Course overlap rate control method and device, computer device and readable storage medium

Abstract

The application discloses a heading overlap rate control method, a heading overlap rate control device, computer equipment and a nonvolatile computer readable storage medium. The heading overlap rate control method comprises the following steps: acquiring camera coordinates of a first position point and camera coordinates of a second position point in a field of view of a camera when an aircraft is at a first flight position; calculating camera coordinates of a target position point in the field of view of the camera when the aircraft is at a second flight position according to a target heading overlap rate, the camera coordinates of the first position point and the camera coordinates of the second position point, the first position point, the second position point and the target position point are collinear, and the target position point is located between the first position point and the second position point; calculating an adjustment parameter of the camera according to the camera coordinates of the target position point; and controlling the movement of the camera according to the adjustment parameter. The application utilizes the object-image projection mapping relationship, can accurately control the position of a ground point on an image, and thus improves the control precision of the heading overlap rate.

Description

Technical Field

[0001] This application relates to the field of airborne imaging and measurement and control technology, and in particular to a forward overlap rate control method, a forward overlap rate control device, a computer device, and a non-volatile computer-readable storage medium. Background Technology

[0002] like Figure 1 As shown, the forward overlap rate of a camera refers to the ratio of the width of the overlapping portion in images captured by the camera at different aircraft positions to the width of a single image. The distance between the camera and the ground target is directly proportional to the change in roll angle; the larger the roll angle and the greater the distance, the larger the ground coverage width corresponding to the field of view, and the greater the overlap rate. Therefore, for oblique-looking cameras, to ensure the accuracy of the forward overlap rate, in addition to calculating a suitable aircraft position for taking pictures, it is also necessary to compensate for the changes in the line of sight caused by the aircraft's attitude movement by driving the camera's pitch and azimuth axes. Existing methods for achieving forward overlap rate in oblique photography are based on homogeneous coordinate transformation of geographic coordinate information to drive the two-axis frame angle. However, this algorithm only compensates for the line of sight pointing at the center point of the camera's field of view and does not consider the impact of forward angle changes on other points. Using this method for forward overlap rate control in oblique imaging will result in fluctuations in the forward overlap rate. Summary of the Invention

[0003] This application provides a heading overlap rate control method, a heading overlap rate control device, a computer device, and a non-volatile computer-readable storage medium to solve the problem of inaccurate heading overlap rate control and the resulting heading overlap rate fluctuations.

[0004] The forward overlap rate control method of this application is used for a camera mounted on a carrier aircraft. The method comprises: acquiring the camera coordinates of a first position point and a second position point in the field of view of the camera when the carrier aircraft is in a first flight position; calculating the camera coordinates of a target position point in the field of view of the camera when the carrier aircraft is in a second flight position based on a target forward overlap rate, the camera coordinates of the first position point, and the camera coordinates of the second position point, wherein the first position point, the second position point, and the target position point are collinear, and the target position point is located between the first position point and the second position point; calculating adjustment parameters for the camera based on the camera coordinates of the target position point; and controlling the camera movement based on the adjustment parameters.

[0005] In some embodiments, the first position point and the second position point are two position points located near the end of the camera's field of view when the aircraft is in the first flight position; the target position point is a position point located near the end of the camera's field of view when the aircraft is in the second flight position.

[0006] In some embodiments, calculating the camera coordinates of the target position point in the camera's field of view when the aircraft is in its second flight position, based on the target heading overlap rate, the camera coordinates of the first position point, and the camera coordinates of the second position point, includes: calculating the geodetic coordinates of the first position point based on the geodetic coordinates of the aircraft in the first flight position and the camera coordinates of the first position point; calculating the geodetic coordinates of the second position point based on the geodetic coordinates of the aircraft in the first flight position and the camera coordinates of the second position point; calculating the target position point's coordinates based on the heading overlap rate, the geodetic coordinates of the first position point, and the second position point; and calculating the camera coordinates of the target position point based on the geodetic coordinates of the aircraft in the second flight position and the coordinates of the target position point.

[0007] In some embodiments, calculating the camera adjustment parameters based on the camera coordinates of the target location includes: calculating the adjustment parameters based on the geodetic coordinates of the carrier aircraft at the second flight position, the carrier aircraft coordinates at the second flight position, and the camera coordinates of the target location.

[0008] The forward overlap rate control device of this application is used for a camera mounted on a carrier aircraft. The forward overlap rate control device includes an acquisition module, a first calculation module, a second calculation module, and a control module. The acquisition module is used to acquire the camera coordinates of a first position point and a second position point in the field of view of the camera when the carrier aircraft is in a first flight position. The first calculation module is used to calculate the camera coordinates of a target position point in the field of view of the camera when the carrier aircraft is in a second flight position, based on the target forward overlap rate, the camera coordinates of the first position point, and the camera coordinates of the second position point. The first position point, the second position point, and the target position point are collinear, and the target position point is located between the first position point and the second position point. The second calculation module is used to calculate the camera's adjustment parameters based on the camera coordinates of the target position point. The control module is used to control the camera's movement based on the adjustment parameters.

[0009] In some embodiments, the first position point and the second position point are two position points located near the end of the camera's field of view when the aircraft is in the first flight position; the target position point is a position point located near the end of the camera's field of view when the aircraft is in the second flight position.

[0010] In some embodiments, the first calculation module is further configured to: calculate the geodetic coordinates of the first position point based on the geodetic coordinates of the carrier aircraft at the first flight position and the camera coordinates of the first position point; calculate the geodetic coordinates of the second position point based on the geodetic coordinates of the carrier aircraft at the first flight position and the camera coordinates of the second position point; calculate the geodetic coordinates of the target position point based on the heading overlap rate, the geodetic coordinates of the first position point and the second position point; and calculate the camera coordinates of the target position point based on the geodetic coordinates of the carrier aircraft at the second flight position and the coordinates of the target position point.

[0011] In some embodiments, the second calculation module is further configured to: calculate the adjustment parameters based on the geodetic coordinates of the carrier aircraft at the second flight position, the carrier aircraft coordinates at the second flight position, and the camera coordinates at the target position.

[0012] The computer device according to the embodiments of this application includes a processor, a memory, and one or more programs, the one or more programs being stored in the memory, and the one or more programs being executable by the processor to implement the heading overlap rate control method described in any of the above embodiments.

[0013] The non-volatile computer-readable storage medium of this application includes a computer program. When executed by a processor, the computer program implements the heading overlap rate control method described in any of the above embodiments.

[0014] The forward overlap rate control method, forward overlap rate control device, computer equipment, and non-volatile computer-readable storage medium of this application establish a collinearity equation for the object-image mapping relationship, select a target coordinate point that satisfies the overlap rate control, use the collinearity equation to obtain the camera coordinates of the target position point, use this point as the mapping of the edge point of the image sensor in the camera when the next aircraft position is imaged, and then calculate the adjustment parameters of the camera after the change of aircraft attitude and position based on known conditions, thereby adjusting the camera's line of sight and achieving high-precision control of the image overlap rate between two frames.

[0015] Additional aspects and advantages of the embodiments of this application will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of this application. Attached Figure Description

[0016] The above and / or additional aspects and advantages of this application will become apparent and readily understood from the description of the embodiments taken in conjunction with the following drawings, wherein:

[0017] Figure 1 This is a schematic diagram of the heading overlap rate in some embodiments of this application;

[0018] Figure 2 This is a flowchart illustrating the heading overlap rate control method according to certain embodiments of this application;

[0019] Figure 3 This is a schematic diagram of a heading overlap rate control device according to certain embodiments of this application;

[0020] Figure 4 This is a flowchart illustrating the heading overlap rate control method according to certain embodiments of this application;

[0021] Figure 5 This is a flowchart illustrating the heading overlap rate control method according to certain embodiments of this application;

[0022] Figure 6 This is a schematic diagram illustrating the principle of the heading overlap rate control method according to certain embodiments of this application;

[0023] Figure 7 This is a schematic diagram of a photographic example of a heading overlap rate control method according to certain embodiments of this application;

[0024] Figure 8 This is a schematic diagram of a computer device according to some embodiments of this application;

[0025] Figure 9 This is a schematic diagram of a non-volatile computer-readable storage medium according to certain embodiments of this application. Detailed Implementation

[0026] The embodiments of this application are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the embodiments of this application, and should not be construed as limiting the embodiments of this application.

[0027] Please see Figure 2 This application discloses a method for controlling heading overlap. The heading overlap control method according to embodiments of this application includes:

[0028] 01: Obtain the camera coordinates of the first position point and the second position point in the camera's field of view when the aircraft is in its first flight position;

[0029] 02: Based on the target heading overlap rate, the camera coordinates of the first position point and the camera coordinates of the second position point, calculate the camera coordinates of the target position point in the camera's field of view when the aircraft is in the second flight position. The first position point, the second position point and the target position point are collinear, and the target position point is located between the first position point and the second position point.

[0030] 03: Calculate the camera adjustment parameters based on the camera coordinates of the target location point; and

[0031] 04: Control camera movement according to the adjusted parameters.

[0032] Please see Figure 3 This application also discloses a heading overlap rate control device. The heading overlap rate idling method of the embodiments of this application can be implemented by the heading overlap rate control device of the embodiments of this application. The heading overlap rate control device includes an acquisition module, a first calculation module, a second calculation module, and a control module. Step 01 can be implemented by the acquisition module. Step 02 can be implemented by the first calculation module. Step 03 can be implemented by the second calculation module. Step 04 can be implemented by the control module.

[0033] In other words, the acquisition module acquires the camera coordinates of the first and second positions within the camera's field of view when the aircraft is in its first flight position. The first calculation module calculates the camera coordinates of the target position within the camera's field of view when the aircraft is in its second flight position, based on the target heading overlap rate, the camera coordinates of the first and second positions, and ensuring that the first, second, and target positions are collinear, with the target position located between the first and second positions. The second calculation module calculates the camera's adjustment parameters based on the camera coordinates of the target position. The control module controls the camera's movement based on these adjustment parameters.

[0034] The first flight position of the aircraft is its position at the first time point, at which time the camera will capture one frame. The second flight position of the aircraft is its position at the second time point, at which time the camera will also capture one frame. The second time point is later than the first time point, and these two frames are two consecutive frames captured by the camera during aerial imaging. The camera's adjustment parameters include the outer frame angle β and the inner frame angle φ.

[0035] It is understandable that when the aircraft's attitude, especially its heading angle, changes, the line-of-sight will deviate, and the heading overlap rate will change. Existing solutions, while considering the aircraft's pitch, roll, and heading angles when calculating the camera's frame angle, only guarantee that the camera's field-of-sight center point coincides with the theoretical line-of-sight point that ensures the overlap rate. For large-tilt imaging, changes in the heading angle cause image rotation, which leads to pixel displacement in the image. During stitching, this angular displacement causes fluctuations in the overlap rate.

[0036] The forward overlap rate control method and device of this application establish a collinear equation for the object-image mapping relationship, select a target coordinate point that satisfies the overlap rate control, use the collinear equation to obtain the camera coordinates of the target position point, use this point as the mapping of the edge point of the image sensor in the camera when the next aircraft position is imaged, and then calculate the adjustment parameters of the camera after the change of aircraft attitude and position based on the known conditions, so that the camera's line of sight is adjusted, and high-precision control of the image overlap rate between two frames is achieved.

[0037] In some embodiments, the first position point and the second position point are two position points located near the end of the camera's field of view when the aircraft is in its first flight position. The target position point is a position point located near the end of the camera's field of view when the aircraft is in its second flight position.

[0038] Please combine Figure 1 When the aircraft is in its first flight position, the camera's field of view is the area enclosed by A1, A2, A3, and A4. At this point, the near end is the area containing A1 to A2. When the aircraft is in its second flight position, the camera's field of view is the area enclosed by B1, B2, B3, and B4. At this point, the near end is the area containing B1 to B2. Selecting the first position point, the second position point, and the target position point at the near end of the field of view can improve the control accuracy of the forward overlap rate.

[0039] Of course, in other embodiments, the first position point and the second position point are two position points located at the far end of the camera's field of view when the aircraft is in its first flight position, for example... Figure 1 The area shown is A3 to A4. The target location is a point at the far end of the camera's field of view when the aircraft is in its second flight position, for example... Figure 1 The locations B3 to B4 shown in the diagram; or, in other embodiments, the first and second locations are two points in the camera's field of view located between the near and far ends when the aircraft is in its first flight position, for example... Figure 1 The area shown is between a point before A1 and A3 and a point between A2 and A4, with the line connecting these two points parallel to A1A2. The target point is a point in the camera's field of view located between the near and far ends when the aircraft is in its second flight position, for example... Figure 1 The point shown is located between B1 and B3, and is collinear with the two points A1A2 along the line connecting them, and lies between those two points. No further restrictions are imposed.

[0040] Please see Figure 4In some implementations, step 02 calculates the camera coordinates of the target position point in the camera's field of view when the aircraft is in the second flight position, based on the target heading overlap rate, the camera coordinates of the first position point, and the camera coordinates of the second position point. This includes:

[0041] 021: Calculate the geodetic coordinates of the first position point based on the geodetic coordinates of the carrier aircraft at the first flight position and the camera coordinates of the first position point;

[0042] 022: Calculate the geodetic coordinates of the second position point based on the geodetic coordinates of the aircraft at the first flight position and the camera coordinates at the second position point;

[0043] 023: Calculate the geodetic coordinates of the target location based on the heading overlap rate, the geodetic coordinates of the first location point, and the geodetic coordinates of the second location point;

[0044] 024: Calculate the camera coordinates of the target location based on the geodetic coordinates of the carrier aircraft at the second flight position and the geodetic coordinates of the target location.

[0045] Please refer to the following: Figure 3 In some embodiments, steps 021, 022, 023, and 024 can all be implemented by the first calculation module. That is, the first calculation module can be used to: calculate the geodetic coordinates of the first position point based on the geodetic coordinates of the aircraft at the first flight position and the camera coordinates of the first position point; calculate the geodetic coordinates of the second position point based on the geodetic coordinates of the aircraft at the first flight position and the camera coordinates of the second position point; calculate the geodetic coordinates of the target position point based on the heading overlap rate, the geodetic coordinates of the first position point, and the geodetic coordinates of the second position point; and calculate the camera coordinates of the target position point based on the geodetic coordinates of the aircraft at the second flight position and the coordinates of the target position point.

[0046] Specifically, the embodiments of this application involve coordinate system transformation, which includes four coordinate systems: geodetic coordinate system (ECEF), geographic coordinate system (NED), aircraft coordinate system (AC), and camera coordinate system (S). The transformation relationship from coordinate system A to coordinate system B can be expressed as:

[0047]

[0048] in: Let be the transformation matrix.

[0049] The Earth ellipsoid model was obtained using the WGS-84 coordinate system, and its semi-major axis R... E =6378137m, semi-minor axis R P =6356752m, the first eccentricity of the ellipsoid is The radius of curvature of the circle is The coordinates of any point in space are represented as longitude. Latitude λ, altitude h. The transformation matrix from the EFEC (Earth-Free Geodetic Coordinate System) to the NED (Natural Geodetic Coordinate System) can be expressed as:

[0050]

[0051] Wherein: C and S in the formula represent cos and sin, respectively.

[0052] Let the roll angle of the aircraft be ψ, the pitch angle be θ, and the heading angle be κ. Then the transformation matrix from the geographic coordinate system (NED) to the aircraft coordinate system (AC) can be expressed as follows:

[0053]

[0054] Let the outer frame angle β and the inner frame angle φ of the camera be. Then the transformation matrix from the aircraft coordinate system (AC) to the camera coordinate system (S) can be expressed as:

[0055]

[0056] The geographic coordinates of any point A in space are represented by longitude. The expressions for latitude λ and altitude h in the EFEC coordinate system are as follows:

[0057]

[0058] Let the geographical coordinates of the carrier P be longitude. Latitude λ P Height h P The expression in the EFEC coordinate system is:

[0059]

[0060] The camera coordinates of a point on the image sensor in the camera, in the camera coordinate system, are represented as follows:

[0061]

[0062] Where: a is the size of a single pixel of the image sensor; f is the focal length of the camera; m and n represent the column number and row number of any point on the image sensor image, respectively, with the center point as zero, positive at the top and negative at the bottom, negative on the left and positive on the right.

[0063] If we want to solve for any point T on the image sensor s To obtain coordinates in the geodetic coordinate system, the camera coordinate system must first be converted to the aircraft coordinate system. The transformation matrix is ​​used. This means that the aircraft coordinate system is then converted to the geographic coordinate system, and the transformation matrix is ​​used. This is represented as follows: Then, the geographic coordinate system is converted to the geodetic coordinate system using the transformation matrix. This means that any point T on the image sensor... s The expression in the EFEC (Earth-Earth Coordinate System) is:

[0064]

[0065] By solving for any point T on the known image sensor s Coordinates in the EFEC geodetic coordinate system The coordinates of the carrier P in the Earth's EFEC coordinate system [x] P ,y P ,z P The coordinates of the target point T in the EFEC coordinate system are [x] T ,y T ,z T ]'.

[0066] Using the collinearity equation, we obtain the identity:

[0067]

[0068] If the ground height h of the target T is known T ,but:

[0069]

[0070] The coordinates of the ground target point T in the geodetic coordinate system (EFEC) can be obtained by solving formulas (9) and (10). T ,y T ,z T ]'.

[0071] Therefore, as Figure 6 As shown, when the forward overlap rate is based on the near end, the image sensor's azimuth can be calculated using formulas (1) to (10) respectively when the aircraft is in its first flight position. The geodetic coordinates of the first location point A1 and the second location point A2 in the EFEC coordinate system are as follows.

[0072] According to the requirements of the heading overlap ratio ρ The camera coordinates of the corresponding point on the image sensor are Using formulas (1) to (10), the T value on the image sensor can be calculated. SB2 The geodetic coordinates of the target location point B2 in the EFEC coordinate system are as follows: When the carrier aircraft reaches the second flight position, the geodetic coordinates of the carrier aircraft P in the Earth-Earth Coordinate System (EFEC) are [x] P1 ,y P1 ,z P1Then, the geodetic coordinates of the target location point B2 are transformed into camera coordinates in the camera coordinate system. The coordinate transformation relationship can be expressed as follows:

[0073]

[0074] in:

[0075] Therefore, the camera coordinates of the target location point B2 can be calculated.

[0076] Please see Figure 5 In some implementations, step 04 calculates the camera adjustment parameters based on the camera coordinates of the target location point, including:

[0077] 041: Calculate and adjust parameters based on the geodetic coordinates of the carrier aircraft at the second flight position, the carrier aircraft coordinates at the second flight position, and the camera coordinates at the target position.

[0078] Please refer to the following: Figure 3 In some implementations, step 041 can be implemented by a second calculation module. That is, the second calculation module can be used to calculate adjustment parameters based on the geodetic coordinates of the carrier aircraft at the second flight position, the carrier aircraft coordinates at the second flight position, and the camera coordinates at the target position.

[0079] Specifically, after obtaining the camera coordinates of the target location, in order to meet the heading overlap requirement, the following equation must hold:

[0080]

[0081] At this moment, the geodetic coordinates of aircraft P at its second flight position are, i.e., longitude. Given the latitude λ1 and altitude h1, and the aircraft coordinates at the second flight position (i.e., roll angle ψ1, pitch angle θ1, and heading angle κ1), it is sufficient to ensure that the calculated adjustment parameters, namely the camera's outer frame angle β1 and inner frame angle φ1, satisfy equation (12). In this way, the image overlap rate between two frames can be controlled with high precision, and the overlap rate fluctuation caused by changes in heading angle can be eliminated.

[0082] The method for controlling the forward overlap rate of high-altitude ground imaging at large tilt angles in this application utilizes homogeneous coordinate transformation to establish a collinear equation for the object-image mapping relationship, selects a target coordinate point that satisfies the overlap rate control, and uses the collinear equation to obtain the camera coordinates of the target position point. This point is used as the mapping of the edge point of the image sensor in the camera when the next aircraft position is imaged. Then, the adjustment parameters of the camera after the change of aircraft attitude and position are calculated from the known conditions, thereby adjusting the camera's line of sight and achieving high-precision control of the image overlap rate between two frames.

[0083] Figure 7 To determine the image overlap rate of images obtained from actual flights using the scheme of this application, the relevant angle information of the carrier aircraft was acquired by sensors, and its projection in the geographic coordinate system was plotted. For example... Figure 7 As shown, the near-end heading overlap rate is theoretically 12%. When the heading angle changes by 3°, the near-end heading overlap rate is within 12% ± 1%, which is approximately equal to the theoretical value. Even if the heading angle is different, the overlap rate value will not fluctuate.

[0084] In addition Figure 7 As shown, the heading angle changes by 3°. The solution of this application can be applied when the heading angle of the carrier aircraft changes by no more than 45°. For the case where the heading angle changes by 0°, 45°, the solution of this application can achieve compensation.

[0085] Furthermore, to achieve better compensation effect and control accuracy of heading overlap rate, the scheme of this application can be used when the heading angle change is no more than 15°.

[0086] Please see Figure 8 This application also provides a computer device. The computer device includes a processor, a memory, and one or more programs, the programs being stored in the memory. The one or more programs can be executed by the processor to implement the heading overlap control method described in any of the foregoing embodiments.

[0087] For example, please combine Figure 2 and Figure 8 One or more programs can be executed by a processor to perform the following steps:

[0088] 01: Obtain the camera coordinates of the first position point and the second position point in the camera's field of view when the aircraft is in its first flight position;

[0089] 02: Based on the target heading overlap rate, the camera coordinates of the first position point and the camera coordinates of the second position point, calculate the camera coordinates of the target position point in the camera's field of view when the aircraft is in the second flight position. The first position point, the second position point and the target position point are collinear, and the target position point is located between the first position point and the second position point.

[0090] 03: Calculate the camera adjustment parameters based on the camera coordinates of the target location point; and

[0091] 04: Control camera movement according to the adjusted parameters.

[0092] For example, please combine Figure 4 and Figure 8 One or more programs can be executed by a processor to perform the following steps:

[0093] 021: Calculate the geodetic coordinates of the first position point based on the geodetic coordinates of the carrier aircraft at the first flight position and the camera coordinates of the first position point;

[0094] 022: Calculate the geodetic coordinates of the second position point based on the geodetic coordinates of the aircraft at the first flight position and the camera coordinates at the second position point;

[0095] 023: Calculate the geodetic coordinates of the target location based on the heading overlap rate, the geodetic coordinates of the first location point, and the geodetic coordinates of the second location point;

[0096] 024: Calculate the camera coordinates of the target location based on the geodetic coordinates of the carrier aircraft at the second flight position and the geodetic coordinates of the target location.

[0097] For example, please combine Figure 5 and Figure 8 One or more programs can be executed by a processor to perform the following steps:

[0098] 041: Calculate and adjust parameters based on the geodetic coordinates of the carrier aircraft at the second flight position, the carrier aircraft coordinates at the second flight position, and the camera coordinates at the target position.

[0099] Please see Figure 9 This application also provides a non-volatile computer-readable storage medium. The non-volatile computer-readable storage medium includes a computer program. When executed by a processor, the computer program implements the heading overlap rate control method described in any of the above embodiments.

[0100] For example, please combine Figure 2 and Figure 9 When a computer program is executed by a processor, it can perform the following steps:

[0101] 01: Obtain the camera coordinates of the first position point and the second position point in the camera's field of view when the aircraft is in its first flight position;

[0102] 02: Based on the target heading overlap rate, the camera coordinates of the first position point and the camera coordinates of the second position point, calculate the camera coordinates of the target position point in the camera's field of view when the aircraft is in the second flight position. The first position point, the second position point and the target position point are collinear, and the target position point is located between the first position point and the second position point.

[0103] 03: Calculate the camera adjustment parameters based on the camera coordinates of the target location point; and

[0104] 04: Control camera movement according to the adjusted parameters.

[0105] For example, please combine Figure 4 and Figure 9When a computer program is executed by a processor, it can perform the following steps:

[0106] 021: Calculate the geodetic coordinates of the first position point based on the geodetic coordinates of the carrier aircraft at the first flight position and the camera coordinates of the first position point;

[0107] 022: Calculate the geodetic coordinates of the second position point based on the geodetic coordinates of the aircraft at the first flight position and the camera coordinates at the second position point;

[0108] 023: Calculate the geodetic coordinates of the target location based on the heading overlap rate, the geodetic coordinates of the first location point, and the geodetic coordinates of the second location point;

[0109] 024: Calculate the camera coordinates of the target location based on the geodetic coordinates of the carrier aircraft at the second flight position and the geodetic coordinates of the target location.

[0110] For example, please combine Figure 5 and Figure 9 When a computer program is executed by a processor, it can perform the following steps:

[0111] 041: Calculate and adjust parameters based on the geodetic coordinates of the carrier aircraft at the second flight position, the carrier aircraft coordinates at the second flight position, and the camera coordinates at the target position.

[0112] In the description of this specification, the terms "one embodiment," "some embodiments," "illustrative embodiment," "example," "specific example," or "some examples," etc., refer to specific features, structures, materials, or characteristics described in connection with the described embodiment or example, which are included in at least one embodiment or example of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0113] Any process or method described in the flowchart or otherwise herein can be understood as representing a module, segment, or portion of code comprising one or more executable instructions for implementing a particular logical function or process, and the scope of the preferred embodiments of this application includes additional implementations in which functions may be performed not in the order shown or discussed, including substantially simultaneously or in reverse order depending on the function involved, as will be understood by those skilled in the art to which embodiments of this application pertain.

[0114] Although embodiments of this application have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting this application. Those skilled in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of this application.

Claims

1. A method for controlling forward overlap ratio, used for a camera mounted on a carrier aircraft, characterized in that, The heading overlap ratio control method includes: When the aircraft is in its first flight position, obtain the camera coordinates of the first position point and the camera coordinates of the second position point in the field of view of the camera; The camera coordinates of the target position point in the field of view of the camera when the aircraft is in the second flight position are calculated based on the target heading overlap rate, the camera coordinates of the first position point and the camera coordinates of the second position point. The first position point, the second position point and the target position point are collinear, and the target position point is located between the first position point and the second position point. The camera adjustment parameters are calculated based on the camera coordinates of the target location point; The camera movement is controlled according to the adjustment parameters.

2. The heading overlap rate control method according to claim 1, characterized in that, The first position point and the second position point are two position points located at the near end of the camera's field of view when the aircraft is in the first flight position; The target location is a point in the near end of the camera's field of view when the aircraft is in the second flight position.

3. The heading overlap rate control method according to claim 1 or 2, characterized in that, The step of calculating the camera coordinates of the target position point in the camera's field of view when the aircraft is in its second flight position, based on the target heading overlap rate, the camera coordinates of the first position point, and the camera coordinates of the second position point, includes: The coordinates of the first position point are calculated based on the geodetic coordinates of the carrier aircraft at the first flight position and the camera coordinates of the first position point. The coordinates of the second position point are calculated based on the geodetic coordinates of the carrier aircraft at the first flight position and the camera coordinates of the second position point. The geodetic coordinates of the target location are calculated based on the heading overlap rate, the geodetic coordinates of the first location point, and the geodetic coordinates of the second location point. The camera coordinates of the target location are calculated based on the geodetic coordinates of the aircraft at the second flight position and the geodetic coordinates of the target location.

4. The heading overlap rate control method according to claim 1 or 2, characterized in that, The step of calculating the camera adjustment parameters based on the camera coordinates of the target location point includes: The adjustment parameters are calculated based on the geodetic coordinates of the carrier aircraft at the second flight position, the carrier aircraft coordinates at the second flight position, and the camera coordinates at the target position.

5. A heading overlap rate control device for a camera mounted on a carrier aircraft, characterized in that, The heading overlap ratio control device includes: The acquisition module is used to acquire the camera coordinates of a first position point and a second position point in the field of view of the camera when the aircraft is in the first flight position. The first calculation module is used to calculate the camera coordinates of the target position point in the field of view of the camera when the aircraft is in the second flight position, based on the target heading overlap rate, the camera coordinates of the first position point and the camera coordinates of the second position point, wherein the first position point, the second position point and the target position point are collinear, and the target position point is located between the first position point and the second position point. The second calculation module is used to calculate the camera adjustment parameters based on the camera coordinates of the target location point; and A control module is used to control the camera movement according to the adjustment parameters.

6. The heading overlap rate control device according to claim 5, characterized in that, The first position point and the second position point are two position points located at the near end of the camera's field of view when the aircraft is in the first flight position; The target location is a point in the near end of the camera's field of view when the aircraft is in the second flight position.

7. The heading overlap rate control device according to claim 5 or 6, characterized in that, The first calculation module is also used for: The coordinates of the first position point are calculated based on the geodetic coordinates of the carrier aircraft at the first flight position and the camera coordinates of the first position point. The coordinates of the second position point are calculated based on the geodetic coordinates of the carrier aircraft at the first flight position and the camera coordinates of the second position point. The geodetic coordinates of the target location are calculated based on the heading overlap rate, the geodetic coordinates of the first location point, and the geodetic coordinates of the second location point. The camera coordinates of the target location are calculated based on the geodetic coordinates of the aircraft at the second flight position and the geodetic coordinates of the target location.

8. The heading overlap rate control device according to claim 5 or 6, characterized in that, The second calculation module is also used for: The adjustment parameters are calculated based on the geodetic coordinates of the carrier aircraft at the second flight position, the carrier aircraft coordinates at the second flight position, and the camera coordinates at the target position.

9. A computer device, characterized in that, include: processor; Memory; and One or more programs, the one or more programs stored in the memory, the one or more programs being executable by the processor to implement the heading overlap rate control method according to any one of claims 1-4.

10. A non-volatile computer-readable storage medium containing a computer program, characterized in that, When the computer program is executed by the processor, it implements the heading overlap rate control method according to any one of claims 1-4.

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