CN104748730B - Determine the device at aerial survey camera exposure moment in unmanned plane - Google Patents
Determine the device at aerial survey camera exposure moment in unmanned plane Download PDFInfo
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- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
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Abstract
The present invention relates to unmanned plane field of aerial photography measurement; specifically protect a kind of device for determining the aerial survey camera exposure moment in unmanned plane; including the system for flight control computer, aviation measuring camera and the GNSS system that are linked in sequence; the system for flight control computer is according to spectrum assignment information set in advance; generate the first exposure signal; the aviation measuring camera is exposed according to first exposure signal; synchronizing signal is generated simultaneously, and the GNSS system determines the accurate time of exposure of the aviation measuring camera according to the synchronizing signal.The present invention also protects a kind of accurate method for determining the aerial survey camera exposure moment in unmanned plane; by the apparatus and method; the accurate technical barrier for determining the industrial digital cameral exposure moment is solved, greatly improve carries out the accuracy that later stage interpolation resolves the elements of exterior orientation of aerial survey photo using GNSS system data.
Description
Technical field
It is specifically a kind of to determine aviation measuring camera exposure in unmanned plane the present invention relates to unmanned plane field of aerial photography measurement
The device and method at light moment.
Background technology
In the prior art, the precise time information at digital cameral exposure moment is not in the work of unmanned plane aerophotogrammetry
The moment of record or the exposed pulse signal for sending system for flight control computer, as the camera exposure moment, does not consider that camera exposes
The problem of light delay, is unable to accurately reflect the camera exposure moment.Do not have accurate temporal information be impossible to accurately
Coordinate information carry out effective matching association, this allows for aerophotogrammetry needs the substantial amounts of ground photo control point to carry out precision
Support, for example, GPS (Global Positioning System, global positioning system) frequency is generally 4HZ or so, and nobody
Machine is typically the non-stop flight in the speed of 30m/s or so, and this temporal information for allowing for GPS records has quite with coordinate information
Big gap, and the exposure information that GPS gives implements exposure actions also for some time to camera, and now aircraft has been in the air
Displacement is there occurs, so now the temporal information of GPS records is not the temporal information that camera really exposes.The patent No.
In CN201310012924.9, disclose a kind of small-sized aviation measuring camera exposure signal of unmanned plane and obtain in real time and recording method,
Camera exposure signal is obtained at curtain from before camera shutter, and the temporal information of this signal is recorded as camera exposure by GPS device
Moment, but due in the method camera exposure signal be to draw and be connected in GPS device from the preceding curtain position of camera internal, because
This structure is more complicated, and camera shutter is easily subject to signal to disturb and cause shutter operating error, so as to further influence event
The precision of record, therefore the method still cannot well solve the skill of the accurate measure at aerial survey camera exposure moment in unmanned plane
Art problem.
The content of the invention
In view of this, it is an object of the invention to provide it is a kind of determine unmanned plane in the aerial survey camera exposure moment device and
Method, to solve above-mentioned problem and shortage and provide at least advantages described below.
In a first aspect, the embodiment of the invention provides a kind of device for determining the aerial survey camera exposure moment in unmanned plane, bag
Include：(Global Navigation Satellite System, i.e. the whole world is led for system for flight control computer, aviation measuring camera and GNSS
Boat satellite system) system；The system for flight control computer, the aviation measuring camera and the GNSS system sequential series；The unmanned plane flies control
System is used to, according to spectrum assignment information set in advance, generate the first exposure signal；The aviation measuring camera be used for according to this first
Exposure signal is exposed, while generating synchronizing signal；The GNSS system is used to determine the aviation measuring camera according to the synchronizing signal
The accurate time of exposure.
Preferably, the GNSS system includes base modules and correction verification module；The system for flight control computer is used for should in generation
During the first exposure signal, while generating the second exposure signal, and second exposure signal is sent to the base modules；The benchmark
Module is used to determine according to second exposure signal benchmark time of exposure of the aviation measuring camera, and the benchmark time of exposure is sent
Give the correction verification module；The correction verification module is used for when between the benchmark time of exposure and the moment for getting the synchronizing signal
Time difference be less than default standard time difference when, using the moment of the synchronizing signal as the aviation measuring camera accurate exposure
Moment.
Preferably, the correction verification module includes difference unit and comparing unit；The difference unit is used to calculate benchmark exposure
Time difference between moment and the moment for getting the synchronizing signal, and the time difference is sent to the comparing unit；Should
Comparing unit is used to be compared the time difference with default standard time difference, if the time difference is less than the standard
Between difference, then will get the moment of the synchronizing signal as the accurate time of exposure of the aviation measuring camera, otherwise by the benchmark expose
The light moment as the aviation measuring camera the accurate time of exposure.
Further, the GNSS system is double frequency GNSS or GNSS/IMU system.
Further, the above-mentioned accurate device for determining the aerial survey camera exposure moment in unmanned plane can include：Wirelessly draw sudden strain of a muscle
Device, for producing the synchronizing signal when the aviation measuring camera is exposed.
Preferably, the above-mentioned accurate device for determining the aerial survey camera exposure moment in unmanned plane can include：Signal amplifier,
The signal synchronously produced in hot shoe signalling contact or pc port during for the aviation measuring camera to be exposed is amplified, and defeated
Go out the synchronizing signal.
Preferably, the aviation measuring camera is exposed when the first heavy curtain is opened.
Preferably, the aviation measuring camera is industrial digital camera.
Second aspect, the embodiment of the present invention additionally provides a kind of accurate side for determining the aerial survey camera exposure moment in unmanned plane
Method, including：System for flight control computer generates the first exposure signal according to spectrum assignment information set in advance, and by this first
Exposure signal is sent to aviation measuring camera；The aviation measuring camera is exposed according to first exposure signal, while synchronizing signal is generated,
And the synchronizing signal is sent to GNSS system；The GNSS system determines the accurate exposure of the aviation measuring camera according to the synchronizing signal
The light moment.
Preferably, the above method also includes that system for flight control computer is calculated according to the accurate time of exposure of the aviation measuring camera
The elements of exterior orientation of aerial survey photo.
The accurate device and method for determining the aerial survey camera exposure moment in unmanned plane provided in an embodiment of the present invention, using boat
Survey after being processed in the signal that camera external sync is produced and to it when camera performs exposure actions and be sent to GNSS system,
So as to accurately determine the accurate time of exposure of aviation measuring camera, the precision of logout is substantially increased, as image
The initial value of elements of exterior orientation, considerably reduces in influence processing procedure to the degree of dependence of ground control point, can accomplish nothing
Control or a small amount of control point.
To enable the above objects, features and advantages of the present invention to become apparent, preferred embodiment cited below particularly, and coordinate
Appended accompanying drawing, is described in detail below.
Brief description of the drawings
Technical scheme in order to illustrate more clearly the embodiments of the present invention, below will be attached to what is used needed for embodiment
Figure is briefly described, it will be appreciated that the following drawings illustrate only certain embodiments of the present invention, thus be not construed as it is right
The restriction of scope, for those of ordinary skill in the art, on the premise of not paying creative work, can also be according to this
A little accompanying drawings obtain other related accompanying drawings.
Fig. 1 shows a kind of device for determining the aerial survey camera exposure moment in unmanned plane in the prior art；
Fig. 2 shows the dress at aerial survey camera exposure moment in a kind of accurate measure unmanned plane that the embodiment of the present invention is provided
Put；
Fig. 3 show that the embodiment of the present invention provided second be accurate to determine the aerial survey camera exposure moment in unmanned plane
Device；
Fig. 4 (a) and (b) respectively illustrate a kind of first exposure signal that the embodiment of the present invention provided and synchronizing signal
Waveform；
Fig. 5 shows the side at aerial survey camera exposure moment in a kind of accurate measure unmanned plane that the embodiment of the present invention is provided
Method.
1 system for flight control computer
2 GNSS systems
3 aviation measuring cameras
11 IMU/GNSS systems
12 base modules
13 correction verification modules
14 difference units
15 comparing units
Specific embodiment
Below in conjunction with accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete
Ground description, it is clear that described embodiment is only a part of embodiment of the invention, rather than whole embodiments.Generally exist
The component of the embodiment of the present invention described and illustrated in accompanying drawing can be arranged and designed with a variety of configurations herein.Cause
This, the detailed description of the embodiments of the invention to providing in the accompanying drawings is not intended to limit claimed invention below
Scope, but it is merely representative of selected embodiment of the invention.Based on embodiments of the invention, those skilled in the art are not doing
The every other embodiment obtained on the premise of going out creative work, belongs to the scope of protection of the invention.
As shown in Figure 1 in the prior art it is a kind of determine unmanned plane in the aerial survey camera exposure moment device, in the device,
System for flight control computer 1 exports the synchronous camera exposure pulse signal of two-way according to spectrum assignment information set in advance, wherein
Camera 3 is sent to all the way for controlling camera 3 to be exposed action, GNSS system is sent to all the way in addition, records the pulse
Arrive the moment, and using the arrival moment of the pulse as the camera exposure moment.The device does not consider exposed pulse signal in system
Transmission delay in circuit, the problem that the camera exposure that production technology causes in itself postpones is not considered yet, therefore the pulse is arrived
Carrying out the moment can not accurately reflect the actual exposure moment of camera.
The aerial survey camera exposure moment in the accurate measure unmanned plane of one kind of offer according to embodiments of the present invention is provided
Device, including：System for flight control computer 1, aviation measuring camera 3 and GNSS system 2, and system for flight control computer 1, aviation measuring camera 3
With the sequential series of GNSS system 2, the spectrum assignment letter of aviation measuring camera 3 is manually set wherein in system for flight control computer 1 in advance
Breath, system for flight control computer 1 generates the first exposure signal according to the spectrum assignment information, and first exposure signal is sent to
Aviation measuring camera 3, aviation measuring camera 3 is exposed action according to first exposure signal, at the same generation with perform exposure actions when
Identical synchronizing signal is carved, and the synchronizing signal is sent to GNSS system 2, GNSS system 2 is according to receiving the synchronizing signal
Moment, determine the accurate time of exposure of aviation measuring camera 3, the present embodiment can will preferably receive the moment of the synchronizing signal
As the accurate time of exposure of aviation measuring camera 3.Wherein, GNSS system 2 for example can be double frequency GNSS system, or IMU/GNSS
(IMU, Inertia Measurement Unit, Inertial Measurement Unit) system, can also be gps system, Glonass
(GLOBAL NAVIGATION SATELLITE SYSTEM, GLONASS satellite navigation system), Galileo (Galileo
Positioning System, GALILEO positioning system), Beidou satellite navigation system.
Fig. 3 show that the embodiment of the present invention provided second be accurate to determine the aerial survey camera exposure moment in unmanned plane
Device, illustrates in the embodiment by taking IMU/GNSS systems as an example.IMU/GNSS systems 11 can for example include base modules
12 and correction verification module 13.System for flight control computer 1 is also generated and first exposure signal simultaneously when the first exposure signal is generated
The second synchronous exposure signal, and second exposure signal is sent to the base modules 12, base modules 12 are used for basis should
Second exposure signal determines the benchmark time of exposure of aviation measuring camera 3, and the benchmark time of exposure is sent into correction verification module 13, school
The moment that module 13 is tested for the above-mentioned synchronizing signal according to the benchmark time of exposure to getting verifies, to determine aerial survey
The accurate time of exposure of camera 3, when the time difference between the benchmark time of exposure and the moment for getting the synchronizing signal is small
When default standard time difference, using the moment of the synchronizing signal as aviation measuring camera 3 the accurate time of exposure.The present embodiment
In, correction verification module 13 can also for example include difference unit 14 and comparing unit 15, and wherein difference unit 14 is used to calculate the base
Time difference between the quasi- time of exposure and the moment for getting the synchronizing signal, and the time difference is sent to comparing unit
15, comparing unit 15 is used to be compared the time difference with default standard time difference, if the time difference is less than being somebody's turn to do
Standard time difference, then will get the moment of the synchronizing signal as the accurate time of exposure of aviation measuring camera 3, otherwise by the base
The quasi- time of exposure as aviation measuring camera 3 the accurate time of exposure.
A kind of preferred first exposure of the system for flight control computer generation that (a) is provided by the embodiment of the present invention in Fig. 4
The waveform of signal, first exposure signal can be such as 0-3.3V square wave arteries and veins that aviation measuring camera 3 and GNSS system 2 can be received
The trailing edge or rising edge of punching, preferably trailing edge, shown in such as Fig. 4 (a), or other forms pulse, the present invention is real
Applying example does not carry out concrete restriction to this.In Fig. 4 (b) be it is corresponding with (a) in Fig. 4 wirelessly draw dodge a kind of synchronizing signal for sending of device
Waveform.Wherein transverse axis is time shaft, and the longitudinal axis is voltage axis.The present embodiment will combine Fig. 4 on the basis of Fig. 3, to being provided
Second accurate device for determining the aerial survey camera exposure moment in unmanned plane be described in detail.
As shown in figure 3, system for flight control computer 1, aviation measuring camera 3 and the sequential series of IMU/GNSS systems 11, unmanned plane flies
The spectrum assignment information of aviation measuring camera 3 is manually set in control system 1 in advance, system for flight control computer 1 is according to the spectrum assignment
Information generates the first exposure signal in Fig. 4 (a), and first exposure signal is sent into aviation measuring camera 3, during t1 moment this
The trailing edge of one exposure signal is sent by system for flight control computer 1, by after one section of delay of △ t times, aviation measuring camera 3 is in t2
Moment receives the trailing edge of first exposure signal, while the shutter of aviation measuring camera 3 such as the first heavy curtain is opened and is exposed
Action, while generating the letter with the timing synchronization for performing the exposure actions at its such as hot shoe signalling contact or pc port
Number, such as by taking Nikon D800 cameras as an example, the signal is a 0-0.6V square wave, and the signal is drawn by the wireless sudden strain of a muscle device that draws, and
The synchronizing signal for turning into 0-3.3V after device transmitter is amplified is dodged by wirelessly drawing, shown in such as Fig. 4 (b), by wirelessly drawing
The signalling contact position external wire of device transmitter is dodged, or device transmitter wireless transmitting function in itself is dodged using wirelessly drawing,
The synchronizing signal is drawn and the difference unit 14 in correction verification module 13 is sent to.The other signal can also be amplified by such as signal
Device is amplified, to facilitate IMU/GNSS systems 11 to recognize.System for flight control computer 1 is also same when the first exposure signal is generated
The second Shi Shengcheng synchronous with first exposure signal exposure signal, and second exposure signal is sent to base modules 12,
Base modules 12 determine the benchmark time of exposure of aviation measuring camera 3 according to second exposure signal, and the benchmark time of exposure is sent out
The difference unit 14 in correction verification module 13 is given, difference unit 14 is according to the benchmark time of exposure and the above-mentioned synchronous letter for getting
Number, calculate the benchmark time of exposure and get the synchronizing signal moment between time difference, and by the time difference hair
Give comparing unit 15.With default standard time difference be compared the time difference by comparing unit 15, to determine aerial survey
The accurate time of exposure of camera 3, such as default standard time difference is 30ms, then can be set to comparing unit 15：When this
When time difference is not more than 30ms, the moment of the synchronizing signal as the accurate time of exposure of aviation measuring camera 3 will be got, otherwise
When the time difference is more than 30ms, then IMU/GNSS systems 11 think that exception occurs in the moment of the synchronizing signal for obtaining, now
Using the benchmark time of exposure as aviation measuring camera 3 the accurate time of exposure, because the benchmark time of exposure has certainty but shortage
Accuracy, and the moment for getting the synchronizing signal has accuracy but deficient in stability, therefore the dress for passing through the embodiment
Put, the precision of logout can be brought up to rank within 30ms, be that precision basis, Ke Yi great are established in follow-up treatment work
Big lifting carries out the accuracy that later stage interpolation resolves the elements of exterior orientation of aerial survey photo using GNSS system data.
In the embodiment of the present invention, aviation measuring camera 3 for example can be industrial CCD digital camera, or the digital phases of industry CMOS
Machine, can also be civil digital camera etc..
The aerial survey camera exposure moment in a kind of accurate measure unmanned plane for showing that the embodiment of the present invention is provided in Fig. 5
The flow chart of method, specifically includes following steps：
Step S102, system for flight control computer generates the first exposure signal according to spectrum assignment information set in advance, and
First exposure signal is sent to aviation measuring camera；First exposure control signal can be aviation measuring camera 3 and the energy of GNSS system 2
The trailing edge or rising edge of enough such as 0-3.3V square-wave pulses for receiving, preferably trailing edge, shown in such as Fig. 4 (a), or
The pulse of other forms, the embodiment of the present invention does not carry out concrete restriction to this.
Step S104, the aviation measuring camera is exposed according to first exposure signal, while synchronizing signal is generated, and should
Synchronizing signal is sent to GNSS system；When aviation measuring camera 3 receives first exposure signal, the shutter such as of aviation measuring camera 3
One heavy curtain is opened and carries out exposure actions, while being generated at its such as hot shoe signalling contact or pc port and carrying out the exposure
The signal of the timing synchronization of action, such as by taking Nikon D800 cameras as an example, the signal is a 0-0.6V square wave, and the signal passes through
The wireless sudden strain of a muscle device that draws is drawn, and dodges the synchronizing signal for turning into 0-3.3V after device transmitter is amplified, such as Fig. 4 (b) by wirelessly drawing
It is shown, by wirelessly drawing the signalling contact position external wire for dodging device transmitter, or draw sudden strain of a muscle device transmitter sheet using wireless
The wireless transmitting function of body, the synchronizing signal is drawn and the GNSS system 2 is sent to.
Step S106, the GNSS system determines the accurate time of exposure of the aviation measuring camera according to the synchronizing signal.Specifically
Ground, GNSS system 2 according to the synchronizing signal, when will receive the moment of the synchronizing signal as the accurate exposure of aviation measuring camera 3
Carve.Or system for flight control computer can also generate the second exposure signal while the first exposure signal is generated, and by this
Two exposure signals are sent to GNSS system 2, and GNSS system 2 will receive moment of second exposure signal as aviation measuring camera 3
The benchmark time of exposure, GNSS system 2 is by between moment for calculating the benchmark time of exposure and getting the synchronizing signal
Time difference, and the time difference is compared with default standard time difference, if the time difference is less than the standard
Between difference, then will get the moment of the synchronizing signal as the accurate time of exposure of aviation measuring camera 3, otherwise by the benchmark expose
Moment, as the accurate time of exposure of aviation measuring camera 3, because the benchmark time of exposure has certainty but lacks accuracy, and obtains
Moment to the synchronizing signal has accuracy but deficient in stability, therefore the method for passing through the embodiment, is greatly improved thing
The precision of part record.For example assume the cruising flight speed 100km/h of unmanned plane, the camera exposure moment determined by the method
More accurate than prior art 50ms, the then camera exposure positional precision for calculating can improve about 1.4 meters, greatly improve profit
The accuracy that later stage interpolation resolves the elements of exterior orientation of aerial survey photo is carried out with GNSS system data..
In addition, the embodiment of the present invention additionally provides a kind of computational methods of aerial survey elements of exterior orientation, including：According to boat
The synchronizing signal produced when camera 3 is exposed, and the predetermined benchmark time of exposure are surveyed, the accurate of aviation measuring camera 3 is determined
The time of exposure；According to the accurate time of exposure of the aviation measuring camera 3, interpolation go out aviation measuring camera 3 in the location of time of exposure and
Attitude information, and then calculate the elements of exterior orientation of aerial survey photo, such as by taking IMU/GNSS systems 11 as an example, IMU/GNSS systems
11 when the synchronizing signal that device transmission is dodged by wirelessly drawing is received, and can automatically record the original sight at the arrival moment of the synchronizing signal
Measured value, so as to calculate the positional information of the antenna phase center of the IMU/GNSS systems 11 at the moment, i.e. (X0,Y0,Z0), with
And the attitude information under the navigational coordinate system of IMU observations, i.e., (r, p, y), detailed calculating process is as follows：
Line element is calculated：
In above formula (1)：(XP,YP,ZP) it is seat of the antenna phase center of IMU/GNSS systems 11 in earth axes
Mark；
(X0,Y0,Z0) it is coordinate of the exposure point of aviation measuring camera 3 in earth axes；
It is the spin matrix of carrier coordinate system (IMU plane coordinate systems) to earth axes；
It is image elements of exterior orientation；
It is image plane to the spin matrix of IMU planes；
(u, v, w) is that the antenna phase center of IMU/GNSS systems 11 in image space coordinate system is inclined with camera projection centre
Heart component.
Angle element is calculated：
In above formula (2)：It is image elements of exterior orientation；
(Λ0,Φ0) it is the longitude and latitude for surveying any point in area；
(Λi,Φi) it is the longitude and latitude of time of exposure image exposure point；
(r, p, y) is POS outputs roll, pitching, course value；
The transition matrix of earth axes is tied to for navigation coordinate；
The transition matrix of navigational coordinate system is tied to for geocentric coordinates；
The transition matrix of geocentric coordinate system is tied to for navigation coordinate；
It is the conversion of carrier coordinate system to navigational coordinate system.
By the apparatus and method at aerial survey camera exposure moment in the accurate measure unmanned plane that the embodiment of the present invention is provided,
The accurate technical barrier for determining the industrial digital cameral exposure moment is solved, greatly improve is carried out using GNSS system data
Later stage interpolation resolves the accuracy of the elements of exterior orientation of aerial survey photo.
In several embodiments provided herein, it should be understood that disclosed system, apparatus and method, can be with
Realize by another way.Device embodiment described above is only schematical, for example, the module or unit
Divide, only a kind of division of logic function can have an other dividing mode when actually realizing, and for example, multiple units or
Component can be combined or be desirably integrated into another system, or some features can be ignored, or not performed.
The above, specific embodiment only of the invention, but protection scope of the present invention is not limited thereto, and it is any
Those familiar with the art the invention discloses technical scope in, change or replacement can be readily occurred in, should all contain
Cover within protection scope of the present invention.Therefore, protection scope of the present invention described should be defined by scope of the claims.
Claims (6)
1. it is a kind of determine unmanned plane in the aerial survey camera exposure moment device, it is characterised in that including：System for flight control computer,
Aviation measuring camera and GNSS system；
The system for flight control computer, the aviation measuring camera and the GNSS system sequential series；
The system for flight control computer is used to, according to spectrum assignment information set in advance, generate the first exposure signal；
The aviation measuring camera is used to be exposed according to first exposure signal, while generating synchronizing signal；
The GNSS system is used to determine according to the synchronizing signal the accurate time of exposure of the aviation measuring camera；
The GNSS system includes base modules and correction verification module；
The system for flight control computer is used for when first exposure signal is generated, while the second exposure signal is generated, and will
Second exposure signal is sent to the base modules；
The base modules are used to determining according to second exposure signal benchmark time of exposure of the aviation measuring camera, and by institute
Stating the benchmark time of exposure is sent to the correction verification module；
The correction verification module was used for when the time difference between the benchmark time of exposure and the moment for getting the synchronizing signal
When value is less than default standard time difference, during using the moment of the synchronizing signal as the accurate exposure of the aviation measuring camera
Carve；
The correction verification module includes difference unit and comparing unit；
The time that the difference unit was used between the moment for calculating the benchmark time of exposure and getting the synchronizing signal
Difference, and the time difference is sent to the comparing unit；
The comparing unit is used to be compared the time difference with the standard time difference, if the time difference is small
In the standard time difference, then when will get the moment of the synchronizing signal as the accurate exposure of the aviation measuring camera
Carve, otherwise using the benchmark time of exposure as the aviation measuring camera the accurate time of exposure.
2. device according to claim 1, it is characterised in that the GNSS system is double frequency GNSS or GNSS/IMU systems
System.
3. device according to claim 1, it is characterised in that also include：
Wirelessly draw sudden strain of a muscle device, for producing the synchronizing signal when the aviation measuring camera is exposed.
4. device according to claim 1, it is characterised in that also include：
Signal amplifier, synchronously produces during for the aviation measuring camera to be exposed in hot shoe signalling contact or pc port
Signal is amplified, and exports the synchronizing signal.
5. device according to claim 1, it is characterised in that the aviation measuring camera is exposed when the first heavy curtain is opened
Light.
6. device according to claim 1, it is characterised in that the aviation measuring camera is industrial digital camera.
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| CN107352037B (en) * | 2017-07-11 | 2020-01-03 | 成都纵横自动化技术股份有限公司 | Device and method for acquiring camera exposure position information and unmanned aerial vehicle |
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| EP2253932A1 (en) * | 2009-05-19 | 2010-11-24 | Leica Geosystems AG | Aerial picture camera system and method for correcting distortion in an aerial picture |
| CN102607527B (en) * | 2012-02-17 | 2014-01-08 | 中测新图(北京)遥感技术有限责任公司 | UAV (unmanned aerial vehicle) aerial photography measurement method and UAV aerial photography measurement system |
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