METHOD OF DETERMINING COORDINATES OF GROUND OBJECTS WHEN PHOTOGRAPHING FROM AN UNMANNED AERIAL VEHICLE

摘要

FIELD: data processing.;SUBSTANCE: invention relates to methods of processing aerial photographs for coordinate detection of detected ground objects. Claimed method consists in the fact that on the unmanned aerial vehicle (UAV) the on-board satellite navigation module, the inertial angular orientation module, the digital camera, data transmission module and synchronization module. Together with the on-board modules, the ground-based data receiving module and the computing module are used. By means of on-board modules, transmitted data are generated as part of synchronized photographs and coordinates, track angle and height of the apparatus. Using the angular orientation module, alignment of the center of the rectangular photograph and direction of its vertical sides, respectively, with coordinates and lengthwise axis of the apparatus. Length of the diagonal of the photographed section of the area is determined using the computation module based on the height values of the apparatus and the angular field of view of the camera. Lengths of the corresponding sides of the section are calculated from the values of the length of the diagonal and the ratio of the lengths of the horizontal and vertical sides of the photograph in pixels, from the values of which the angle between the diagonal of the section and the longitudinal axis of the apparatus is calculated. Coordinates of the vertices of the photographed section are calculated from the values of coordinates and the track angle of the apparatus, the length of the diagonal of the section and the angle between the diagonal and the longitudinal axis of the apparatus, and the values of which correspond to alignment of the photograph with the corresponding section of the digital map of the local area map built into the computer module. Coordinates of ground objects are determined by reading from digital map of coordinates of centers of their images on photograph combined with map.;EFFECT: fast and high-accuracy determination of coordinates of ground objects during photography with an unmanned aerial vehicle.;1 cl, 4 dwg