Investigation of the influence of linear and angular deviations of UAVS on the change in parallaxes of images of the underlying surface obtained in the mode of rectilinear horizontal flight

The purpose of the research is assessment of the joint and separate influence of linear and angular deviations of the UAV from the trajectory of rectilinear horizontal flight on the change in parallax images of the underlying surface. Methods. Quantitative estimates are based on a study of the sensitivity of a model describing the functional relationship between the parameters of UAV deviations from a given trajectory and changes in the longitudinal and transverse parallaxes of overlapping images of the underlying surface caused by these deviations. Results. The difference of longitudinal parallaxes in the absence of linear deviations of the UAV, regardless of the sign of the ordinate of the point in the overlap zone, is always positive and increases with an increase in the level of angular deviations, and transverse deviations are negative and decrease, and the value of the first is three times greater than the second. The difference of the transverse parallaxes in the absence of angular deviations of the UAV at a positive ordinate point in the overlap zone is positive, and the longitudinal parallaxes are negative, and at a negative ordinate, on the contrary. At the same time, regardless of the sign of the ordinate of the point in the overlap zone, with an increase in the level of linear deviations of the UAV, the first increases, the second decreases, and the value of the first is four times greater than the secon. Conclusion. The magnitude of the parallax differences depends on the levels of linear and angular deviations of the UAV that occurred at the time of registration of the inclined image, and the sign depends on the sign of the ordinate of the corresponding point in the overlap zone of the second pair of images. In this case, the difference of longitudinal parallaxes is always directly proportional to the level of angular deviations and inversely proportional to the level of linear deviations, and transverse parallaxes is directly proportional to the level of angular deviations at negative values of the ordinate of the point and inversely proportional at its positive values.