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            Parameter          Effect                 Graphic Illustration *
            Z—sensor altitude  Change in image scale






            X, Y—sensor        A different area is
            location           sensed; no change in
                               scale




            Rotation along the   Change in scale along         y
            flight direction   Y-axis
            (X-axis) (w)
                                                                      x





            Rotation along the   Change in scale along         y
            Y-axis (f)         X-axis

                                                                      x





            Rotation along the   A different area is
            Z-axis (k )        sensed







          ∗ Solid lines show the ground area covered without geometric distortion; dashed
           lines show the area covered as a result of geometric distortion caused by one of the
           parameters.
          TABLE 5.1  Effect of Platform/Sensor Position and Orientation on Image Geometry



               X-direction (the flight direction).  Yaw is defined as the rotation
               around the  Z-axis (plumb direction). Unlike roll and pitch, yaw
               exerts no direct impact on the geometry of the obtained image (e.g.,
               no change in scale). Instead, a slightly different area from the
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