本文主要利用4×4齊次座標轉換矩陣與幾何光學Snell定理，推導歪斜光線追蹤法。利用歪斜光線追蹤法，推導鏡片位姿靈敏度的公式和楔形稜鏡像差公式的建模與分析。
鏡片位姿靈敏度分析在光學系統的設計過程相當重要，鏡片位姿靈敏度分析，可探討單一光學邊界旋轉及移動對光路的影響。通常一光學系統皆由許多光學元件組合而成，且每一光學元件皆有其位姿靈敏度。累乘每個光學系統的位姿靈敏度，就可得知整個系統的位姿靈敏度。
匯聚光經過楔形稜鏡後，通常會產生像差。本文分別以賽得像差理論和歪斜光線追蹤法建立楔形稜鏡的像差模型。對匯聚光楔形稜鏡系統的像差現象進行分析，並以成像面的光線點陣圖來驗證模型的準確度。

　　The purpose of this paper is to derive the geometrical sensitivity analysis of optical’s pose and analysis and model the formula of wedge prism aberratioin. This method is derived from 4×4 homogeneous coordinate transformation matrix and geometrical optics Snell’s law.
The geometrical sensitivity analysis of optical’s pose is important in optical system design, because the geometrical sensitivity analysis of optical’s pose can know the influence of optical path caused by the rotating and moveing of one optical element.Optical system is consist of many optical element, and every optical element has sensitivity .We can know the sensitivity of whole optical system by multiply every optical element’s sensitivity.
It introduces aberration in most configurations after convergent light has pass through wedge prism.In this paper, seidel prism aberration formula and formula derived by using ray tracing are prented. The phenomenon of prism aberration is analysised. Spot diagram in the image plan is presented for testing and verifying the accuracy of model.

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