In this paper，the aforementioned three major aspects related to the Unmanned Aerial Vehicles (UAV) system for low altitude aerial photogrammetry, i.e., flying platform, imaging sensor system and data processing software, are discussed. First of all, according to the technical requirements about the least cruising speed, the shortest taxiing distance, the level of the flight control and the performance of turbulence flying, the performance and suitability of the available UAV platforms (e.g., fixed wing UAVs, the unmanned helicopters and the unmanned airships) are compared and analyzed. Secondly, considering the restrictions on the load weight of a platform and the resolution pertaining to a sensor, together with the exposure equation and the theory of optical information, the principles of designing self-calibration and self-stabilizing combined wide-angle digital cameras (e.g., double-combined camera and four-combined camera) are placed more emphasis on. Finally, a software named MAP-AT, considering the specialty of UAV platforms and sensors, is developed and introduced. Apart from the common functions of aerial image processing, MAP-AT puts more effort on automatic extraction, automatic checking and artificial aided adding of the tie points for images with big tilt angles. Based on the recommended process for low altitude photogrammetry with UAVs in this paper, more than ten aerial photogrammetry missions have been accomplished, the accuracies of Aerial Triangulation, Digital orthophotos(DOM)and Digital Line Graphs(DLG) of which meet the standard requirement of 1:2000, 1:1000 and 1:500 mapping.