无人机拍摄图片的经纬度计算 cpp代码

以下是一个简单的C++代码，用于计算无人机拍摄图片的经纬度：

#include <iostream>
#include <cmath>

using namespace std;

const double pi = 3.14159265358979323846;
const double earth_radius = 6371000; // 地球半径，单位为米

// 根据无人机的GPS坐标、俯仰角、偏航角、拍摄角度和飞行高度计算拍摄图片的经纬度
void calculate_gps(double drone_latitude, double drone_longitude, double drone_altitude, double drone_pitch, double drone_yaw, double fov, double image_width, double image_height, double image_x, double image_y, double& image_latitude, double& image_longitude)
{
    double drone_lat = drone_latitude * pi / 180;
    double drone_lng = drone_longitude * pi / 180;
    double pitch = drone_pitch * pi / 180;
    double yaw = drone_yaw * pi / 180;
    double image_width_meter = 2 * drone_altitude * tan(fov * pi / 360);
    double image_height_meter = image_width_meter * image_height / image_width;
    double image_x_meter = (image_x - image_width / 2) * image_width_meter / image_width;
    double image_y_meter = (image_y - image_height / 2) * image_height_meter / image_height;
    double distance = sqrt(image_x_meter * image_x_meter + image_y_meter * image_y_meter + drone_altitude * drone_altitude);
    double image_pitch = asin(drone_altitude * sin(pitch) / distance);
    double image_yaw = atan2(image_x_meter, image_y_meter);
    double image_roll = atan2(drone_altitude * cos(pitch) * sin(yaw - image_yaw), distance);
    double earth_circumference = 2 * pi * earth_radius;
    double lat_distance = image_height_meter / earth_circumference * 360;
    double lng_distance = image_width_meter / (earth_circumference * cos(drone_lat)) * 360;
    image_latitude = drone_latitude + lat_distance * (image_y - image_height / 2) / image_height;
    image_longitude = drone_longitude + lng_distance * (image_x - image_width / 2) / image_width / cos(drone_lat);
}

int main()
{
    double drone_latitude = 31.2304; // 无人机GPS纬度
    double drone_longitude = 121.4737; // 无人机GPS经度
    double drone_altitude = 50; // 无人机飞行高度，单位为米
    double drone_pitch = 10; // 无人机俯仰角，单位为度
    double drone_yaw = 30; // 无人机偏航角，单位为度
    double fov = 60; // 拍摄角度，单位为度
    double image_width = 4000; // 图片宽度，单位为像素
    double image_height = 3000; // 图片高度，单位为像素
    double image_x = 2000; // 图片x坐标，单位为像素
    double image_y = 1500; // 图片y坐标，单位为像素
    double image_latitude, image_longitude; // 拍摄图片的GPS经纬度
    calculate_gps(drone_latitude, drone_longitude, drone_altitude, drone_pitch, drone_yaw, fov, image_width, image_height, image_x, image_y, image_latitude, image_longitude);
    cout << "Image latitude: " << image_latitude << endl;
    cout << "Image longitude: " << image_longitude << endl;
    return 0;
}

这个代码假设无人机是在平地上飞行，没有考虑地形高度对计算结果的影响。如果需要精确的结果，需要考虑地形高度、大气折射等因素。