JP6553134B2 - Aerial photography system - Google Patents

Description

  The present invention relates to an aerial photography system in which a miniature vehicle is provided with a photogrammetry camera.

  In recent years, with the progress of UAV (Unmanned Air Vehicle), a camera for photogrammetry is mounted on the UAV, and photogrammetry using the UAV is developed.

  Normally, UAVs fly with the aircraft inclined in the propulsion direction, but the inclination of the UAV's aircraft is easily affected by propulsion speed and wind, and the stability of the inclination is poor. On the other hand, in aerial photogrammetry, it is necessary to take a high-resolution image of the vertically lower part, and the camera needs to have stable tilt.

  Also, in aerial photogrammetry, ground coordinates of the shooting point are necessary in order to perform ground positioning (absolute positioning) of the photographed aerial photograph. Conventionally, as a method of obtaining the ground coordinates of the UAV, a GPS device is mounted on the UAV, and the ground coordinates of the UAV are obtained by the GPS device.

  However, since the GPS device obtains ground coordinates using radio waves from satellites, the GPS device obtains ground coordinates of UAVs in places where radio waves can not be received, for example, in urban areas where tall buildings stand in a tunnel, etc. I can not do it.

Japanese Patent Application Laid-Open No. 8-285588 JP, 2010-38822, A JP, 2006-10376, A

In view of the such circumstances, be varied as how the posture of the small aircraft, Ri stable recordable der the still image, and the aerial system capable of acquiring three-dimensional coordinates of the photographing position It is provided.

The present invention is an aerial photography system comprising a remotely steerable aerial photography device, a total station provided at a known point, and a ground base capable of communicating with the total station, the aerial photography device comprising a flying object, a camera which is tiltably supported in any direction through the gimbal to the flight line body, inclined integrally with said camera, provided in the camera and the known relationship, a retroreflector as measured, aircraft A communication unit , the flying object communication unit transmits still image data of a still image taken by the camera and a still image photographing time to the ground base, and the total station tracks the retroreflector; The position of the retroreflector is measured in real time, and the ground base has a base communication unit that communicates with an arithmetic unit, a base storage unit, and the aircraft communication unit, and the ground base includes: Receiving the still image data and the still image shooting time from the flying object communication unit, receiving a measurement result of the retroreflector from the total station, acquiring three-dimensional coordinates of the still image shooting time, and The present invention relates to an aerial photography system that associates coordinates with the still image .

Further, according to the present invention, the aerial photography device has a storage unit, the still image is associated with the still image photographing time, and is stored in the storage unit, and the ground base is the flight of the aerial photography device after the flight. The present invention relates to an aerial photography system that associates the still image and the three-dimensional coordinates based on a still image shooting time .

According to the present invention, there is provided an aerial photography system comprising a remotely steerable aerial photography device, a total station provided at a known point, and a ground base capable of communicating with the total station, said aerial photography device being a flying object A camera tiltably supported by the aircraft via a gimbal in any direction, and a retroreflector as a measurement object, provided integrally with the camera and in a known relationship with the camera. A flying body communication unit, the flying body communication unit transmits still image data of a still image taken by the camera and a still image shooting time to the ground base, and the total station tracks the retroreflector The position of the retroreflector is measured in real time, and the ground base has a base communication unit that communicates with an arithmetic unit, a base storage unit, and the airframe communication unit, Receives the still image data and the still image shooting time from the flying object communication unit, receives a measurement result of the retroreflector from the total station, acquires three-dimensional coordinates of the still image shooting time, and Since the three-dimensional coordinates are associated with the still image, it is possible to stably capture an image regardless of how the attitude of the small flying object changes, and furthermore, even in an environment where radio waves from satellites can not be received, It can measure ground coordinates and enables aerial photogrammetry .

Further , according to the present invention, the aerial photography apparatus has a storage unit, the still image is associated with the still image photographing time, and is stored in the storage unit, and the ground base is after the flight of the aerial photography apparatus. Since the still image and the three-dimensional coordinates are associated with each other based on the still image photographing time, an excellent effect is obtained that the photographing position of the camera can be obtained .

It is a block diagram which shows the aerial photography system which concerns on a present Example. It is a perspective view of the aerial photography device concerning this example. It is a sectional view of the aerial photography device. It is a block diagram of the control system of an aerial photography apparatus. It is a figure which shows the relationship between aerial photography apparatus, a ground base, and a remote control. It is an explanatory view showing the flight state of a flight body. It is a timing chart which calculates | requires the imaging | photography position in imaging | photography time.

  Embodiments of the present invention will be described below with reference to the drawings.

  First, an aerial photograph system 1 according to the present embodiment will be described with reference to FIG.

  The aerial photography system 1 mainly comprises an aerial photography device 2, a total station (TS) 3, a ground base 4, and a remote control 5.

  The aerial photographing apparatus 2 mainly includes a shaft 6 as a supporting member vertically supported by a flying object (described later) via a gimbal mechanism, and a lower camera 7 provided on the lower end and the upper end of the shaft 6, respectively. It comprises a camera 8, a prism 9 as a retroreflector provided at the lower end of the shaft 6 and integrated with the lower camera 7, and an aircraft communication unit 11 for communicating with the ground base 4 doing. The optical axes of the lower camera 7 and the upper camera 8 coincide with the axial center of the shaft 6 and are always provided so as to be vertical. The optical axis of the prism 9 is also set to be vertical, and the positional relationship between the prism 9 and the lower camera 7 and the upper camera 8 is also known. The axial center of the shaft 6 may not necessarily be vertical as long as the optical axes of the lower camera 7, the upper camera 8 and the prism 9 are vertically supported.

  The prism 9 is provided downward and has an optical characteristic of retroreflecting light incident from the entire lower range of the prism 9. Also, a reflective seal may be provided at a predetermined position of the shaft 6 instead of the prism 9.

  The total station 3 is provided at a known point, and measures the three-dimensional coordinates of the prism 9 while tracking the prism 9. The total station 3 is electrically connected to the ground base 4 by wire or wireless, and the measured three-dimensional coordinates are input to the ground base 4 as coordinate data.

  The ground base 4 is, for example, a PC, and has an arithmetic unit having an arithmetic function, a storage unit for storing data, a program, and a base communication unit 12, and the base communication unit 12 and the flying object communication unit 11 Wireless communication is possible between the two.

  The remote control 5 remotely controls the flight of the aerial photography device 2 and can remotely control the shutters of the lower camera 7 and the upper camera 8.

  The outline of the operation of the aerial photography system 1 will be described.

  The aerial photographic device 2 is caused to fly on the planned flight course by the remote operation by the remote control 5. While the aerial photography device 2 is flying, the total station 3 tracks the prism 9 and measures three-dimensional coordinates of the prism 9 in real time.

  The lower camera 7 and the upper camera 8 of the aerial photography device 2 are set to take a still image for photogrammetry at predetermined time intervals. The still image is transmitted to the ground base 4 as still image data, and the timing (photographing time) at which the still image was photographed is transmitted to the ground base 4.

  The ground base 4 receives the still image data and the photographing time at which the still image data is acquired through the base communication unit 12. Still image data and shooting time are stored in the storage unit. The ground base 4 receives the measurement result from the total station 3, acquires three-dimensional coordinates of the photographing time, and associates the three-dimensional coordinates with the still image. The still image may be stored in the aerial photography apparatus 2. In this case, the still image may be associated with the shooting time, and the still image may be associated with the three-dimensional coordinates based on the shooting time at the ground base 4 after the flight.

  Still image capturing by the lower camera 7 and the upper camera 8 may be manually performed by the remote controller 5. Also in this case, the photographing time is transmitted from the aerial photography device 2 to the ground base 4.

  Which of the lower camera 7 and the upper camera 8 is used for shooting is appropriately selected according to the measurement object. For example, when an agricultural product or a structure on the ground surface is to be measured, the lower camera 7 captures an image vertically downward, and when the bridge girder or the ceiling of the tunnel is an object to be measured, the upper camera The image 8 is taken vertically upward. Further, in the measurement of the bridge girder or the ceiling of the tunnel, the vertically lower and vertically upper portions may be simultaneously photographed by the lower camera 7 and the upper camera 8.

  Still images are acquired by the lower camera 7 and the upper camera 8 and three-dimensional coordinates (ground coordinates) of the prism 9 at the time of capturing a still image are measured by the total station 3. The measured three-dimensional coordinates are transmitted to the ground base 4 as coordinate data.

  The lower camera 7, the upper camera 8 and the prism 9 are separated by known values, but when measurement accuracy is not required, the position of the prism 9 is the position of the lower camera 7 and the upper camera 8 Be done. Also, when accuracy is required, at the ground base 4, an aircraft detected by the azimuth sensor 29 (described later) from the known relationship between the lower camera 7, the upper camera 8 and the prism 9. Based on the position of the prism 9 from the direction 15 (described later), the positions of the lower camera 7 and the upper camera 8 are obtained.

  When still images at two points are taken and the coordinates of the two shooting points are measured, the distance (baseline length) between the two points is determined. Thus, the coordinates and baseline lengths of the two still images required for photogrammetry are obtained. Furthermore, since the coordinates of the shooting point of the still image are measured at the total station 3, the accuracy is high, and high accuracy photogrammetry becomes possible.

  Next, the aerial photography apparatus 2 will be described with reference to FIGS. 2 and 3.

  The flying body 15 has a plurality of and even number of propeller frames 17 extending radially, and a propeller unit is provided at the tip of each propeller frame 17. The propeller unit is configured of a propeller motor 18 attached to the tip of the propeller frame 17 and a propeller 19 attached to the output shaft of the propeller motor 18. The propeller 19 is rotated by the propeller motor 18 so that the flying body 15 flies.

  The flying body 15 has a hollow cylindrical main frame 21 at its center, an outer flange 22 extending outward at the upper end of the main frame 21, and an inner flange extending at the lower end. A flange 23 is provided. A circular hole 24 is formed at the center of the inner flange 23.

  The propeller frames 17 are rod-shaped, disposed in a plane perpendicular to the axis of the main frame 21 and provided in a horizontal direction at a predetermined number (at least four, preferably eight, eight in the figure) at equal angular intervals. 17a-17h) are provided. An inner end portion of the propeller frame 17 penetrates the main frame 21 and is fixed to the outer flange 22.

  The shaft 6 is provided so as to penetrate the main frame 21 up and down, and the shaft 6 is vertically supported by the gimbal 25, and the gimbal 25 is provided on the inner flange 23 via the vibration isolation member 26. It is done.

  The gimbal 25 has rocking shafts 27a and 27b in two orthogonal directions, and supports the shaft 6 in two orthogonal directions so as to be able to rock. The vibration isolation member 26 absorbs the vibration when the propeller motor 18 and the propeller 19 rotate, so that the vibration is not transmitted to the shaft 6.

  An inclination sensor 28 is provided at the lower end of the shaft 6 to detect a sudden inclination of the gimbal 25 caused by a change in acceleration of the flying object 15. Further, the inclination sensor 28 detects an angle between the vertical line and the axis of the shaft 6 when the shaft 6 is inclined with respect to the vertical, and the detection result of the inclination sensor 28 is a control device 35 described later. (See FIG. 4).

  An orientation sensor 29 is provided at a required position of the main frame 21, and the orientation sensor 29 detects the orientation of the flying object 15. As the direction of the flying body 15, for example, a direction perpendicular to a plane including the axial center of the shaft 6 and the optical axis of the prism 9 is taken as the front-rear direction.

  A control box 31 is provided at the lower end of the shaft 6. The control unit 35 (see FIG. 4) is housed inside the control box 31. The lower camera 7 is provided on the lower surface of the control box 31, a prism support 32 is vertically provided at a position separated from the lower camera 7 by a known distance L, and the prism 9 is provided at the lower end of the prism support 32. Be

  The upper camera 8 is provided at the upper end of the shaft 6. The optical axis of the upper camera 8 and the optical axis of the lower camera 7 coincide with the axial center of the shaft 6, and the optical axis of the prism 9 is parallel to the axial center of the shaft 6. The lower camera 7 shoots vertically downward, and the upper camera 8 shoots vertically upward.

  The control box 31, the lower camera 7, the prism 9 and the like function as a balance weight, and the shaft 6 is in a vertical state in a state where no external force acts on the shaft 6, ie, in a free state. The weight balance of the control box 31, the lower camera 7, and the prism 9 is set.

  The balance box function of the control box 31, the lower camera 7, the prism 9, etc. may not be provided when the shaft 6 can be sufficiently held vertically, but the shaft 6 is stably held in the vertical posture In order to do this, a balance assisting member may be provided so as to be able to quickly return to the vertical state when the shaft 6 is sharply inclined (when the attitude of the flying object 15 is rapidly changed).

  In the following example, the case where the damper spring 16 is provided as the balance assisting member will be described.

  The damper spring 16 is stretched between the propeller frame 17 and the shaft 6. Preferably, at least three and preferably four damper springs 16 are provided, and the damper springs 16 are provided between the propeller frame 17 extending parallel to the rocking shafts 27a and 27b and the shaft 6.

  Further, the four damper springs 16 apply tension between the shaft 6 and the propeller frame 17, respectively, so that the flying object 15 is in a horizontal attitude (the propeller frame 17 is in a horizontal state), and tension balance is achieved. Thus, the shaft 6 is set to maintain the vertical state. Further, the tension and the spring constant of the damper spring 16 are set small, and when the flying body 15 is inclined, the shaft 6 is oriented in the vertical direction by the action of gravity.

  The damper spring 16 is a biasing means for biasing the shaft 6 in a vertical state, and when the shaft 6 is swung and vibrated, it is quickly returned to the vertical state and damps the vibration. It is. In addition to the damper spring 16 described above, the biasing means may be a torsion coil spring that is rotated in the return direction when the rocking shafts 27a and 27b of the gimbal 25 rotate.

  The control system of the aerial photograph apparatus 2 will be described with reference to FIG.

  The control device 35 is accommodated in the control box 31.

  The control device 35 mainly includes a control calculation unit 36, a clock signal generation unit 37, a storage unit 38, an imaging control unit 39, a flight control unit 41, a gyro unit 42, a motor driver unit 43, and a flying object communication unit 11. ing.

  Photographing of the lower camera 7 and the upper camera 8 is controlled by the imaging control unit 39, and an image photographed by the lower camera 7 and the upper camera 8 is input to the imaging control unit 39 as image data. Ru.

  As the lower camera 7 and the upper camera 8, a digital camera is used so that a still image can be taken and a moving image can also be taken. Further, as an imaging device, a CCD, a CMOS sensor, or the like, which is a collection of pixels, is used, and each pixel can be located in the imaging device. As described above, the optical axes of the lower camera 7 and the upper camera 8 coincide with the axis of the shaft 6, and the optical axis of the prism 9 is parallel to the axis of the shaft 6. . The optical axis of the prism 9 and the optical axis of the lower camera 7 have a known positional relationship.

  The storage unit 38 includes a program storage unit and a data storage unit. The program storage unit transmits a shooting program for controlling the shooting of the lower camera 7 and the upper camera 8, a flight control program for driving and controlling the propeller motor 18, and acquired data to the ground base 4. Also, using a communication program for receiving a flight command or the like from the remote control 5, a data processing program for processing and storing data acquired by the lower camera 7 and the upper camera 8, and a moving image A program such as an image tracking program for tracking is stored.

  The data storage unit stores still image data, moving image data, and the like acquired by the lower camera 7 and the upper camera 8.

  The imaging control unit 39 controls the imaging of the lower camera 7 and the upper camera 8 based on a control signal issued from the control calculation unit 36. Control modes include selection of a camera to be used according to the measurement object, synchronous control of the lower camera 7 and the upper camera 8, control of acquiring still images at predetermined time intervals during acquisition of moving images, etc. The photographing timing of the lower camera 7 and the upper camera 8 is controlled based on the clock signal generated from the clock signal generation unit 37, or synchronized.

  The azimuth sensor 29 detects the direction of the flying object 15 and inputs the detection result to the control calculation unit 36, and the gyro unit 42 detects the attitude of the flying object 15 in the flight state, and the detection result is detected Input to the control calculation unit 36.

  When the flight of the flying object 15 is remotely controlled by the remote control device 5, the flying object communication unit 11 receives a control signal from the remote control device 5, and transmits the control signal to the control operation unit 36. input. Alternatively, it has a function of transmitting image data taken by the lower camera 7 and the upper camera 8 to the ground base 4 on the ground side.

  The control operation unit 36 executes control necessary to obtain an image based on a required program stored in the storage unit 38. Further, the control calculation unit 36 calculates a control signal related to flight based on the steering signal and the detection result of the gyro unit 42, and outputs the calculated control signal to the flight control unit 41.

  The flight control unit 41 drives the propeller motor 18 to a required state through the motor driver unit 43 based on the control signal when a control signal related to flight is input from the control operation unit 36.

  FIG. 5 is a diagram showing the relationship between the aerial photography device 2, the total station 3, the ground base 4, and the remote control 5.

  The ground base 4 includes the base communication unit 12, a computing device 44, and a base storage unit 45.

  The base communication unit 12 communicates between the aerial photography device 2 and the total station 3. The base communication unit 12 receives image data from the aerial photography device 2, shutter timing information at the time of shooting the image data, and receives coordinate data from the total station 3. The arithmetic unit 44 has a clock signal generation unit, associates the received image data, shutter timing information, and coordinate data with the clock signal, processes it as time series data based on the clock signal, and stores it in the base storage unit 45 Do.

  The base storage unit 45 includes a storage area for storing image data and coordinate data, and an arithmetic program necessary for photogrammetry, and communication for communicating between the base communication unit 12 and the flying object communication unit 11 Programs such as programs, shutter timings, and programs for calculating a photographing position at which a still image is acquired based on survey data are stored.

  Hereinafter, the operation of the aerial photography apparatus 2 according to the present embodiment will be described.

  When controlling the flight of the flying body 15, driving of the propellers is controlled by setting two propeller motors 18 as one set. For example, propellers 19a and 19b, propellers 19c and 19d, propellers 19e and 19f, and propellers 19g and 19h, each including propeller motors 18a and 18b, propeller motors 18c and 18d, propeller motors 18e and 18f, and propeller motors 18g and 18h, respectively. Individually control the rotational drive of the

  For example, if the propeller motors 18a to 18h are equally driven to control the thrust by the rotation of the propellers 19a to 19h to be the same, the flying object 15 is vertically elevated.

  Further, when flying (moving) in the horizontal direction, for example, as shown in FIG. 6, in the case of moving to the left in the figure, the propeller motors 18e and 18f are accelerated to rotate and the thrusts of the propellers 19e and 19f. Is increased by the propellers 19a and 19b, the flying object 15 is inclined and the thrust acts obliquely downward, so that a horizontal component force is generated and the flying object 15 moves in the horizontal direction.

  Even when the flying object 15 is tilted, the shaft 6 is kept vertical by the action of gravity. Accordingly, the optical axes of the lower camera 7 and the upper camera 8 also maintain the vertical state, and at the same time, the optical axis of the prism 9 also maintains the vertical. The lower camera 7 acquires a vertically lower image, and the upper camera 8 acquires a vertically upper image. Here, the case where the lower image is acquired by the lower camera 7 will be described.

  The total station 3 measures the position (three-dimensional coordinates) of the prism 9 in real time while collimating and tracking the prism 9.

  The aerial photography device 2 is steered by the remote control unit 5, and during the flight of the aerial photography device 2, while taking moving images with the lower camera 7, still images are acquired at required time intervals. The time interval for photographing the still image and the photographing time may be programmed in advance, or the photographing position of the still image may be selected by the remote control 5 and the photographing instruction may be issued. In the following, the case of taking a still image at pre-programmed time intervals will be described.

  The control calculation unit 36 issues a control command on the photographing of the lower camera 7 to the imaging control unit 39. The imaging control unit 39 issues a shutter signal to the lower camera 7 based on a control command. The lower camera 7 captures a still image based on the shutter signal. The shutter signal from the imaging control unit 39 is transmitted to the ground base 4 via the flying object communication unit 11, and the photographing time for each still image is recorded in the ground base 4.

  Furthermore, when the shutter time is received, the measurement result of the total station 3 of the prism 9 is acquired, and the position (three-dimensional position) at which the still image is acquired is specified.

  The positional relationship between the lower camera 7 and the prism 9 is known and fixed. Further, since the direction of the flying object 15 is detected by the direction sensor 29, the measured value can be corrected from the known positional relationship and the direction of the flying object 15, and the correction of the three-dimensional position of the lower camera 7 That is, the shooting position of the lower camera 7 can be obtained.

  Next, in order to perform photogrammetry with still images taken at two adjacent points, it is necessary to perform mutual orientation of the two images at two points, and to carry out mutual orientation, two statics It is necessary to determine at least 5 feature points common to the images.

  In order to set feature points, image processing such as edge processing is performed on the first image to extract feature points, and moving image tracking identifies common feature points in the next still image.

  Note that moving image tracking is described in Patent Document 3.

  After the relative orientation, photogrammetry is performed by performing absolute orientation based on the three-dimensional coordinates of the photographing point.

  As for photogrammetry, each time still image data is transmitted to the ground base 4, it may be executed in real time, or still image data up to the flight completion and survey data are stored in the ground base 4 Photogrammetry may be performed based on post-flight still image data and survey data.

  As described above, since the still image photographing position is measured by the total station 3, it is highly accurate, and it is possible to perform the photogrammetry by the aerial photographing apparatus 2 even in the environment where the radio wave of the satellite can not reach.

  In the above description, although the position of the prism 9 is measured in real time by the total station 3 and the still image photographing position is acquired in synchronization with the shutter timing, the total station 3 acquires distance measurement data at predetermined time intervals. Explain.

  There are cases where the photographing timing (shutter timing) by the aerial photographing device 2 and the timing at which the total station 3 acquires coordinate data do not necessarily coincide.

  FIG. 7 shows a method of acquiring three-dimensional coordinates of the imaging position when the imaging timing and the survey data are acquired but the timing is not synchronized.

  Assuming that photographing by the lower camera 7 is performed at time intervals of I1 and measurement results by the total station 3 are performed at time intervals of I2 (I2 <I1), measurement results are acquired in agreement with the photographing time. There is almost no

  When the shutter timing from the aerial photography device 2 is received, the time of the shutter timing is known from the clock signal 47. Moreover, the survey results are acquired at the time interval I2, and the time when each survey result is acquired can also be specified from the clock signal 47.

  The measurement results d1 and d2 positioned before and after the shutter timing s (time ts) are selected, and the time (t1 and t2) when each measurement result d1 and d2 is measured from the clock signal 47 is specified .

  The measured values at the shutter timing s of the measurement results d1 and d2 can be obtained by interpolation using the relationship between the time ts and the times t1 and t2.

  Thus, accurate position measurement can be performed even if the photographing timing and the measurement timing are not synchronized.

  In the above description, the lower camera 7 and the upper camera 8 are provided at the lower end and the upper end of the shaft 6, respectively, but either one may be omitted. Further, when the lower camera 7 is omitted, the prism 9 may be provided at the lower end of the shaft 6. When the prism 9 is provided at the lower end of the shaft 6, the optical axes of the upper camera 8 and the prism 9 coincide with each other, so that it is not necessary to correct the measurement result by the total station 3.

  The shaft 6 is supported by the gimbal 25 so as to turn in the vertical direction by the action of gravity, but a motor is connected to each of the rocking shafts 27a and 27b (see FIG. 3). The rocking shafts 27a and 27b may be forcibly rotated in the direction opposite to the inclination based on the inclination signal of (4) to maintain the vertical state.

Reference Signs List 1 aerial photography system 2 aerial photography device 3 total station 4 ground base 5 remote control 7 lower camera 8 upper camera 9 prism 11 flying object communication unit 12 base communication unit 15 flying object 18 propeller motor 25 gimbal 26 vibration isolation member 28 tilt sensor 29 Direction sensor 31 Control box 36 Control operation unit 37 Clock signal generation unit 38 Storage unit 39 Imaging control unit 41 Flight control unit 42 Gyro unit 44 Arithmetic unit 45 Base storage unit

Claims (2)

An aerial photography system comprising a remotely steerable aerial photography device, a total station provided at a known point, and a ground base capable of communicating with the total station,
The aerial photographing apparatus comprises an aircraft, a camera tiltably supported by the aircraft via a gimbal in any direction, and is integrally inclined with the camera, and is provided in a known relationship with the camera. The retroreflector, the imaging control unit, and the aircraft communication unit,
The imaging control unit generates a shutter signal and performs imaging with the camera.
The aircraft communication unit transmits still image data of the still image captured by the camera and the shutter signal to the ground base,
The total station tracks the retroreflector, measures the position of the retroreflector in real time,
The ground base includes computing device having a clock signal generator, the base storage unit, the base communication unit that communicates with 及 beauty said aircraft communication unit,
The ground base receives the shutter signal and the still image data from the flying object communication unit, and receives from the total station three-dimensional coordinates of the retroreflector at the time of receiving the shutter signal .
The shutter signal, the still image data, and the coordinate data are stored as time-series data in association with the clock signal generated by the clock signal generator,
An aerial photograph system , wherein the three-dimensional coordinates and the still image are associated based on the clock signal . Before Symbol ground base is the rear flying aerial device, Aerial system according to claim 1 that associates with the still image and the three-dimensional coordinates based on the clock signal.

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