KR102037504B1 - Apparatus and method for generating stereoscopic image of flight model based on latitude-longitude coordinate - Google Patents

Abstract

The present invention relates to an apparatus and method for generating a stereoscopic image of a flight model based on a latitude and longitude altitude coordinate system. The present invention relates to a flight for converting position data of a flight model located at a center point on a fuselage coordinate system into three-axis position data with respect to the altitude and altitude coordinate system. Model position data converter, Camera position data converter for converting the initial position data of multiple cameras fixed in the body coordinate system into three-axis position data for the latitude and longitude coordinate system, Flight model for changing the attitude of the flight model on the latitude and longitude coordinate system It includes a posture change unit and a camera position calculation unit for calculating the position of the plurality of cameras that change depending on the posture of the flight model is changed on the altitude coordinate system.

Description

Device and method for generating stereoscopic images of flight models based on the latitude and longitude coordinate system {APPARATUS AND METHOD FOR GENERATING STEREOSCOPIC IMAGE OF FLIGHT MODEL BASED ON LATITUDE-LONGITUDE COORDINATE}

The present invention relates to an apparatus and method for generating a stereoscopic image of a flight model based on a latitude and longitude coordinate system, and more particularly, to a stereoscopic image of a flight model by changing a position and a posture of a camera based on a center point of a flight model in a fuselage coordinate system. The present invention relates to an apparatus and method for generating a stereoscopic image of a flight model based on a latitude-of-latitude coordinate system.

An unmanned aerial vehicle is one of the flight models that is equipped with equipment such as infrared detectors, video cameras or weather radars to scout the facility or perform a defined mission. Various types of drones have been developed, and drones are used to detect jungle or remote areas, transport natural disaster areas or small objects that are difficult to reach, for example, by airplane or helicopter-shaped aircraft. The drone can be operated by three components: a ground base station, a communication structure and a vehicle, and the aircraft is interrogated with a satellite navigation device, a gyro unit and an acceleration unit. In the case of a small drone, an electric motor may be used, and an operation motor, a battery, a propeller, a communication chip module, and a short range communication module may be disposed in the drone. The drone's data link may consist of an uplink for take-off, lift, control, and control of an unmanned aerial vehicle, and a downlink for conveying information about the status of the vehicle and information obtained during operation. Drones can be operated for a variety of purposes and have a suitable structure accordingly.

In this regard, US Patent Publication No. US 2014/0233099 A1 discloses a system for providing a public display on top of a viewer. The system includes a plurality of unmanned aerial vehicles and a plurality of stretchable projection screens, each of which may be maintained in display space by a drone, operating a flight manager module and a different flight plan for each drone. Disclosed are contents including a ground control system having a memory for storing the data.

However, the display method projected by the unmanned aerial vehicle as described above has a problem that various types of errors may be generated depending on the surrounding environment.

The present invention has been invented to solve the above problems, using the center point position of the flight model and the position of the plurality of cameras that are changed to calculate the azimuth and inclination angle of the plurality of cameras fixed on the fuselage coordinate system to shoot the flight model An object of the present invention is to provide an apparatus and method for generating a stereoscopic image of a flight model based on a latitude and longitude coordinate system.

The present invention also provides an apparatus and method for generating a stereoscopic image of a flight model based on a latitude and longitude coordinate system that generates a stereoscopic image of a flight model using a center point image of a flight model captured by a plurality of cameras fixed on a fuselage coordinate system. The purpose is to provide.

To achieve the above object, a stereoscopic image generating apparatus of a flight model based on a latitude and longitude coordinate system according to the present invention converts position data of a flight model located at a center point on a fuselage coordinate system into three-axis position data on a latitude and longitude coordinate system. A flight model position data converter; A camera position data converting unit converting initial position data of a plurality of cameras fixed on the fuselage coordinate system into three-axis position data with respect to the latitude and longitude coordinate system; A flight model attitude change unit for changing a posture of the flight model on a latitude and longitude coordinate system; And a camera position calculator configured to calculate positions of the plurality of cameras that change according to the posture of the flight model that is changed on the latitude and longitude coordinate system.

In addition, the flight model attitude change unit converts the position of the center point of the flight model on the fuselage coordinate system to the latitude and longitude coordinate system, and the attitude of the flight model on the latitude and longitude altitude coordinate system in the yaw direction, the pitch direction, and the roll direction. It is characterized by changing in the order of.

In addition, the camera position calculator is characterized in that by changing the position of the plurality of cameras rotate in the yaw direction, pitch direction and roll direction according to the changed posture of the flight model.

In addition, the camera position calculation unit, the first position calculation unit for calculating the position of the plurality of cameras by changing the first rotation by the yaw direction relative to the center point of the flight model in the body coordinate system; A second position calculation unit configured to calculate positions of a plurality of cameras which are changed by a second rotation by a pitch direction based on the center point of the flight model whose posture is changed according to the first rotation; And a tertiary position calculation unit configured to calculate final positions of the plurality of cameras that are changed by rotating the third direction by the roll direction with respect to the center point of the flight model whose posture is changed according to the secondary rotation. .

In addition, a plurality of cameras fixed on the fuselage coordinate system by using the position of the center point of the flight model and the changed position of the plurality of cameras is characterized in that it comprises a camera attitude calculation unit for calculating the azimuth and inclination angle for shooting the flight model.

The apparatus may further include a three-dimensional image generating unit configured to generate a three-dimensional image of the flying model by using the center point image of the flying model photographed by a plurality of cameras fixed on the fuselage coordinate system.

The stereoscopic image generator may generate a stereoscopic image of the flight model by adjusting an angle between the flight model and the plurality of cameras using the calculated azimuth angles of the plurality of cameras.

To achieve the above object, a stereoscopic image generation method of a flight model based on a latitude and longitude altitude coordinate system according to the present invention is performed by a flight model position data converting unit. Converting to triaxial position data for the coordinate system; Converting, by the camera position data converting unit, initial position data of a plurality of cameras fixed on the body coordinate system into three-axis position data with respect to the latitude-longitude coordinate system; Changing, by the flight model attitude changing unit, the attitude of the flight model on the latitude and longitude coordinate system; And calculating, by the camera position calculator, the positions of the plurality of cameras that change according to the attitude of the flight model that is changed on the latitude and longitude coordinate system.

In addition, the step of changing the attitude of the flight model on the latitude and longitude coordinate system, converting the position of the center point of the flight model on the fuselage coordinate system, the yaw direction, the pitch ( It is characterized by changing in order of a pitch direction and a roll direction.

In addition, the step of calculating the position of the plurality of cameras that change depending on the attitude of the flight model is changed on the latitude and longitude altitude coordinate system, the position of the plurality of cameras in the yaw direction, pitch (Pitch) according to the changed attitude of the flight model It is characterized by rotating in the direction and roll direction (Roll) to change.

In addition, the step of calculating the position of the plurality of cameras that change according to the attitude of the flight model is changed on the latitude and longitude altitude coordinate system, the number of changes by first rotating by yaw direction with respect to the center point of the flight model in the fuselage coordinate system Calculating the position of the camera; Calculating positions of a plurality of cameras which are changed by performing a second rotation by the pitch direction with respect to the center point of the flight model whose posture is changed according to the first rotation; And calculating a final position of a plurality of cameras that are changed by rotating in the third direction by a roll direction with respect to the center point of the flight model whose posture is changed according to the second rotation.

In addition, after calculating the positions of the plurality of cameras that change according to the posture of the flight model changing on the latitude and longitude altitude coordinate system, the plurality of cameras fixed on the fuselage coordinate system using the position of the center point of the flight model and the changed positions of the multiple cameras. Comprising the step of calculating the azimuth and inclination angle to shoot the flight model.

In addition, after calculating the azimuth and inclination angles of the plurality of cameras fixed in the fuselage coordinate system by using the position of the center point of the flight model and the changed positions of the plurality of cameras, the plurality of cameras fixed in the fuselage coordinate system And generating a stereoscopic image of the flight model using the center point image of the captured flight model.

In addition, the step of generating a three-dimensional image of the flight model using the center point image of the flight model captured by the plurality of cameras fixed on the fuselage coordinate system, the angle between the flight model and the plurality of cameras using the calculated azimuth of the plurality of cameras By adjusting the to generate a three-dimensional image of the flight model.

An apparatus and method for generating a stereoscopic image of a flight model based on a latitude and longitude coordinate system according to the present invention having the above-described configuration include a plurality of fixed images in a fuselage coordinate system using a center point position of a flight model and positions of a plurality of cameras changed. The camera calculates azimuth and inclination angles to capture the flight model, and generates a stereoscopic image of the flight model by using the center point image of the flight model captured by a plurality of cameras fixed on the fuselage coordinate system. Based on the image, there is an effect that realistic expression of non-guided or guided missile is possible.

1 is a view for explaining the configuration of a three-dimensional image generating device of a flight model based on a latitude and longitude coordinate system according to the present invention.
2 is a view for explaining the detailed configuration of the camera position calculation unit employed in the three-dimensional image generating device of the flight model based on the latitude and longitude coordinate system according to the present invention.
FIG. 3 is a diagram for describing a primary position calculator of FIG. 2.
FIG. 4 is a diagram for describing a secondary position calculator of FIG. 2.
FIG. 5 is a diagram for describing a third position calculator of FIG. 2.
FIG. 6 is a view for explaining a procedure of generating a stereoscopic image of a flight model based on a latitude and longitude coordinate system according to the present invention.
7 and 8 are views showing a stereoscopic image generation device and a visualization result of the three-dimensional image generating device and a method of the flight model based on the latitude and longitude coordinate system according to the present invention.

As the present invention allows for various changes and numerous embodiments, particular embodiments will be illustrated in the drawings and described in detail in the written description.

However, this is not intended to limit the present invention to specific embodiments, it should be understood to include all changes, equivalents, and substitutes included in the spirit and scope of the present invention. In describing the drawings, similar reference numerals are used for similar elements.

When a component is referred to as being "connected" or "connected" to another component, it may be directly connected to or connected to that other component, but it may be understood that other components may be present in between. Should be. On the other hand, when a component is said to be "directly connected" or "directly connected" to another component, it should be understood that there is no other component in between.

The terminology used herein is for the purpose of describing particular example embodiments only and is not intended to be limiting of the present invention. The singular forms "a", "an" and "the" do not exclude the possibility of the presence or addition of a plurality of expressions or combinations thereof unless the context clearly indicates otherwise. In this application, the terms "comprise" or "have" are intended to indicate that there is a feature, number, step, operation, component, part, or combination thereof described in the specification, and one or more other features. Or numbers, steps, operations, or components should be understood.

Hereinafter, with reference to the accompanying drawings, it will be described in detail a preferred embodiment of the present invention. Hereinafter, the same reference numerals are used for the same components in the drawings, and duplicate descriptions of the same components are omitted.

1 is a view for explaining the configuration of a three-dimensional image generating device of a flight model based on a latitude and longitude coordinate system according to the present invention.

Referring to FIG. 1, the apparatus 100 for generating a stereoscopic image of a flight model based on a latitude and longitude coordinate system according to the present invention includes a flight model position data converter 110, a camera position data converter 120, It includes a flight model attitude change unit 130, a camera position calculator 140, a camera attitude calculator 150 and a stereoscopic image generator 160.

The flight model position data converting unit 110 converts the position data of the flight model located at the center point of the fuselage coordinate system into three-axis position data of the latitude and longitude coordinate system.

,

,

와 같다.If the flight model position data conversion unit 110 represents the position data of the flight model as three-axis position data for the latitude and longitude coordinate system

,

,

Same as

The camera position data converter 120 converts initial position data of a plurality of cameras fixed on the body coordinate system into three-axis position data of the latitude-longitude coordinate system.

,

,

와 같다.When the camera position data converter 120 indicates initial position data of a plurality of cameras as three-axis position data of a latitude-longitude coordinate system,

,

,

Same as

The flight model attitude change unit 130 changes the attitude of the flight model on the latitude and longitude coordinate system.

The flight model attitude change unit 130 converts the position of the center point of the flight model in the fuselage coordinate system to a latitude-longitude coordinate system, and converts the attitude of the flight model in the yaw-direction, pitch direction, and roll on the latitude-longitude coordinate system. Can be changed in the order of direction.

The camera position calculator 140 calculates the positions of the plurality of cameras that change according to the attitude of the flight model that is changed on the latitude and longitude coordinate system.

,

,

)를 계산하는 수식에 대해서는 이하에서 자세하게 설명하기로 한다.The camera position calculator 140 changes the positions of the plurality of cameras in the yaw direction, the pitch direction, and the roll direction according to the changed posture of the flight model, thereby changing the number of times. At this time, we used the Vincenti algorithm and the Inverse Vincient algorithm, which are widely used to calculate the distance and azimuth between two positions on the WGS84 latitude and longitude coordinate system. Like this, the final position of the camera (

,

,

The formula for calculating) will be described in detail below.

The camera attitude calculator 150 calculates an azimuth and inclination angle at which a plurality of cameras fixed on the fuselage coordinate system photograph the flight model by using the position of the center point of the flight model and the changed positions of the plurality of cameras.

)과 경사각(

)을 구할 수 있다. 이를 계산하는 수식에 대해서는 이하에서 자세하게 설명하기로 한다.The camera pose calculating unit 150 applies the Vincenti algorithm and the trigonometric formula to the position of the center point of the model and the transformed camera position, thereby azimuth angle at which the camera fixed to the fuselage coordinate system finally captures the model (

) And the inclination angle (

) Can be obtained. The formula for calculating this will be described in detail below.

The stereoscopic image generating unit 160 generates a stereoscopic image of the flight model by using the center point image of the flight model photographed by a plurality of cameras fixed on the body coordinate system.

The stereoscopic image generator 160 generates a stereoscopic image of the flight model by adjusting an angle between the flight model and the plurality of cameras using the calculated azimuth angles of the plurality of cameras. At this time, the formula for adjusting the angle between the camera will be described in detail below.

2 is a view for explaining the detailed configuration of the camera position calculation unit employed in the stereoscopic image generating device of the flight model based on the latitude and longitude coordinate system according to the present invention, Figure 3 is to explain the primary position calculation unit of FIG. 4 is a view for explaining the secondary position calculation unit of FIG. 2, and FIG. 5 is a view for explaining the tertiary position calculation unit of FIG. 2.

Referring to Figure 2, the camera position calculation unit 140 in accordance with the present invention calculates the position of the plurality of cameras that change depending on the attitude of the flight model is changed on the latitude and longitude coordinate system.

To this end, the camera position calculator 140 includes a primary position calculator 141, a secondary position calculator 142, and a tertiary position calculator 143.

The primary position calculator 141 calculates positions of a plurality of cameras that are changed by first rotating by the yaw direction based on the center point of the flight model in the body coordinate system.

,

,

)로 변하게 된다. 이때 고도는 변하지 않는다.(

=

)That is, as shown in FIG. 3, the primary position calculation unit 141 rotates on the XY plane of the flight model and the position of the camera is (

,

,

). The altitude does not change at this time.

=

)

In addition, the primary position calculator 141 may calculate the positions of a plurality of cameras that are changed by first rotating by the yaw direction based on the center point of the flight model by Equation 1 below.

[Equation 1]

The secondary position calculator 142 calculates the positions of the plurality of cameras which are changed by the second rotation by the pitch direction based on the center point of the flight model whose posture is changed according to the first rotation.

,

,

)으로 변한다. That is, as shown in FIG. 4, the secondary position calculation unit 142 rotates on the XZ plane of the flight model and the position of the camera is (

,

,

Changes to).

In addition, the secondary position calculator 142 may calculate the positions of a plurality of cameras that are changed by the second rotation by the pitch direction with respect to the center point of the flight model by Equation 2 below.

[Formula 2]

The tertiary position calculator 143 calculates the final positions of the plurality of cameras which are changed by the third direction by the roll direction with respect to the center point of the flight model whose posture is changed according to the secondary rotation.

,

,

)를 구하게 된다.That is, the tertiary position calculation unit 143, as shown in Figure 5, with the rotation on the YZ plane of the flight model of the final position of the camera (

,

,

).

In addition, the third position calculation unit 143 may calculate the positions of the plurality of cameras that are changed by rotating the third direction by the roll direction with respect to the center point of the flight model by Equation 3 below.

[Equation 3]

,

,

)와 변환된 카메라의 위치(

,

,

)를 빈센티 알고리즘과 삼각함수 계산공식을 적용함으로써 최종적으로 동체좌표계에 고정된 카메라가 비행 모델을 촬영하는 방위각(

)과 경사각(

)을 구할 수 있으며 이는 수식 4와 같다.As above, the center point position of the flight model (

,

,

) And the location of the converted camera (

,

,

) Is applied to the Vincenti algorithm and trigonometric equations so that the azimuth angle at which the camera finally fixed to the fuselage coordinates captures the flight model (

) And the inclination angle (

), Which is the same as Equation 4.

[Equation 4]

)에 버전스 각(

)에 해당하는 각을 더한 방위각(

)과 뺀 방위각(

)을 두 개의 카메라에 각각 적용함으로써 가능해진다.In addition, two cameras fixed at a specific position on the fuselage coordinate system are set to capture the center of the model, and three-dimensional images can be generated by using the two generated images. This is the camera's azimuth angle (

) On each version (

) Plus the azimuth (

) Minus azimuth (

Is applied to each of the two cameras.

6 is a view for explaining the procedure of the three-dimensional image generation method of the flight model based on the latitude and longitude coordinate system according to the present invention, Figures 7 and 8 are views of the flight model based on the latitude and longitude coordinate system according to the present invention 3D is a diagram illustrating a stereoscopic image generating result and a visualization result by the apparatus and the stereoscopic image generating apparatus.

Referring to FIG. 6, a stereoscopic image generation method of a flight model based on a latitude and longitude altitude coordinate system according to the present invention uses a three-dimensional image generation device of a flight model based on the latitude and longitude altitude coordinate system described above. The description will be omitted.

First, the position data of the flight model located at the center point of the fuselage coordinate system is converted into three-axis position data for the latitude-longitude coordinate system (S100).

Next, the initial position data of the plurality of cameras fixed on the fuselage coordinate system is converted into three-axis position data for the latitude and longitude coordinate system (S200).

Next, the attitude of the flight model is changed on the latitude and longitude altitude coordinate system (S300).

In step S300, the position of the center point of the flight model is converted into a latitude and longitude coordinate system on the fuselage coordinate system, and the posture of the flight model is changed in the yaw direction, the pitch direction, and the roll direction on the latitude and longitude coordinate system. Can be.

Next, the position of the plurality of cameras that change according to the attitude of the flight model is changed on the latitude and longitude altitude coordinate system (S400).

In the step S400, the positions of the plurality of cameras are also changed three times by rotating in the yaw direction, the pitch direction and the roll direction according to the changed posture of the flight model. In more detail, first, the position of a plurality of cameras that are changed by first rotating the yaw direction with respect to the center point of the flight model in the fuselage coordinate system is calculated, and based on the center point of the flight model whose attitude is changed according to the first rotation. Calculate the position of multiple cameras by changing the secondary rotation by the pitch direction, and rotate by the third rotation by the roll direction with respect to the center point of the flight model whose posture changed according to the secondary rotation. Calculate the final position of the camera.

Next, the azimuth and inclination angles of the plurality of cameras fixed on the fuselage coordinate system photographing the flight model are calculated using the position of the center point of the flight model and the changed positions of the plurality of cameras (S500).

Next, a stereoscopic image of the flight model is generated using the center point image of the flight model photographed by a plurality of cameras fixed on the fuselage coordinate system (S600).

Step S600 is to generate a three-dimensional image of the flight model as shown in Figure 7 by adjusting the angle between the flight model and the plurality of cameras using the calculated azimuth angle of the plurality of cameras, and as shown in Figure 8 surrounding the flight model The stereoscopic image of the flight model reflecting the environment is visualized.

As described above, the apparatus and method for generating a stereoscopic image of a flight model based on a latitude and longitude altitude coordinate system according to the present invention include a flight model in which a plurality of cameras fixed on a fuselage coordinate system using a position of a center point of the flight model and positions of a plurality of changed cameras. Calculate the azimuth and inclination angles to take a picture and generate a three-dimensional image of the flight model by using the center point image of the flight model captured by a plurality of cameras fixed on the fuselage coordinate system. Realistic representations of swords or missiles are possible.

The functional operations described herein and the embodiments relating to the subject matter are implemented in digital electronic circuitry or computer software, firmware or hardware, including the structures disclosed herein and their structural equivalents, or in combination with one or more of them. It is possible.

Embodiments of the subject matter described herein include one or more computer program instructions, ie one or more computer program instructions that are encoded on a tangible program medium for execution by an information processing apparatus or for operating the operations thereof. It can be implemented as a module. The tangible program medium may be a propagated signal or a computer readable medium. A propagated signal is an artificially generated signal such as a machine generated electrical, optical or electromagnetic signal that is generated to encode information for transmission to a suitable receiver device for execution by a computer. The computer readable medium may be a machine readable storage device, a machine readable storage substrate, a memory device, a combination of materials affecting a machine readable propagated signal, or a combination of one or more of them.

Computer programs (also known as programs, software, software applications, scripts, or code) may be written in any form of programming language, including compiled or interpreted languages, or a priori or procedural languages. It can be deployed in any form, including components, subroutines, or other units suitable for use in a computer environment.

The computer program does not necessarily correspond to a file of the file device. A program may be in a single file provided to the requested program, or in multiple interactive files (eg, one or more files that store modules, subprograms, or parts of code), or of other files or files that hold information. Some (eg, one or more stored in a markup language document) may be stored within.

The computer program may be deployed to run on a single computer or on multiple computers located at one site or distributed across multiple sites and interconnected by a communication network.

In addition, the logic flows and structural block diagrams described in this patent document describe corresponding acts and / or specific methods supported by the corresponding functions and steps supported by the disclosed structural means, corresponding It can also be used to build software structures and algorithms and their equivalents.

The processes and logic flows described herein are capable of being performed by one or more programmable processors that execute one or more computer programs to perform functions by operating on input information and generating output.

Processors suitable for the execution of computer programs include, for example, both general and special purpose microprocessors and any one or more of any kind of digital computer. In general, a processor will receive instructions and information from a read only memory or a random access memory or both.

At the heart of a computer is one or more memory devices and processors for storing instructions and information for storing instructions and information. In addition, computers are generally such that one or more for storing information, such as magnetic, magneto-optical disks or optical disks, are operable to receive information from, transmit information to, or perform both of these operations. Combined or will include it. However, the computer does not need to have such a device.

The foregoing description presents the best mode of the invention, and provides examples to illustrate the invention and to enable those skilled in the art to make and use the invention. The specification thus produced is not intended to limit the invention to the specific terms presented.

Thus, while the present invention has been described in detail with reference to the above examples, those skilled in the art can make modifications, changes, and variations to the examples without departing from the scope of the invention. In short, in order to achieve the intended effect of the present invention, it is not necessary to separately include all the functional blocks shown in the drawings or to follow all the orders shown in the drawings in the order shown; Note that it may fall within the scope.

100: 3D image generating device of a flight model based on a latitude and longitude coordinate system
110: flight model position data conversion unit
120: camera position data converter
130: flight model posture change unit
140: camera position calculation unit
150: camera pose calculation unit
160: stereoscopic image generation unit

Claims (14)

The position data of the flight model located at the center point of the fuselage coordinate system with respect to the fuselage of the flight model is converted into three-axis position data (

,

,

Flight model position data conversion unit for converting;
A camera position data converting unit converting initial position data of a plurality of cameras fixed on the fuselage coordinate system into three-axis position data with respect to the latitude and longitude coordinate system;
A flight model attitude change unit for changing a posture of the flight model on a latitude and longitude coordinate system; And
It includes; camera position calculation unit for calculating the position of the plurality of cameras that change according to the attitude of the flight model is changed on the latitude and longitude altitude coordinate system;
The camera position calculator,
A first position calculation unit configured to calculate positions of a plurality of cameras that are changed by first rotating in a yaw direction based on a center point of a flight model in a fuselage coordinate system;
A second position calculation unit configured to calculate positions of a plurality of cameras which are changed by a second rotation by a pitch direction based on the center point of the flight model whose posture is changed according to the first rotation; And
A tertiary position calculation unit configured to calculate final positions of a plurality of cameras which are rotated by the roll direction three times based on the center point of the flight model whose posture is changed according to the secondary rotation;
3D image generating apparatus of a flight model based on a latitude and longitude altitude coordinate system comprising a. The method of claim 1,
The flight model attitude change unit converts the position of the center point of the flight model in the fuselage coordinate system into a latitude and longitude altitude coordinate system, and converts the attitude of the flight model in the yaw direction, the pitch direction, and the roll direction on the latitude and longitude coordinate system. 3D image generating device of a flight model based on a latitude and longitude coordinate system, characterized in that for changing. The method of claim 1,
The camera position calculator is based on a latitude and longitude altitude coordinate system, characterized in that the position of the plurality of cameras are also rotated in the yaw direction, the pitch direction and the roll direction according to the changing posture of the flight model. Stereoscopic image generation device of a flight model. delete The method of claim 1,
Based on a latitude and longitude altitude coordinate system, the camera position calculation unit calculates an azimuth and an inclination angle at which a plurality of cameras fixed on the fuselage coordinate system are photographed on the fuselage coordinate system using the position of the center point of the flight model and the positions of the changed plurality of cameras. Stereoscopic image generation device of a flight model. The method of claim 5,
3D image generation of a flight model based on a latitude and longitude coordinate system, characterized in that it comprises a three-dimensional image generation unit for generating a three-dimensional image of the flight model using a center point image of the flight model captured by a plurality of cameras fixed on the fuselage coordinate system Device. The method of claim 6,
The stereoscopic image generating unit generates a stereoscopic image of the flight model by adjusting the angle between the flight model and the plurality of cameras by using the calculated azimuth angles of the plurality of cameras. Generating device. The flight model position data converting unit converts the position data of the flight model located at the center point of the fuselage coordinate system with respect to the fuselage of the flight model to the 3-axis position data (

,

,

Converting);
Converting, by the camera position data converting unit, initial position data of a plurality of cameras fixed on the body coordinate system into three-axis position data with respect to the latitude-longitude coordinate system;
Changing, by the flight model attitude changing unit, the attitude of the flight model on the latitude and longitude coordinate system; And
Comprising, by the camera position calculation unit for calculating the position of the plurality of cameras that change according to the attitude of the flight model is changed on the latitude and longitude coordinate system;
Computing the position of the plurality of cameras according to the attitude of the flight model that changes on the latitude and longitude coordinate system,
Calculating positions of a plurality of cameras which are changed by first rotating by the yaw direction based on the center point of the flight model in the fuselage coordinate system;
Calculating positions of a plurality of cameras which are changed by performing a second rotation by the pitch direction with respect to the center point of the flight model whose posture is changed according to the first rotation; And
Calculating final positions of a plurality of cameras which are changed by rotating in the third direction by the roll direction with respect to the center point of the flight model whose posture is changed according to the second rotation;
Stereoscopic image generation method of a flight model based on a latitude and longitude coordinate system comprising a. The method of claim 8,
Changing the attitude of the flight model on the latitude and longitude coordinate system,
The position of the center point of the flight model in the fuselage coordinate system is converted into a latitude and longitude coordinate system, and the posture of the flight model is changed in the yaw direction, the pitch direction, and the roll direction in the latitude and longitude coordinate system. 3D image generation method based on a latitude and longitude coordinate system. The method of claim 8,
Computing the position of the plurality of cameras according to the attitude of the flight model that changes on the latitude and longitude coordinate system,
According to the changing posture of the flight model, the position of the plurality of cameras is also changed by rotating in the yaw direction, the pitch direction, and the roll direction. Stereoscopic image generation method. delete The method of claim 8,
After calculating the position of multiple cameras that change according to the attitude of the flight model that changes on the latitude and longitude coordinate system,
Computing the azimuth and inclination angle of the plurality of cameras fixed on the fuselage coordinate system by using the position of the center point of the flight model and the position of the changed plurality of cameras to calculate the azimuth and inclination angle 3D image generation method of flight model. The method of claim 8,
After calculating the azimuth and inclination angles of a plurality of cameras fixed in the fuselage coordinate system using the position of the center point of the flight model and the changed position of the plurality of cameras to shoot the flight model,
And generating a stereoscopic image of the flight model using the center point image of the flight model captured by a plurality of cameras fixed on the fuselage coordinate system. The method of claim 13,
The step of generating a stereoscopic image of the flight model using the center point image of the flight model captured by a plurality of cameras fixed on the fuselage coordinate system,
3. A stereoscopic image generation method of a flight model based on a latitude and longitude coordinate system, wherein a stereoscopic image of a flight model is generated by adjusting an angle between a flight model and a plurality of cameras using calculated azimuth angles of a plurality of cameras.

Images