JP4523833B2 - Photography planning support apparatus and program therefor - Google Patents

Description

  The present invention relates to an aerial photography plan support apparatus and a program therefor, and more particularly, to a photography plan support apparatus suitable for analyzing a photography range, a photography course, etc. and making a photography plan in advance, and a program therefor.

  In general, before taking an aerial photograph for aerial photogrammetry, in order to ensure that all parts of the target area are shot efficiently with few shooting opportunities, what kind of shooting course (shooting course) A shooting plan is prepared in advance as to whether or not it is necessary to take a photograph based on the position and shooting interval, and a shooting instruction is issued to the photographer based on the shooting plan.

  In the past, the photographer used the experience to release the shutter based on the shooting plan drawn on the paper-based topographic map. In recent years, using a navigation system that uses the Global Positioning System (GPS), you can automatically take a photo at the specified position by specifying the latitude and longitude at which the camera shutter is released in advance. Became possible. In this case, since the latitude and longitude are calculated based on a paper-based topographic map, a person who has knowledge of the coordinate system has responded.

As a conventional method of creating an imaging plan, for example, an imaging plan is prepared in advance in which the number of non-projectable areas in the imaging target is within a desired range, and effective aerial photographs for aerial photogrammetry are taken by one imaging flight. Patent Document 1 discloses a technique that can be used for inexpensive and accurate aerial surveying.
JP 2001-141452 A

  By the way, digitalization of aerial photographs is represented by ADS40 (Airborne Digital Sensor 40) jointly developed by LH Systems and the German National Aeronautics and Space Research Institute, in addition to the analog area sensor RC-30 that has been used in the past. Line sensors and non-square area sensors such as UltraCAM-D (Vexcel) have appeared. Conventional aerial photographs were standardized on a 23cm x 23cm square film, so the calculation was simple. However, since there are a wide variety of aerial sensors based on the latest technology, the creation of a shooting plan tool that supports all aerial sensors It was difficult and there was no such shooting planning tool.

  Further, in the conventional shooting plan map, the shooting course is drawn on the topographic map according to human subjectivity, and the principal point (located at the center of the aerial camera lens and used for specifying the shooting position) is created. Therefore, it is necessary to have a high level of skill to make a shooting plan, and the person who can make a shooting plan is limited to those who can determine the topographic shape from the contour lines on the topographic map and have knowledge of the coordinate system. was there. For example, when the earth is modeled as an elliptical system and latitude / longitude information is calculated therefrom, the topographic map cannot be completely handled unless the coordinate system is familiar. In addition, since the engineer drew a shooting plan on a paper-based topographic map, the accuracy and time required for preparation were problematic.

  The present invention has been made in view of such a point, and corresponds to each aviation sensor of a line sensor and an area sensor, and devises a shooting plan in consideration of terrain and aircraft fluctuations regardless of human subjectivity. Objective.

In order to solve the above-described problems and achieve the object , the first aspect of the present invention is to first determine a region to be imaged on map data when planning an aerial photogrammetry shooting plan, and then The interval between each shooting course is calculated from the shooting width in the direction perpendicular to the traveling direction calculated from the focal length, the size of the shooting screen, the preset photo scale, and the side wrap value , and the shooting course for the shooting target area. And calculate the allowable shooting angle and effective shooting width from the preset side wrap allowance, rolling allowance, and shooting position allowance, and connect the ground surface on the predetermined altitude data to each shooting course. A point where the intersection of the predetermined altitude and the reference plane is within the effective shooting range is extracted as an effective shooting range, and the side lap value calculated from the effective shooting range in the adjacent shooting course is set in advance. If it is the flop tolerance, and performing side wrapping analysis process to determine the interval between each shooting course.

  According to such a configuration, the side wrap is analyzed using the concept of an effective shooting range in consideration of the topography. In addition, it is now possible to perform analysis in consideration of rolling (aircraft shaking) and shooting position accuracy (for example, GPS measurement accuracy). In this way, by considering the measurement accuracy such as not only the terrain shape but also the swaying of the aircraft due to weather conditions etc. and GPS, etc., by specifying a value with a certain width, the effective side wrap can be Since the calculation can be performed, for example, in the line sensor or the area sensor, any photo on the course can satisfy the specified side wrap, and the probability of causing a lap break can be reduced.

Further , according to the second aspect of the present invention, when drafting an aerial photogrammetry shooting plan, first, a principal point on the shooting course is set based on a preset overlap value, pitching allowable value, and shooting position allowable value. And the next main point overlap photographing range, the difference between the altitude at the highest altitude and the photographing altitude of the photographing means within the overlap photographing range extracted from the predetermined altitude data, a preset overlap value and A principal point is created by calculating a principal point interval from the first principal point to the next principal point based on the pitching tolerance and the accuracy of the position measuring means, and then the focal length of the photographing means and the size of the photographing screen The principal point effective photographing width is calculated from the preset rolling tolerance and the photographing altitude, and the intersection of the line connecting the ground surface and the principal point on the altitude data and the reference plane is within the principal point effective photographing width. Extract a certain point as the main point effective shooting range, If the overlap value calculated from the principal point effective image capture range of the principal point of contact is within preset overlap tolerance, and performing overlap analysis process to determine the distance between principal points.

  According to such a configuration, the overlap analysis is performed using the concept of the effective shooting range in consideration of the terrain, and the analysis is also performed in consideration of the accuracy of the aircraft shake and the shooting position. Accordingly, since the effective overlap can be calculated over the entire area to be photographed, any photograph on the course in the area sensor can satisfy the specified overlap, and the probability of causing a lap breakage can be reduced. Thereby, the photography plan corresponding to each aviation sensor of every area sensor is realizable.

  According to the present invention, the side wrap is analyzed using the concept of the effective shooting range in consideration of the terrain, and the analysis is also performed in consideration of the accuracy of the aircraft shake, the shooting position, etc. In other words, it is possible to create an imaging plan that takes into account the fluctuation of the aircraft due to weather conditions and the like. Also, by specifying a value with a certain amount of width, the effective side wrap can be calculated over the entire area to be photographed. There is an effect that can reduce the probability of occurrence.

  In addition, since it is configured to perform overlap analysis using the concept of effective shooting range considering terrain, the effective overlap can be calculated over the entire shooting target, and in addition to the line sensor described above, the area sensor is also on the course. A photography plan can be created so that any of the photos satisfies the specified overlap, and the probability of causing a lap break in the area sensor can also be reduced. As described above, there is an effect that a shooting plan corresponding to each air sensor of any line sensor and area sensor can be realized.

  In addition, the shooting plan is created in consideration of all coordinate systems, so even those who cannot judge the shape of the terrain from the contour lines on the topographic map or who have little knowledge of the coordinate system can easily carry out the shooting plan. It is possible to create a shooting course that does not depend on human subjectivity regardless of the terrain shape. For this reason, the accuracy of the shooting plan is improved and the time required for the shooting plan can be shortened.

  Hereinafter, an example of an embodiment of the present invention will be described with reference to the accompanying drawings. The present invention is a configuration for realizing an aerial photography plan corresponding to each aerial sensor of a line sensor and an area sensor by performing a side lap and overlap analysis using a concept of an effective photographing range in consideration of terrain, and developing a photographing plan. It is said. Furthermore, in this example, the configuration is also considered in consideration of the fluctuation of the aircraft, the accuracy of the photographing position measurement by GPS or the like.

  FIG. 1 is a functional block diagram for realizing the aerial photography plan of this example. It mainly comprises a photographing course creation unit 2, a reference plane setting unit 3, a side wrap analysis unit 4, a photo scale analysis unit 5, a principal point creation unit 6, and an overlap analysis unit 7. These processing units constituting the functional block perform predetermined processing based on each input information according to a program for realizing an aerial photography plan. Output data generated by each processing unit is recorded in a nonvolatile memory such as a hard disk or a flash memory. Alternatively, it is output as a report in a predetermined file format.

  Here, the side wrap and the overlap which are the analysis targets of this example will be described with reference to FIG. Side lap is the overlap of photographs between courses when shooting from a certain altitude with an aerial camera mounted on an aircraft. Overlap is the adjacent main point (center of aerial camera lens) on the same shooting course. Refers to the overlap of photos taken at. When there is no overlap between these, that is, there is a gap in the object to be photographed, the wrap is cut.

  Each processing unit described above performs each analysis in consideration of the shaking of the airframe. In FIG. 2, P is a principal point, the principal point P is the origin, the x-axis and the y-axis are parallel to the x-axis and the y-axis, respectively, and the z-axis is a right-handed system. Aircraft shake (tilt during camera shooting) is the clockwise rotation angle in the positive direction of the x-axis, y-axis, and z-axis respectively ω (aircraft left and right; rolling), φ (heading up and down; pitching) , Κ (nose left and right; yawing).

  In FIG. 1, a target range (PlanArea) 1a and a parameter 2a are input to a shooting course creation unit 2, and a shooting course 2b is created. Information on the created shooting course 2 b is supplied to the reference plane setting unit 3. The reference plane setting unit 3 calculates the reference plane of each shooting course from the shooting course 2b, the parameter 3a, and the digital elevation model 8a, and outputs the shooting course 3b with the reference plane set. The side wrap analysis unit 4 analyzes the side wrap from the photographing course 3b with the reference plane set, the parameter 4a, and the digital elevation model 8a, and outputs a side wrap analysis result 4c. The photo scale analysis unit 5 outputs a photo scale analysis result 5c from the imaging course 3b with the reference plane set, the parameter 5a, and the digital elevation model 8a. Also, the principal point creation unit 6 calculates the principal point created photographing course 6b from the reference plane-set photographing course 3b, the parameter 6a, and the digital elevation model 8a. The calculated information of the photographing course 6b with the principal point created is supplied to the overlap analysis unit 7. The overlap analysis unit 7 outputs an overlap analysis result 7c from the photographing course 6b with the principal point created, the parameter 7a, and the digital elevation model 8a.

  Here, the target range (PlanArea) 1a, parameters 2a, 3a, 4a, 5a, 6a, and 7a, and the digital elevation model 8a that are input to each processing unit as information will be described. The target area (PlanArea) 1a is the target area where aerial photography is performed, and the digital elevation model (DEM) 8a is a surface elevation of the ground surface elevation measured for each grid at regular intervals. It is. There is a type such as a numerical map 50m mesh (elevation) in which the altitude of the central point of the grid (mesh) obtained by dividing the ground surface at intervals of about 50m is measured from a 1 / 5,000 topographic map. The parameters 2a, 3a, 4a, 5a, 6a, and 7a are information as follows.

Parameter 2a ([] is digital specification)
Camera to use: Specify RC-30, UltraCAM-D, ADS40, etc. Photo scale: Shooting scale 1: S [Ground sample distance (GSD)]
Side lap value: Side (standard value: 30%)

Parameter 3a
Reference plane determination method: Decision_Base (average, median, maximum, or minimum)

Parameter 4a
Side wrap tolerance: ThreSide (standard value: (Side-15)%)
Rolling tolerance: Threω (standard value: 3 °)
Shooting position tolerance: ThreP (standard value: 50m)

Parameter 5a
Photo scale tolerance value: ThreS (Standard value: 12,500 [ThreGSD] when shooting scale is 1: 10,000)
Rolling tolerance: Threω (standard value: 3 °)
Shooting position tolerance: ThreP (standard value: 50m)

Parameter 6a
Overlap value: Over (standard value: 56%)
Pitching tolerance: Threφ (standard value: 3 °)
Shooting position tolerance: ThreP (standard value: 50m)

Parameter 7a
Side wrap tolerance: ThreSide (standard value: (Side-15)%)
Overlap tolerance: ThreOver (standard value: (Over-3)%)
Rolling tolerance: Threω (standard value: 3 °)
Pitching tolerance: Threφ (standard value: 3 °)
Shooting position tolerance: ThreP (standard value: 50m)

  In this example, the distance from the principal point to the film as the imaging surface is the focal length. The above-mentioned digital specification is a specification when photographing with a digital camera is performed. Since shooting with a digital camera cannot be expressed by analog (film) shooting specifications, parameters different from those for analog shooting are given. Digital ground resolution represents the performance of a sensor represented by the size of a feature that can be identified on a captured image. For example, when the ground resolution is 20 cm, one pixel represents a range of 20 cm in the ground range represented by one pixel of the captured image.

    Each input value of the above parameter is an example of a value that can be taken efficiently, and is not limited to this example, and can be appropriately changed to a value that can be taken efficiently according to various conditions.

  FIG. 3 is a diagram for explaining the concept of the effective shooting range of this example. An outline when images are taken from consecutive main points on the same shooting course is shown, with the upper row showing the shooting point viewed from the side and the lower row showing the shooting range viewed from the top. The effective shooting range is a shooting range that can be used effectively without considering the distortion of the surrounding area, and is the minimum shooting range that can fill the entire shooting range. In the case of central projection, the more the photo is at the edge, the more distortion occurs. Therefore, when joining the photos (mosaic processing), the region as close to the center as possible is used. Even in the line sensor, distortion occurs in the photograph at the end of the course. For this reason, in this example, the concept of an effective shooting range is introduced, and side lap analysis, overlap analysis, and the like are performed.

  In FIG. 3, assuming that the shooting ranges when shooting from continuous principal points (1), (2), (3) are the shooting ranges (1), (2), (3), respectively, the shooting ranges (1) and (3) As shown in the figure, the overlap by (2) is overlap (1_2), and the overlap by the shooting ranges (2) and (3) is also overlap (2_3). The effective shooting ranges (1), (2), and (3) of the principal points (1), (2), and (3) shown in FIG. 2 are determined by the overlap value Over. When the value is 56%, the effective shooting range is 44% (= 100% −56%) of the shooting range centering on the main point.

  In the example of FIG. 3, the effective shooting range in consideration of the overlap has been described, but the effective shooting range related to the side wrap is similarly calculated using the side wrap value.

  Next, the imaging range in consideration of the external orientation element will be described. The external orientation element is information on the position (X, Y, Z) and attitude (ω, φ, κ) of the aircraft. The imaging range in consideration of the external orientation element is the position designated by the main point, for example, a navigation system. This is a shooting range in consideration of the deviation of the actual principal point position obtained by using.

  FIG. 4 shows an example of the photographing range in consideration of the external orientation element. In FIG. 4, P1 is a principal point, P2 is a principal point that is separated from the principal point P1 by a photographing position allowable value ThreP (in this example, set to 50 meters as a standard) considering GPS accuracy, and from the principal points P1 and P2. The imaging range when the imaging target surface 16 is imaged under various conditions is shown. 11 is an imaging range that does not take into account the external orientation factor when imaging the imaging target surface 16 from the principal point P1, and 12 is an imaging from the principal point P1, taking into account the pitching tolerance Threφ (set to 3 ° as standard in this example). This is the shooting range. Reference numeral 13 denotes an imaging range in consideration of the pitching allowable value Threφ and the imaging position allowable value ThreP when the imaging target surface 16 is imaged from the principal point P2. In this case, it is assumed that the aircraft is flying from left to right with the nose raised by the pitching tolerance φ.

  As shown in FIG. 4, the shooting range 12 moves to the right as a whole as compared to the shooting range 11 that does not consider the external orientation element by pitching, and at the same time, the left side is short and the right side is long. Further, the entire shooting range 13 is translated further in the right direction from the shooting range 12 due to pitching and a shift in the shooting position. In addition to the pitching tolerance and the photographing position tolerance, the rolling tolerance is further considered, and the AND area of these photographing ranges is represented as the minimum photographing range 14 and the OR area is represented as the maximum photographing range 15.

  Note that the imaging range in consideration of the rolling tolerance Threω (set to 3 ° as a standard in this example) as the external orientation element can be expressed using the same diagram as in the case of pitching described above. In this case, the aircraft corresponds to a state where the aircraft is tilted to the left by the rolling allowable value ω from the front of the drawing in the depth direction of the drawing.

  Similarly for yawing, an imaging range can be calculated in consideration of external orientation factors. In the case of yawing, the size of the shooting range remains unchanged, and the shooting range is rotated around a perpendicular line connecting the principal point and the reference plane.

The procedure of the aerial photography plan of this example will be described.
FIG. 5 is a flowchart showing the overall flow of the program for realizing the aerial photography plan of this example. The aerial photography plan of this example includes a base map maintenance process (step S1), a shooting course creation process (step S2), a reference plane setting process (step S3), a side wrap analysis process (step S4), and a photo scale analysis process (step The shooting course and the principal point are determined through S5), principal point creation processing (step S6), and overlap analysis processing (step S7). Thereafter, a reference point creation process (step S8) and a report creation process (step S9) are performed, and the aerial photography plan program is terminated. These programs are recorded in a non-volatile memory such as a ROM (Read Only Memory), and are executed by a module including a computer, thereby realizing the functions of the processing units shown in FIG.

  First, in step S1, data necessary for creating a shooting plan is prepared. Next, in step S2, a shooting course is created on the extracted map data of the shooting target. Thereafter, in step S3, the reference plane elevation of each shooting course is calculated from the digital elevation model, and the shooting course with the reference plane set is output. In step S4, a side lap analysis is performed from the created reference plane set photographing course. In the side wrap analysis, the calculated side wrap value is compared with a preset side wrap allowable value. If the side wrap value is within the allowable value, the process proceeds to step S5, and a photo scale analysis is performed. If the side wrap value does not fall within the allowable value, the process proceeds to step S2, and a shooting course is created again, for example, by narrowing the shooting course interval or increasing the reference surface elevation of each shooting course.

  In photographic scale analysis (photographing scale analysis for analog photography and ground resolution analysis for digital photography), attention is given to the part where the photographic scale is the smallest, and whether or not the analysis result is acceptable is determined. If the predetermined photo scale is not satisfied, the process proceeds to step S2, and a shooting course is created again. If the calculated photographic scale satisfies the predetermined photographic scale, the process proceeds to step S6 if the aviation sensor is an area sensor and to step S8 if it is a line sensor.

  If the aviation sensor is an area sensor in step S5, a principal point is created in step S6 by calculating a principal point interval considering the topography. In step S7, an overlap analysis is performed from the calculated principal point interval. In the overlap analysis, the calculated overlap value is compared with a preset overlap allowable value. If the overlap value falls within the allowable value, the process proceeds to step S8 to create a reference point. If the overlap value does not fall within the allowable value, the process moves to step S6, and the principal point is created again.

  After completion of the overlap analysis in step S7, or in the case of a line sensor, after completion of the photographic scale analysis in step S5, in step S8, a reference point for photographing a ground reference point is created. Finally, in step S9, a report describing the shooting course, the coordinates of the principal points, the quantity, etc. is created for the shooting plan described above. Based on the report, an estimate before shooting, actual aerial shooting, and the like are performed. The processing contents of each step will be described in detail later.

First, the base map maintenance process in step S1 will be described.
In the base map maintenance process, data necessary for creating a shooting plan is prepared. The data includes subjects to be photographed (administrative boundaries), topographic maps, elevation data, national reference points (triangular points, national reference points, electronic reference points), and the like. First, existing map data is called out, and data including an imaging target is cut out from the map data to set a target range. Then, an elevation confirmation map is created using, for example, a digital elevation model DEM as elevation data, and the base map maintenance process is terminated. The created altitude confirmation map is used as the aerial photographing target range (PlanArea) 1a shown in FIG.

Next, the photographing course creation processing in step S2 will be described with reference to FIGS.
The shooting course creation processing includes course creation, course editing, course label creation, and course label editing procedures, and the following are input values. In the following description, a square analog area sensor RC-30 will be described as an example.
Scope: PlanArea
Parameter 2a: Camera to be used (RC-30, focal length f = 153.05mm, film width FW_Side = 0.23m)
Shooting scale 1: S = 1: 10,000
Side wrap value Side = 30%

  In the shooting course creation unit 2, the shooting scale 1: S (= 1: 10,000), film width FW_Side (= 0.23m), side for the target range 21 (see FIG. 6) created by the base map maintenance process Enter the lap value Side (= 30%). Next, a center point 22 (for example, an area center of gravity) of the target range 21 is calculated (FIG. 7), and the entire target range 21 is covered with a mesh 23 with the center point 22 as a reference (FIG. 8). In this example, the interval A in the left-right direction of the mesh 23 is half of the shooting course interval, and the interval B in the vertical direction is an arbitrary interval, and is divided into small area blocks by the interval A and the interval B.

First, the shooting angle FOV_Side and the ground height Height in the film width direction (direction orthogonal to the traveling direction) are obtained by the following equations.
FOV_Side = ((FW_Side / 2) / atan (f / 1000)) * 2 = 73.842 °
Height = S * f / 1000 = 1530m
Here, the shooting angle FOV_Over in the traveling direction can also be obtained by the same formula as FOV_Side. Since RC-30 is a square area sensor, FOV_Over = 73.842 °.

Next, the film width direction photographing width ScanWidth is obtained.
ScanWidth = Height * tan (FOV_Side / 2) * 2 = 1530 * tan (73.842 / 2) * 2 = 2300m
Since the shooting course interval is obtained as the effective shooting range ScanPitch, the half of the course width ScanPitch_Half is
ScanPitch = ScanWidth * (1-Side) = 2300 * (1-0.3) = 1610m
ScanPitch_Half = ScanPitch / 2 = 1616/10/2 = 805m
Is calculated as

  Then, a necessary mesh including the target range 21 is selected from the mesh 23 shown in FIG. 8, and a mesh 24 corresponding to the shape of the target range 21 is formed (see FIG. 9). At this time, the photographing course is cut so that a range where the small unit block of the minimum unit of the mesh 23 and the target range 21 intersect is included in the shooting course. In the case of a line sensor, the shooting distance on the shooting course is an extension of a predetermined distance, for example, 1 km, for both the start and end points. On the other hand, in the case of an area sensor, one model shooting is extended for both the start and end points in the main point creation process described later. Here, the model is a portion where two photographs overlap. One model shooting extension is performed because the target range must be covered by overlapping parts, so it is necessary to increase one model at the start and end points of the course (calculate principal points before and after the start and end points). is there.

  Subsequently, a shooting course for shooting the target range 21 is created based on the created mesh 24. In the example of FIG. 10, the shooting courses 25 and 27 are created with the shooting course 26 passing through the center point 22 and the shooting course intervals obtained by the above calculation on the left and right sides thereof. Then, the created shooting courses 25, 26, and 27 are confirmed on the screen, and the mesh 24 is removed (see FIG. 11), and the shooting course Course consisting of the shooting courses 25, 26, and 27 with respect to the target range 21 (FIG. 1). The shooting course 2b) is created. Thereafter, course editing, course label creation, course label editing, and the like are performed as necessary, and the shooting course creation processing is terminated.

At this time, the following values are output for the area sensor or the line sensor as the shooting course Course.

For area sensors:
Filming angle FOV_Side, FOV_Over in film width direction and moving direction
Height to ground
Shooting Direction

For line sensors:
Film width direction shooting angle FOV_Side
Height to ground
Shooting Direction

  Here, the altitude of the shooting course will be described. The shooting altitude is obtained by adding the ground altitude Height and the altitude of the reference plane altitude Base. The ground altitude is the distance from the principal point to the reference plane. The ground altitude is determined by the required shooting introduction. For example, an analog camera uses a lens with a focal length of 153 mm, and the ground altitude when shooting at a shooting scale of 1: 10,000 is 1530 m. The reference plane elevation is set according to the terrain as described below. The reference plane altitude is often determined by the average altitude of the shooting course, but in places where the terrain changes rapidly, such as in mountainous areas, it is determined based on the shooting scale (ground resolution in the case of digital shooting) where the altitude is the lowest. To do. When the photographing course is automatically calculated, the reference plane elevation can be automatically calculated using the elevation data as the base map.

Next, the reference plane setting process in step S3 will be described.
In the reference plane setting process, each of the shooting course Course (film width direction shooting angle FOV_Side, height to ground height) created by the shooting course creation process, parameter 3a, the reference plane determination method Decision_Base, and the digital elevation model DEM are used. A reference plane of the shooting course is calculated and output as a shooting course with a reference plane set.

First, the film width direction photographing width ScanWidth is calculated based on the reference plane determination method Decision_Base using the following equation.
ScanWidth = Height * tan (FOV_Side / 2) * 2 = 1530 * tan (73.842 / 2) * 2 = 2300m
For example, when the reference plane elevation is set at intervals of 50 m (however, the value does not exceed the actual measurement value), the actual measurement value is 150 m when the actual measurement value is 184.7 m. At the same time, the reference plane elevation of each shooting course is calculated based on the average elevation value of each shooting course.
As the reference plane determination method Decision_Base, an average value is normally specified, but it is preferable to specify a minimum value when, for example, it is essential that the imaging target range is equal to or larger than the imaging scale.
By performing the above processing for each shooting course, a reference plane-set shooting course Course_Base is obtained.

  In addition, when shooting with the reference plane altitude Base lowered to increase the photo scale, the wrap may be cut off, but in the following, all the reference plane altitude bases of each shooting course will be avoided so that the lap will not be cut. A case where the distance is 300 m will be described as an example. A case where a lap break occurs will be described separately in a side wrap process described later.

Next, the side wrap analysis process in step S4 will be described.
The side wrap analysis process is performed using information on the imaging course with the reference plane set created by the reference plane setting process. Course shooting range (reference plane) calculation, effective course shooting range (reference plane) calculation, course shooting range (terrain) calculation, and side lap analysis functions. It is used according to applications such as for estimation that can be understood, and for shooting instructions when shooting actually. Previously, it was only possible to calculate the course shooting range (reference plane), but in this example, the concept of the course effective shooting range was introduced and applied to the calculation of the course shooting range (terrain), taking into account the terrain. Whether or not there is a lap break can be determined.

First, calculation of the course shooting range (reference plane) will be described. In the calculation of the course shooting range (reference plane), the following are input values.
Reference course set shooting course Course_Base: Film width direction shooting angle FOV_Side = 73.842 °
Height to ground = 1530m
Reference surface elevation Base = 0m
Digital elevation model DEM
Parameter 4a: Side wrap tolerance ThreSide = 0%
Rolling tolerance Threω = 0 °
Shooting position tolerance ThreP = 0m

FIG. 12 shows the shooting course Course_Base that has been set with the reference plane created by the reference plane setting unit 3, and the target range 21 and the shooting courses 25, 26, and 27 are displayed on a display (not shown).

First, a permissible photographing angle ThreFOV_Side and a film width direction photographing width ScanWidth_ThreFOV_ThreP_ThreSide per reference course-set photographing course are obtained.

ThreFOV_Side = FOV_Side-2 * Threω = 73.842-2 * 0 = 73.842 °
ScanWidth_ThreFOV_ThreP_ThreSide
= 2 * (Height * tan (ThreFOV_Side / 2) -ThreP) * (1-ThreSide)
= 2 * (1530 * tan (73.842 / 2) -0) * (1-0) = 2300m

  FIG. 13 shows the shooting range 36 of the shooting course 26 created from the shooting width ScanWidth_ThreFOV_ThreP_ThreSide. Similarly, the shooting range of each shooting course is calculated. FIG. 14 shows the shooting ranges 35, 36, and 37 of the shooting courses 25, 26, and 27 in FIG. After the calculation of the shooting range of each shooting course is completed, the calculated shooting ranges of each shooting course are combined. FIG. 15 shows a course shooting range 38 that combines the shooting ranges of the shooting courses. In this way, the course shooting range on the reference plane is calculated.

Next, calculation of the course effective shooting range (reference plane) in consideration of the side wrap tolerance for the course shooting range will be described with reference to FIGS. The course effective shooting range can be obtained by setting the side wrap allowable value ThreSide to 15% in the calculation formula of the course shooting range (reference plane).

ScanWidth_ThreFOV_ThreP_ThreSide
= 2 * (Height * tan (ThreFOV_Side / 2) -ThreP) * (1-ThreSide)
= 2 * (1530 * tan (73.842 / 2) -0) * (1-0.15) = 1955m

The target range 21 and the shooting courses 25, 26, and 27 shown in FIG. 16 are displayed from the reference plane-set shooting course Course_Base created by the reference plane setting unit 3.

  FIG. 17 shows an effective shooting range 46 of the shooting course 26. Similarly, the effective shooting range of each shooting course is calculated. The respective shooting ranges 45, 46, 47 of the shooting courses 25, 26, 27 of FIG. 16 are shown in FIG. When the calculation of the effective shooting range of each shooting course is completed, the calculated effective shooting range of each shooting course is combined. FIG. 19 shows a course effective shooting range 48 in which the effective shooting ranges of the shooting courses are combined. In this way, the effective course shooting range on the reference plane is calculated.

Next, calculation of the course shooting range (terrain) reflecting the course effective shooting range on the reference plane will be described. The course shooting range (terrain) is a course shooting range in consideration of the shooting target topography and external orientation factors. The calculation of the course shooting range (terrain) will be described with reference to FIGS. In the calculation of the course shooting range (terrain), the following are input values.
Reference course set shooting course Course_Base: Film width direction shooting angle FOV_Side = 73.842 °
Ground altitude Height = 1530m
Reference surface elevation Base = 300m
Digital elevation model DEM
Parameter 4a: Allowable side wrap value ThreSide = 0%
Rolling tolerance Threω = 3 °
Shooting position tolerance ThreP = 50m

  FIG. 20 shows the data of the subject range 21 on the topographic map having the altitude data and the photographing course Course_Base of the photographing courses 25, 26, and 27. In FIG. 20, a gray scale shading diagram is shown as an example of display for determining the altitude, but color display or the like can also be used. Further, the above-described FIGS. 12 and 16 can be displayed in the same manner.

  FIG. 21 shows a state where the state during photographing is viewed from the side, and schematically shows a cross section perpendicular to the traveling direction (up and down) of the aircraft of FIG. In FIG. 21, 50 is a reference plane and 50a is a mountainous landform. Reference numeral 51 denotes an imaging range that does not take into account aircraft fluctuations and GPS accuracy (external orientation factors), and the imaging angle that anticipates this is the film width direction imaging angle FOV_Side. Reference numeral 52 denotes a shooting range in consideration of a shooting position allowable value ThreP caused by a GPS error, and 53r denotes a shooting range in consideration of a rolling allowable value Threω.

First, an allowable shooting angle ThreFOV_Side in the film width direction is obtained for the shooting course Course_Base.
ThreFOV_Side
= FOV_Side-2 * Threω
= 73.842-2 * 3
= 67.842 °
It is.
Therefore, the allowable shooting width ScanWidth_ThreFOV_ThreP_ThreSide is
ScanWidth_ThreFOV_ThreP_ThreSide
= 2 * (Height * tan (ThreFOV_Side / 2) -ThreP) * (1-ThreSide)
= 2 * (1530 * tan (67.842 / 2) -50) * (1-0)
= 1958m
It becomes.

  Subsequently, a spot to be shot is extracted based on the calculated allowable shooting width ScanWidth_ThreFOV_ThreP_ThreSide. A point where the line connecting the digital elevation model DEM and the course is within the photographing width 1958 m allowed on the reference surface elevation Base = 300 m is extracted as a point to be photographed. The digital elevation model DEM is a terrain expressed by the mountainous terrain 50a in FIG. 21, and the data is expressed by points (X, Y, Z coordinates). Strictly speaking, the course passes through the center of the camera lens. Therefore, the line connecting the digital elevation model DEM and the course is a line connecting a point (X, Y, Z coordinates) with a topography and the center of the camera lens (X, Y, Z coordinates). FIG. 22 shows an example in which points to be photographed are extracted. In FIG. 22, reference numeral 61 denotes a shooting range, and 62 denotes a shooting point.

  Then, the shooting range in consideration of the topography is calculated for the shooting course 26. An example of the shooting range in consideration of the topography is shown in FIG. The shooting range 61 is rectangular, but this is a shooting range based on the reference plane (300 m in this example). As can be understood from FIG. 21, if the altitude of the spot where the image is actually taken is higher than the altitude of the reference plane 50, the shooting range considering the topography is within the shooting range 61. On the other hand, if the altitude of the point to be photographed is equal to or less than the reference plane elevation, the photographing range 66 considering the topography will protrude outside the rectangular shape of the photographing range 61 as shown in FIGS.

  Similarly, the shooting range in consideration of the topography of each shooting course is calculated. FIG. 24 shows shooting ranges 65, 66, and 67 in consideration of the terrain of the shooting courses 25, 26, and 27, respectively. When the calculation of the shooting range of each shooting course is completed, the calculated shooting ranges of each shooting course are combined. FIG. 25 shows a course shooting range 68 that combines shooting ranges in consideration of the terrain of each shooting course. In this way, the course shooting range in consideration of the topography is calculated.

After calculating the course shooting range in consideration of the topography, the side lap analysis is performed next. Side wrap analysis will be described with reference to FIGS. In this side wrap analysis, the following are input values.
Reference course set shooting course Course_Base: Film width direction shooting angle FOV_Side = 73.842 °
Ground altitude Height = 1530m
Reference surface elevation Base = 300m
Digital elevation model DEM
Parameter 4a: Side wrap tolerance ThreSide = 15%
Rolling tolerance Threω = 3 °
Shooting position tolerance ThreP = 50m

FIG. 26 shows data of the subject range 21 on the topographic map including the elevation data and the photographing course Course_Base of the photographing courses 25, 26, and 27.

  The permissible film width direction photographing angle will be described below with reference to FIG. FIG. 27 shows a state where the state during photographing is viewed from the side, and schematically shows a cross section perpendicular to the traveling direction of the aircraft of FIG. In FIG. 27, parts corresponding to those in FIG. 51 is a shooting range that does not take into account aircraft shake and GPS accuracy, 52 is a shooting range that takes into account a shooting position tolerance value ThreP resulting from GPS errors, 53r is a shooting range that takes into account a rolling tolerance value Threω, and 54s is a side lap tolerance. This represents a shooting range in consideration of the value ThreSide. Film width direction shooting angle FOV_Side is represented by an angle formed by 51 solid lines.

An allowable shooting angle ThreFOV_Side is obtained.
ThreFOV_Side
= FOV_Side-2 * Threω
= 73.842-2 * 3
= 67.842 °
Therefore, the effective shooting width considering the side wrap is
ScanWidth_ThreFOV_ThreP_ThreSide
= 2 * (Height * tan (ThreFOV_Side / 2) -ThreP) * (1-ThreSide)
= 2 * (1530 * tan (67.842 / 2) -50) * (1-0.15)
= 1664m
It becomes.

  Subsequently, a point where effective photographing is performed is extracted. Effective if the position where the line (segment) connecting the digital elevation model DEM and the shooting course intersects with the reference plane (altitude 300m in this example) is within the effective shooting width 1664m considering the allowable side wrap. This is extracted as a point to be photographed. FIG. 28 shows an example in which points that are effectively photographed are extracted. In FIG. 28, 71 indicates an effective shooting range, and 72 indicates a point where effective shooting is performed.

  The effective shooting range in consideration of the side wrap is calculated for the shooting course 26. FIG. 29 shows an example of an effective shooting range in consideration of side wrap. By setting the effective shooting range 71 in consideration of the side wrap, the range 76 that is effectively shot becomes narrower than the range 66 (see FIG. 23) shot when the above side wrap is not taken into consideration. Similarly, an effective shooting range in consideration of the side wrap of each shooting course is calculated. FIG. 30 shows the effective shooting ranges 75, 76, 77 in consideration of the side wraps of the shooting courses 25, 26, 27 of FIG.

  When the calculation of the effective shooting range of each shooting course is completed, the calculated effective shooting range of each shooting course is combined. FIG. 31 shows a course effective shooting range 78 obtained by combining effective shooting ranges considering the side wrap of each shooting course. In this way, the course shooting range in consideration of the terrain and the side wrap is calculated and output as the side lap analysis result 4c (see FIG. 1).

  Then, a side lap value is calculated from the calculated course effective photographing range, and it is determined whether or not the designated side lap value is satisfied. If the specified side wrap value is satisfied, the process proceeds to the photo scale analysis process in step S5.

  On the other hand, if the specified side wrap value is not satisfied, the process proceeds to step S2 to reduce the shooting course interval ScanWidth or raise the reference plane elevation of each shooting course, and create a shooting course again. An example in which the side wrap value is not satisfied is shown in FIG. In FIG. 32, the reference plane elevation of each of the shooting courses 25, 26, and 27 is set to 150 m, 150 m, and 100 m in order, for example. The side lap value calculated using these values cannot satisfy the specified side lap allowable value, and the lap breaks between the two shooting courses 26 and 27 within the calculated course effective shooting range 79. 79a occurs. This is because the topography of the area is changing rapidly. Even in such a case, for example, by raising the reference plane altitude of each shooting course to 300 m and resetting in step S2, it is possible to avoid running out of lap. If the specified side wrap value is not satisfied, it can be displayed on the screen to ask the user for confirmation.

  Next, the photographic scale analysis processing in step S5 will be described with reference to FIGS. When the altitude of the actually photographed terrain is high, the photographing range becomes narrow, but it can be seen in detail (the photographing scale becomes small). On the other hand, when the altitude of the terrain to be photographed is low, the photographing range is widened but cannot be seen in detail (the photographing scale becomes large). Therefore, photographic scale analysis is performed in order to check whether or not the shooting range is within a predetermined shooting scale.

In the photo scale analysis processing of this example, the following are input values.
Reference course set shooting course Course_Base: Film width direction shooting angle FOV_Side = 73.842 °
Ground altitude Height = 1530m
Reference surface elevation Base = 300m
Digital elevation model DEM
Parameter 5a: photographing scale allowable value ThreS = 12500
Rolling tolerance Threω = 3 °
Shooting position tolerance ThreP = 50m

FIG. 33 shows the target range 21 and the shooting courses 25, 26, and 27 from the shooting course Course_Base that has been set by the reference plane setting unit 3.

  The film width direction photographing angle allowed here will be described with reference to FIG. FIG. 34 shows a situation when the state at the time of photographing is viewed from the side, and schematically shows a cross section perpendicular to the traveling direction of the aircraft of FIG. In FIG. 34, 51 is a shooting range that does not take into account the fluctuation of the aircraft and GPS accuracy, 52 is a shooting range that takes into account the shooting position tolerance ThreP resulting from the GPS error, and 53r is a shooting range that takes into account the rolling tolerance Threω. . Film width direction photographing angle FOV_Side is an angle formed by 51 solid lines.

First, an allowable shooting angle ThreFOV_Side is calculated.
ThreFOV_Side
= FOV_Side-2 * Threω
= 73.842-2 * 3
= 67.842 °

Next, a point to be photographed is extracted. Assuming that Angle_Course_Base_ThreP_DEM is a shooting angle corresponding to a course Course_Base_ThreP that takes a shooting position P reflecting the accuracy of GPS and a shooting range 52 (see FIG. 34) when shooting from the course,
Angle_Course_Base_ThreP_DEM <ThreFOV
A point in the shooting range that satisfies the condition is extracted as a point to be shot. FIG. 35 shows an example in which a shooting point 62 (see FIG. 22) is extracted.

  Then, the shooting scale (see FIG. 36) and the equal shooting scale line (see FIG. 37) of the extracted spot to be shot are calculated. The shooting scale is calculated by (distance of the line connecting the digital elevation model DEM and the principal point) / (focal length). After the calculation of the equal shooting scale lines of the respective shooting courses 25 to 27, the calculated equal shooting scale lines of the respective shooting courses are combined. FIG. 38 shows an imaging scale line obtained by combining equal imaging scale lines of each imaging course. The numbers in the figure indicate the scale.

  In this way, the shooting scale of the entire shooting range is calculated and output as the photo scale analysis result 5c. In the post-process mapping work, the map scale (map information level) is determined by the shooting scale. If you map using a high-scale image, you can create a highly accurate map, so you can improve the accuracy of the map by calculating the shooting scale for the entire shooting range and checking the shooting scale. be able to.

  At this time, if the calculated shooting scale deviates from the allowable value based on the result of the photo scale analysis, the process proceeds to step S2 and the shooting course is created again by changing the ground altitude and the like. On the other hand, if the calculated shooting scale is within the allowable value, if the aerial camera used for shooting is an area sensor, the process proceeds to the principal point creation process in step S6, or the aerial camera is a line sensor. If there is, the process proceeds to a reference point creation process in step S8.

Next, the principal point creation process in step S6 will be described.
This principal point creation processing and overlap analysis processing described later are processing performed when the aviation sensor is an area sensor. The principal point creation process has functions of principal point automatic calculation (fixed interval), principal point automatic calculation (terrain), principal point label creation, and principal point label editing.

In the principal point automatic calculation (constant interval), principal points at regular intervals on the photographing course with respect to the reference surface elevation Base such as 300 m above sea level are calculated. On the other hand, in the main point automatic calculation (terrain), the main point interval is calculated in consideration of the topography. These functions are implemented according to the application. In the past, what could only create principal points at regular intervals can be made to specify the overlap value between any photos regardless of the terrain by considering the terrain. Hereinafter, the principal point automatic calculation (terrain) will be described with reference to FIGS. 39 to 42. In the main point automatic calculation (terrain), the following are input values.
Reference course set shooting course Course_Base: Traveling direction shooting angle FOV_Over = 73.842 °
Ground altitude Height = 1530m
Reference surface elevation Base = 300m
Shooting Direction
Digital elevation model DEM
Parameter 6a: Overlap value Over = 56%
Pitch tolerance Threφ = 3 °
Shooting position tolerance ThreP = 50m

  First, each of the input values is input, and an overlapping photographing range based on adjacent principal points is calculated. FIG. 39 shows an example of the overlapping photographing range. In FIG. 39, reference numeral 91 denotes a photographing range by a certain principal point P1, and 92 denotes an overlapping photographing range between the principal point P1 and the next principal point set in advance on the reference plane altitude Base. The overlapping photographing range 92 of the next principal point considering the accuracy of the aircraft and GPS is MaxPhotoArea_P1.

  Next, a point P1_1 (see FIG. 40) with the highest altitude is extracted from the overlapping photographing range 92. This can be obtained from a digital elevation model DEM. The place P1_1 with the highest altitude is set as MaxElevPoint_MaxPhotoArea_P1 (for example, 669 m).

The permissible shooting angle ThreFOV_Over is obtained at the highest altitude, that is, the maximum altitude value, and based on this, the interval AlongPitch_ThreFOV_ThreP_ThreOver to the next principal point in consideration of aircraft shake and GPS accuracy is obtained.
ThreFOV_Over
= FOV_Over-2 * Threφ
= 73.842-2 * 3
= 67.842 °
AlongPitch_ThreFOV_ThreP_ThreOver
= 2 * ((Base + Height-MaxElevPoint_MaxPhotoArea_P1) * tan (ThreFOV_Over / 2) -ThreP)
* (1-ThreOver)
= 2 * ((300 + 1530 + 669) * tan (67.842 / 2) -50) * (1-0.56)
= 628m

  From the principal point interval AlongPitch_ThreFOV_ThreP_ThreOver obtained by the above calculation, a principal point P2 next to the principal point P1 in consideration of the topography and the external orientation elements is obtained. FIG. 41 shows the principal point P2.

  Then, the imaging range of the calculated principal point P2 is obtained, and the imaging range is confirmed. FIG. 42 shows the maximum photographing range MaxPhotoArea_P2 of the principal point P2. In FIG. 42, 93 indicates an imaging range, and 94 indicates an overlapping imaging range with the principal point P1. It can be seen that the overlapping photographing range 94 is different from the overlapping photographing range 92 by considering the pitching allowable value Threφ and the photographing position allowable value ThreP. The calculated principal point is output as data of the photographing course 6b with the principal point created shown in FIG. Thereafter, principal point labels are created and edited as necessary.

Next, the overlap analysis process in step S7 will be described.
Overlap analysis processing includes principal point shooting range (reference plane) calculation, principal point effective shooting range (reference plane) calculation, principal point shooting range (terrain) calculation, and overlap analysis functions. This is performed after creating and editing the principal point label according to the use such as for photographing instruction. Previously, only the main point shooting range on the reference plane could be calculated, but in this example, the concept of the main point effective shooting range was introduced and applied to the calculation of the main point shooting range (terrain) to reflect the topography. Judgment is made on whether or not the wrap is cut.

The calculation of the principal point photographing range (reference plane) will be described with reference to FIGS. In the calculation of the principal point photographing range (reference plane), the following are input values.
Reference course set shooting course Course_Base: Film width direction shooting angle FOV_Side = 73.842 °
Travel direction shooting angle FOV_Over = 73.842 °
Ground altitude Height = 1530m
Reference surface elevation Base = 0m
Principal point P
Digital elevation model DEM
Parameter 7a: Side wrap tolerance ThreSide = 0%
Overlap tolerance ThreOver = 0%
Rolling tolerance Threω = 0 °
Pitching tolerance Threφ = 0 °
Shooting position tolerance ThreP = 0m

FIG. 43 shows the main point group on the photographing courses 25, 26, and 27 arranged at the target range 21 and the above-described main point interval calculated by the main point creation unit 6.

  First, in FIG. 43, permissible shooting angles ThreFOV_Side and ThreFOV_Over are obtained, and based on these, the film width direction shooting width ScanWidth_ThreFOV_ThreP_ThreSide and the traveling direction shooting width AlongWidth_ThreFOV_ThreP_ThreOver per shooting course are calculated.

ThreFOV_Side
= ThreSide-2 * Threω
= 73.842-2 * 0
= 73.842 °

ThreFOV_Over
= ThreOver-2 * Threφ
= 73.842-2 * 0
= 73.842 °

ScanWidth_ThreFOV_ThreP_ThreSide
= 2 * (Height * tan (ThreFOV_Side / 2) -ThreP) * (1-ThreSide)
= 2 * (1530 * tan (73.842 / 2) -0) * (1-0)
= 2300m

AlongWidth_ThreFOV_ThreP_ThreOver
= 2 * (Height * tan (ThreFOV_Over / 2) -ThreP) * (1-ThreOver)
= 2 * (1530 * tan (73.842 / 2) -0) * (1-0)
= 2300m

  An imaging range 102 of an arbitrary principal point 101 on the imaging course 26 is shown in FIG. The size of the shooting range 102 is (film width direction shooting width (2300 m)) × (traveling direction shooting width (2300 m)). Similarly, the imaging range for each principal point is calculated. FIG. 45 shows the photographing range of each principal point on the photographing courses 25, 26, and 27. FIG. When the calculation of the shooting range of each principal point is completed, the calculated shooting range of each principal point is combined. A principal point photographing range 103 obtained by combining the photographing ranges of the principal points is shown in FIG. In this way, the principal point photographing range on the reference plane is calculated.

After the calculation of the principal point photographing range on the reference plane is completed, a principal point effective photographing range (reference plane) in consideration of the side wrap allowable value and the overlap allowable value is calculated for the principal point photographing range. Calculation of the principal effective shooting range (reference plane) will be described with reference to FIGS. In the calculation of the principal point effective photographing range (reference plane), the following are input values.
Reference course set shooting course Course_Base: Film width direction shooting angle FOV_Side = 73.842 °
Travel direction shooting angle FOV_Over = 73.842 °
Ground altitude Height = 1530m
Reference surface elevation Base = 0m
Principal point P
Digital elevation model DEM
Parameter 7a: Side wrap tolerance ThreSide = 15%
Overlap tolerance Over = 53%
Rolling tolerance Threω = 0 °
Pitching tolerance Threφ = 0 °
Shooting position tolerance ThreP = 0m

FIG. 47 shows the main point group on each of the photographing courses 25, 26, and 27 arranged at the target range 21 and the above-described main point interval calculated by the main point creating unit 6.

First, in FIG. 47, each of the above input values is input, and the allowable shooting angles ThreFOV_Side and ThreFOV_Over are obtained, and based on this, the course effective shooting width ScanWidth_ThreFOV_ThreP_ThreSide on the reference plane per shooting course
And the traveling direction effective imaging width AlongWidth_ThreFOV_ThreP_ThreOver is calculated.

ThreFOV_Side
= ThreSide-2 * Threω
= 73.842-2 * 0
= 73.842 °

ThreFOV_Over
= ThreOver-2 * Threφ
= 73.842-2 * 0
= 73.842 °

ScanWidth_ThreFOV_ThreP_ThreSide
= 2 * (Height * tan (ThreFOV_Side / 2) -ThreP) * (1-ThreSide)
= 2 * (1530 * tan (73.842 / 2) -0) * (1-0.15)
= 1955m

AlongWidth_ThreFOV_ThreP_ThreOver
= 2 * (Height * tan (ThreFOV_Over / 2) -ThreP) * (1-ThreOver)
= 2 * (1530 * tan (73.842 / 2) -0) * (1-0.53)
= 1081m

  A shooting range 102 and an effective shooting range 112 of an arbitrary principal point 101 on the shooting course 26 are shown in FIG. This effective shooting range 112 is a rectangle of course effective shooting width (1955 m) × traveling direction effective shooting width (1081 m). Similarly, the effective photographing range for each principal point is calculated. FIG. 49 shows the effective shooting range of each principal point on the shooting courses 25, 26, and 27. FIG. When the calculation of the effective shooting range of each principal point is completed, the calculated effective shooting range of each principal point is combined. A principal point effective photographing range 113 obtained by combining the effective photographing ranges of the principal points is shown in FIG. The effective shooting range 113 is located inside the shooting range 103. In this way, the principal point effective photographing range on the reference plane is calculated.

After the calculation of the principal point effective photographing range on the reference plane is completed, the principal point photographing range (terrain) is calculated. The principal point photographing range (terrain) is a principal point photographing range in consideration of the terrain to be photographed. Calculation of the principal point photographing range (terrain) will be described with reference to FIGS. In the calculation of the principal point photographing range (terrain), the following are input values.
Reference course set shooting course Course_Base: Film width direction shooting angle FOV_Side = 73.842 °
Travel direction shooting angle FOV_Over = 73.842 °
Ground altitude Height = 1530m
Reference surface elevation Base = 300m
Principal point P
Digital elevation model DEM
Parameter 7a: Side wrap tolerance ThreSide = 0%
Overlap tolerance Over = 0%
Rolling tolerance Threω = 3 °
Pitch tolerance Threφ = 3 °
Shooting position tolerance ThreP = 50m

FIG. 51 shows the main point group on the photographing courses 25, 26, 27 arranged at the target range 21 and the above-described main point interval calculated by the main point creating unit 6.

  First, the above input values are input, and the allowable film width direction photographing angle ThreFOV_Side and the traveling direction photographing angle ThreFOV_Over are obtained, and based on this, the allowable film width direction photographing width ScanWidth_ThreFOV_ThreP_ThreSide and the traveling direction photographing width per photographing course Calculate AlongWidth_ThreFOV_ThreP_ThreOver.

  Here, permissible photographing angles and photographing widths will be described with reference to FIG. FIG. 52 shows a situation when the state at the time of photographing is viewed from the side, and schematically shows a cross section with respect to the traveling direction of the aircraft of FIG. In FIG. 52, 51 is a shooting range that does not take into account aircraft fluctuations and GPS accuracy, 52 is a shooting range that takes into account a shooting position tolerance ThreP caused by a GPS error, and 53p is a shooting range that takes into account the pitching tolerance Threφ. is there. Film width direction photographing angle FOV_Side is an angle formed by 51 solid lines. A schematic diagram of a cross section with respect to a direction perpendicular to the advancing direction of the aircraft can be similarly expressed, and the imaging range in consideration of the rolling allowable value Threω in that case is indicated in parentheses as 53r.

ThreFOV_Side
= ThreSide-2 * Threω
= 73.842-2 * 3
= 67.842 °

ThreFOV_Over
= ThreOver-2 * Threφ
= 73.842-2 * 3
= 67.842 °

ScanWidth_ThreFOV_ThreP_ThreSide
= 2 * (Height * tan (ThreFOV_Side / 2) -ThreP) * (1-ThreSide)
= 2 * (1530 * tan (67.842 / 2) -50) * (1-0)
= 1958m

AlongWidth_ThreFOV_ThreP_ThreOver
= 2 * (Height * tan (ThreFOV_Over / 2) -ThreP) * (1-ThreOver)
= 2 * (1530 * tan (67.842 / 2) -50) * (1-0)
= 1958m

  Subsequently, a point to be photographed is extracted. The point where the line connecting the digital elevation model DEM and the principal point is within the film width direction photographing width (1958m) and the traveling direction photographing width (1958m) allowed on the reference surface elevation Base = 300m, that is, photographing It is extracted as a part that is actually photographed within the range. An example of the extracted points to be photographed is shown in FIG. In FIG. 53, reference numeral 102 denotes a shooting range, and 121 denotes a shooting point.

  Then, a shooting range in consideration of the topography is calculated for the main point 101 on the shooting course 26. FIG. 54 shows the photographing range 122 of the principal point 101 taking the terrain into consideration. The shooting range 122 in consideration of the topography is the outline of the spot 121 to be shot, and is not necessarily a straight line unlike the shooting range 102. Similarly, an imaging range is calculated that takes into account the topography of each principal point. An imaging range in consideration of the topography at each principal point on the imaging courses 25, 26, and 27 is shown in FIG. After the calculation of the shooting range of each principal point on each shooting course is completed, the calculated shooting range of each principal point is combined. FIG. 56 shows a principal point photographing range 123 obtained by combining photographing ranges in consideration of topography at each principal point on each photographing course. In this way, the principal point photographing range considering the topography is calculated.

Next, after the calculation of the principal point photographing range considering the topography is completed, the overlap analysis is performed. The overlap analysis will be described with reference to FIGS.
In this overlap analysis, the following are input values.
Reference course set shooting course Course_Base: Film width direction shooting angle FOV_Side = 73.842 °
Travel direction shooting angle FOV_Over = 73.842 °
Ground altitude Height = 1530m
Reference surface elevation Base = 300m
Principal point P
Digital elevation model DEM
Parameter 7a: Side wrap tolerance ThreSide = 15%
Overlap tolerance Over = 53%
Rolling tolerance Threω = 3 °
Pitch tolerance Threφ = 3 °
Shooting position tolerance ThreP = 50m

FIG. 57 shows the target range 21 and principal points on each of the photographing courses 25, 26, 27 arranged at the principal point intervals calculated by the principal point creation unit 6.

  First, input the above input values, find the acceptable shooting angle ThreFOV_Side considering rolling, and the acceptable shooting ThreFOV_Over considering pitching, and based on this, the course effective shooting width considering the side wrap per shooting course Scanning direction effective imaging width AlongWidth_ThreFOV_ThreP_ThreOver in consideration of ScanWidth_ThreFOV_ThreP_ThreSide and overlap is calculated.

  Here, permissible photographing angles and photographing widths will be described with reference to FIG. FIG. 58 shows a situation when the state at the time of photographing is viewed from the side, and schematically shows a cross section with respect to the traveling direction of the aircraft of FIG. 51 is a shooting range that does not take into account aircraft shake and GPS accuracy, 52 is a shooting range that takes into account a shooting position tolerance value ThreP caused by GPS error, 53p is a shooting range that takes into account a pitching tolerance value Threφ, and 54o is an overlap. This represents the shooting range in consideration of the allowable value ThreOver. Film width direction shooting angle FOV_Side is represented by an angle formed by 51 solid lines. A schematic diagram of a cross section perpendicular to the traveling direction of the aircraft can also be expressed in the same manner. In this case, the shooting range in consideration of the rolling allowable value Threω is 53r, and the shooting range in consideration of the side wrap allowable value ThreSide is 54s. Marked in parentheses.

ThreFOV_Side
= ThreSide-2 * Threω
= 73.842-2 * 3
= 67.842 °

ThreFOV_Over
= ThreOver-2 * Threφ
= 73.842-2 * 3
= 67.842 °

ScanWidth_ThreFOV_ThreP_ThreSide
= 2 * (Height * tan (ThreFOV_Side / 2) -ThreP) * (1-ThreSide)
= 2 * (1530 * tan (67.842 / 2) -50) * (1-0.15)
= 1664m

AlongWidth_ThreFOV_ThreP_ThreOver
= 2 * (Height * tan (ThreFOV_Over / 2) -ThreP) * (1-ThreOver)
= 2 * (1530 * tan (67.842 / 2) -50) * (1-0.53)
= 862m

  Subsequently, a point where effective photographing is performed is extracted. Effective shooting of a point within the effective shooting width of 1567m considering the side wrap and the effective shooting width of 862m considering the overlap, where the principal point connecting the digital elevation model DEM and the course is allowed on the reference surface elevation Base = 300m It is extracted as a point where the photograph is taken, that is, a range that is actually photographed within the effective photographing range. An example of the extracted points to be photographed is shown in FIG. In FIG. 59, reference numeral 112 denotes an effective shooting range, and 131 denotes a shooting point.

  Then, the effective shooting range in consideration of the topography is calculated for the main point on the shooting course 26. FIG. 60 shows an effective imaging range 132 of the principal point 101 taking into account the terrain. The effective shooting range 132 in consideration of the terrain is the outline of the shooting point 131 and is not necessarily a straight line unlike the shooting range 112. Similarly, an effective shooting range is calculated taking into account the topography of each principal point. FIG. 61 shows an effective shooting range in consideration of the terrain at each principal point on the shooting courses 25, 26, and 27. After the calculation of the effective shooting range of each principal point on each shooting course is completed, the calculated effective shooting range of each principal point is combined. FIG. 62 shows a principal effective shooting range 133 obtained by combining effective shooting ranges of the principal points. In this way, the principal effective photographing range in consideration of the topography is calculated.

  From the calculated effective photographing range of each principal point, it is determined whether or not the designated overlap value is satisfied. If not, the process proceeds to step S6, and for example, the point P1_1 having the highest altitude is changed to the vicinity thereof. The principal point is created again by the above. On the other hand, if the specified overlap value is satisfied, the process proceeds to the reference point creation process in step S8. If the specified overlap value is not satisfied and the lap is broken, it can be displayed on the screen for confirmation.

  Note that it is not always necessary to perform overlap analysis when creating a principal point considering the topography in the principal point creation process of step S6 described above. However, there are area sensors that can only be photographed at regular intervals, and in this case, overlap analysis is required. For example, an area sensor that captures images at a constant interval from a constant-speed aircraft corresponds to a fixed shutter interval for the convenience of data transfer. In addition, when performing position-directed shooting with GPS, the principal point is automatically calculated in consideration of the terrain, so there is no need for an overlap analysis, but for confirmation, even after automatic calculation of the principal point in consideration of the terrain. The accuracy of the aerial photography plan is further improved by performing the overlap analysis.

  When the above-described overlap analysis process is completed, in the reference point creation process in step S8, in order to maintain consistency with the ground in aerial photography (to add ground coordinates corresponding to the photograph), A reference point is provided to know the coordinates at. As the reference point, the national reference point (triangular point, national reference point, electronic reference point) is mainly used, but it is also possible to measure using GPS or the like after shooting. In the reference point creation process, the reference point is created, and then the reference point label is created. Further, the reference point label is edited as necessary, and the reference point creation process is terminated.

  After the reference point creation process is completed, the report creation process in step S9 is performed. The report creation process is a process for creating a report that shows the course, principal point coordinates, quantity, and the like for the shooting plan, and includes data conversion and form creation procedures. Data conversion is principal point line conversion, conversion to a DXF (Data eXchange Format) file for storing vector data, or the like. In addition, when creating a form, a summary / report is created that shows the start and end points of the shooting course and the location of the main point on the shooting course, and the contents of the summary / report are reflected on the map data. The layout is created so that it can be visually confirmed whether or not it should be done. By displaying the shooting plan in a layout, it is possible to appropriately give an estimate and give a shooting instruction to the photographer. For the estimation, it is possible to use a shooting plan created with a shooting range that does not take into account the fluctuation of the aircraft and the accuracy of GPS.

  According to the configuration of this example, side wrap and overlap are analyzed using the concept of an effective shooting range in consideration of the topography, and the navigation system is used to take into account aircraft shake and GPS accuracy. All analyzes can be performed. Thereby, it can respond to each air sensor of all line sensors and area sensors.

  In addition, since the implementation of the shooting plan is programmed in consideration of all coordinate systems, it is possible for a person with little knowledge of the coordinate system to easily execute the shooting plan, and for any shape, Since a shooting course that does not depend on the subjectivity can be planned, the accuracy of the shooting plan is improved. For example, it can be automatically set so that the principal point interval is wide at low altitudes and the principal point interval is narrow at high altitudes.

  In addition to the shape of the terrain, it is possible to simulate the effective side wrap (effective overlap) with a certain range of values, taking into account aircraft fluctuations due to weather conditions, etc. Can also satisfy the specified overlap, reducing the probability of lap breakage and reducing the possibility of re-shooting.

  In addition, it is difficult for even a highly skilled person to draw a line of a range to be photographed on a paper-based topographic map, but if time is taken for the photographing plan, the photographing time is reduced. In this example, the shooting plan is automatically performed, and the shooting plan result is digitally output in a predetermined format and can be imported into the GPS shooting system installed in the aircraft, greatly reducing the time from shooting plan to shooting execution. be able to.

  In general, if there is no change in the shooting introduction, the shooting scale and shooting range depend on the shape of the terrain. In the terrain, high and low altitude points, mountain ridges and valleys are feature points of the terrain. Checking the shooting range on a paper-based topographic map tends to be a calculation of only feature points. In this example, a photo scale analysis process is performed to determine whether the specified shooting scale is satisfied. Therefore, the shooting scale can be calculated over the entire shooting range.

In the above embodiment, the square analog area sensor has been described by taking RC-30 as an example, but the present invention can also be implemented in a non-square digital area sensor or a digital line sensor.
For example, the case of a non-square digital area sensor will be described using UltraCAM-D as an example. In the case of UltraCAM-D, the shooting angle FOV and the facing height can be obtained by substituting PW_Side = 11500 pixels, PW_Over = 7500 pixels, P_Size = 9 μm, f = 100 mm, and GSD = 0.08 m into the following equations. .
FOV_Side = ((PW_Side * P_Size / 2) / atan (f / 1000)) * 2 = 54.723 °
FOV_Over = ((PW_Over * P_Size / 2) / atan (f / 1000)) * 2 = 37.299 °
Height = (GSD * f / 1000) / P_Size = 888m
The case of a digital line sensor will be described by taking ADS 40 as an example. In the case of ADS40, the shooting angle FOV and the facing height can be obtained by substituting PW_Side = 12000 pixels, P_Size = 6.5 μm, f = 62.77 mm, and GSD = 0.20 m into the following equations.
FOV_Side = ((PW_Side * P_Size / 2) / atan (f / 1000)) * 2 = 63.707 °
Height = (GSD * f / 1000) / P_Size = 1933m
By using these values, the present invention can be applied to non-square digital area sensors and digital line sensors as well as square analog area sensors.

  Further, the present invention is not limited to the above-described embodiments, and various other configurations can be taken without departing from the gist of the present invention.

It is a functional block diagram which implement | achieves the aerial photography plan by one embodiment of this invention. It is a figure used for demonstrating the attitude | position (swing) of the aircraft body. It is a figure where it uses for description of the effective imaging | photography range by one embodiment of this invention. It is a figure where it uses for description of the imaging | photography range which considered the external orientation element by one embodiment of this invention. It is a flowchart which shows the whole flow of the aerial photography plan by one embodiment of this invention. It is a figure (1) with which it uses for description of photography course preparation by one embodiment of this invention. It is FIG. (2) with which it uses for description of photography course preparation by one embodiment of this invention. It is FIG. (3) with which it uses for description of photography course preparation by one embodiment of this invention. It is FIG. (4) with which it uses for description of photography course preparation by one embodiment of this invention. It is a figure (5) with which it uses for description of photography course preparation by one embodiment of this invention. It is FIG. (6) with which it uses for description of photography course preparation by one embodiment of this invention. It is a figure (1) with which it uses for description of the course imaging | photography range (reference surface) by one embodiment of this invention. It is FIG. (2) with which it uses for description of the course imaging | photography range (reference plane) by one embodiment of this invention. It is FIG. (3) with which it uses for description of the course imaging | photography range (reference surface) by one embodiment of this invention. It is FIG. (4) with which it uses for description of the course imaging | photography range (reference surface) by one embodiment of this invention. It is a figure (1) with which it uses for description of the course effective imaging | photography range (reference plane) by one embodiment of this invention. It is FIG. (2) with which it uses for description of the course effective imaging | photography range (reference plane) by one embodiment of this invention. It is FIG. (3) with which it uses for description of the course effective imaging | photography range (reference plane) by one embodiment of this invention. It is FIG. (4) with which it uses for description of the course effective imaging | photography range (reference plane) by one embodiment of this invention. It is a figure (1) with which it uses for description of the course imaging | photography range (terrain) by one embodiment of this invention. It is FIG. (2) with which it uses for description of the course imaging | photography range (terrain) by one embodiment of this invention. It is FIG. (3) with which it uses for description of the course imaging | photography range (terrain) by one embodiment of this invention. It is FIG. (4) with which it uses for description of the course imaging | photography range (terrain) by one embodiment of this invention. It is a figure (5) with which it uses for description of the course imaging | photography range (terrain) by one embodiment of this invention. It is a figure (6) with which it uses for description of the course imaging | photography range (terrain) by one embodiment of this invention. It is a figure (1) with which it uses for description of the side wrap analysis by one embodiment of this invention. It is a figure (2) with which it uses for description of the side wrap analysis by one embodiment of this invention. It is a figure (3) with which it uses for description of the side wrap analysis by one embodiment of this invention. It is a figure (4) with which it uses for description of the side wrap analysis by one embodiment of this invention. It is a figure (5) with which it uses for description of the side wrap analysis by one embodiment of this invention. It is a figure (6) with which it uses for description of the side wrap analysis by one embodiment of this invention. It is a figure (7) with which it uses for description of the side wrap analysis by one embodiment of this invention. It is a figure (1) with which it uses for description of imaging | photography scale analysis by one embodiment of this invention. It is a figure (2) with which it uses for description of imaging | photography scale analysis by one embodiment of this invention. It is a figure (3) with which it uses for description of the imaging | photography scale analysis by one embodiment of this invention. It is FIG. (4) with which it uses for description of imaging | photography scale analysis by one embodiment of this invention. It is a figure (5) with which it uses for description of imaging | photography scale analysis by one embodiment of this invention. It is a figure (6) with which it uses for description of imaging | photography scale analysis by one embodiment of this invention. It is a figure (1) with which it uses for description of the principal point automatic calculation by one embodiment of this invention. It is a figure (2) with which it uses for description of the principal point automatic calculation by one embodiment of this invention. It is a figure (3) with which it uses for description of the principal point automatic calculation by one embodiment of this invention. It is a figure (4) with which it uses for description of principal point automatic calculation by one embodiment of this invention. It is a figure (1) with which it uses for description of the principal point imaging | photography range (reference plane) by one embodiment of this invention. It is FIG. (2) with which it uses for description of the principal point imaging | photography range (reference plane) by one embodiment of this invention. It is FIG. (3) with which it uses for description of the principal point imaging | photography range (reference plane) by one embodiment of this invention. It is FIG. (4) with which it uses for description of the main point imaging | photography range (reference plane) by one embodiment of this invention. It is a figure (1) with which it uses for description of the main point effective imaging | photography range (reference plane) by one embodiment of this invention. It is FIG. (2) with which it uses for description of the main point effective imaging | photography range (reference plane) by one embodiment of this invention. It is FIG. (3) with which it uses for description of the main point effective imaging | photography range (reference plane) by one embodiment of this invention. It is a figure (4) with which it uses for description of the main point effective imaging | photography range (reference plane) by one embodiment of this invention. It is a figure (1) with which it uses for description of the main point imaging | photography range (terrain) by one embodiment of this invention. It is a figure (2) with which it uses for description of the main point imaging | photography range (terrain) by one embodiment of this invention. It is a figure (3) with which it uses for description of the main point imaging | photography range (terrain) by one embodiment of this invention. It is FIG. (4) with which it uses for description of the main point imaging | photography range (terrain) by one embodiment of this invention. It is a figure (5) with which it uses for description of the main point imaging | photography range (terrain) by one embodiment of this invention. It is a figure (6) with which it uses for description of the main point imaging | photography range (terrain) by one embodiment of this invention. It is a figure (1) with which it uses for description of the overlap analysis by one embodiment of this invention. It is a figure (2) with which it uses for description of the overlap analysis by one embodiment of this invention. It is a figure (3) with which it uses for description of the overlap analysis by one embodiment of this invention. It is a figure (4) with which it uses for description of the overlap analysis by one embodiment of this invention. It is a figure (5) with which it uses for description of the overlap analysis by one embodiment of this invention. It is a figure (6) with which it uses for description of the overlap analysis by one embodiment of this invention.

Explanation of symbols

  2 ... Shooting course creation unit, 3 ... Reference plane setting unit, 4 ... Side lap analysis unit, 5 ... Photo scale analysis unit, 6 ... Main point creation unit, 7 ... Overlap analysis unit, 8a ... Digital elevation model, 1 ... Shooting range not considering external rating element, 12 ... Shooting range considering pitching allowable value, 13 ... Shooting range considering pitching allowable value and shooting position allowable value, 14 ... Minimum shooting range considering external rating element, 15 ... Maximum shooting range in consideration of external rating factors, 21 ... shooting target, 25, 26, 27 ... shooting course, 36 ... shooting range (width), 46 ... effective shooting range (width), 61 ... rolling allowance and shooting position allowance Shooting range (width) taking into account values, 62 ... shooting point, 66 ... shooting range (terrain), 71 ... shooting range taking into account side wrap, 72 ... effective shooting point, 76 ... effective shooting range ( side 91) Shooting range, 92 ... Overlapping shooting range, 93 ... Shooting range considering pitching tolerance and shooting position tolerance, 94 ... Overlapping shooting range, 101 ... Principal point, 102 ... Principal point shooting range, 112 ... Principal point effective shooting range, 121 ... Spotted point, 122 ... Principal point shooting range (terrain), 131 ... Spotted point, 132 ... Principal point effective shooting range (overlap)

Claims (11)

An imaging plan support device for supporting the planning of an aerial photogrammetry shooting plan,
A shooting target area determination unit for determining a shooting target area on the map data;
The interval between each shooting course is calculated from the shooting distance in the direction perpendicular to the traveling direction calculated from the focal length of the shooting means, the size of the shooting screen, the preset photo scale, and the side lap value, and the shooting target area A shooting course creation section for creating a shooting course;
Calculate the allowable shooting angle and effective shooting width from the preset side wrap allowance, rolling allowance, and shooting position allowance, and the reference of the predetermined altitude with the line segment connecting the ground surface on the altitude data and each shooting course When a point where the intersection with the surface is within the effective shooting width is extracted as an effective shooting range, and the side wrap value calculated from the effective shooting range in an adjacent shooting course is within a preset side wrap tolerance, A shooting plan support apparatus, comprising: a side wrap analysis unit that determines an interval between the shooting courses. If the side lap value calculated by the side lap analysis unit is not within the side wrap tolerance, the shooting course creation unit narrows the interval between the courses or raises the altitude of the reference plane and again takes each shooting course. The photographing plan support apparatus according to claim 1, wherein an interval between the two is determined. The photographing plan support apparatus further includes a photographic scale analysis unit,
The photo scale analysis unit extracts a point where a shooting angle corresponding to a shooting range when shooting with the shooting unit is less than the allowable shooting angle from a shooting position in consideration of the accuracy of the position measuring unit,
2. The shooting course creation unit determines the interval between shooting courses again by changing the ground altitude at the time of shooting when the photo scale at the extraction point is equal to or larger than a preset allowable photo scale. Or the photography plan assistance apparatus of 2 description. The imaging plan support device further includes a principal point creation unit and an overlap analysis unit,
The principal point creation unit calculates an overlapping photographing range of one principal point and the next principal point on each photographing course, based on a preset overlap value, pitching tolerance value, and photographing position tolerance value,
Based on the difference between the altitude at the highest altitude in the overlapping shooting range and the shooting altitude, a preset overlap value and pitching tolerance, and the accuracy of the position measurement means, the next to the next Calculate the principal point interval to the principal point,
The overlap analysis unit calculates a principal effective photographing width from preset side wrap allowance, overlap allowance, rolling allowance, and pitching allowance,
A point where the intersection of the reference plane and the line segment connecting the ground surface on the elevation data and the principal point is within the principal point effective photographing width is extracted as a principal point effective photographing range,
The principal point interval is determined when an overlap value lap value calculated from a principal point effective photographing range at an adjacent principal point is within a preset overlap tolerance. The imaging plan support device according to any one of the above items. When the overlap value calculated by the overlap analysis unit is not within the overlap allowable value, the principal point creation unit calculates the principal point interval again by changing the principal point having the highest altitude to the vicinity thereof. The imaging plan support apparatus according to claim 4, wherein: An imaging plan support device for supporting the planning of an aerial photogrammetry shooting plan,
Based on the preset overlap value, pitching tolerance value, and photographing position tolerance value, the overlapping photographing range of one principal point and the next principal point on the photographing course is calculated, and within the overlapping photographing range extracted from the altitude data. From the one principal point to the next principal point based on the difference between the altitude at the highest altitude and the photographing altitude of the photographing means, the preset overlap value and pitching tolerance, and the accuracy of the position measuring means A principal point creation unit for calculating a principal point interval;
A principal point effective photographing width is calculated from the focal length of the photographing means, the size of the photographing screen, a preset rolling tolerance, and the photographing altitude, and a line segment connecting the ground surface on the elevation data and the principal point; A point where the intersection point with the reference plane is within the principal point effective photographing range is extracted as a principal point effective photographing range, and an overlap value calculated from a principal point effective photographing range at an adjacent principal point is set as a preset overlap tolerance. An imaging plan creation support apparatus, comprising: an overlap analysis unit that determines the principal point interval when the value is within a value. When the overlap value calculated by the overlap analysis unit is not within the overlap allowable value, the principal point creation unit calculates the principal point interval again by changing the principal point having the highest altitude to the vicinity thereof. The imaging plan support device according to claim 6. A shooting plan support program that supports the planning of aerial photogrammetry shooting plans,
A shooting target area determination procedure for determining a shooting target area on map data;
The interval between each shooting course is calculated from the shooting distance in the direction perpendicular to the traveling direction calculated from the focal length of the shooting means, the size of the shooting screen, the preset photo scale, and the side lap value, and the shooting target area Shooting course creation procedure to create a shooting course,
Calculate the allowable shooting angle and effective shooting width from the preset side wrap allowance, rolling allowance, and shooting position allowance, and the reference of the predetermined altitude with the line segment connecting the ground surface on the altitude data and each shooting course When a point where the intersection with the surface is within the effective shooting width is extracted as an effective shooting range, and the side wrap value calculated from the effective shooting range in an adjacent shooting course is within a preset side wrap tolerance, A shooting plan support program for causing a computer to execute a side lap analysis procedure for determining an interval between each shooting course. The shooting plan support program further includes a photo scale analysis procedure,
The photo scale analysis procedure extracts a point where a shooting angle corresponding to a shooting range when shooting with the shooting unit is less than the allowable shooting angle from a shooting position in consideration of the accuracy of the position measuring unit,
9. The shooting plan support according to claim 8, wherein when the photo scale at the extraction point is equal to or larger than a preset allowable photo scale, the ground altitude at the time of shooting is changed and the interval between the shooting courses is determined again. program. The shooting plan support program further has a principal point creation procedure and an overlap analysis procedure,
The principal point creation procedure calculates the overlapping photographing range of one principal point and the next principal point on each photographing course based on a preset overlap value, pitching tolerance value, and photographing position tolerance value,
Based on the difference between the altitude at the highest altitude in the overlapping shooting range and the shooting altitude, a preset overlap value and pitching tolerance, and the accuracy of the position measurement means, the next to the next Calculate the principal point interval to the principal point,
The overlap analysis procedure calculates a principal effective shooting width from a preset side wrap tolerance, overlap tolerance, rolling tolerance, and pitching tolerance,
A point where the intersection of the reference plane and the line segment connecting the ground surface on the elevation data and the principal point is within the principal point effective photographing width is extracted as a principal point effective photographing range,
The photographing plan support according to claim 8, wherein the principal point interval is determined when an overlap value calculated from a principal point effective photographing range at an adjacent principal point is within a preset overlap tolerance. program. A shooting plan support program that supports the planning of aerial photogrammetry shooting plans,
Based on the preset overlap value, pitching tolerance value, and photographing position tolerance value, the overlapping photographing range of one principal point and the next principal point on the photographing course is calculated, and within the overlapping photographing range extracted from the altitude data. From the one principal point to the next principal point based on the difference between the altitude at the highest altitude and the photographing altitude of the photographing means, the preset overlap value and pitching tolerance, and the accuracy of the position measuring means A principal point creation procedure for calculating a principal point interval;
A principal point effective photographing width is calculated from the focal length of the photographing means, the size of the photographing screen, a preset rolling tolerance, and the photographing altitude, and a line segment connecting the ground surface on the elevation data and the principal point; A point where the intersection point with the reference plane is within the principal point effective photographing range is extracted as a principal point effective photographing range, and an overlap value calculated from a principal point effective photographing range at an adjacent principal point is set as a preset overlap tolerance. An imaging plan support program for causing a computer to execute an overlap analysis procedure for determining the principal point interval when it is within a value.