ALTITUDE MEASURING DEVICE, FLYING VEHICLE, ALTITUDE MEASURING METHOD, AND PROGRAM

摘要

To provide an altitude measuring device, a flying vehicle, an altitude measuring method, and a program with which it is possible to measure the altitude of a flying vehicle without installing a special measurer in the flying vehicle.SOLUTION: The altitude measuring device of an embodiment comprises an image acquisition unit, an imaging angle acquisition unit, an attitude angle acquisition unit, and an altitude derivation unit. The image acquisition unit acquires the image information of a horizontal line image imaged from the flying vehicle and including at least a horizontal line. The imaging angle acquisition unit acquires an imaging angle that is the angle formed by the attitude direction of the flying vehicle and the imaging direction. The attitude angle acquisition unit acquires an attitude angle that is the angle formed by the horizontal plane and the attitude direction of the flying vehicle. The altitude derivation unit derives, on the basis of the horizontal line image, an error angle that is the angle formed by the imaging direction and the horizontal line as seen from the imaging position of the horizontal line image, and derives the altitude of the flying vehicle on the basis of the error angle, the imaging angle and the attitude angle.SELECTED DRAWING: Figure 2