Second, the camber equation is developed for the crss points.

从曲面方程和直线方程的联立解求出交点.

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Put each equation in slope intercept form.

请将下列直线方程转化成斜截式.

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Then , the collinearity equation was transformed by the runway line and the image line equations coefficients.

依据摄像机共线方程,推导出了无人机位姿与跑道的世界坐标方程系数及像直线方程系数的关系.

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