Single-lens unmanned aerial vehicle oblique photography method for optimizing effective endurance

The invention discloses a single-lens unmanned aerial vehicle oblique photography method for optimizing effective endurance. The method comprises the following steps: acquiring to-be-shot area information of a single-lens unmanned aerial vehicle, a camera shooting attitude and a preset shooting overlapping rate; according to the preset shooting overlapping rate, calculating a route distance l; the single-lens unmanned aerial vehicle completes aerial photography along the first shooting path, and in the aerial photography process, the camera shooting attitude is a vertically downward attitude; the single-lens unmanned aerial vehicle completes aerial photographing along the second photographing path, and in the aerial photographing process, the camera photographing attitude is alternately converted into the first inclined attitude and the second inclined attitude; and the single-lens unmanned aerial vehicle completes aerial photographing along the third photographing path, and in the aerial photographing proces