$\begingroup$

I have a scenario where a camera is mounted to an aircraft. For this camera, I have the attitude correction values i.e. misalignment angles, namely, yaw, pitch, and roll. Also, I have the yaw, pitch, roll, of the aircraft at the time of aerial photos are taken. In addition, I have the camera position, and the position of the aircraft for each image. I'd like to know how can I obtain the effective rotation angle, so that I can apply the pinhole camera model for my images in determining the geocoordinates of my images.

Working formulas as well as theories around this problem is also highly appreciated.

$\endgroup$

1 Answer

$\begingroup$

Use Euler angles to rotation matrices and then multiply them together

$$ R_\text{air} \mathrm{rot}(\alpha,\beta,\gamma) $$

and

$$ R_\text{cam} = \mathrm{rot}(u,v,r) $$

and then combine them to get

$$ R_\text{combined} = R_{\rm air} R_{\rm cam} $$

_{Here ${}^\intercal$ is the matrix transpose which inverts the rotation.}

to get the relative position of the aircraft to the camera. Finally convert from rotation matrix back to Euler angles.

$$ (a,b,c) = \mathrm{rot}^{-1} ( R_{\rm combined} ) $$

$\endgroup$ 9

Your Answer

Sign up or log in

Sign up using Google Sign up using Facebook Sign up using Email and Password Submit

Post as a guest

Post Your Answer Discard

By clicking “Post Your Answer”, you agree to our terms of service, privacy policy and cookie policy