Unmanned aerial vehicle airborne camera installation error calibration method and computer equipment

The invention provides an unmanned aerial vehicle airborne camera installation error calibration method and computer equipment. Firstly, reference images shot by an unmanned aerial vehicle in different attitudes and positions and corresponding attitude and position reference data are recorded through an unmanned aerial vehicle airborne camera, an inertial navigation device and a satellite receiver; secondly, visual positioning information of the reference image is given through a visual positioning method, and an error equation between the visual positioning information including installation errors and the reference data is established; and finally, providing a Newton downhill method based on RANSAC to accurately calibrate the installation error between the airborne camera of the unmanned aerial vehicle and the inertial navigation, and improving the visual positioning precision. 本发明提供一种无人机机载相机安装误差标定方法及计算机设备，首先通过无人机机载相机、惯导和卫星接收机记录无人机在不同姿态和位置下拍摄的参考图像及其对应的姿态和位置基准数据；其次通过视觉定位方法给出参考图像的视觉定位信息，并建立含安装误差在内的视觉定位信息与基准数据