THE PHOTOGRAMMETRIC INNER CONSTRAINTS

A derivation of the complete inner constraints, which are required for obtaining ''free network'' solutions in close- range photogrammetry, is presented. The inner constraints are derived analytically for the b undle method, by exploiting the fact that the rows of their coefficien t matrix form a basis for the null subspace of the design matrix used in the linearized observation equations. The derivation is independent of any particular choice of rotational parameters and examples are gi ven for three types of rotation angles used in photogrammetry, as well as for the Rodriguez elements. A convenient algorithm based on the us e of the S-transformation is presented, for the computation of free so lutions with either inner or partial inner constraints. This approach is finally compared with alternative approaches to free network soluti ons.