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获取已知数据 $X_0, Y_0, f, X_{s1}, Y_{s1}, Z_{s1}, \phi_1, \omega_1, \kappa_1, X_{s2}, Y_{s2}, Z_{s2}, \phi_2, \omega_2, \kappa_2$
量测像点坐标 $X_1, Y_1, X_2, Y_2$
由外方位线元素计算基线分量 $B_x, B_y, B_z$
由外方位角元素计算像空间辅助坐标 $X_1, Y_1, Z_1, X_2, Y_2, Z_2$ (需要旋转矩阵 $R$ )

$\begin{aligned}B_X &= X_{s2} - X_{s1} = N_1 X_1 - N_2 X_2 \\B_Y &= Y_{s2} - Y_{s1} = N_1 Y_1 - N_2 Y_2 \\B_Z &= Z_{s2} - Z_{s1} = N_1 Z_1 - N_2 Z_2\end{aligned}$ $\begin{aligned}N_1 &= \frac{B_X Z_2 - B_Z X_2}{X_1 Z_2 - X_2 Z_1} \\N_2 &= \frac{B_X Z_1 - B_Z X_1}{X_1 Z_2 - X_2 Z_1}\end{aligned}$

计算投影系数 $N_1, N_2$
计算地面坐标 $X_A, Y_A, Z_A$

利用立体像对确定地面点

共线条件严密解法
空间后方交会-空间前方交会解法