"Upnor Castle was originally built on the orders of Queen Elizabeth I in 1559 as a gun fort to defend her warships at anchor in the reaches of the Medway and Chatham Dockyard.": https://www.visitmedway.org/attractions/upnor-castle-2819/ https://www.english-heritage.org.uk/visit/places/upnor-castle/ https://historicengland.org.uk/listing/the-list/list-entry/1204365 5647 photos taken with a Sony a7R III and 120 photos with a DJI Mavic 2 in August, October and November 2023 and processed in Reality Capture. Two large trees and the wood palisade (in the water surrounding the bastion) not shown for brevity.