I have a very simple math problem, but I cannot seem to figure it out. I need to calculate what portion of the ground will be visible when viewed from a UAV mounted camera. I believe I have it solved for looking straight down, but the camera is on a gimbal and will have a full range of motion in all axes.
The inputs to the problem will be the Altitude (m), camera focal length (mm), camera sensor x length (mm), camera sensor y length (mm), and the angle of tilt in each plane.
Here is what I have for when the camera is pointed straight down (Note: this gives me the length of each side of ground coverage. Ideally, I would like to have each point, in this case, the four corners of the rectangle.)
Ground distance in X plane = (Altitude / focal length of lens) * X length of camera sensor
Ground distance in Y plane = (Altitude / focal length of lens) * Y length of camera sensor