In this paper, we propose a method to determine the distances to fire spot which can not be measured by conventional sensors through cameras, actuator, and altitude sensors. Object having a mass or a shape is easy to determine distance between object and sensor by a conventional distance measuring sensor, but if not, it can not be measured by an existing sensors. The method presented in this paper recognizes the object through image processing and can estimate the distance to the object by simple trigonometric functions through a camera system control. The method presented in this paper can be used to determine the distance to fire spot using a simple trigonometric function. The performance of the algorithm presented in this paper is presented through experiments.