关键词: 无人机, 影像镶嵌, 空中三角测量, 定位定向系统（POS）, 对偶四元数

Abstract: The UAV image mosaic is an important content in the low-altitude remote sensing data processing system, which aims to splice a sequence of UAV images into an image with geographic coordinates. In order to make researchers in this field have a more comprehensive understanding of UAV image mosaic methods, several methods of mosaicking UAV images are reviewed. Polynomial method, Kalman filtering method, the method based on SfM points cloud matching and the traditional aerial triangulation method all?require ground control points, while POS-assisted aerial triangulation method based on dual quaternion does not need or only needs a small amount of ground control points. As a result, the POS-assisted aerial triangulation method based on dual quaternion will have a more broad application prospects in the field of UAV image mosaic.

Key words: Unmanned Aerial Vehicle（UAV）, mosaic, Aerial Triangulation（AT）, Position &, Orientation System（POS）, dual quaternion