Download - INDIAN SPACE RESEARCH ORGANISATION
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*Evolution of Photogrammetric models in Data Products for ISRO RS missions
Presented during World Geo Spatial Forum- 2011Pradeep K Srivastava,Deputy Director, Signal and Image Processing,Space Applications Centre (ISRO)Ahmedabad, India
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*STEREO STRIP TRIANGULATION (SST) APPROACH
Basically SST is performed over a stereo pair of Cartosat-1 image segment by employing photogrammetric bundle adjustment technique.
InputsSST requires a primary GCP library data with accuracy better than 1 m. Major tasks under SST are
Generation of data base of Triangulated Control Points (TCPs) in stereo modeDEM generation over a strip, andImprovement of image orientation parametersComponentsTCP IdentificationGCP IdentificationRigorous Imaging Model
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* Recent Advances in Cartosat-1 Data ProcessingConjugate point identification
Identification of tie points or conjugate points is done in an automatic way by stereo image matching that uses Hierarchical Matching technique.Image Pyramids are formed by sub-sampling the original image at various scales (levels of hierarchy)Selection of optimal number of pyramids depends on the viewing angle of the stereo pair used and terrain undulations.The match points obtained in the last level are the conjugate points used for DEM generation.The process is tuned to identify, one conjugate point for every 100 m * 100 m region on ground.
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*Recent Advances in Cartosat-1 Data ProcessingTCP identification
TCPs are image points, but they may not be available on a topographic map, like in the case of GCPs. The generation of TCP database involves
Feature detection to extract candidate Matching to find the locationComputation of ground coordinatesBlunder detection Human visual confirmation
Approximately one TCP per square kilometer in Cartosat-1 stereo strip of 500 km length is selected.
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*Recent Advances in Cartosat-1 Data ProcessingRigorous Imaging Model
Cartosat-1 rigorous imaging model is based on photogrammetric collinearity conditions.
System knowledge over 52 s gap between two cameras in sighting a common GCP is utilised
Model uses onboard star sensors measurement for attitude and GPS based state vector information for orbit.
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Inertial co-ordinate system(ECI) : 2. Geocentric (Greenwich) system, Earth Centered Rotating (ECEF) 3. Local Orbital co-ordinate system: 4. Spacecraft body co-ordinate system: 5. Image co-ordinate system:
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(, , h) Object point in geodetic Everest (Ellipsoid) Frame of reference through co-ordinate transformation (Spherical to Cartesian) (X, Y, Z) in Geocentric Cartesian co-ordinate system (ECEF Everest ellipsoid) through 7 parameter datum conversion X, Y, Z in WGS 84 (ECEF Greenwich frame) rotation through sidereal angle
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X, Y, Z in Geocentric inertial system(ECI) transformation through orbital elements
X, Y, Z in local orbital co-ordinate system through attitude angles
X, Y, Z in Spacecraft body co-ordinate system tilt angles X, Y, Z in Focal Plane or Image Plane Coordinate system and interior orientation Point in image co-ordinate system s,p (scanline and pixel)
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The relation between the image and the object co-ordinate systems is expressed by a 3x3 orthogonal matrix designated by M. The nine elements of M are functions of the orientation parameters.
in which v is the vector in x, y, z system and V is the same vector in the X, Y, Z system.
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Modified collinearity condition equations for spaceborne imagery
where (x0, y0, -f) is the photo co-ordinate of principle point, (xa, ya) is the photo co-ordinate of an image point , (XA, YA, ZA) is the object space co-ordinate of the same image point and (XL, YL, ZL) is the perspective center co-ordinate in object space co-ordinate system. k is the scale factor that is equal to the ratio of the length of a to the length of A in figure 2. M is the rotation (orientation) matrix from one co-ordinate system to the other, which is a function of exterior orientation parameters.
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*Recent Advances in Cartosat-1 Data ProcessingGCP identification
GCPs are the features on ground whose precise ground coordinates are known and which are identifiable on the image.
A database having well distributed network of ground control points over Indian landmass with ground coordinates obtained using differential GPS and image chips for manual/auto correlation purpose is used for operational use.
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In-flight geometric calibration ConventionalIn-flight calibration successfully completed for Cartosat-1, Cartosat-2 & Cartosat-2A as part of initial phase exercises/ normal phase to improve the system level performanceUsing Rigorous imaging sensor model techniques with the help of Imaging sensor data (control points) Achieved accuracies New TechniquesNew techniques studied and carried out R&D exercises for utilising only a set of imaging sensors information for Cartosat-1
Promising results obtained without Control points or a few control points required for validation
Two Imaging sensors (stereo) from the same orbit of Cartosat-1 are used to derive pseudo attitude
Platform biases are estimated using only image points or with minimum controls - Photogrammetry Co-planarity Approach (with/without controls) - Photogrammetry Line based Resection method (no controls) - Accuracy achieved better than 10 pixels for Cartosat-1 - Further study and R&D efforts are on for Chandrayaan-1
SatelliteOriginal system Level (RMS in meters)Improved thro ln-flight calibration(RMS in meters)Catosat-1700 1000 m Around 100 m for both Fore and AftCartosat-21300 m Better than 50 mCartosat-2A500 700 m Better than 70 m
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National DEM from CARTOSAT-1DEM 1/3 arc-sec posting (~10m)OrthoImage 1/12 arc-sec resolution co-registered (0.1 pixel registration accuracy)15 m (CE-90) plannimetric accuracy8 m (LE-90) height accuracyDensity of match points ~ 4% using aspect-based correlation, concensus based outlier identificationAutomatic breakline identification/ incorporation through TIN modeling
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DEM generated for Himalayan region using new image matching algorithmNote : SSTS in the southern India generated using GCPL library (pink color in this region represents non availability of cloud free data )DEM Status on 27-12-2010
LEGEND SSTS run using GCPS collected from neighboring segments Not processed Outside India Completed
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Perspective view of Sonamarg
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DEM REPRESENTATION OF SONAMARG AREA IN SRINAGAR DISTRICT
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Four software packages for Chandrayaan-1 Data Processing are operationalised at ISSDC viz.,Quick Look Display (QLD) for TMC and HySI with near real time and offline optionsLevel-0/1 data processing of TMC and HySI with PDS generationData Archival in PDS standards for all the payload dataBrowse and data visualisation First day products and many special products are generated from TMC/HySI and MIS sensorsPayload Operations Centre (POC) for TMC and HySI is setup at SIPA/SAC for generating higher level products like Lunar DEM, Lunar Atlas and mosaics. This also acts as a gateway for HeX data to PRL. A high bandwidth data link is established between SAC and ISSDC and the available raw data has been transferred to SAC-POCChandrayaan-1 Data Processing L-1 DPGS s/w at ISSDC - Operations established in 3 identical chains - No. of data sets processed successfully at ISSDC : TMC 949 (1071) , HySI - 1071 (1158)
Active archive for TMC/HYSI/LLRI & AO payloads available at ISSDC
Long Term Archive (LTA) will be ready by end of 2010
Data Dissemination of TMC & HYSI from active archive available at ISSDC
DEM and Lunar Atlas generation at SAC- POC Using RPCs & COTS software, DEM generation activity from TMC is on using COTS package customisation. Indigenous software is being developed .
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Coordinate system for moon02 Feb 2010ISG 2010- Planetary Geomatics: An introduction
ISG 2010- Planetary Geomatics: An introduction
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0TMC NEAR SIDE COVERAGETMC 90 degree EAST COVERAGETMC FAR SIDE COVERAGETMC 90 degree WEST COVERAGE900180270
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Chandrayaan-1 TMC & HySI ImagesForeNadirAftForeNadirAftTMC ImageOrbit: 1936DOP: 17-04-09HySIHySIBand:16-24-32Band:49-56-64HySI ImageOrbit: 1089DOP: 07-02-09Histogram1.5 kmStrip Width: 20 km
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Chandrayaan-1 TMC IMAGE MOSAICOrbit: 35862580 3521
MOSAICDOP: 23-0411-08 10-08StripWidth: 20 km40 km 40 km0 10 km85 km
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Jawahar Sthal Seen by TMCTMC Nadir ImageOrbit: 2792DOP: 29-06-09TMC Nadir Image Overlaid on Clementine Polar ImageTMC ImageJawahar Sthal (MIP Impact Point:Lat.: - 89.76 Long.:- 39.40 )
Shackelton CraterShackelton CraterScale045 kmScale022 kmAll Projections are in Polar Stereographic Portion of SAR and MIS referenced image, with uncertainty circle (Diameter- 1km)
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Air-borne HySI RegistrationHySI bands are inherently acquired in non-registered mode. Successive bands look at the same feature at a time interval of 51.8 msec. Air-borne platforms are subjected to a high attitude rate resulting in distortion in image features due to changes in scale and orientation.The Correlation based operator is employed for visible bands and Mutual Information based operator for infra-red bandsImplemented multi-threaded registration software for speeding up computation of multi-CPU multi-core machines. Band 256 ( Reference Band)Acquired Band 100 Registered Band 100
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*Recent Advances in Cartosat-1 Data ProcessingTable 2 : SSTS model accuracyTable 3 : Accuracy of ortho products for AFT camera
S. NoModel accuracy (in pixels) (Fore)Model accuracy (in pixels) (Aft)No. of GCPs used RMS Scan RMS PixelRMS Scan RMS PixelCase 12.52.322.532Case 22.51.01.31.036Case 31.21.31.11.194
S. NoAlong error(m)Across error(m)Radial error(m)Case 13.69.610.3Case 24.48.09.1Case 37.36.39.6Case 45.56.58.5Case 53.812.813.6Case 6131016.4Case 72.73.74.6RMS(m)5.98.110.3
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*Figure 1 Cartosat-1 Strip DEM (over 500 km) generated from SSTS approachRecent Advances in Cartosat-1 Data Processing
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*Figure 2 SSTS Performance analysis (Model Error)Recent Advances in Cartosat-1 Data Processing
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1.198341.45127
1.907841.63068
1.979640.554057
2.014091.65371
0.8430451.63285
0.8613441.66094
1.707133.44663
0.998742.85798
1.075153.32317
1.263810.825615
2.746741.78407
3.389110.778642
1.524871.42999
0.5615460.891684
2.184242.20201
1.454781.3091
1.889041.16584
1.388960.657134
1.671720.826678
1.240910.951316
1.100880.152797
1.293170.879282
4.424671.61506
0.7273051.56168
0.5381220.48981
0.798820.651572
0.7205480.983084
1.018031.06712
0.658420.591596
1.075770.909229
1.29621.58254
1.091860.986351
0.8449181.50184
1.124221.19019
1.271191.17416
1.550120.44875
1.234881.42074
6.157033.75485
3.293793.11727
0.6026782.0034
0.8592590.394727
3.421472.23395
1.542941.88301
1.67781.81067
1.550011.81296
1.538471.45049
1.24122.09853
1.104681.32385
0.9670090.950037
1.049981.66561
1.734662.37945
1.360391.69973
2.074051.39097
2.232340.96785
1.375971.6298
1.129431.95587
2.720441.73163
1.965881.50025
1.300652.22769
1.795841.70492
2.542871.81526
0.773721.92915
1.314960.996789
1.945811.05057
1.134630.625186
2.026791.23779
1.553171.14447
1.834061.92143
2.668691.23945
1.597841.60502
1.076361.05969
2.231771.66048
1.207650.614606
1.20511.15831
0.9984140.952242
2.631881.43664
2.612131.5028
0.6248641.56401
1.233551.48491
1.391710.620477
2.049881.53163
2.469131.58589
1.665650.699539
2.258824.08375
1.263941.65826
7.081422.18763
5.893091.98941
1.389072.82524
0.3668430.741906
0.8828490.74284
1.622631.28658
1.551482.02887
1.454760.547085
1.471282.76356
2.845222.02136
2.15331.99419
1.669010.424706
1.930662.59403
0.2206481.09518
1.251581.50832
1.33950.953416
2.220950.562783
0.5254220.885288
1.184881.32498
0.9636381.52503
1.212571.68271
2.446143.02854
1.237510.133867
1.696261.15872
0.7468640.656188
1.938710.650534
1.840631.54576
0.8596081.95736
1.140991.42982
2.222361.84032
2.49481.51326
3.587352.11327
1.330321.61378
1.119590.508491
1.831051.3551
1.079030.459337
1.486220.983207
1.625781.39803
1.106911.27381
3.824960.790541
1.870722.27925
0.8999911.22468
1.264620.6124
0.8188290.396135
1.455311.0915
1.250620.469383
2.104581.38542
2.42291.59046
1.228180.479053
1.488780.88971
1.916251.27715
1.225620.864967
1.34440.727817
1.997751.44517
2.264561.45024
1.627520.924704
2.212720.945883
0.805510.586568
1.788520.737955
1.552661.20457
1.67721.56961
1.754691.64253
0.9314240.297131
1.304221.72536
1.802571.29016
1.251531.83259
1.056511.37033
2.276221.19873
1.524880.433376
1.616551.05204
3.378641.30576
1.762370.92356
1.003310.756464
3.240611.17672
1.378870.603691
1.291842.22545
1.707250.618532
1.527350.39888
1.447050.50954
1.948830.818545
0.6095740.503641
3.408712.01557
2.060630.705701
3.176711.26313
3.396831.4424
1.823071.2922
0.5369780.0915327
1.803420.795877
1.676081.98215
1.373530.623721
1.601190.958686
2.125741.11442
1.693141.29729
2.327191.77178
1.264811.18969
1.278090.042027
1.684261.93427
1.644771.20542
2.394981.45662
2.532521.52086
1.988520.969303
1.654820.7441
2.276931.09916
2.361553.52776
1.057861.49134
1.535141.98118
2.007750.997205
2.254621.21395
3.708412.19712
2.266021.68789
1.373791.02245
1.242251.53034
2.168271.16622
1.230731.99063
0.3228970.420235
0.4334210.745646
RMS erros scan
RMS error pixel
Date of Pass
RMS errors
Segment_SST_between_Date_of_Pas
Path NoOrbit NoDate of PassSeg NoStart RowEnd RowNo. Of GCPs AvailNo. Of GCPs IdNo. Of TCPs GenRMSRMSMeanMeanStdStd
5161205/13/05 0:00230231322218331.394752.30177-0.9170580.2435571.050872.28884
5161205/13/05 0:001255270135251001.971935.27037-0.1409920.09506241.966895.26951
5391055/12/05 0:0043163301514286976.878295.50005-2.893540.07042636.240065.4996
5253575/29/05 0:0012552573221170.9829853.448690.02682040.04954910.9826193.44833
5253575/29/05 0:0022612656496472.444253.86168-0.3121220.137612.424243.85922
5015356/10/05 0:002274289179110027.838076.66112-2.277970.1059047.499746.66028
5016986/21/05 0:0012622633338231.558761.87949-0.1578110.08768391.550751.87744
5491795/17/05 0:001270285115328254.684733.593670.9424770.04247374.588953.59342
5491795/17/05 0:002285301167297315.099488.05082.137860.1499214.629718.0494
5491795/17/05 0:003301317147331985.485537.079514.265640.2817853.448967.0739
5142835/24/05 0:001250265169282704.689032.68362-0.6159860.1611274.648392.67877
5261945/18/05 0:002272288145339011.809422.301140.2174150.2163041.796312.29095
5261945/18/05 0:003288304147347012.400411.921680.8200280.1130062.255991.91836
52111727/23/05 0:0012672692233195.955120.528468-1.040660.08126185.863490.522183
52111727/23/05 0:002272283119181013.276192.60228-1.090520.1022253.089372.60028
5142835/24/05 0:0022652811612340006.820889.221361.30650.85272110.839.21577
5142835/24/05 0:0032812971410309885.746336.39717-10.120641.884123.9699125.238
5142835/24/05 0:0042973111212256606.420396.64803-6.1779634.991119.7333116.21
61212757/30/05 0:001272275221444453.246685.303272.6146-0.0986569.949715.13951
4931355/14/05 0:00127128632113744.9243.35781-0.0624794-0.02268774.92363.35773
509465/8/05 0:0012472621615330167.39194.96033-8.83536-35.548722.5336134.088
5731645/16/05 0:0012772921312314457.992952.63616-18.7974-43.732679.1216145.604
5483425/28/05 0:003305320123292771.303070.317334-0.260570.04625431.276750.313945
5483425/28/05 0:004320328104145953.298016.75044-0.9743540.05180963.150796.75024
5483425/28/05 0:00533434013838108132.314574.09636-0.754033-2.332739.967868.88291
5483425/28/05 0:002289302148260125.783472.464641.0170.1803475.693352.45803
5483425/28/05 0:001274289139318135.541472.01604-1.206390.08973065.408562.01404
5585796/13/05 0:002287300137117415.597264.55433-1.020120.2584075.503524.54699
5585796/13/05 0:00331532354127052.892829.2901-0.3328740.1378712.87369.28907
5585796/13/05 0:0012722871711214933.452222.55049-3.419582.633357.076218.30257
5136096/15/05 0:00124626153315381.180640.17730.03480820.05748641.180120.167722
5136096/15/05 0:002261277208306684.483454.90845-1.328820.1611874.2824.90581
5391055/12/05 0:0012692842016333906.464914.10988-1.883328.818665.9931733.9396
5815646/12/05 0:001276291157240729.452614.18688-1.022940.305639.39714.17571
546269811/3/05 0:0012742891510299136.050872.85214-1.015630.348025.965032.83083
546269811/3/05 0:0022893051410309343.310042.69733-1.1437-0.08103293.106172.69611
546269811/3/05 0:003305319117273383.960752.62193-1.949770.03069033.44762.62175
556293511/19/05 0:0012732881511311383.613321.45182-1.04174-0.03840143.45991.45131
556293511/19/05 0:00330432076296895.741321.81338-3.03578-0.1642974.873071.80592
523271311/4/05 0:00531132476253030.6094260.685559-0.21774-0.01416020.5692010.685413
523271311/4/05 0:0042953111410294343.921344.34828-1.235030.02948233.721774.34818
556293511/19/05 0:0022883041211335342.808652.15285-1.08686-0.006350482.589842.15284
603274211/6/05 0:00127428176133771.343653.61748-0.0226118-0.005422911.343463.61747
569268311/2/05 0:0012752848791242.709052.17451-0.09257450.07754272.707472.17313
523271311/4/05 0:00124826373107534.285325.77695-1.104260.05757554.14065.77666
512263910/30/05 0:0032712871513345552.91681.87506-1.117150.03705742.694381.8747
512263910/30/05 0:00428730333304890.3606380.3079040.001034630.002446240.3606370.307894
512263910/30/05 0:0022552711512342222.771041.59115-1.00631-0.03692332.581861.59072
512263910/30/05 0:00124825577144001.177981.0126-0.134408-0.01291851.170291.01252
523271311/4/05 0:0032792951514326803.6054.49363-1.74946-0.06043333.152054.49322
560228310/6/05 0:00127728374127751.421560.555378-0.341273-0.005486621.379990.555351
559244610/17/05 0:00127728387119883.813021.44951-0.3601510.1653823.795981.44005
58421059/24/05 0:0012892913337963.539211.801540.217524-0.1826953.532521.79226
523271311/4/05 0:002263279133122272031.173081.35122-0.0249769-0.0311981.172811.35086
583226810/5/05 0:0012902943388040.2837010.179128-0.1898450.01286850.2108210.178665
500272811/5/05 0:00228228833130565.724680.212030.7485750.02586225.675530.210447
500272811/5/05 0:00328830066204612.418452.71417-0.7658670.05544712.293982.71361
500272811/5/05 0:0012672821612294095.345376.2832-2.13407-0.01718894.900896.28317
534278711/9/05 0:0043043201411271174.735470.985421-2.36130.05084714.104750.984108
534278711/9/05 0:001257272116253914.628924.79448-2.184510.1141264.081034.79312
534278711/9/05 0:0022722881511307755.520321.42067-3.16360.003248034.52391.42067
534278711/9/05 0:0032883041511289714.403944.21895-2.774060.02042233.420424.2189
580275711/7/05 0:00229730533140097.065082.997321.05179-0.04028616.986352.99705
510296511/21/05 0:00124725366128782.89381.588150.0258004-0.01046292.893681.58812
545286111/14/05 0:0053373427596912.543981.77959-0.2919690.01058772.527171.77956
545286111/14/05 0:0012742891312311332.40671.95703-0.8415720.006503962.254771.95702
545286111/14/05 0:0022893051414312923.049581.93417-0.8948160.01501352.915341.93411
510296511/21/05 0:00428529855261741.722880.909942-0.0787553-0.04997921.721080.908569
510296511/21/05 0:0032692851610343146.584186.77582-2.197670.01775326.206586.7758
510296511/21/05 0:0022532691512329813.570141.2636-1.79158-0.05630313.088071.26235
567300911/24/05 0:0012782857797611.196391.63013-0.2405960.01244781.171951.63008
567300911/24/05 0:002285301119228592.539621.00804-1.3288-0.02037032.164241.00784
545286111/14/05 0:004321337138110300631.407082.30378-0.00271108-0.01313891.407072.30374
557277211/8/05 0:002288304139323695.953781.67194-0.3842260.02111325.941371.6718
557277211/8/05 0:001273288128312952.461172.43878-0.5886330.03632272.389742.43851
557277211/8/05 0:00330431944292764.485430.981521-0.731278-0.1626814.425410.967946
579292011/18/05 0:00229230596260323.980681.82847-1.66162-0.03751623.617291.82809
579292011/18/05 0:001277292137299052.524492.49677-1.2577-0.02260132.188892.49666
521303911/26/05 0:001259269109178742.410322.92484-0.7269130.001173522.298092.92484
521303911/26/05 0:0022712861311283923.18231.37471-1.45550.02147112.829941.37455
578308311/29/05 0:00127628897210833.361552.34395-1.19948-0.01631543.140272.34389
578308311/29/05 0:00229129975172203.053060.691615-0.000498440.09632093.053060.684875
555309811/30/05 0:001273288118312181.496861.6894-0.3615020.005733081.452561.68939
555309811/30/05 0:002288304138334972.439350.76132-0.895321-0.02174492.26910.761009
509312812/2/05 0:0012472621413286903.647023.47929-1.287990.04197293.412013.47904
532311312/1/05 0:00332233386221782.547794.17002-0.7587870.01515652.432174.16999
509312812/2/05 0:0032782941312323456.869444.08-0.9544920.01649836.80284.07997
509312812/2/05 0:0022622781612339623.975323.40686-1.686390.03936863.599893.40663
532311312/1/05 0:0012572645382165.838324.11877-1.893090.07553765.522884.11808
532311312/1/05 0:0023073221413286703.324031.89703-1.54103-0.02819772.945241.89682
5476686/19/05 0:001272287125321315.740482.52842-0.6707760.1160725.701152.52575
5355946/14/05 0:00125627182210981.024660.689532-0.00438364-0.004527861.024650.689517
5355946/14/05 0:003271283108244512.79862.61205-1.351530.197212.450622.60459
49615138/15/05 0:0012752772244810.7579120.00612867-0.039941-0.004180170.7568590.00448183
55413948/7/05 0:001332347118306243.409273.62504-1.584780.08792093.018543.62397
5475056/8/05 0:0033133198464144313.199454.023832.58699-0.81578635.64713.4825
5476686/19/05 0:002287303147319233.040954.26009-29.25181.7827868.81785.63127
52917358/30/05 0:0022752911412297153.690881.97729-10.3259-7.3908429.120824.9295
52917358/30/05 0:0032912943238054.67890.616908-0.7407690.07624744.619890.612177
5023725/30/05 0:0032832961010257372.636851.64378-0.488040.03192982.591291.64347
5023725/30/05 0:001259274179299336.328623.63308-0.7678180.1904666.281873.62808
5475056/8/05 0:001276289148264103.611545.63061-1.302870.04450243.368345.63043
5475056/8/05 0:0022933081411302145.123944.19968-2.235580.1218544.610524.19792
5134466/4/05 0:0012462611410244182.300463.05482-1.165370.1586372.001573.04859
5134466/4/05 0:0022612771919330245.105512.7755-2.129840.08973934.640052.77405
5134466/4/05 0:0032792941815293933.595894.68197-1.550730.1502463.244334.67956
5134466/4/05 0:0042942975466463.212766.46961-0.4410540.1350273.182346.4682
5134466/4/05 0:0053003033363932.87196.62003-0.2717640.1980142.859016.61707
536246110/18/05 0:00126027588288492.104481.51701-0.586376-0.0129672.021131.51696
549220910/1/05 0:0012752901514294335.761446.55019-1.618550.0446075.529426.55004
549220910/1/05 0:00229030675281752.718381.08282-1.03512-0.07929462.513581.07991
549220910/1/05 0:00330632193202331.40080.916675-0.515120.02374361.302650.916367
524255010/24/05 0:0012492568836343.426860.819817-1.03866-0.009612143.265670.81976
524255010/24/05 0:0022582732715216183.863211.94687-1.458610.4031053.577271.90468
524255010/24/05 0:00327328496222942.907954.91859-1.17792-0.09300132.65874.91771
524255010/24/05 0:0042942964352846.150850.891640.3571370.1694836.140470.875384
524255010/24/05 0:0052993033391321.809477.33217-0.0720782-0.00456021.808037.33217
524255010/24/05 0:006306320139258333.570321.92048-1.59314-0.03094083.195171.92023
558260910/28/05 0:0012732795366773.4992.765450.0661046-0.08133343.498382.76426
558260910/28/05 0:0022912954380023.099450.593536-0.73231-0.0189953.011690.593232
502240210/14/05 0:0012652801817312102.1151.03675-1.01525-0.05414191.855391.03533
502240210/14/05 0:00228028786163452.287522.09799-0.583002-0.08853242.211982.09612
502240210/14/05 0:00328930173198421.686860.706917-0.2521480.02272911.667910.706552
51521509/27/05 0:0012532671311270302.911111.86577-1.3727-0.002299172.567151.86577
51619879/16/05 0:0012512533341272.985985.933510.0470746-0.1189322.985615.93231
53821359/26/05 0:0012752784358220.4637270.335410.07418320.003780580.4577550.335389
503223910/3/05 0:00126127697315507.821864.59027-0.8716030.04012197.773144.5901
503223910/3/05 0:0022762921610349533.658414.95621-0.442325-0.02514783.631574.95614
536246110/18/05 0:00227528033115810.7957110.209316-0.119271-0.02673230.7867210.207602
536246110/18/05 0:0032832853356901.361741.29095-0.140109-0.01544851.354521.29086
547253510/23/05 0:0013013161311259773.347770.998923-1.62094-0.04613282.929180.997857
547253510/23/05 0:0023163196549173.3499.19073-0.2299010.06811873.34119.19048
514231310/8/05 0:0012462611511227092.392590.829332-1.20857-0.02316392.06490.829009
514231310/8/05 0:0022612771412356783.842962.5371-1.46065-0.05181043.554552.53657
514231310/8/05 0:0032772931615338853.531071.9105-1.77776-0.04550023.050911.90996
514231310/8/05 0:00429330855293971.455471.26729-0.316516-0.001192511.420631.26729
5594166/2/05 0:0012752901612324102.149592.06878-0.7078790.08074632.02972.0672
566317212/5/05 0:00330331665226914.787071.09222-0.530436-0.07762484.757591.08946
566317212/5/05 0:001279287107174201.881498.5155-0.388421-0.05769341.840968.5153
566317212/5/05 0:002287303119330383.156163.59046-1.105590.02051762.956183.5904
520320212/7/05 0:003282298149343493.646061.66058-1.67738-0.001572543.237311.66058
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