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The platform flight coordinate system (x, y, z), where x is in the flight direction, z is orthogonal to x in the plane through the x axis and perpendicular to the Earths surface, and y is orthogonal to both x and z. The sensor 3D status is decided by orientation angles v, f, k in relation to the platform flight coordinate system (x, y, z). The coordinates (X, Y, Z) of the imaging position on the ground usually conform to a standard coordinatesystem(defined bymap projectionand datum).
The preferred imaging geometry for the optical sensors of most Earth observation satellites is that the satellite travels horizontally and parallel to the Earths curved surface with (x, y, z) matching (X, Y, Z) and sensor orientation angles (v, f, k) all being equal to 0. This is the configuration of nadir (vertical) imaging, which introduces minimal geometric distortion.
Essential Image Processing and GIS for Remote Sensing By Jian Guo Liu and Philippa J. Mason 2009 John Wiley & Sons, Ltd