043
Ya 10.778
Za -143.191
 Matriz Rotacion Haz Derecho
0.998824504 0.030077138 -0.03801284 0.033428291 w
-0.03135197 0.998950266 -0.03339791 -0.038022 f
0.03696842 0.034550428 0.998718981 -0.03010344 k
R2

AX AY AZ r s q
-30.36171728 21.042646566 -153.6549682 -23.85226333 27.104211796 -153.8535256

b14 b15 b16 J

0.9864155534 0.0245544824 -0.191549803 -7.007121537
b24 b25 b26 K
0.1436375101 0.9982790148 0.1415868613 -12.26596053
 Matriz Rotacion Haz Derecho
0.998824504 0.030077138 -0.03801284 0.033428291 w
-0.03135197 0.998950266 -0.03339791 -0.038022 f
0.03696842 0.034550428 0.998718981 -0.03010344 k
R2

AX AY AZ r s q
-35.31198872 14.297698682 -144.0747468 -29.36375587 20.201585699 -144.7016212

b14 b15 b16 J

1.0469332237 0.0243598889 -0.254180588 0.3119850202
b24 b25 b26 K
0.1141561899 1.0600828609 0.1119799186 -6.678841304
 Matriz Rotacion Haz Derecho
0.998824504 0.030077138 -0.03801284 0.033428291 w
-0.03135197 0.998950266 -0.03339791 -0.038022 f
0.03696842 0.034550428 0.998718981 -0.03010344 k
R2

AX AY AZ r s q
-35.02811406 14.014131642 -144.6973699 -29.06507611 19.93021061 -145.3227497

b14 b15 b16 J

1.0425721119 0.0243619581 -0.250024746 -0.13464668
b24 b25 b26 K
0.1110801094 1.0554624005 0.1089134132 -6.302279842
 Matriz Rotacion Haz Derecho
0.998824504 0.030077138 -0.03801284 0.033428291 w
-0.03135197 0.998950266 -0.03339791 -0.038022 f
0.03696842 0.034550428 0.998718981 -0.03010344 k
R2

AX AY AZ r s q
-35.0270951 14.042548939 -144.6968891 -29.06322192 19.958550073 -145.32125

b14 b15 b16 J

1.0425832868 0.0243625981 -0.250016094 -0.136281122
b24 b25 b26 K
0.1112875753 1.0554804295 0.109120835 -6.332297746
 INTERSECCION INVERSA

COORDENADAS IMAGEN COORDENADAS TERRENO

PA x' (mm) y' (mm) XT YT ZT
4143 -13.069 69.103 413276.3 4477845.02 629.31
5131 -28.174 10.578 412604.6 4475261.53 633.18
4153 66.741 81.774 416799.2 4478394.34 633.29
5133 -16.329 -88.549 413117.79 4470881.39 631.13
5141 100.629 -12.161 418288.98 4474246.66 630.82
5143 78.298 -82.774 417297.7 4471130.7 632.28
415230.761667 4474626.60667 631.668333333
Focal= 153.67
xo=yo= 0

1ª ITERACION

1. Calculo de las coordenadas aproximadas

D terreno 2669.3822263 w 0
D imagen 60.4428378718 f 0
Az terreno 0.2543653756 k 0.0017826777
Az imagen 0.2525826979 Xo 415230.761667
E 44.1637474396 Yo 4474626.60667
Zo 7418.31140237

2. Calculo matriz de rotacion y coeficientes

MATRIZ DE ROTACIÓN
0.999998411 0.0017826768 0 0 ω
-0.0017826768 0.999998411 0 0 φ
0 0 1 0.0018 Ќ

PA AX AY AZ r s
4143 -1954.4616667 3218.41333333 -6789.0014024 -1948.7211704 3221.89239279
5131 -2626.1616667 634.923333334 -6785.1314024 -2625.0256307 639.603921864
4153 1568.43833333 3767.73333333 -6785.0214024 1575.15249183 3764.93132793
5133 -2112.9716667 -3745.2166667 -6787.1814024 -2119.64482 -3741.4439701
5141 3058.21833333 -379.94666667 -6787.4914024 3057.53615182 -385.39787773
5143 2066.93833333 -3495.9066667 -6786.0314024 2060.70297742 -3499.5857947

PA b11 b12 b13 b14 b15

4143 20.6367678642 166.368306447 72.9279867031 -0.0226351044 -4.0351139E-05
5131 5.2892910096 176.680336155 14.4857820496 -0.0226480147 -4.0374154E-05
4153 -20.084168996 161.916389441 85.2697379792 -0.0226483819 -4.0374808E-05
5133 -26.755909664 168.610318208 -84.71081894 -0.0226411741 -0.000040362
5141 3.6009939509 184.859412522 -8.7254757848 -0.02264014 -4.0360116E-05
5143 23.7659523202 167.883231138 -79.248284776 -0.022645011 -4.0368799E-05

PA b21 b22 b23 b24 b25

4143 -188.24220483 -21.26892479 44.1095773157 4.0351139E-05 -0.0226351044
5131 -155.02527283 -5.8806158336 59.4517135701 4.0374154E-05 -0.0226480147
4153 -201.02017892 19.4371693773 -35.674711849 4.0374808E-05 -0.0226483819
5133 -200.41380938 26.0980578781 47.9913236697 0.000040362 -0.0226411741
 5141 -154.15818597 -4.2053537095 -69.223156627 4.0360116E-05 -0.02264014
5143 -194.49547422 -24.411957447 -46.664715761 4.0368799E-05 -0.022645011

3. matrices de calculo

Matriz A
20.6367678642 166.368306447 72.9279867031 -0.0226351044 -4.0351139E-05 0.0064972114
5.2892910096 176.680336155 14.4857820496 -0.0226480147 -4.0374154E-05 0.0087620578
-20.084168996 161.916389441 85.2697379792 -0.0226483819 -4.0374808E-05 -0.0052578628
-26.755909664 168.610318208 -84.71081894 -0.0226411741 -0.000040362 0.0070708768
3.6009939509 184.859412522 -8.7254757848 -0.02264014 -4.0360116E-05 -0.0101986364
23.7659523202 167.883231138 -79.248284776 -0.022645011 -4.0368799E-05 -0.0068765841
-188.24220483 -21.26892479 44.1095773157 4.0351139E-05 -0.0226351044 -0.0107420786
-155.02527283 -5.8806158336 59.4517135701 4.0374154E-05 -0.0226480147 -0.0021349302
-201.02017892 19.4371693773 -35.674711849 4.0374808E-05 -0.0226483819 -0.0125673499
-200.41380938 26.0980578781 47.9913236697 0.000040362 -0.0226411741 0.0124810012
-154.15818597 -4.2053537095 -69.223156627 4.0360116E-05 -0.02264014 0.0012855229
-194.49547422 -24.411957447 -46.664715761 4.0368799E-05 -0.022645011 0.0116781488

Correciones Parametros
w -0.0007093245 w -0.0007093245
f 0.0006160366 f 0.0006160366
k -0.0036694955 k -0.0018868178
Xo -1380.1074025 Xo 413850.654264
Yo 165.341626276 Yo 4474791.94829
Zo -1.8051299862 Zo 7416.50627238

2ª ITERACION

1. Calculo de las coordenadas aproximadas

w -0.0007093245
f 0.0006160366
k -0.0018868178
Xo 413850.654264
Yo 4474791.94829
Zo 7416.50627238

2. Calculo matriz de rotacion y coeficientes

MATRIZ DE ROTACIÓN
0.9999980302 -0.0018872532 -0.0006146969 -0.0007093245 ω
0.0018868163 0.9999979676 -0.0007104855 0.0006160366 φ
0.0006160366 0.0007093243 0.9999995587 -0.0019 Ќ

PA AX AY AZ r s
4143 -574.35426417 3053.07170706 -6787.1962724 -575.94298334 3056.8040056
5131 -1246.0542642 469.581707058 -6783.3262724 -1242.7683394 472.049132263
4153 2948.54573583 3602.39170706 -6783.2162724 2945.91092487 3612.7671267
5133 -732.86426417 -3910.5582929 -6785.3762724 -721.3116569 -3907.1122136
5141 4438.32573583 -545.28829294 -6785.6862724 4443.51723094 -532.09174726
5143 3447.04573583 -3661.2482929 -6784.2262724 3458.11889156 -3649.9168149
 PA b11 b12 b13 b14 b15
4143 6.210750655 154.765769744 69.2281005521 -0.0226459872 4.4104561E-05
5131 2.2652226809 158.823396947 10.6931574221 -0.0226500354 4.5694892E-05
4153 -35.195568487 182.758160078 81.8980523351 -0.022675089 3.5794431E-05
5133 -9.1586442529 155.42235568 -88.443281002 -0.0226349572 4.4426845E-05
5141 8.3030826723 219.59580979 -12.054030656 -0.0226631428 3.2227658E-05
5143 42.4500470311 193.511762692 -82.668796374 -0.0226565686 3.4556682E-05

PA b21 b22 b23 b24 b25

4143 -184.85984136 -5.527277142 13.0435051412 -4.9016273E-05 -0.0226544069
5131 -154.40013487 -1.6676065135 28.1519794947 -4.3712416E-05 -0.0226537086
4153 -197.29096518 35.9630341294 -66.781045841 -0.000050215 -0.0226775884
5133 -204.54448151 9.7833733862 16.3279593914 -0.000034685 -0.0226271962
5141 -154.69213691 -7.6044129187 -100.66364155 -4.1649322E-05 -0.022652739
5143 -198.27012868 -41.761851136 -78.324669022 -3.5229292E-05 -0.0226408126

3. matrices de calculo

Matriz A
6.210750655 154.765769744 69.2281005521 -0.0226459872 4.4104561E-05 0.0019362154
2.2652226809 158.823396947 10.6931574221 -0.0226500354 4.5694892E-05 0.004163832
-35.195568487 182.758160078 81.8980523351 -0.022675089 3.5794431E-05 -0.009837456
-9.1586442529 155.42235568 -88.443281002 -0.0226349572 4.4426845E-05 0.0024191168
8.3030826723 219.59580979 -12.054030656 -0.0226631428 3.2227658E-05 -0.0148259114
42.4500470311 193.511762692 -82.668796374 -0.0226565686 3.4556682E-05 -0.0115303862
-184.85984136 -5.527277142 13.0435051412 -4.9016273E-05 -0.0226544069 -0.0101864412
-154.40013487 -1.6676065135 28.1519794947 -4.3712416E-05 -0.0226537086 -0.0015601931
-197.29096518 35.9630341294 -66.781045841 -0.000050215 -0.0226775884 -0.0120653115
-204.54448151 9.7833733862 16.3279593914 -0.000034685 -0.0226271962 0.0130442861
-154.69213691 -7.6044129187 -100.66364155 -4.1649322E-05 -0.022652739 0.0017931009
-198.27012868 -41.761851136 -78.324669022 -3.5229292E-05 -0.0226408126 0.0122006838

Correciones Parametros
w 2.5691088E-05 w -0.0006836334
f -0.000016452 f 0.0005995846
k -0.000086737 k -0.0019735548
Xo 0.8179356211 Xo 413851.4722
Yo 4.9538865599 Yo 4474796.90218
Zo 0.8899667388 Zo 7417.39623912

2ª ITERACION

1. Calculo de las coordenadas aproximadas

w -0.0006836334
f 0.0005995846
k -0.0019735548
Xo 413851.4722
Yo 4474796.90218
Zo 7417.39623912

2. Calculo matriz de rotacion y coeficientes

MATRIZ DE ROTACIÓN
0.9999978728 -0.0019739629 -0.0005982341 -0.0006836334 ω
0.0019735532 0.9999978181 -0.0006848153 0.0005995846 φ
0.0005995846 0.0006836332 0.9999995866 -0.0020 Ќ

PA AX AY AZ r s
4143 -575.1721998 3048.1178205 -6788.0862391 -577.12698345 3051.62462236
5131 -1246.8721998 464.627820497 -6784.2162391 -1243.7281563 466.811973507
4153 2947.7278002 3597.4378205 -6784.1062391 2944.67880431 3607.89332862
5133 -733.6821998 -3915.5121795 -6786.2662391 -721.89178749 -3912.3042577
5141 4437.5078002 -550.2421795 -6786.5762391 4442.64447949 -536.83576986
5143 3446.2278002 -3666.2021795 -6785.1162391 3457.5165043 -3654.7463146

PA b11 b12 b13 b14 b15

4143 6.2234026815 154.769474479 69.1009947327 -0.0226427994 4.6014894E-05
5131 2.2580201209 158.829862378 10.5731416805 -0.022647142 4.7548094E-05
4153 -35.107476725 182.727946597 81.7750812903 -0.0226714582 3.8011193E-05
5133 -9.1616560887 155.425571828 -88.5506166 -0.0226323867 4.6323657E-05
5141 8.3887750763 219.550538378 -12.159793537 -0.0226597084 3.4571796E-05
5143 42.5058380451 193.484017885 -82.767731317 -0.0226535126 3.6814922E-05

PA b21 b22 b23 b24 b25

4143 -184.74610584 -5.5119029038 13.0684646963 -5.0794327E-05 -0.0226509138
5131 -154.38408299 -1.6335019598 28.1700443741 -4.5634735E-05 -0.0226506956
4153 -197.1558955 35.9061577619 -66.742923547 -5.1963628E-05 -0.0226738001
5133 -204.66748743 9.8192478546 16.3392105243 -3.6849068E-05 -0.0226249121
5141 -154.7079175 -7.6575659047 -100.62973196 -0.000043628 -0.0226495884
5143 -198.37903418 -41.782200326 -78.301138415 -3.7380836E-05 -0.0226382539

3. matrices de calculo

Matriz A
6.2234026815 154.769474479 69.1009947327 -0.0226427994 4.6014894E-05 0.0019392458
2.2580201209 158.829862378 10.5731416805 -0.022647142 4.7548094E-05 0.0041655783
-35.107476725 182.727946597 81.7750812903 -0.0226714582 3.8011193E-05 -0.0098307046
-9.1616560887 155.425571828 -88.5506166 -0.0226323867 4.6323657E-05 0.0024201229
8.3887750763 219.550538378 -12.159793537 -0.0226597084 3.4571796E-05 -0.0148192037
42.5058380451 193.484017885 -82.767731317 -0.0226535126 3.6814922E-05 -0.0115258359
-184.74610584 -5.5119029038 13.0684646963 -5.0794327E-05 -0.0226509138 -0.0101668476
-154.38408299 -1.6335019598 28.1700443741 -4.5634735E-05 -0.0226506956 -0.0015428816
-197.1558955 35.9061577619 -66.742923547 -5.1963628E-05 -0.0226738001 -0.012045914
-204.66748743 9.8192478546 16.3392105243 -3.6849068E-05 -0.0226249121 0.0130580133
-154.7079175 -7.6575659047 -100.62973196 -0.000043628 -0.0226495884 0.001807857
-198.37903418 -41.782200326 -78.301138415 -3.7380836E-05 -0.0226382539 0.0122131427

Correciones Parametros
w 8.4891106E-08 w -0.0006835485
f 2.3707884E-07 f 0.0005998217
k -3.9766667E-10 k -0.0019735552
Xo 0.0023032409 Xo 413851.474503
Yo -0.0001130937 Yo 4474796.90207
Zo 0.0008303494 Zo 7417.39706947

Valores finales
w -0.0006835485
 f 0.0005998217
k -0.0019735552
Xo 413851.474503
Yo 4474796.90207
Zo 7417.39706947
 MATRIZ DE ROTACIÓN
1 0 0 ω
0 1 0 φ
0 0 1 Ќ

q
-6789.0014024
-6785.1314024
-6785.0214024
-6787.1814024
-6787.4914024
-6786.0314024

b16 J
0.0064972114 31.0405773157
0.0087620578 31.2777135701
-0.0052578628 31.0662881509
0.0070708768 31.6623236697
-0.0101986364 31.4058433731
-0.0068765841 31.6332842386

b26 K
-0.0107420786 -3.8249867031
-0.0021349302 -3.9077820496
-0.0125673499 -3.4957379792
0.0124810012 -3.8381810601
0.0012855229 -3.4355242152
0.0116781488 -3.5257152236

JyK
31.0405773157
31.2777135701
31.0662881509
31.6623236697
31.4058433731
31.6332842386
-3.8249867031
-3.9077820496
-3.4957379792
-3.8381810601
-3.4355242152
-3.5257152236

q
-6785.3814823
-6783.757808
-6778.8416028
-6788.5986031
-6783.335893
-6784.6967846
 b16 J
0.0019362154 -0.0254948588
0.004163832 -0.0220205053
-0.009837456 -0.0400458407
0.0024191168 -0.0010406086
-0.0148259114 -0.0346415543
-0.0115303862 -0.0266690219

b26 K
-0.0101864412 -0.1251005521
-0.0015601931 -0.1151574221
-0.0120653115 -0.1240523351
0.0130442861 -0.1057189975
0.0017931009 -0.1069693444
0.0122006838 -0.1052036259

JyK
-0.0254948588
-0.0220205053
-0.0400458407
-0.0010406086
-0.0346415543
-0.0266690219
-0.1251005521
-0.1151574221
-0.1240523351
-0.1057189975
-0.1069693444
-0.1052036259
 q
-6786.3445025
-6784.6434046
-6779.8766942
-6789.3801123
-6784.288936
-6785.5534666

b16 J
0.0019392458 -0.0005353037
0.0041655783 -0.0039556259
-0.0098307046 -0.0019235465
0.0024201229 0.0102105243
-0.0148192037 -0.0007319587
-0.0115258359 -0.0031384152

b26 K
-0.0101668476 0.0020052673
-0.0015428816 0.0048583195
-0.012045914 -0.0010812903
0.0130580133 0.0016166
0.001807857 -0.0012064633
0.0122131427 -0.0062686826

JyK
-0.0005353037
-0.0039556259
-0.0019235465
0.0102105243
-0.0007319587
-0.0031384152
0.0020052673
0.0048583195
-0.0010812903
0.0016166
-0.0012064633
-0.0062686826