Lever arm calculating algorithm for efficient and precise vector determinations

In the orthophoto processing one of the key steps is the aerial triangulation during which the exterior orientation coefficients of the photographs are determined by adjustment. In order to be able to do this with sufficient accuracy, in addition to knowing the internal orientation elements of the cameras, we need the eccentricity vectors of the GNSS antennas, IMU and sensors determined in relation to each other, i.e. the lever arms. Characteristic points of the airplane and the installed instruments are measured using 3D polar method, while vectors are traditionally determined using a geometric technique. In this paper we will present an algorithm which uses an analytical geometric approach for much quicker and more precise results.