Research on search probability and camera footprint of region coverage for UAVs

This paper investigates the search probability and camera footprint of region coverage for UAVs. Two kinds of search probability by using the UAV camera are proposed. Moreover, the relationship between the UAV altitude and the camera footprint is also studied in this paper. Some formulars concerned with the UAV camera footprint are developed in two cases: flat flying and roll motion, and yaw motion. The formulars can be used to obtain the length and width of the camera footprint and the coordinate transformation between the UAV centroid and the footprint center respectively. Finally, the front-mounted angle of camera is discussed in this paper to ensure the region coverage more effective.