CN111641812A - Multi-camera array arrangement method suitable for airborne wide-area reconnaissance and monitoring - Google Patents
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Abstract
The invention belongs to the technical field of airborne photoelectric reconnaissance monitoring, and particularly relates to a multi-camera array arrangement method suitable for airborne wide-area reconnaissance monitoring. According to the method, the position and angle relation among the cameras can be rapidly determined by utilizing relevant parameters such as the field of view of a single camera, the distance among the cameras, the field of view overlapping rate among the cameras, the camera action distance and the like, so that the position and angle relation of the camera array can be rapidly determined, and design basis is provided for the processing of the camera array arrangement frame and the installation of the sub-cameras. The method can utilize the key parameters and the structural space relationship of the array sub-camera units to quickly determine the discharge position relationship and the angle relationship between the cameras, effectively solve the problem of difficult positioning of the sub-cameras, avoid the complexity of design, reduce the requirements on designers and improve the design efficiency of camera array arrangement. The method is simple and easy to implement, is suitable for multi-camera array arrangement of different orders of magnitude, and has strong universality.
Description
Technical Field
The invention belongs to the technical field of airborne photoelectric reconnaissance monitoring, and particularly relates to a multi-camera array arrangement method suitable for airborne wide-area reconnaissance monitoring.
Background
The photoelectric system is used as important task equipment of an aircraft platform and has the capabilities of executing target searching, reconnaissance and monitoring. The optical imaging component in the photoelectric system is a key device for ensuring that photoelectric task equipment can excellently complete various combat missions. With the need of modern war development, a large-field-of-view and high-resolution target monitoring, identifying and searching imaging system in a complex battlefield environment is more and more urgent, however, a traditional single-camera optical imaging system cannot give consideration to both long-range viewing and wide-range viewing, and the optical imaging system cannot meet the requirements of large-range and durable monitoring of photoelectric reconnaissance and monitoring, so that it is very important to provide an airborne wide-area reconnaissance and monitoring multi-camera array imaging system to improve the reconnaissance and monitoring efficiency.
At present, aiming at the defects of small visual field, low resolution and other performances of the traditional single camera, the patent of Beijing space electromechanical research institute, which is applied by the inventor, "a novel high-resolution large-visual-field optical imaging system (patent application number 201210380276.8)" and "a large-visual-field optical imaging system based on computational imaging technology (patent application number 201210378455.3)", and also the articles "Optomechanical design of Multiscale gigapixel digitalcamera", "Multiscale gigapixel photograph" and the like of Brady et al, of foreign Duke university disclose a multi-camera "spherical honeycomb" arrangement method, so as to realize large-visual-field high-resolution imaging. However, the imaging system of the method is complex in structure, and the imaging system needs to be composed of two stages, namely a spherical concentric objective lens is composed of a primary stage system and a large number of relay cameras are composed of a secondary stage system. In order to make the system simple in structure, K-Palaniappan et al propose a camera array seamless splicing scheme to realize large-field-of-view high-resolution imaging, which is divided into odd-numbered camera arrangement and even-numbered camera arrangement, and after determining the radius of a distribution circle, position and angle information of other cameras can be quickly obtained by making parallel lines for different cameras, but the method has the defect that the camera spacing is too large, so that the whole system is huge in volume.
Disclosure of Invention
Technical problem to be solved
The technical problem to be solved by the invention is as follows: how to solve the problems that in the design process of an airborne wide-area reconnaissance monitoring multi-camera array, the view fields of sub-cameras are changeable, the acting distances are different, the requirements of different image processing hardware platforms on the splicing overlapping rate are different, the requirements of the space between the sub-cameras are different, the design difficulty of the multi-camera array is high, and the like.
(II) technical scheme
In order to solve the problems in the prior art, the invention provides a multi-camera array arrangement method suitable for airborne wide-area reconnaissance and monitoring, which comprises the following steps:
step 1: judging the scale m multiplied by n of the multi-camera array and whether the cameras are arranged in an arc or outside the arc according to the envelope size of the system structure;
step 2: judging the parity of camera arrangement according to the scale m multiplied by n of the multi-camera array;
if m > n, then calculate the column first and then calculate the row, and the parity of the column arrangement is the same as the parity of m, and the parity of the row arrangement is the same as the parity of n;
if m is less than n, calculating the row and then calculating the column, wherein the parity of the row arrangement is the same as the parity of n, and the parity of the column arrangement is the same as the parity of m; if m is n, then either the row or column is calculated first, and the parity of the arrangement is the same as the parity of m or n;
and step 3: calculating corresponding reference circle radius for the condition of arrangement in the even number camera arc;
calculating corresponding reference circle radius for the condition of arrangement in the arc of the odd-numbered camera;
calculating the radius of a corresponding reference circle for the condition that the even number cameras are arranged outside the circular arc;
calculating corresponding reference circle radius for the condition that the odd cameras are arranged outside the arc;
and 4, step 4: because the internal angles corresponding to the same chord length on the reference circle are equal, by the characteristics, the intersection point, namely the new camera position, is determined by taking the initial camera position as the starting point and taking the camera distance as the radius to make a circle and the reference circle, so that the positions and angles of a plurality of cameras in a single row or a row can be quickly determined on the reference circular arc;
step 5, repeating the steps 1 to 4, and determining the positions and angles of the cameras in multiple rows or columns;
and 6, finishing the arrangement of the camera array.
In step 3, in the case of arrangement in the even-numbered camera arc, the reference circle radius is determined as follows:
defining E, F as two camera positions, wherein the distance between two cameras is l, EF is parallel to the ground, the distance between EF and the ground is h, the viewing fields of the two cameras are both alpha, the intersecting lines of the viewing fields of the two cameras and the ground are PQ and MN respectively, the end points of the two intersecting lines are M, P, N, Q in sequence from one end to the other end, and the overlapping rate of the two intersecting lines is k, namely PN is k.pq.k.MN; the included angle between the vertical line of the camera and the edge view field of the camera is alpha 1, and the circumferential angle of the camera EF on the reference circle is beta;
as derived from the geometric relationship, the following formula needs to be satisfied:
further, a reference circle radius r is determined as l/(2. sin β).
In step 3, in the case of arranging in the odd-numbered camera arc, the reference circle radius is determined as follows:
defining E, F as two camera positions, wherein the distance between the two cameras is l, the viewing fields of the two cameras are both alpha, the intersecting lines of the viewing fields of the two cameras and the ground are PQ and MD respectively, the end points of the two intersecting lines are M, P, D, Q from one end to the other end, and the overlapping rate of the viewing fields is k, namely PD is k.PQ.k.MD;
the distance between the camera E and the ground MQ is h, the N point is defined as a vertical projection point of the camera E on the ground, and the S point is defined as a vertical projection point of the camera F on the ground;
defining the O point as the intersection point of the EN line and the reference circle, and making the F point perpendicular to the C as the FC EO; the circumferential angle of the camera EF on the reference circle is β;
FC ═ l · cos β ═ NS, EC ═ l · sin β, FS ═ h-l · sin β, PQ ═ 2 · h · tan (α/2), PD ═ k · PQ ═ 2k · h · tan (α/2);
the following formula is satisfied by the geometric relationship:
further, a reference circle radius r is obtained as l/(2. sin β);
in step 3, in the case that the even cameras are arranged outside the arc, the reference circle radius is determined as follows:
defining E, F as two camera positions, wherein the distance between the two cameras is l, the viewing fields of the two cameras are both alpha, the intersecting lines of the viewing fields of the two cameras and the ground are respectively MP and NQ, the end points of the two intersecting lines are M, N, P, Q in sequence from one end to the other end, and the overlapping rate of the viewing fields is k, namely NP is k.k.MP is k.NQ; the distance between the camera E and the ground is h; the included angles between the vertical line of the camera and the edge view field of the camera are respectively alpha 1 and alpha 2, and the circumferential angle of the camera EF on the reference circle is beta;
then there are:
the following formula is derived:
l+k·htan(α-α2)+k·h·tanα2-2htanα2＝0 (3)
further, a reference circle radius r is obtained as l/(2. sin β);
in step 3, in the case that the odd-numbered cameras are arranged outside the arc, the reference circle radius is determined as follows:
defining E, F as two camera positions, setting the distance between the two cameras as l, setting the viewing fields of the two cameras as alpha, setting the intersection lines of the viewing fields of the two cameras and the ground as MN and HG respectively, setting the end points of the two intersection lines as M, H, N, G from one end to the other end, and setting the viewing field overlapping rate as k, namely HN-k-MN-k-HG;
defining the distance between a camera E and the ground as h, defining a point P as a vertical projection point of the camera E on the ground, defining a point C as an intersection point of a reverse line of a camera perpendicular line EP and a reference circle, and making F as FS perpendicular to the EC to the S;
defining the vertical projection point of the camera F on the ground as D, the included angle between the vertical line FD of the camera and the edge view field FH of the camera as alpha 1, the circumferential angle of the camera EF on the reference circle as beta,
then there are: SP ═ h + l · sin β, SF ═ l · cos β, PN ═ HN/2 k.
Thus, we obtain:
the derivation shows:
further, a reference circle radius r is determined as l/(2. sin β).
(III) advantageous effects
Compared with the prior art, the invention has the following beneficial effects:
the traditional camera arrangement method needs to calculate the position and angle information of each camera respectively, and arrangement is not specific. The onboard wide-area reconnaissance monitoring multi-camera array arrangement method calculates the radius of the arrangement reference circle according to actual requirements, and the cameras are arranged on the obtained arrangement reference circle and can be divided into circular arc inner arrangement and circular arc outer arrangement, and even number arrangement and odd number arrangement according to the arrangement number of the cameras. The airborne wide-area reconnaissance and monitoring multi-camera array arrangement method can be used for rapidly calculating and obtaining the size of an arrangement reference circle according to index requirements, controlling camera arrangement on a reference circular arc for equal-chord expanded arrangement, simplifying the arrangement mode, greatly reducing the labor cost and time cost required by array design, and having strong universality and engineering application value.
Drawings
Fig. 1 is a flow chart of the operation of the present invention.
Fig. 2a and 2b are schematic diagrams of the arrangement in the arc of the even cameras.
Fig. 3a and 3b are schematic diagrams of the arrangement in the arc of the odd cameras.
Fig. 4 is a schematic view of the outer circular arrangement of the even-numbered cameras.
Fig. 5 is a schematic diagram of an odd-numbered camera out-of-arc arrangement.
Fig. 6a and 6b are model diagrams of the design results in the multi-camera array arc.
Fig. 7a and 7b are model diagrams of the results of the external arc counting of the multi-camera array.
Detailed Description
In order to make the objects, contents, and advantages of the present invention clearer, the following detailed description of the embodiments of the present invention will be made in conjunction with the accompanying drawings and examples.
In order to solve the problems in the prior art, the invention forms a unified formula through strict theoretical derivation, and can quickly determine the arrangement position and the angle of the camera array by determining key parameters and carrying out strict calculation.
The multi-camera array arrangement method comprises the steps of calculating the radius of an arrangement reference circle according to actual requirements, arranging cameras on the obtained arrangement reference circle, and dividing the cameras into in-arc arrangement and out-arc arrangement, and dividing the cameras into even number arrangement and odd number arrangement according to the arrangement number of the cameras;
aiming at the different arrangement forms, formula derivation is respectively carried out to solve the radius of the arrangement reference circle:
1) even number cameras are arranged in circular arc
Referring to fig. 2a and 2b, E, F is defined as two camera positions, the distance between the two cameras is l, EF is parallel to the ground, the distance between EF and the ground is h, the viewing fields of the two cameras are both α, the intersection lines of the viewing fields of the two cameras and the ground are PQ and MN, respectively, the end points of the two intersection lines are M, P, N, Q in sequence from one end to the other end, and the overlapping ratio of the two intersection lines is k, that is, PN ═ k · PQ ═ k · MN; the included angle between the vertical line of the camera and the edge view field of the camera is alpha 1, and the circumferential angle of the camera EF on the reference circle is beta;
as derived from the geometric relationship, the following formula needs to be satisfied:
further, a reference circle radius r is obtained as l/(2. sin β);
2) odd number camera circular arc inner arrangement
Referring to fig. 3a and 3b, E, F is defined as two camera positions, a distance between the two cameras is l, the viewing fields of the two cameras are both α, the intersection lines of the two camera viewing fields and the ground are PQ and MD, respectively, the end points of the two intersection lines are M, P, D, Q in sequence from one end to the other end, and the viewing field overlap rate is k, that is, PD ═ k · PQ ═ k · MD;
the distance between the camera E and the ground MQ is h, the N point is defined as a vertical projection point of the camera E on the ground, and the S point is defined as a vertical projection point of the camera F on the ground;
defining the O point as the intersection point of the EN line and the reference circle, and making the F point perpendicular to the C as the FC EO; the circumferential angle of the camera EF on the reference circle is β;
FC ═ l · cos β ═ NS, EC ═ l · sin β, FS ═ h-l · sin β, PQ ═ 2 · h · tan (α/2), PD ═ k · PQ ═ 2k · h · tan (α/2);
the following formula is satisfied by the geometric relationship:
further, a reference circle radius r is obtained as l/(2. sin β);
3) even number cameras are arranged outside circular arc
Referring to fig. 4, E, F is defined as two camera positions, the distance between the two cameras is l, the viewing fields of the two cameras are both α, the intersection lines of the two camera viewing fields and the ground are MP and NQ, respectively, the end points of the two intersection lines are M, N, P, Q in sequence from one end to the other end, and the overlapping rate of the viewing fields is k, that is, NP ═ k · MP ═ k · NQ; the distance between the camera E and the ground is h; the included angles between the vertical line of the camera and the edge view field of the camera are respectively alpha 1 and alpha 2, and the circumferential angle of the camera EF on the reference circle is beta;
then there are:
the following formula is derived:
l+k·htan(α-α2)+k·h·tanα2-2htanα2＝0 (3)
further, a reference circle radius r is obtained as l/(2. sin β);
4) odd number camera circular arc outer arrangement
Referring to fig. 5, E, F is defined as two camera positions, a distance between two cameras is l, the viewing fields of the two cameras are both α, intersection lines of the viewing fields of the two cameras and the ground are MN and HG, respectively, end points of the two intersection lines are M, H, N, G in sequence from one end to the other end, and the overlapping rate of the viewing fields is k, that is, HN ═ k · MN ═ k · HG;
defining the distance between a camera E and the ground as h, defining a point P as a vertical projection point of the camera E on the ground, defining a point C as an intersection point of a reverse line of a camera perpendicular line EP and a reference circle, and making F as FS perpendicular to the EC to the S;
defining the vertical projection point of the camera F on the ground as D, the included angle between the vertical line FD of the camera and the edge view field FH of the camera as alpha 1, the circumferential angle of the camera EF on the reference circle as beta,
then there are: SP ═ h + l · sin β, SF ═ l · cos β, PN ═ HN/2 k.
Thus, we obtain:
the derivation shows:
further, a reference circle radius r is obtained as l/(2. sin β);
specifically, as shown in fig. 1, the method for arranging the multi-camera array suitable for airborne wide-area reconnaissance monitoring comprises the following steps:
step 1: judging the scale m multiplied by n of the multi-camera array and whether the cameras are arranged in an arc or outside the arc according to the envelope size of the system structure;
step 2: judging the parity of camera arrangement according to the scale m multiplied by n of the multi-camera array;
if m > n, then calculate the column first and then calculate the row, and the parity of the column arrangement is the same as the parity of m, and the parity of the row arrangement is the same as the parity of n;
if m is less than n, calculating the row and then calculating the column, wherein the parity of the row arrangement is the same as the parity of n, and the parity of the column arrangement is the same as the parity of m; if m is n, then either the row or column is calculated first, and the parity of the arrangement is the same as the parity of m or n;
and step 3: for the condition of arrangement in the even number camera circular arc, calculating the corresponding reference circle radius by using the formula (1);
for the condition of arrangement in the arc of the odd-numbered camera, calculating the radius of a corresponding reference circle according to a formula (2);
for the condition that the even number cameras are arranged outside the circular arc, calculating the corresponding reference circle radius according to the formula (3);
for the condition that the odd cameras are arranged outside the arc, calculating the corresponding reference circle radius according to a formula (4);
and 4, step 4: because the internal angles corresponding to the same chord length on the reference circle are equal, by the characteristics, the intersection point, namely the new camera position, is determined by taking the initial camera position as the starting point and taking the camera distance as the radius to make a circle and the reference circle, so that the positions and angles of a plurality of cameras in a single row or a row can be quickly determined on the reference circular arc;
step 5, repeating the steps 1 to 4, and determining the positions and angles of the cameras in multiple rows or columns;
and 6, finishing the arrangement of the camera array.
Example 1
The present embodiment is directed to a multi-camera array (2 × 3) arrangement method installed on a certain type of airplane. The flying height of the carrier is 6000m, the distance between cameras is required to be less than 0.2m in order to ensure the compactness of the structure, the image overlapping rate of the cameras is required to be not less than 0.1, the viewing field of the cameras is 13 degrees multiplied by 10 degrees, and the cameras are required to be arranged in a circular arc.
Firstly, the multi-camera array is 2 multiplied by 3, 2 rows and 3 columns, and calculation is carried out firstly;
secondly, the multi-camera array is arranged in a circular arc, and 3 cameras are arranged in a single row and belong to odd cameras arranged in the circular arc;
step three, the concrete parameters are as follows: h is 6000m, EF is 0.2m, k is 0.1, α is 13 ° and is substituted into equation 2, to obtain: β is 0.204 to 11.69 °, and a camera arrangement reference circle radius r1 is l/(2 · sin β) 494 mm.
Fourthly, determining a circumscribed circle by taking 494mm as a radius, and determining the 2 nd and 3 rd camera positions and angles by drawing the circle and the circumscribed circle by taking 0.2m as the radius; as shown in fig. 3 b.
And fifthly, performing column calculation, wherein the columns belong to the arrangement in the arc of the even cameras.
Sixthly, specific parameters are as follows: h is 6000m, EF is 0.2m, k is 0.1, α is 10 ° and is substituted into the formula-1, and the following is obtained: β is 4.4973 °, and then the camera arrangement reference circle radius r2 is l/(2 · sin2 β) is 639.6 mm;
seventhly, designing a multi-camera array structure model according to the calculation result, as shown in fig. 6a and fig. 6 b.
Example 2
The present embodiment is directed to a multi-camera array (2 × 3) arrangement method installed on a certain type of airplane. The flying height of the carrier is 6000m, the distance between cameras is required to be less than 0.1m in order to ensure the compactness of the structure, the image overlapping rate of the cameras is required to be not less than 0.1, the viewing field of the cameras is 13 degrees multiplied by 10 degrees, and the cameras are required to be arranged outside a circular arc.
Firstly, the multi-camera array is 2 multiplied by 3, 2 rows and 3 columns, and calculation is carried out firstly;
secondly, the multi-camera array is arranged outside a circular arc, and 3 cameras are arranged in a single row and belong to odd cameras arranged outside the circular arc;
step three, the concrete parameters are as follows: h is 6000m, EF is 0.1m, k is 0.1, α is 13 ° and the formula 4 is substituted, and the following is obtained: β is 0.204 to 11.7 °, and a camera arrangement reference circle radius r1 is l/(2 · sin β) is 246.5 mm.
Fourthly, determining a circumscribed circle by taking 494mm as a radius, and determining the 2 nd and 3 rd camera positions and angles by drawing the circle and the circumscribed circle by taking 0.1m as the radius; as shown in fig. 5.
And fifthly, performing column calculation, wherein the column calculation belongs to the arrangement outside the arc of the even cameras.
Sixthly, specific parameters are as follows: h is 6000m, EF is 0.1m, k is 0.1, α is 10 ° and the formula-3 is substituted, and the following is obtained: obtaining a camera arrangement reference circle radius r2 ═ l/(2. sin β) ═ 319.6 mm;
seventhly, designing a multi-camera array structure model according to the calculation result, as shown in fig. 7a and 7 b.
In conclusion, airborne wide-area reconnaissance monitoring is divided into single-frame push-broom stitching imaging and multi-frame stitching large-area imaging, and large-range, lasting and high-resolution imaging reconnaissance monitoring on a specific area is formed. According to the method, the position and angle relation among the cameras can be rapidly determined by using the relevant parameters such as the field of view of a single camera, the distance among the cameras, the field of view overlapping rate among the cameras, the camera action distance and the like, so that the position and angle relation of the camera array can be rapidly determined, and design basis is provided for the processing of the camera array arrangement frame and the installation of the sub-cameras. The method can utilize the key parameters and the structural space relationship of the array sub-camera units to quickly determine the discharge position relationship and the angle relationship between the cameras, effectively solve the problem of difficult positioning of the sub-cameras, avoid the complexity of design, reduce the requirements on designers and improve the design efficiency of camera array arrangement. The method is simple and easy to implement, is suitable for multi-camera array arrangement of different orders of magnitude, and has strong universality.
The above description is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, several modifications and variations can be made without departing from the technical principle of the present invention, and these modifications and variations should also be regarded as the protection scope of the present invention.
Claims (5)
1. A multi-camera array arrangement method suitable for airborne wide-area reconnaissance and monitoring is characterized by comprising the following steps:
step 1: judging the scale m multiplied by n of the multi-camera array and whether the cameras are arranged in an arc or outside the arc according to the envelope size of the system structure;
step 2: judging the parity of camera arrangement according to the scale m multiplied by n of the multi-camera array;
if m > n, then calculate the column first and then calculate the row, and the parity of the column arrangement is the same as the parity of m, and the parity of the row arrangement is the same as the parity of n;
if m is less than n, calculating the row and then calculating the column, wherein the parity of the row arrangement is the same as the parity of n, and the parity of the column arrangement is the same as the parity of m; if m is n, then either the row or column is calculated first, and the parity of the arrangement is the same as the parity of m or n;
and step 3: calculating corresponding reference circle radius for the condition of arrangement in the even number camera arc;
calculating corresponding reference circle radius for the condition of arrangement in the arc of the odd-numbered camera;
calculating the radius of a corresponding reference circle for the condition that the even number cameras are arranged outside the circular arc;
calculating corresponding reference circle radius for the condition that the odd cameras are arranged outside the arc;
and 4, step 4: because the internal angles corresponding to the same chord length on the reference circle are equal, by the characteristics, the intersection point, namely the new camera position, is determined by taking the initial camera position as the starting point and taking the camera distance as the radius to make a circle and the reference circle, so that the positions and angles of a plurality of cameras in a single row or a row can be quickly determined on the reference circular arc;
step 5, repeating the steps 1 to 4, and determining the positions and angles of the cameras in multiple rows or columns;
and 6, finishing the arrangement of the camera array.
2. The method for arranging the multi-camera array suitable for airborne wide-area reconnaissance and surveillance, according to claim 1, wherein in the step 3, in the case of arrangement in an even-numbered camera arc, the reference circle radius is determined as follows:
defining E, F as two camera positions, wherein the distance between two cameras is l, EF is parallel to the ground, the distance between EF and the ground is h, the viewing fields of the two cameras are both alpha, the intersecting lines of the viewing fields of the two cameras and the ground are PQ and MN respectively, the end points of the two intersecting lines are M, P, N, Q in sequence from one end to the other end, and the overlapping rate of the two intersecting lines is k, namely PN is k.pq.k.MN; the included angle between the vertical line of the camera and the edge view field of the camera is alpha 1, and the circumferential angle of the camera EF on the reference circle is beta;
as derived from the geometric relationship, the following formula needs to be satisfied:
further, a reference circle radius r is determined as l/(2. sin β).
3. The method for arranging the multi-camera array suitable for airborne wide-area reconnaissance and surveillance as claimed in claim 1, wherein in the step 3, in the case of arrangement in an odd-numbered camera arc, the reference circle radius is determined as follows:
defining E, F as two camera positions, wherein the distance between the two cameras is l, the viewing fields of the two cameras are both alpha, the intersecting lines of the viewing fields of the two cameras and the ground are PQ and MD respectively, the end points of the two intersecting lines are M, P, D, Q from one end to the other end, and the overlapping rate of the viewing fields is k, namely PD is k.PQ.k.MD;
the distance between the camera E and the ground MQ is h, the N point is defined as a vertical projection point of the camera E on the ground, and the S point is defined as a vertical projection point of the camera F on the ground;
defining the O point as the intersection point of the EN line and the reference circle, and making the F point perpendicular to the C as the FC EO; the circumferential angle of the camera EF on the reference circle is β;
FC ═ l · cos β ═ NS, EC ═ l · sin β, FS ═ h-l · sin β, PQ ═ 2 · h · tan (α/2), PD ═ k · PQ ═ 2k · h · tan (α/2);
the following formula is satisfied by the geometric relationship:
further, a reference circle radius r is determined as l/(2. sin β).
4. The method for arranging the multi-camera array suitable for airborne wide-area reconnaissance and surveillance, according to claim 1, wherein in the step 3, in the case of an arrangement outside the arc of the even-numbered cameras, the reference circle radius is determined as follows:
defining E, F as two camera positions, wherein the distance between the two cameras is l, the viewing fields of the two cameras are both alpha, the intersecting lines of the viewing fields of the two cameras and the ground are respectively MP and NQ, the end points of the two intersecting lines are M, N, P, Q in sequence from one end to the other end, and the overlapping rate of the viewing fields is k, namely NP is k.k.MP is k.NQ; the distance between the camera E and the ground is h; the included angles between the vertical line of the camera and the edge view field of the camera are respectively alpha 1 and alpha 2, and the circumferential angle of the camera EF on the reference circle is beta;
then there are:
the following formula is derived:
l+k·h tan(α-α2)+k·h·tanα2-2h tanα2＝0 (3)
further, a reference circle radius r is determined as l/(2. sin β).
5. The method for arranging the multi-camera array suitable for airborne wide-area reconnaissance and surveillance, according to claim 1, wherein in the step 3, in the case of the arrangement outside the arc of the odd-numbered cameras, the reference circle radius is determined as follows:
defining E, F as two camera positions, setting the distance between the two cameras as l, setting the viewing fields of the two cameras as alpha, setting the intersection lines of the viewing fields of the two cameras and the ground as MN and HG respectively, setting the end points of the two intersection lines as M, H, N, G from one end to the other end, and setting the viewing field overlapping rate as k, namely HN-k-MN-k-HG;
defining the distance between a camera E and the ground as h, defining a point P as a vertical projection point of the camera E on the ground, defining a point C as an intersection point of a reverse line of a camera perpendicular line EP and a reference circle, and making F as FS perpendicular to the EC to the S;
defining the vertical projection point of the camera F on the ground as D, the included angle between the vertical line FD of the camera and the edge view field FH of the camera as alpha 1, the circumferential angle of the camera EF on the reference circle as beta,
then there are: SP ═ h + l · sin β, SF ═ l · cos β, PN ═ HN/2 k.
Thus, we obtain:
the derivation shows:
further, a reference circle radius r is determined as l/(2. sin β).
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