High-altitude camera internal reference calibration method based on movable camera equipment

The invention relates to a high-altitude camera internal reference calibration method based on movable camera equipment, and the method comprises the steps: calibrating the movable camera equipment, and obtaining an internal reference matrix and a distortion coefficient of the movable camera equipment; moving the movable camera equipment to the shooting view center of the high-altitude camera, and recording the current position of the movable camera equipment; shooting the high-altitude camera by using movable camera equipment; recording the pixel coordinates of the high-altitude camera in the shot picture; solving the coordinates of the high-altitude camera in the coordinate system of the movable camera equipment; calculating the distance between the high-altitude camera and the movable camera equipment; a rectangular reference plate with known height and width is placed in the center of the shooting view of a high-altitude camera and is right opposite to the high-altitude camera; shooting the rectangular re