The Rio Grande project involves a 1000 MW pumped storage hydroelectric plant located in Argentina. It provides electrical storage for the local power grid. The main underground facilities are located within high quality gneiss rock. Support requirements were assessed during excavation and minimal support was needed due to the excellent rock quality. Rockbolts and shotcrete were used as needed based on geotechnical inspection. The UNWEDGE program was utilized to analyze wedge failures and determine support requirements.
The document introduces factor of safety and probability of failure in engineering design. It discusses using sensitivity studies to systematically vary parameters over their credible ranges to determine the influence on factor of safety. This allows a more rational assessment of design risks than relying on a single calculated factor of safety. The document then provides an introduction to probability theory and statistical concepts used in probabilistic analyses, including random variables, probability distributions, sampling techniques, and calculating the probability of failure for a slope design example.
This document summarizes three articles related to previous topics in Geotechnical Instrumentation News (GIN). The first article discusses distributed optical fiber sensing, which allows continuous strain measurement along an optical fiber cable. This is useful for geotechnical applications where soil loading is non-uniform. The second article compares different technologies for strain monitoring, including distributed optical fiber sensing. The third article provides examples of using distributed optical fiber sensing to monitor strain in pile foundations and detect cracks.
This document discusses a marketing solution involving Facebook message marketing. It will utilize Facebook mobile, desktop, and profile data as well as page, company and group information to target potential customers. The solution aims to engage customers through personalized messages.
The Rio Grande project involves a 1000 MW pumped storage hydroelectric plant located in Argentina. It provides electrical storage for the local power grid. The main underground facilities are located within high quality gneiss rock. Support requirements were assessed during excavation and minimal support was needed due to the excellent rock quality. Rockbolts and shotcrete were used as needed based on geotechnical inspection. The UNWEDGE program was utilized to analyze wedge failures and determine support requirements.
The document introduces factor of safety and probability of failure in engineering design. It discusses using sensitivity studies to systematically vary parameters over their credible ranges to determine the influence on factor of safety. This allows a more rational assessment of design risks than relying on a single calculated factor of safety. The document then provides an introduction to probability theory and statistical concepts used in probabilistic analyses, including random variables, probability distributions, sampling techniques, and calculating the probability of failure for a slope design example.
This document summarizes three articles related to previous topics in Geotechnical Instrumentation News (GIN). The first article discusses distributed optical fiber sensing, which allows continuous strain measurement along an optical fiber cable. This is useful for geotechnical applications where soil loading is non-uniform. The second article compares different technologies for strain monitoring, including distributed optical fiber sensing. The third article provides examples of using distributed optical fiber sensing to monitor strain in pile foundations and detect cracks.
This document discusses a marketing solution involving Facebook message marketing. It will utilize Facebook mobile, desktop, and profile data as well as page, company and group information to target potential customers. The solution aims to engage customers through personalized messages.
NGHIÊN CỨU THỂ TÍCH VÀ CHỨC NĂNG TÂM THU THẤT TRÁI BẰNG SIÊU ÂM TIM 3D REAL TIME Ở BỆNH NHÂN NHỒI MÁU CƠ TIM
Phí tải.10.000 đ Liên hệ quangthuboss@gmail.com
Download luận văn thạc sĩ ngành kĩ thuật điện tử với đề tài: Ứng dụng kỹ thuật kết hợp tần số nhằm nâng cao chất lượng ảnh siêu âm cắt lớp, cho các bạn có thể tham khảo
Nhận viết luận văn Đại học , thạc sĩ - Zalo: 0917.193.864
Tham khảo bảng giá dịch vụ viết bài tại: vietbaocaothuctap.net
Download luận văn thạc sĩ ngành kĩ thuật điện tử với đề tài: Ứng dụng kỹ thuật kết hợp tần số nhằm nâng cao chất lượng ảnh siêu âm cắt lớp, cho các bạn làm luận văn tham khảo
Cimatron là sản phẩm cùng tên với công ty mẹ là Cimatron Group. Nó giúp lập trình và cung cấp phần mềm CAD/CAM cho các ứng dụng sản xuất, chế tạo công cụ và lập trình CNC.
This document describes Edition 3.1 of the Association of Geotechnical and Geoenvironmental Specialists' (AGS) format for the electronic transfer of geotechnical and geoenvironmental data. The AGS format was created to standardize the electronic transfer of subsurface investigation data between different software programs and users. This updated edition includes new groups, fields, pick lists, and determinand codes added based on user suggestions. It aims to incorporate commonly used additions to the format while maintaining compatibility with previous versions.
NGHIÊN CỨU THỂ TÍCH VÀ CHỨC NĂNG TÂM THU THẤT TRÁI BẰNG SIÊU ÂM TIM 3D REAL TIME Ở BỆNH NHÂN NHỒI MÁU CƠ TIM
Phí tải.10.000 đ Liên hệ quangthuboss@gmail.com
Download luận văn thạc sĩ ngành kĩ thuật điện tử với đề tài: Ứng dụng kỹ thuật kết hợp tần số nhằm nâng cao chất lượng ảnh siêu âm cắt lớp, cho các bạn có thể tham khảo
Nhận viết luận văn Đại học , thạc sĩ - Zalo: 0917.193.864
Tham khảo bảng giá dịch vụ viết bài tại: vietbaocaothuctap.net
Download luận văn thạc sĩ ngành kĩ thuật điện tử với đề tài: Ứng dụng kỹ thuật kết hợp tần số nhằm nâng cao chất lượng ảnh siêu âm cắt lớp, cho các bạn làm luận văn tham khảo
Cimatron là sản phẩm cùng tên với công ty mẹ là Cimatron Group. Nó giúp lập trình và cung cấp phần mềm CAD/CAM cho các ứng dụng sản xuất, chế tạo công cụ và lập trình CNC.
This document describes Edition 3.1 of the Association of Geotechnical and Geoenvironmental Specialists' (AGS) format for the electronic transfer of geotechnical and geoenvironmental data. The AGS format was created to standardize the electronic transfer of subsurface investigation data between different software programs and users. This updated edition includes new groups, fields, pick lists, and determinand codes added based on user suggestions. It aims to incorporate commonly used additions to the format while maintaining compatibility with previous versions.
This document contains 17 references related to rock mechanics and rock engineering. The references span from 1931 to 1994 and include journal articles, conference proceedings, books, theses, and reports. The references cover topics such as rock mass classification systems, shear strength of rock joints, rockfall analysis, tunnel support, and case histories of rock engineering projects.
The document discusses blasting damage in rock excavations and methods to control it. It begins with a brief history of blasting and how the understanding of its effects on rock stability has lagged behind other areas of rock mechanics. Blasting can damage rock through dynamic stresses, gas pressure, and fracturing from the release of compressed rock. Precisely controlling blasting techniques from the initial cut through the full blast sequence is necessary to minimize damage extending several meters into the surrounding rock. Methods discussed include pre-splitting, smooth blasting, and the use of delays to allow broken rock to clear before subsequent holes detonate. Proper blasting design is crucial for ensuring the stability of underground excavations and rock slopes.
Shotcrete is a cement-based concrete that is pneumatically projected at high velocity onto underground excavation surfaces for rock support. There are two main types - dry mix, where materials are conveyed dry to the nozzle and water added, and wet mix, where materials are pre-mixed with water. Recent developments include adding steel fibers for reinforcement and microsilica for strength. Shotcrete provides effective support in mining when applied correctly using proper equipment and experienced operators. It is increasingly used for permanent openings and offers advantages over traditional rockbolt and mesh support.
This document discusses design considerations for large underground caverns excavated in weak rock at depths of 100-300m below the surface for hydroelectric projects. It addresses the stability of caverns and surrounding rock mass given in situ stress conditions, effects of nearby slopes, and determining appropriate pillar sizes between excavations. The key design factors are the strength of the rock mass, influence of structural features like joints and bedding planes, sequence of excavation and support, and stress changes induced by nearby slopes and excavations. Pillar size between caverns must consider stresses imposed and stability of the rock mass.
The document discusses rock mass properties and the Hoek-Brown failure criterion for estimating the strength of jointed rock masses. It presents the generalized Hoek-Brown criterion equation and describes how to determine the intact rock properties of uniaxial compressive strength (σci) and the Hoek-Brown constant (mi) from triaxial test data or estimates. It also discusses estimating the Geological Strength Index (GSI) of the rock mass.
This document discusses rockfall hazards and analysis. It begins with an introduction noting that rockfalls are a major hazard for mountainous transportation routes and have resulted in numerous deaths. It then discusses the mechanics of rockfalls, noting that slope geometry and surface materials are most important in determining rockfall trajectories. Various measures to reduce rockfall hazards are discussed, including identification of problems, reducing energy from excavation, installing physical barriers like nets and ditches, and the Rockfall Hazard Rating System used to assess slopes.
The document describes a slope stability analysis of a steep rock slope in Hong Kong located near apartment buildings. Due to heavy rains causing landslides in the 1970s, the stability of this slope was analyzed. A simple limit equilibrium model was used to calculate the factor of safety under normal conditions and during earthquakes or heavy rains. The analysis found that instability could occur if the slope became fully saturated during an earthquake. However, as earthquakes and heavy rains are unlikely to occur simultaneously, it was concluded there was no serious short-term threat to stability. Evacuation of nearby apartments was deemed unnecessary based on this short-term stability assessment.
The document discusses the shear strength of discontinuities in rock masses. It defines key terms like basic friction angle (φb), residual friction angle (φr), cohesion (c), and introduces Barton's method for estimating shear strength which accounts for joint roughness coefficient (JRC) and joint compressive strength (JCS). Small scale laboratory tests are used to determine φb, while JRC and JCS are estimated visually in the field. The shear strength of rough surfaces is higher than smooth surfaces due to surface asperities. Shear strength decreases if discontinuities are filled with soft materials like clay.
This document discusses when a rock engineering design can be considered acceptable. It notes that there are no universal rules and that each design is unique based on the site conditions, loads, and intended use. Acceptability is based on engineering judgment guided by analyses and studies. Tables provide examples of typical problems, parameters, analysis methods, and acceptability criteria for different rock structures. Case histories are also discussed to illustrate the factors considered and criteria used to determine acceptability, including ensuring stability and reducing deformation. One case examines slope drainage works to improve stability of landslides in a reservoir area. Another evaluates deformation control for a power tunnel by locating a replacement in a zone of small movements.
1. The development of rock engineering began in the late 18th century, but it was not established as a formal discipline until the 1960s after several catastrophic dam failures that demonstrated limitations in predicting rock mass behavior.
2. Early contributors to rock mechanics came from various fields like soil mechanics, mining, and geology. They made important contributions to understanding rock failure even if they did not consider themselves "rock mechanics engineers".
3. Major events like dam failures and mine collapses in the 1950s and 1960s highlighted the need for rock mechanics as a discipline and led to rapid advances in methods for designing rock structures and underground excavations.
This document provides guidance on ensuring geotechnical slope stability for post-mining landforms. It discusses designing stable slopes for landforms such as low wall spoil, out-of-pit dumps, and final void batters. It emphasizes the importance of geotechnical investigations and slope design to prevent issues like lost production, safety risks, and remediation costs. Data collection should consider factors like foundation strength, slope stability, and drainage for dumped materials.
This study aimed to map forest fire risk zones in Quang Ninh province, Vietnam using remote sensing and GIS. Forest fire data from MODIS and field surveys were compared to validate the analysis. Factors like forest type, proximity to roads and settlements, slope, and aspect were used as inputs to a weighted overlay analysis. This generated a risk map classifying the area into very low to very high risk zones. Most fire locations fell within high or very high risk areas, validating the model. Improving input data resolution and incorporating additional social and weather factors could enhance future analyses. The study effectively mapped forest fire risk to aid decision-making for forest management in Quang Ninh province.
This document provides an introduction and user guide for LogMan 8.0, a geotechnical borehole logging software. It outlines the key features and functions of the software, including its ability to [1] quickly create, edit, and print borehole logs and cross sections; [2] store all project data in a single file; and [3] automatically join soil layers in cross sections. The document provides instructions on installation, registration, and getting started with the software. It describes the main interface areas and windows for inputting lithology, borehole, and cross section data. Finally, it outlines the recommended order for inputting data and creating drawings with LogMan 8.0.
1. 1
CHƯƠNG 2
CƠ S TOÁN H C C A O NH
VÀ CÁC TÍNH CH T HÌNH H C
C A NH HÀNG KHÔNG
Tr n Trung Anh
B môn o nh và Vi n thám
B GIÁO D C VÀ ÀO T O
TRƯ NG I H C M A CH T
Tran Trung Anh Photogrammetry and Remote Sensing 2
M C L C
nh o
Phép chi u xuyên tâm và phép chi u tr c giao
M c tiêu c a o nh
Các y u t hình h c cơ b n c a nh o
T l nh
Các h t a dùng trong o nh
Ma tr n quay
Các nguyên t nh hư ng c a nh o
Các bài toán chuy n i h t a
Các bi n d ng hình h c trên nh hàng không
Tran Trung Anh Photogrammetry and Remote Sensing 3
nh o
nh o là hình nh thu ư c c a các i tư ng o, nh
o th a mãn nh ng i u ki n k thu t nh t nh và
ư c dùng vào m c ích o c.
nh o nh gi i trí Tran Trung Anh Photogrammetry and Remote Sensing 4
nh o là s n ph m c a phép chi u xuyên tâm
2. 2
Tran Trung Anh Photogrammetry and Remote Sensing 5
1. N i dung ph n ánh trung th c nhưng chưa y
và chính xác (hình dáng, kích thư c i tư ng o,
thông tin thu c tính…);
2. M c chi ti t và kh năng o c ph thu c
nhi u y u t : i u ki n, phương th c ch p nh (t
l nh, tiêu c , chi u cao bay ch p, máy ch p
nh, môi trư ng ch p…);
3. nh o ch là ngu n thông tin ban u không th
s d ng tr c ti p như b n vì nh o có phép
chi u xuyên tâm, t l không ng nh t, hình nh
b bi n d ng
Tính ch t c a nh o
Tran Trung Anh Photogrammetry and Remote Sensing 6
nh o và b n
S n ph m u raTư li u g cV trí
y , ư c mã hóaV a th a, v a thi uThông tin
Chính xác, th a mãn h n
sai theo quy nh
Bi n d ng, xê d ch v trí i m
nh
Sai s
ng nh tBi n iT l
Tr c giaoXuyên tâmPhép chi u
B nnh o
Tran Trung Anh Photogrammetry and Remote Sensing 7
Phép chi u
xuyên tâm
Phép chi u xuyên tâm và phép
chi u tr c giao
Phép chi u
tr c giao
Tran Trung Anh Photogrammetry and Remote Sensing 8
Phép chi u xuyên tâm Phép chi u tr c giao
Phép chi u xuyên tâm và phép
chi u tr c giao
3. 3
Tran Trung Anh Photogrammetry and Remote Sensing 9
Phép chi u xuyên tâm Phép chi u tr c giao
Phép chi u xuyên tâm và phép
chi u tr c giao
Tran Trung Anh Photogrammetry and Remote Sensing 10
M c tiêu c a o nh?
S n ph m b n
có phép chi u tr c
giao nh n ư c t
nh có phép chi u
xuyên tâm.
Xây d ng thông tin
3D (ba chi u) t
nh 2D (hai chi u)
Tran Trung Anh Photogrammetry and Remote Sensing 11
Các y u t hình h c cơ b n c a nh o
E
W
S
.o c
n
O C N
I
.hi
.hi
α
α/2
V V
v
v
T
T
Hf
Tran Trung Anh Photogrammetry and Remote Sensing 12
Các y u t hình h c cơ b n c a
nh hàng không
Tr c x
Hư ng bay ch pTr c y
D u khung
.n
.o
.o’
S
ư ng
dây d i
Tr c quang
chính
α
.xo
.yo
• i m chính nh o
• i m áy nh n
•Kho ng cách chính So≈f
• i m tâm ch p S
• cao bay ch p H
•Tr c t a nh x (hư ng
ch p)
•Tr c t a nh y
•Góc nghiêng c a nh α
4. 4
Tran Trung Anh Photogrammetry and Remote Sensing 13
nh lý tư ng
S
o,n,c
O,N,CE
P
W, I
S
o,I
N,n
E
P
W, I
nh hàng không α=00 nh m t t α=900
Tran Trung Anh Photogrammetry and Remote Sensing 14
nh lý cơ b n v phép chi u xuyên tâm
nh lý v phép chi u i m
A
a
S
A1
a
S
A2
An
nh lý thu n nh lý ngh ch
Tran Trung Anh Photogrammetry and Remote Sensing 15
nh lý v phép chi u ư ng
A B
S
a
b
C
D
c
A
S
a
C
C
c
A
A
C
nh lý thu n nh lý ngh ch
Tran Trung Anh Photogrammetry and Remote Sensing 16
T L NH
tb0a hH
f
H
f
AB
ab
m
1
−
===
S
.a nh b
A B
TH C A
f
H
M t th y chu n g c
H0
htb
amabAB ×=
5. 5
Tran Trung Anh Photogrammetry and Remote Sensing 17
htb
T L I M NH VÀ T L NH TRUNG BÌNH
A0A)a(a hH
f
AO
oa
m
1
−
==
B0B)b(a hH
f
BO
ob
m
1
−
==
TB0a hH
f
m
1
−
=
Tran Trung Anh Photogrammetry and Remote Sensing 18
T L NH TRÊN NH NGHIÊNG
22
A0a
AAa
yxr
hH
sinrsecf
m
1
SO
oS
AO
ao
m
1
′+′=′
−
α×′−α×
=
′
=
′′
=
S
.o’
.a nh lý tư ng
.a’ nh nghiêng
.o
.n
N
.c r
.o r’
.O
.A
H0
M t th y chu n g c
.hA
.OA
α f
Tran Trung Anh Photogrammetry and Remote Sensing 19
CÁC Y U T NH HƯ NG N T L NH
Tiêu c : f
cao bay ch p: H
Chênh cao a hình khu ch p: h
Góc nghiêng c a nh:α
Tran Trung Anh Photogrammetry and Remote Sensing 20
S THAY I TIÊU C CH P
NH HƯ NG N T L NH
S
,f1
,f2
,H
M t t
nh 1
nh 2
H
f
m
1
H
f
m
1
2
2a
1
1a
=
=
6. 6
Tran Trung Anh Photogrammetry and Remote Sensing 21
S THAY I CHI U CAO BAY CH P
NH HƯ NG N T L NH
S
,f
,H2
M t t
nh 1
nh 2
S
,f
,H1 22a
11a
H
f
m
1
H
f
m
1
=
=
Tran Trung Anh Photogrammetry and Remote Sensing 22
CHÊNH CAO A HÌNH
NH HƯ NG N T L NH
htb
A0A)a(a hH
f
AO
oa
m
1
−
==
B0B)b(a hH
f
BO
ob
m
1
−
==
Tran Trung Anh Photogrammetry and Remote Sensing 23
NH HƯ NG C A GÓC NGHIÊNG NH
N T L NH
A0a
A0a
hH
f
m
1
0
hH
sinrsecf
m
1
−
=⇒=α
−
α×′−α×
=
S
.o’
.a nh lý tư ng
.a’ nh nghiêng
.o
.n
N
.c r
.o r’
.O
.A
H0
M t th y chu n g c
.hA
.OA
α f
Tran Trung Anh Photogrammetry and Remote Sensing 24
Các h t a dùng trong o nh
H t a
trong không
gian nh
H t a
trong không
gian v t
7. 7
Tran Trung Anh Photogrammetry and Remote Sensing 25
Các h t a trong không gian nh
−
−
−
=
f
yy
xx
r 0
0
1. H t a m t ph ng nh o’xy
2. H t a không gian nh Sxyz
Tran Trung Anh Photogrammetry and Remote Sensing 26
*Các h t a trong không gian v t
=
Z
Y
X
R
1. H t a không gian o nh OXYZ
2. H t a qu c gia OGXGYGZG
3. H t a a lý BLH
Tran Trung Anh Photogrammetry and Remote Sensing 27
*Các h t a trong không gian v t
*H t a không gian o nh O-XYZ ch n b t kì
X
Y
Z
yz
P(X,Y,Z)
O2
z
x2
y2
x
y
x
P1
x1
y1
p2
Tran Trung Anh Photogrammetry and Remote Sensing 28
H t a không gian o nh O-XYZ
ch n c bi t
YZ
P(X,Y,Z)
x2
y2
X
p1
x1
y1
O1(0,0,0)
Bx By
Bz
ω
φ
κ
p2
8. 8
Tran Trung Anh Photogrammetry and Remote Sensing 29
*Các h t a trong không gian v t
*H t a , cao qu c gia OG -XGYGZG
nh v : HQVnh v : Láng
K=0,9996; 0,9999k:=1
P: UTMP: Gauss-kruger
Hòn d u – H i
Phòng
E: WGS84E: Krasovski
caoVN2000HN72
Tran Trung Anh Photogrammetry and Remote Sensing 30
H t a a lý BLH
S
P(λλλλ,ϕϕϕϕ)
λλλλ
ϕϕϕϕ
N
Kinh tuy n g c
(Greenwick)
Xích o
Tran Trung Anh Photogrammetry and Remote Sensing 31
XÂY D NG MÔ HÌNH TOÁN H C C A O NH
Xây d ng m i quan h toán h c gi a
t a i m nh và t a i m v t
Tran Trung Anh Photogrammetry and Remote Sensing 32
Ma tr n quay trong m t ph ng
9. 9
Tran Trung Anh Photogrammetry and Remote Sensing 33
Xây d ng ma tr n quay trong m t ph ng
α90 + αY’
90 - ααX’
YXCác tr c
=
αα−
αα
=
αα+
α−α
=
2221
1211
aa
aa
A
)cossin
)sincos
A
cos)90cos(
)90cos(cos
A
• Ma tr n xoay A là m t
ma tr n tr c giao, có
tính ch t AT=A-1
ATA=AAT=E, 3 i u ki n:
.a2
11 + a2
12= 1
.a2
21 + a2
22= 1
.a11a12 + a21a22= 0
• A có 4 ph n t (cosin
ch hư ng) ph thu c
1 thành ph n α
Tran Trung Anh Photogrammetry and Remote Sensing 34
Ma tr n quay trong không gian
.xω
.yφ
.z(zκ)
Quanh
tr c
ωO-ZY.y,Y
.z,Z
φO-XZ.z,Z
.x,X
κO-XY.x,X
.y,Y
Góc
k p
Trên
m t
ph ng
Tr c
k p
X
Z
Y
z y
x
(zκ) (yφ)
(xω)
ω
φ
κ
κ
O
Tran Trung Anh Photogrammetry and Remote Sensing 35
Thành l p ma tr n quay
L n lư t quay các góc quay κ, φ, ω
1. Quay góc th nh t κ quanh tr c z
09090Zκ
90κ90-κYκ
9090+κκXκ
.z.y.x
rAR
100
0cossin
0sincos
A
κκ
κ
=
κκ
κ−κ
=
.z
(Zκ)
.y
.x
Yκ
Xκ
κ
κO
Tran Trung Anh Photogrammetry and Remote Sensing 36
2. Quay góc th hai φ quanh tr c yφ
φ9090+φZφκ
90090Yφκ
90-φ90φXφκ
ZκYκXκ
rAARAR
cos0sin
010
sin0cos
A
κϕκϕϕκ
ϕ
==
ϕϕ−
ϕϕ
=
Zφκ
Yφ
Xκ
Xφκ
φ
O φ
Zκ
10. 10
Tran Trung Anh Photogrammetry and Remote Sensing 37
3. Quay góc th ba ω quanh tr c xω
ω90-ω90Zωφκ
90+ωω90Yωφκ
90900Xωφκ
ZφκYφκXφκ
rAAARARR
cossin0
sincos0
001
A
κϕωϕκωωϕκ
ω
===
ωω
ω−ω=
Zφκ
Yφκ
Xω
ω
O
ω
Zωφκ
Yωφκ
Tran Trung Anh Photogrammetry and Remote Sensing 38
Ma tr n quay trong không gian
=
⇔== ωϕκωϕκκϕω
z
y
x
A
Z
Y
X
rArAAAR
κκ
κ−κ
ϕϕ−
ϕϕ
ωω
ω−ω== κϕωωϕκ
100
0cossin
0sincos
cos0sin
010
sin0cos
cossin0
sincos0
001
AAAA
=ωϕκ
333231
232221
131211
aaa
aaa
aaa
A
ϕω=
κϕω+κω=
κϕω−κω=
ϕω−=
κϕω−κω=
κϕω+κω=
ϕ=
κϕ−=
κϕ=
coscosa
sinsincoscossina
cossincossinsina
cossina
sinsinsincoscosa
cossinsinsincosa
sina
sincosa
coscosa
33
32
31
23
22
21
13
12
11
Tran Trung Anh Photogrammetry and Remote Sensing 39
Tính ch t c a ma tr n quay A
1. A là ma tr n tr c giao AT=A-1
ATA=AAT=E;
Cm: ATA=(AωAφAκ)T(AωAφAκ)= AT
κAT
φAT
ωAωAφAκ=E3x3
Vì: Aω
TAω=E; Aφ
TAφ=E; Aκ
TAκ=E; nên ATA=E; pcm
Có 6 i u ki n c a 3 góc quay c l p φ,ω,κ:
.a2
11+ a2
12+ a2
13=1; .a2
21+ a2
22+ a2
23=1; .a2
31+ a2
32+ a2
33=1;
.a11a12+ a21a22+ a31a32=0;
.a11a13+ a21a23+ a31a33=0;
.a12a13+ a22a23+ a32a33=0;
Tran Trung Anh Photogrammetry and Remote Sensing 40
2. Cosin ch hư ng ph thu c trình t quay các góc:
κ φ ω khác ω κ φ; Aωφκ khác Aφκω
Tính ch t c a ma tr n quay A
ϕκω
ωκϕϕκω
==
333231
232221
131211
aaa
aaa
aaa
AAAA
κωϕ−ωϕκωϕ+ωϕκϕ
κω−κωκ
κωϕ+ωϕκωϕ−ωϕκϕ
=ϕκω
sinsinsincoscossincossinsincoscossin
cossincoscossin
sinsincoscossinsincoscossinsincoscos
A
ωϕκ
κϕωωϕκ
==
333231
232221
131211
aaa
aaa
aaa
AAAA
ϕωκϕω+κωκϕω−κω
ϕω−κϕω−κωκϕω+κω
ϕκϕ−κϕ
=ωϕκ
coscossinsincoscossincossincossinsin
cossinsinsinsincoscoscossinsinsincos
sinsincoscoscos
A
11. 11
Tran Trung Anh Photogrammetry and Remote Sensing 41
GÓC XOAY TRONG CH P NH HK
φ
ω
κ
Tran Trung Anh Photogrammetry and Remote Sensing 42
Các y u t hình h c
xác nh v trí tâm
ch p so v i m t
ph ng nh và m t
ph ng nh i v i i
tư ng o nh m xây
d ng m i quan h
chi u hình ph c v o
nh g i là các y u t
(nguyên t ) nh
hư ng c a nh o.
Các nguyên t nh hư ng c a nh o
Tran Trung Anh Photogrammetry and Remote Sensing 43
Các nguyên t nh hư ng trong
Các y u t hình h c xác
nh v trí c a tâm ch p
S i v i m t ph ng nh
nh m ph c h i chùm tia
chi u như lúc ch p nh.
G m có 3 nguyên t :
- Tiêu c f
- T a i m chính nh
(x0, y0)
Xác nh các nguyên t
nh hư ng trong thông
qua bài toán ki m nh Tran Trung Anh Photogrammetry and Remote Sensing 44
Khôi ph c chùm tia như lúc ch p nh
.a b c P
C B A
Tâm ch p S
c b a P
Tâm chi u S.f, x0, y0
12. 12
Tran Trung Anh Photogrammetry and Remote Sensing 45
Ki m nh v i máy chu n tr c
Tran Trung Anh Photogrammetry and Remote Sensing 46
Bãi ki m nh trong phòng
Tran Trung Anh Photogrammetry and Remote Sensing 47
Bãi ki m nh ngoài tr i
Tran Trung Anh Photogrammetry and Remote Sensing 48
Các y u t nh hư ng ngoài
Các y u t hình h c xác nh
v trí chùm tia trong h t a
không gian v t.
T a g c S: X0, Y0, Z0
Các góc xoay gi a các tr c h
t a không gian nh và h
t a không gian v t:
φ,ω,κ
6 y u t nh hư ng ngoài có
th xác nh nh vào các
i m kh ng ch m t t
ho c thi t b GPS/INS trong
khi ch p nh hàng không
13. 13
Tran Trung Anh Photogrammetry and Remote Sensing 49
Xác nh các nguyên t H ngoài
nh các i m kh ng ch m t t
Tran Trung Anh Photogrammetry and Remote Sensing 50
Xác nh các nguyên t H ngoài
nh thi t b GPS/INS
Tran Trung Anh Photogrammetry and Remote Sensing 51
QUAN H T A TRONG O NH
Công th c ng
phương:
M c ích: xây d ng
m i quan h gi a h
t a không gian
nh và h t a
không gian v t.
i u ki n: Tâm
chi u S, i m nh a,
i m a v t A n m
trên m t ư ng
th ng. Tran Trung Anh Photogrammetry and Remote Sensing 52
CÔNG TH C NG PHƯƠNG
( ) ( )
( ) ( ) ( )
( ) ( ) ( )
( ) ( ) ( )
( ) ( ) ( )
( ) ( ) ( )
−−−+−
−−−+−
−=
−−−+−
−−−+−
−=
−−−+−
−=
−
−
−
=
−
−
−
−=⇔−=⇒+= −
033023013
032022012
0
033023013
031021011
0
033023013
0
0
0
332313
322212
312111
0
0
0
T
0
1
0
ZZaYYaXXa
ZZaYYaXXa
fyy
ZZaYYaXXa
ZZaYYaXXa
fxx
ZZaYYaXXa
1
f
m
1
ZZ
YY
XX
aaa
aaa
aaa
m
1
f
yy
xx
RRA
m
1
rRRA
m
1
rmArRR
14. 14
Tran Trung Anh Photogrammetry and Remote Sensing 53
CÁC BÀI TOÁN CHUY N I H T A PH NG
M c ích: chuy n i t a ph ng x’,y’ t h t a
cũ sang t a ph ng x,y trong h t a m i.
ng d ng: chuy n i t a nh s (ho c t a
h tr c máy o) sang t a m t ph ng nh, n n
ch nh hình h c t m nh.
1. Chuy n i Helmert
2. Chuy n i Affine
3. Chuy n i Projective
4. Chuy n i a th c b c cao
Tran Trung Anh Photogrammetry and Remote Sensing 54
CHUY N I HELMERT
4 tham s chuy n i:.a0, b0, m, α
′
′
αα−
αα
+
=
y
x
cossin
sincos
m
b
a
y
x
0
0
′+′+=
′+′+=
ybxbby
yaxaax
210
210
CHUY N I AFFINE
6 tham s chuy n i:.a0, a1, a2, b0, b1, b2
Tran Trung Anh Photogrammetry and Remote Sensing 55
CHUY N I PROJECTIVE
+′+′
+′+′
=
+′+′
+′+′
=
1ycxc
bybxb
y
1ycxc
ayaxa
x
21
321
21
321
8 tham s chuy n
i:.a1, a2, a3, b1, b2,
b3, c1, c2
CHUY N I A TH C B C CAO
′′=
′′=
∑∑
∑∑
= =
−
= =
−
n
0i
0
ij
jij
ij
n
0i
0
ij
jij
ij
yxby
yxax .n – s b c c a a th c.
.aij, bij – các tham s
chuy n i, có s lư ng
là 2*[n(n+1)/2+n+1]
Tran Trung Anh Photogrammetry and Remote Sensing 56
1. Sai s do bi n d ng phim nh
2. Sai s do ép phim không ph ng
3. Sai s do méo hình kính v t
1. Sai s méo hình kính v t xuyên tâm
2. Sai s méo hình kính v t ti p tuy n
4. Sai s do chi t quang khí quy n
5. Sai s do cong trái t
6. Sai s t ng h p c a xê d ch v trí i m nh
Gây nên s xê d ch v trí i m nh (ch y u là xê
d ch h th ng). C n ph i tính toán xác nh s
xê d ch này hi u ch nh vào tr o t a nh
nâng cao chính xác.
HI U CH NH T A NH
15. 15
Tran Trung Anh Photogrammetry and Remote Sensing 57
Xu t hi n: ch y u tuân theo quy lu t c a phép
bi n i affine khi s bi n d ng theo các tr c, các
hư ng là khác nhau. Do quá trình hóa nh…
i u ki n lo i tr : có các d u khung chu n có t a
ư c ki m nh và t a o trên nh gi i ra
các h s c a phép bi n i hình h c affine,
projective…
SAI S BI N D NG PHIM NH
′+′+=
′+′+=
ybxbby
yaxaax
210
210
+′+′
+′+′
=
+′+′
+′+′
=
1ycxc
bybxb
y
1ycxc
ayaxa
x
21
321
21
321
Tran Trung Anh Photogrammetry and Remote Sensing 58
SAI S ÉP PHIM KHÔNG PH NG
.f
S
.dr r
.dh
M t ph ng lý thuy t
ép phim
M t ph ng nh th c t
f
r
dhdr
dh
dr
f
r
=⇒=
Xu t hi n: Do ép phim không sát v i khung ch a
phim trong quá trình ch p, ép phim không sát v i
m t nh n nh trong quá trình in nh dương b n.
i u ki n h n ch : ép phim ph i dùng b ph n hút
chân không, ho c nén khí v i áp l c cao ép phim
Tran Trung Anh Photogrammetry and Remote Sensing 59
Máy in ép phim dương b n
Tran Trung Anh Photogrammetry and Remote Sensing 60
SAI S MÉO HÌNH KÍNH V T
GS BROWN (1961)
Méo hình kính v t xuyên tâm
Méo hình kính v t ti p tuy n
16. 16
Tran Trung Anh Photogrammetry and Remote Sensing 61
SAI S MÉO HÌNH KÍNH V T XUYÊN TÂM
* Tia sáng b thay i
hư ng khi i qua tâm
kính v t.
* Nguyên nhân:
-Kính v t góc r ng
-Ch t o th u kính có
v t r n.
* Bi n d ng d c theo
bán kính hư ng tâm
( n i m chính nh)
c a i m nh.
* Có th lo i tr Tran Trung Anh Photogrammetry and Remote Sensing 62
Các d ng méo hình xuyên tâm
Tran Trung Anh Photogrammetry and Remote Sensing 63
Hi u ch nh sai s méo hình xuyên tâm
( )
( )
( ) ( )2
0
2
0
5
3
3
21
0
0
yyxxr
rKrKrKdr
r
dr
yyy
r
dr
xxx
−′+−′=
++=
−′=∆
−′=∆
Tran Trung Anh Photogrammetry and Remote Sensing 64
SAI S MÉO HÌNH KÍNH V T TI P TUY N
Nguyên nhân:
S l p ráp không ng
tr c gi a các th u kính
17. 17
Tran Trung Anh Photogrammetry and Remote Sensing 65
Hi u ng c a méo hình ti p tuy n
.φ0
tr c có méo hình l n nh
t
trccóméohình=0
.φ
Tran Trung Anh Photogrammetry and Remote Sensing 66
Công th c hi u ch nh méo hình ti p tuy n
Conrady-Brown
( )
( )
ϕ
+−ϕ+++=δ
ϕ−ϕ
−+++=δ
02
2
02
6
3
4
2
2
1
0202
2
6
3
4
2
2
1
cos
r
y2
1sin
r
yx2
...rJrJrJy
cos
r
yx2
sin
r
x2
1...rJrJrJx
( )[ ][ ]
( )[ ][ ]
+++++=δ
+++++=δ
...rPrP1yxP2y2rPy
...rPrP1yxP2x2rPx
4
4
2
31
22
2
4
4
2
32
22
1
1
3
4
1
2
3
0
12011
22
00
J
J
P
J
JPcosJPsinJP
yxryyyxxx
==ϕ=ϕ−=
+=−′=−′=
Tran Trung Anh Photogrammetry and Remote Sensing 67
SAI S DO CHI T QUANG KHÍ QUY N
T0, D, P, CO2…
Tran Trung Anh Photogrammetry and Remote Sensing 68
nh Lu t Snell:
.ni – chi t su t c a l p không khí i
.dn – s gia chi t su t gi a 2 l p không khí
.θ – góc tia sáng t i
.θ+dα – góc tia khúc x khi i qua 2 l p không khí
Khai tri n và t ng h p có:
.n0 - chi t su t không khí t i tâm ch p,
.np – chi t su t không khí t i i m m t t
Xây d ng công th c tính sai s do
chi t quang khí quy n
( ) ( )α+θ=θ+ dsinnsindnn iiii
( ) 0
p
0
p
0
p
n
n
n
n
nlntan
n
dn
tandtan
n
dn
d θ=θ=α=α⇒θ=α ∫ ∫
α
α
18. 18
Tran Trung Anh Photogrammetry and Remote Sensing 69
Tìm ư c dθ theo công th c
Trong ó K là h ng s khúc x c a khí quy n.
i v i nh hàng không, θ ư c bi u di n
qua bán kính hư ng tâm c a i m nh
.dr – sai s v trí i m do chi t quang khí quy n
( ) θ
+
=⇒∴θ
+=θθ+=θθ=
θ=
d
f
rf
drd
f
r
1fdtan1fdsecfdr
tanfr
22
2
2
22
θ=
α
=θ tanK
2
d
Xây d ng công th c tính sai s do
chi t quang khí quy n
...rkrkrkdr 5
3
3
21 +++=
Tran Trung Anh Photogrammetry and Remote Sensing 70
Xây d ng công th c tính sai s do
chi t quang khí quy n
+=∴
⇒
+
=θ
+
=⇒θ=θ
2
3
2222
f
r
rKdr
f
r
K
f
rf
tanK
f
rf
drtanKd
( ) ( )
( ) ( )
−′
+=−′=δ
−′
+=−′=δ
02
2
0
02
2
0
yy
f
r
1K
r
dr
yyy
xx
f
r
1K
r
dr
xxx
Hi u ch nh cho t a nh
V n : Tìm h ng s K
Tran Trung Anh Photogrammetry and Remote Sensing 71
( ) ( )[ ]hH202,01hH000013,0K 00 +⋅−−⋅=
+−
−
=
250H6H
hH
H
00241,0
K
0
2
0
22
0
0
Công th c th c nghi m c a K
( ) ( ) ( )[ ]245,4
0
256,5
0
256,5
0
H02257,01277H02257,01h022576,01
H
001225,0
K −∗−−−⋅−=
1. Mô hình Bertram ADRC
(1959 TT phát tri n không gian Rome)
2. Mô hình Saastamoinen (H0 <=11km )
3. Mô hình H0 <= 9km
Tran Trung Anh Photogrammetry and Remote Sensing 72
S xê d ch v trí i m nh do cong trái t
E
M0 M’
M
h
O
R
K
m
mo
fk
H
δrc
S
nP
G
N
θ
S
R
2
3
c
c
0c
2
22
a
2
2
0
fR2
rH
r
H
h
rr
H
h
NM
MM
r
r
fR2
rH
h
fR
Hr
R
mr
R
S
2
R
2
sinR2h
cosRROKONMMh
⋅
⋅
=δ∴
=δ⇒=
′
′
=
δ
⋅
⋅
=
⋅
⋅
=
⋅
==θ
θ
=
θ
=
θ−=−==
19. 19
Tran Trung Anh Photogrammetry and Remote Sensing 73
nh hư ng c a chênh cao a hình
n s xê d ch v trí i m nh
r
H
h
d =
Tran Trung Anh Photogrammetry and Remote Sensing 74
NH HƯ NG T NG H P C A CÁC SAI S H
TH NG N T A NH
;b
3
2
yb
3
2
xbb
3
2
yxbb
3
2
xyb
b
4
3
xbb
4
3
y2bxybxbyby
;b
3
2
yb
3
2
xbb
3
2
xybb
3
2
yxb
b
4
3
ybxybb
4
3
x2bybxbx
2222
12
22
10
22
8
22
6
22
4321
2222
11
22
9
22
7
22
54
22
321
−
−+
−+
−+
+
−+
−−++−=∆
−
−+
−+
−+
+
−++
−−+=∆
Mô hình c a GS Ebner (1976): 12 tham s bi
.b – c nh áy nh (c nh 23x23cm thì b≈90mm)
Tran Trung Anh Photogrammetry and Remote Sensing 75
NH HƯ NG C A H S 1, 2, 3
Tran Trung Anh Photogrammetry and Remote Sensing 76
NH HƯ NG C A H S 4, 5, 6
20. 20
Tran Trung Anh Photogrammetry and Remote Sensing 77
NH HƯ NG C A H S 7, 8, 9
Tran Trung Anh Photogrammetry and Remote Sensing 78
NH HƯ NG C A H S 10, 11, 12
Tran Trung Anh Photogrammetry and Remote Sensing 79
S khác nhau gi a phép chi u xuyên tâm và phép chi u
tr c giao
Hi u rõ m c tiêu c a o nh
Các y u t hình h c cơ b n c a nh o
T l nh và các y u t nh hư ng n t l nh
M c ích s d ng c a các h t a dùng trong o nh
Nguyên nhân sinh ra ma tr n xuay và cách xây d ng ma
tr n xoay
B n ch t và s lư ng c a các y u t nh hư ng c a nh o
Các bài toán chuy n i h t a
Các bi n d ng hình h c trên nh hàng không, nguyên nhân
xu t hi n và công th c lo i tr
Các n i dung c n n m b t ư c