Figure 6. Scheme of KVR-1000 camera. 
In order to compensate imagery shift caused by 
spacecrafts movement, the axis of mirror rotation is 
displaced with respect to the lens system by 26.07 mm. 
To set into compliance rotation of scanning mirrors and 
film movement high precision system of synchronously- 
tracking drives is used. Scanning drive provides imagery 
evolution with preliminary established angle velocity. 
Drive of pulling roller gives the film movement with the 
speed equal to the speed of imagery movement in the 
range 925.8 - 1805 mm/sec with error not more than 
1%. Additional drive provides tension of the film in order 
to flatten it in focal drum in front of the slit. 
Slit shutter mounted on the shell of focal drum (together 
with light filter) provides required exposure times by 
means of changing of the slit width in 0.3-15 mkm 
range. Special block combined with the slit shutter 
provides printing of coordinate and time marks on the 
frame edges. Coordinate marks are the strokes. 
Beginnings of these strokes correspond to panoramic 
angles -10°, 0? and 10°, exact values of these angles 
are calibrated for each camera system. These marks 
tentatively divide the whole frame of 720 mm length by 
four parts, which is necessary in imagery processing. 
Time marks having 128 Hz frequency are made to 
provide even pulling of film. 
Cassette of KVR-1000 camera is designed to hold and 
keep the film. Six film rolls are used in the system, 
combined with special roll changer. Film pulling 
mechanism includes also carriage/frame accumulator, 
which is required to expose single frame with high 
speed. There is also special module mounted on the 
roll. This module prints auxiliary information into the 
inter-frame space of film. This information includes film 
number, frame number and W/H code marks. 
It was considered earlier that it is difficult to use 
panoramic photo cameras for cartographic applications 
because of the difficulties in determination of their 
internal orientation elements and low geometric 
accuracy of imagery caused by mechanical movements 
of camera's components in exposing the film. 
Having high precision design and calibration of all 
relevant parameters (lens system distortion, de- 
centering of mirror rotation, coordinate and time marks, 
code marks W/H), panoramic camera KVR-1000 
provides highly accurate panoramic images suitable for 
production of large scale photoplans and 
orthophotoplans. It is also necessary to use geometric 
108 
model of panoramic image which takes into 
consideration above mentioned calibration parameters. 
Satellite cartographic system capabilities. 
Satellite cartographic system combined from 
topographic camera TK-350 and high resolution 
camera KVR-1000 integrated with on-board equipment 
for external orientation elements determination is 
designed to provide large scale topographic and digital 
maps. On-board equipment includes two star cameras, 
laser altimeter, navigation sensors and synchronizing 
devices. In order to obtain joint operation and to 
provide required accuracy all the hardware is 
integrated into the common system based on 
constructional, accuracy and timing parameters. 
Cartographic capabilities of the system are presented 
in Table 3 below. 
  
  
Camera type | TK-350 , KVR-1000 
Average shooting | 220km | 220 km 
height 
EE pie J m J rm d 
Scale | 1:630000 , 1:220 000 
Covered area | 284x189 ,  158x40 
| km I 
——— € Ll ss cn so tn s — — — — — — 
Mapping accuracy | | 
using no ground control 1 I 
scale of maps 3 1:50 000 f - 
accuracy of planimetric m 20-25 m ts 
location I I 
accuracy of height I 10m d - 
definition I I 
Horizontal section F 20m in - 
Ag N A VET. cna cred ad hides apts ho ni bal 
Mapping accuracy I I 
using ground control I I 
scale of maps 11a3:80.800..5~ 1:10,000 
accuracy of planimetric 3 15-20 m T 7-10 m 
location 4 I 
accuracy of height I 5-7m T - 
definition | | 
  
  
As one can see, the use of TK-350 and KVR-1000 
images allows to produce topographic maps of 1:50 
000 scale, as well as digital and thematic maps of any 
region without ground control information. Images 
made by KVR-1000 camera allow to produce 
photoplans and orthophotoplans of 1:10 000 scale. It is 
also possible to increase the accuracy using ground 
control points, for example GPS. Corresponding 
method is described in paper [3] presented on the 
congress. 
As a result of conversion both archive and newly 
acquired TK-350 and KVR-1000 images are available 
for foreign customers. Since modern technologies are 
digitally oriented, TK-350 and KVR-1000 images can 
be digitized with required pixel size and used for further 
digital processing. 
International Archives of Photogrammetry and Remote Sensing. Vol. XXXI, Part B1. Vienna 1996 
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