Kinematic positioning in three dimensions using CCD technology

The problem of extracting accurate three dimensional coordinates from a cluster of CCD (charged-coupled device) is studied. The cameras comprise the imaging component of the VISAT system. This system integrates an inertial navigation system (INS), satellite receivers of the Global Positioning System (GPS), and a cluster of CCD cameras. A brief introduction to the VISAT system is given. System calibration and the transformations required to convert image coordinates into three-dimensional coordinates are discussed. The factors affecting the accuracy of the derived object coordinates are analyzed as a function of the GPS/INS accuracy, pixel size, camera geometry, calibration accuracy, and vehicle speed.