Fig. 1. Schematic diagram of the optical structure system

Fig. 2. UAV bi-directional whiskbroom scanning system

Fig. 3. Wingspan direction point spatial resolution in -30°whiskbroom scanning

Fig. 4. Positioning simulation results of six angles

Fig. 5. Simulation results of positioning error from 0 to 90 degrees (a) latitude orientation error, (b) longitude orientation error

Fig. 6. Visual vector rigorous image correction model

Fig. 7. No control point geometric correction process

Fig. 8. Extraction of virtual control points

Fig. 9. Diagram of positioning error results

Fig. 10. Geometric correction results of visual vector method

Fig. 11. Infrared mosaic and temperature inversion diagram (a) the result of the study area after Mosaic， (b) correction result after Mosaic，(c) map to Google earth result，(d) infrared temperature inversion diagram

Fig. 12. The 8 control points in the result image and Google earth

Fig. 13. Comparison of distance relative errors of control point pairs

Fig. 14. Comparison of angular relative errors of control point pairs

Fig. 15. Relative errors of different swing-angle pairs