Unmanned aerial vehicle cyclotron multi-angle railway existing line high-precision three-dimensional reconstruction route planning method

The invention provides an unmanned aerial vehicle convolution multi-angle railway existing line high-precision three-dimensional reconstruction route planning method, which comprises the steps of calculating an encryption point interval according to camera parameters and a projection overlapping rate, and calculating coordinates of each encryption node by utilizing existing railway center line position coordinates to determine an encryption node center line; calculating coordinates of reference line nodes of an external expansion route, and setting a flight relative height value for each reference line node; calculating the position coordinates of the exposure points according to the node coordinates of the extended air route datum line; setting a relative elevation; utilizing the exposure point position coordinates and the encryption node coordinates to calculate a course azimuth angle at an external expansion course datum line node as an exposure point pan-tilt course angle; calculating a pan-tilt pitch ang