CN104729484B - The three-dimensional boat of unmanned plane various visual angles takes the photograph the method that device and its focal length determine - Google Patents
The three-dimensional boat of unmanned plane various visual angles takes the photograph the method that device and its focal length determine Download PDFInfo
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- CN104729484B CN104729484B CN201510178317.9A CN201510178317A CN104729484B CN 104729484 B CN104729484 B CN 104729484B CN 201510178317 A CN201510178317 A CN 201510178317A CN 104729484 B CN104729484 B CN 104729484B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C11/00—Photogrammetry or videogrammetry, e.g. stereogrammetry; Photographic surveying
Abstract
The present invention relates to field of aerial photography measurement, and in particular to and a kind of three-dimensional boat of unmanned plane various visual angles takes the photograph device, including：Connecting bracket, the vertical camera and inclined camera being arranged in the connecting bracket；The inclination alpha that the primary optical axis of the vertical camera is formed with the primary optical axis of the inclined camerayScope is 40 °~50 °；The focal length f of the vertical cameraVerticallyWith the focal length f of the inclined cameraTiltRelation beBy the relative tertiary location relation and focal length relation that are accurately defined vertical camera primary optical axis and inclined camera primary optical axis, top of building and the texture information of side can be obtained simultaneously, it is simultaneously simple in construction, volume and weight is all smaller, meets the small-sized less requirement of unmanned plane load well.
Description
Technical field
The present invention relates to field of aerial photography measurement, and dress is taken the photograph in particular to a kind of three-dimensional boat of unmanned plane various visual angles
Put and its focal length determine method.
Background technology
In recent years, oblique photograph technology progressively develops as a comprehensive new and high technology in international Mapping remote sensing technology field
Aspect opens new chapter.It by carrying the different more sensors of camera angle on same flying platform, while from
Vertically, the different angle acquisition image such as inclination, the information of ground object more complete and accurate is obtained.Airborne inclined photography is overturned
The vertical photography pattern that tradition is taken photo by plane, the multi-angle oblique image that it is gathered meet the true world directly perceived of human eye vision,
Spatial information is more rich, complete, friendly, is with a wide range of applications.Low latitude unmanned plane oblique photograph technology is as general boat
The extension and development of empty oblique photograph technology, gradually play an important role in fields such as digital citys.Oblique photograph sensor
An integrated important step as oblique photograph technology, emphasis is needed to consider the quantity of camera and the inclination angle of each camera, to obtain
Take object texture information the most detailed.Presently the most the five of conventional General Aviation regard stereophotogrammetric survey structure, still
The construction weight of the type, volume are bigger, it is impossible to take into account the small-sized less feature of unmanned plane load, it is difficult to small-sized
Used in experiment of UAV remote sensing system.A kind of economical airborne inclined number is disclosed in patent No. CN201310019024.7 document
Code airborne photography system, including the oblique photograph unit of front, rear, left and right four and a vertical photography unit, suitable for unmanned plane
Low-altitude remote sensing, but not to the more accurate phase of vertical camera and inclined camera in small-sized unmanned plane aerial photography device in the document
Spatial relation and focal length relation are studied, and the camera chain in the document by multiple mechanical fixed components for example
Camera is fixed for buckle, clip etc., and structure is more complicated, and volume and weight is all larger, can not still meet well small-sized
The less requirement of unmanned plane load.The present invention will invent a kind of low, the simple in construction high-resolution machine of cost based on above mentioned problem
Carry and tilt digital aviation camera chain.
The content of the invention
In view of this, take the photograph device it is an object of the invention to provide a kind of three-dimensional boat of unmanned plane various visual angles and its focal length is true
Fixed method, to solve the problems, such as above-mentioned and deficiency and provide at least advantages described below.
In a first aspect, the embodiments of the invention provide a kind of three-dimensional boat of unmanned plane various visual angles to take the photograph device, including：Connection branch
Frame, the vertical camera and inclined camera being arranged in the connecting bracket；The primary optical axis of the vertical camera and the master of the inclined camera
The inclination alpha that optical axis is formedyScope is 40 °~50 °；The focal length f of the vertical cameraVerticallyWith the focal length f of the inclined cameraTiltPass
It is to beαyThe inclination angle formed by the vertical primary optical axis of camera with the primary optical axis of the inclined camera, fVertically
For the focal length of the vertical camera, fTiltFor the focal length of the inclined camera.
Preferably, the inclined camera is multiple, and multiple inclined cameras are evenly spaced in the surrounding of the vertical camera.
Preferably, the connecting bracket includes connecting bottom board and the fixed frame being fixed on the connecting bottom board；The fixed frame
Frame is used to fix the vertical camera and the inclined camera.
Further, the fixed frame includes universal joint, and one end of the universal joint is fixed with the connecting bottom board to be connected
Connect, the other end is fixedly connected with the inclined camera.
Further, slide rail and screw mandrel are additionally provided with the connecting bracket, the slide rail be arranged in parallel with the screw mandrel, should
Inclined camera is slidably connected with the slide rail, and the screw mandrel is detachably connected by rotating fastener with the inclined camera.
Further, the connecting bracket is made up of aircraft aluminum or carbon fibre material.
Further, the device also includes：It is heat sink, the shell of the heat sink camera vertical with this respectively and the inclined camera
Contact.
Further, this heat sink is made up of heat-conducting plastic.
Second aspect, the embodiment of the present invention additionally provide a kind of three-dimensional boat of determination unmanned plane various visual angles and take the photograph device focal length
Method, including：According to unmanned plane during flying height, the focal length f of vertical cameraVerticallyWith photosensitive elemental size, dividing for the vertical camera is determined
Resolution formula；The inclination angle formed according to the primary optical axis of unmanned plane during flying height, the primary optical axis of the vertical camera and inclined camera
αy, the inclined camera focal length fTilt, determine the engineer's scale formula of the inclined camera；According to the engineer's scale formula of the inclined camera,
Determine the desired resolution formula of the inclined camera；According to the ideal of the resolution formula of the vertical camera and the inclined camera point
Resolution formula, determine the focal length f of the vertical cameraVerticallyWith the focal length f of the inclined cameraTiltRelation be.
Further, the desired resolution of the inclined camera dividing for the midpoint engineer's scale of the field range of the inclined camera
Resolution.
The three-dimensional boat of unmanned plane various visual angles provided in an embodiment of the present invention takes the photograph device, by studying vertical photography GSD
(Ground Sample Distance, also referred to as ground sampling interval, resolution ratio) and oblique photograph GSD relation, so as to essence
The relative tertiary location relation and focal length relation of vertical camera primary optical axis and inclined camera primary optical axis really are limited, can be simultaneously
Top of building and the texture information of side are obtained, at the same it is simple in construction, and volume and weight is all smaller, meets well small-sized
The less requirement of unmanned plane load.
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
In order to illustrate the technical solution of the embodiments of the present invention more clearly, below by embodiment it is required use it is attached
Figure is briefly described, it will be appreciated that the following drawings illustrate only certain embodiments of the present invention, therefore be not construed as pair
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 that a kind of three-dimensional boat of unmanned plane various visual angles provided in an embodiment of the present invention takes the photograph device；
Fig. 2 shows vertical photography GSD computational methods schematic diagrames provided in an embodiment of the present invention；
Fig. 3 (a) and (b) show oblique photograph GSD computational methods schematic diagrames provided in an embodiment of the present invention；
Fig. 4 shows certain camera inclination alpha provided in an embodiment of the present inventionyGSD change curves at 45 °.
Fig. 5 shows that the camera lens combination that a kind of three-dimensional boat of unmanned plane various visual angles provided in an embodiment of the present invention takes the photograph device is shown
It is intended to；
Fig. 6 shows that the three-dimensional boat of second of unmanned plane various visual angles provided in an embodiment of the present invention takes the photograph vertical camera in device
Slide rail and screw structure schematic diagram；
Fig. 7 shows that the embodiment of the present invention additionally provides a kind of three-dimensional boat of unmanned plane various visual angles and takes the photograph device focal length relation
The flow chart of design method；
Mark meaning in accompanying drawing：
1 connecting bracket
2 vertical cameras
3 inclined cameras
4 inclined cameras
5 inclined cameras
6 inclined cameras
13 slide rails
14 screw mandrels
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 describes, it is clear that described embodiment is only part of the embodiment of the present invention, rather than whole embodiments.Generally exist
The component of the embodiment of the present invention described and illustrated in accompanying drawing can be configured to arrange and design with a variety of 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 the selected embodiment of the present 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.
Device is taken the photograph for a kind of three-dimensional boat of unmanned plane various visual angles provided in an embodiment of the present invention as shown in Figure 1, including：Connection
Support 1, the vertical camera 2 being arranged in the connecting bracket and inclined camera 3,4,5,6, the inclined camera is it can also be provided that two
It is individual, three, four etc., the embodiment of the present invention is only illustrated exemplified by four, and particular number is without concrete restriction；Wherein,
The parameter of inclined camera 3,4,5,6 all same such as focal length, resolution ratio, and be uniformly and symmetrically distributed in the surrounding of vertical camera 2,
Meanwhile inclined camera 3,4,5,6 is relative to the vertical slant setting of camera 2.Such as by taking inclined camera 3 as an example, inclined camera 4,5,6
Setting it is identical with inclined camera 3：The primary optical axis of vertical camera 2 forms inclination alpha with the primary optical axis of inclined camera 3y(do not show in figure
Go out) αyScope be 40 °~50 °；The focal length f of vertical camera 2VerticallyWith the focal length f of inclined camera 3TiltRelation beCamera inclination alphayRefer to slant setting camera primary optical axis and be disposed vertically camera primary optical axis flat determined by them
The angle formed in face, rule of thumb and simulation test, when inclination angle is when between 40 °~50 °, the image obtained is closer
Human eye opposite texture information (texture in the present invention, both includes the texture of body surface on ordinary meaning, even if body surface
Rough rill is presented, while is also included within the multicolour pattern on the smooth surface of object, generally we are more referred to as
For decorative pattern) actual visual experience, this field angle is photogrammetric high inclination-angle scope, and the absolute value at angle of inclination is not direct
Image is had an impact, but by changing the image acquired in the parameter changes such as resolution ratio, effective film size.
Fig. 2 shows vertical photography GSD computational methods schematic diagrames provided in an embodiment of the present invention, and Fig. 3 (a) and (b) are shown
Oblique photograph GSD computational methods schematic diagrames provided in an embodiment of the present invention, the present embodiment will combine Fig. 2 on the basis of Fig. 1
And Fig. 3, to the focal length f of vertical cameraVerticallyWith the focal length f of the inclined cameraTiltRelation be described in detail.Vertical image and inclination shadow
The ground sampling interval of picture is that three-dimensional boat takes the photograph device the most intuitively one of with important parameter, and directly determine that follow-up three-dimensional is built
The key factor of mould quality, therefore must be to being vertically combined analysis with the image resolution of oblique viewing angle.As shown in Figure 2,
The specific formula for calculation of resolution ratio is as follows：
The filmed image GSD of vertical cameraVerticallyCalculation formula：
In formula (1)：D is camera CCD (Charge Coupled Device, appliance coupler part) photosensitive elemental size size,
H is flying height, fVerticallyFor vertical camera focus.
Inclination image near point, center, the engineer's scale calculation formula of far point are as follows：
In formula：αyFor inclination angle, βyFor half of field range,
As shown in Figure 3, from the calculating of engineer's scale, the engineer's scale for tilting image refers to each pixel viewing ray along master in fact
Engineer's scale at optical axis component, therefore the GSD of the pixel is as follows：
Tilt the GSD of imageTiltCalculation formula is：
Generally, the vertical lower GSD regarding cameraVerticallyShould be with the midpoint engineer's scale m of the field range of inclined cameramid's
Resolution ratio GSDmidQuite, i.e.,
Following relational expression can be extrapolated by formula (2)：
The formula (3) can be as the relation reference for the focal length for calculating vertical camera and inclined camera.In practical operation, it is allowed to
Appropriate amendment is done on the basis of formula (3).
Due to big inclination alpha be presenty, the GSD in image each region is tilted into nonlinear change, by taking certain model camera as an example,
The camera resolution is 9288 × 6000, Pixel size：6.0um, focal length 70mm, Fig. 4 give provided in an embodiment of the present invention
The camera inclination alphayGSD change curves at 45 °, it can be seen that inclined camera due to the presence of high inclination-angle cause near point and
The resolution ratio of far point has very big difference, and this species diversity will cause the distortion of image partial pixel excessive and unavailable, therefore GSD indexs
Control it is most important to camera type selecting and shots match.It can be seen that in addition to flying height, focal length, photosensitive first size, incline
Angle is also a key factor for influenceing to tilt image GSD, and inclination angle is smaller, and the resolution ratio of its far point is higher, while near point, far point
GSD differences are also just smaller.
Image is tilted due to its high inclination-angle characteristic, causes the resolution ratio of image edge relatively low, ground composition deformation is larger, is unsatisfactory for
Requirement, therefore it will be reduced in actual process, available film size, which is referred to as inclination image, after reduction has
Imitate film size, effective film size defining standard is that GSD touches the mark the image capturing range of requirement in image, and is meeting that standard takes photo by plane
All effective film sizes for tilting image join together that whole survey area can be covered under line design requirement.Effective film size accounts for inclination image
The design of the more big then camera parameter of the ratio of original film size is more reasonable.
It is of the invention by investigating a few money cameras on the market because unmanned plane has it specifically to limit in load weight,
Final to determine to combine between sony nex7 and alpha 7R series, camera is non-scalability digital camera, compared to scalability number
Code-phase machine has the characteristics of in light weight, small volume, price are low, simple to operate, by camera calibration, can be good at being applied to gently
SUAV remote sensing system.After determining camera brand and basic parameter, previous designs principle is integrated, final combination parameter is as follows
Table：
The three-dimensional boat of unmanned plane various visual angles provided in an embodiment of the present invention takes the photograph device, by being accurately defined vertical camera
The relative tertiary location relation and focal length relation of primary optical axis and inclined camera primary optical axis, can obtain simultaneously top of building and
The texture information of side, at the same it is simple in construction, and volume and weight is all smaller, meets that small-sized unmanned plane load is less well
It is required that.
Fig. 5 shows that the camera lens combination that a kind of three-dimensional boat of unmanned plane various visual angles provided in an embodiment of the present invention takes the photograph device is shown
It is intended to, arrow direction is unmanned plane during flying direction in the figure, and by taking four inclined cameras as an example, the three-dimensional boat of the various visual angles takes the photograph dress
Put including vertical a camera and four inclined cameras, a central vertical 2 vertical earth observation of camera, obtain vertical image,
And four inclined cameras are symmetrically arranged, with vertical in the embodiment centered on vertical camera 2 around vertical camera 2
Exemplified by four orthogonal orientations of camera 2, four inclined cameras can obtain the texture letter of building front, rear, left and right side simultaneously
Breath.According to the reckoning result of previous embodiment, in the embodiment, primary optical axis and any one inclined camera of vertical camera 2
The inclination angle that primary optical axis is formed is 45 °, and the focal length of vertical camera 2 is, for example, 16mm, and the focal length of four Thursday inclined cameras for example divides
Wei not 35mm.The presently commercially available panchromatic planar array type camera of visible ray is mostly rectangle, and length-width ratio is usually 3:2、4:3、5:4, seldom
Number camera has identical length and width.Due to tilting the particularity of aerial surveying camera screening-mode, camera arrangement model (i.e. four
The relativeness that the long short side of inclined camera is placed relative to intermediate vertical camera) differentiated for atural object coverage, inclination image
Rate excursion, adjacent exposure point image overlap degree, integrated system bulk or even follow-up data Processing Algorithm can all produce
Influence, it is thus determined that arrangement model is that one of primarily solve the problems, such as between camera.It is possible for a variety of arrangements, by being covered to atural object
Lid scope, tilt the factor such as image resolution and calculated and emulated, the present invention only gives overall target and preferably arranged mould
Formula is as follows：In five cameras, the long end bay course line of lower seeing image picture, forward sight, the long end bay course line of backsight image, left view, right seeing image are as short side
Across course line.
According to an embodiment of the invention, fixed frame can also include universal joint, for inclined camera to be connected to
Support is connect, one end such as driving shaft side of the universal joint is fixedly connected with connecting bottom board, and the other end such as driven shaft side is with inclining
Monoclinic phase machine is fixedly connected, and realizes that any angle of four inclined cameras 3,4,5,6 is reversed with this so that inclined camera 3,4,5,
6 more neatly can be shot from any angle, and the high definition that visual angle can in real time, be neatly obtained with this tilts image
Data.Universal drive shaft it is possible to further use bevel protractor or with angle measuring function, such as will by rotary transformer
The angle change of universal drive shaft is transformed into the electric signal that amplitude changes with variation in angular displacement, can be accurately according to the electric signal
The angle of inclination of each inclined camera is set or adjusted, to obtain the angle of inclination data of more accurate inclined camera, to enter
One step improves the precision of logout, so as to establish precision basis for follow-up processing work.
Fig. 6 shows that the three-dimensional boat of second of unmanned plane various visual angles provided in an embodiment of the present invention takes the photograph vertical camera in device
2 is similar with the setting of vertical camera in the figure with the attachment structure schematic diagram of slide rail and screw mandrel, the setting of inclined camera.Wherein,
Slide rail 13 and screw mandrel 14 are fixedly connected in the (not shown) of connecting bracket 1 by screw, and slide rail 13 is parallel with screw mandrel 14 to be set
Putting, Fig. 6 illustrate only a kind of set-up mode of slide rail 13 and screw mandrel 14, and screw mandrel 14 can also be arranged on outside slide rail 13, this
Invention is not specifically limited.Vertical camera 2 is fixedly connected on for example, by screw on the sliding block of slide rail 13, is formed and slided with slide rail 13
Dynamic connection, screw mandrel 14 is detachably connected by rotating fastener (inside sliding block) with vertical camera 2, by rotating fastener in silk
Movement on bar 14, realize the accurate or distance element movement on slide rail 13 of inclined camera 3.Further, can also use
Orthogonal two one slide rail 13 as shown in Figure 6 and corresponding screw mandrel 14, so that can be more flexible by inclined camera 3
Multiple positions are arrived in ground regulation, and then vertical camera 2 is more neatly shot in multiple positions.
Meanwhile on the premise of proof strength, toughness, anti-fatigue performance and plasticity, the lighter material of material is selected to make
Connecting bracket, additionally it is possible to which the connecting bracket 1 further reduced in the gross weight that boat takes the photograph device, such as the present invention selects aircraft aluminum
Or carbon fibre material is made.Solid boat provided in an embodiment of the present invention takes the photograph device, and small volume, in light weight (about 3.75 is public
Jin), the fixed-wing unmanned plane, rotor wing unmanned aerial vehicle and depopulated helicopter that can load the feather weight of load 5 use.
Furthermore, it is contemplated that boat takes the photograph the working environment and working condition of device, camera needs to carry out instantaneous great Rong for a long time
Amount electric discharge, therefore camera photo-sensitive cell and battery-heating problem also can not be ignored, the present invention is in order to solve the problem, by phase
Machine shell fixes heat sink device and helps heat to distribute so that the work of camera is more stable, such as takes the photograph device due to navigating with ring
Weight limits, the present invention be made of heat-conducting plastic it is heat sink, and by heat conductive silica gel by the heat sink fixation of plastics and camera case table
Face, the heating problem in the camera course of work can be significantly improved.
Second aspect, the embodiment of the present invention additionally provide a kind of three-dimensional boat of unmanned plane various visual angles and take the photograph device focal length relation
Design method, including：Step S102, according to unmanned plane during flying height h, the focal length f of vertical cameraVerticallyWith photosensitive elemental size d, really
The resolution formula of the fixed vertical camera 2Step S104, according to unmanned plane during flying height h, the vertical phase
The inclination alpha that the primary optical axis of machine 2 is formed with the primary optical axis of inclined camera 3y, the inclined camera 3 focal length fTilt, determine the inclination
The engineer's scale formula of camera 3 Step S106,
According to the inclination phase, 3 engineer's scale formula, the desired resolution formula of the inclined camera is determined；Step S108, it is vertical according to this
The resolution formula of cameraWith the desired resolution formula of the inclined camera, Jiao of the vertical camera is determined
Away from fVerticallyWith the focal length f of the inclined cameraTiltRelation beIn the present invention, the desired resolution of the inclined camera 3
The for example, midpoint engineer's scale of the field range of the inclined camera 3Resolution ratioIn detail
Thin reckoning process, reference can be made to previous embodiment part.
Three-dimensional boat provided in an embodiment of the present invention takes the photograph the design method of device focal length relation, calculates that unmanned plane flies by studying
Row height h, vertical camera focal length fVertically, photosensitive elemental size d, and inclination alphay, inclined camera focal length fTiltEtc. many physics
Relation between amount, derive the focal length f of vertical cameraVerticallyWith the focal length f of inclined cameraTiltRelation beFor
The selection of vertical camera and inclined camera provides foundation in practical operation, and top of building can be obtained simultaneously by taking the photograph device for boat
Laid a good foundation with the reliable texture information of side.
Flow chart and block diagram in accompanying drawing show system, method and the computer journey of multiple embodiments according to the present invention
Architectural framework in the cards, function and the operation of sequence product.At this point, each square frame in flow chart or block diagram can generation
The part of one module of table, program segment or code, a part for the module, program segment or code include one or more use
In the executable instruction of logic function as defined in realization.It should also be noted that marked at some as in the realization replaced in square frame
The function of note can also be with different from the order marked in accompanying drawing generation.For example, two continuous square frames can essentially base
Originally it is performed in parallel, they can also be performed in the opposite order sometimes, and this is depending on involved function.It is also noted that
It is the combination of each square frame and block diagram in block diagram and/or flow chart and/or the square frame in flow chart, can uses and perform rule
Fixed function or the special hardware based system of action are realized, or can use the group of specialized hardware and computer instruction
Close to realize.
The foregoing is only a specific embodiment of the invention, but protection scope of the present invention is not limited thereto, any
Those familiar with the art the invention discloses technical scope in, change or replacement can be readily occurred in, should all be contained
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 (10)
1. a kind of three-dimensional boat of unmanned plane various visual angles takes the photograph device, it is characterised in that including：
Connecting bracket, the vertical camera and inclined camera being arranged in the connecting bracket；
The inclination alpha that the vertical primary optical axis of camera is formed with the primary optical axis of the inclined camerayScope is 40 °~50 °；
The focal length f of the vertical cameraVerticallyWith the focal length f of the inclined cameraTiltRelation beαyTo be described
The inclination angle that the vertical primary optical axis of camera is formed with the primary optical axis of the inclined camera, fVerticallyFor the focal length of the vertical camera,
fTiltFor the focal length of the inclined camera.
2. device as claimed in claim 1, it is characterised in that
The inclined camera is multiple, and multiple inclined cameras are evenly spaced in the surrounding of the vertical camera.
3. device as claimed in claim 1 or 2, it is characterised in that
The connecting bracket includes connecting bottom board and the fixed frame being fixed on the connecting bottom board；
The fixed frame is used to fix the vertical camera and the inclined camera.
4. device as claimed in claim 3, it is characterised in that
The fixed frame includes universal joint, and one end of the universal joint is fixedly connected with the connecting bottom board, the other end
It is fixedly connected with the inclined camera.
5. device as claimed in claim 1 or 2, it is characterised in that
Slide rail and screw mandrel are additionally provided with the connecting bracket, the slide rail be arranged in parallel with the screw mandrel, the inclined camera
It is slidably connected with the slide rail, the screw mandrel is detachably connected by rotating fastener with the inclined camera.
6. device as claimed in claim 1 or 2, it is characterised in that：
The connecting bracket is made up of aircraft aluminum or carbon fibre material.
7. device as claimed in claim 1 or 2, it is characterised in that also include：It is heat sink, it is described it is heat sink respectively with it is described vertical
The shell of camera and the inclined camera contacts.
8. device as claimed in claim 7, it is characterised in that
It is described heat sink to be made up of heat-conducting plastic.
A kind of 9. method for determining the three-dimensional boat of unmanned plane various visual angles and taking the photograph device focal length, it is characterised in that including：
According to unmanned plane during flying height, the focal length f of vertical cameraVerticallyWith photosensitive elemental size, the resolution ratio of the vertical camera is determined
Formula；
The inclination alpha formed according to unmanned plane during flying height, the vertical primary optical axis of camera and the primary optical axis of inclined cameray, institute
State the focal length f of inclined cameraTilt, determine the engineer's scale formula of the inclined camera；
According to the engineer's scale formula of the inclined camera, the desired resolution formula of the inclined camera is determined；
According to the vertical resolution formula of camera and the desired resolution formula of the inclined camera, the vertical phase is determined
The focal length f of machineVerticallyWith the focal length f of the inclined cameraTiltRelation.
10. method as claimed in claim 9, it is characterised in that
The desired resolution of the inclined camera is the resolution ratio of the midpoint engineer's scale of the field range of the inclined camera.
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| WO2017091957A1 (en) * | 2015-11-30 | 2017-06-08 | SZ DJI Technology Co., Ltd. | Imaging system and method |
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| CN106767720A (en) * | 2016-12-30 | 2017-05-31 | 广州地理研究所 | Single-lens oblique photograph measuring method, device and system based on unmanned plane |
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| CN114858135A (en) * | 2022-06-01 | 2022-08-05 | 上海盛图遥感工程技术有限公司 | Seven-lens multi-angle long-focus combined oblique photography measuring equipment based on airborne |
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| CN103338333A (en) * | 2013-07-17 | 2013-10-02 | 中测新图(北京)遥感技术有限责任公司 | Optimal configuration method for orientation element of aerial camera |
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