Generally speaking, the RPC or rational polynomial coefficients are created by the sensor, usually a satellite. In most cases, the RPCs are included with satellite imagery, as mentioned here. In terms of ortho rectifying your UAV data, then if the RPCs were not generated in the process then you must find a way to create check points based on surveyed ground control points that should have ideally been collected prior to flying the project. There are other software packages that can help you orthorectify with manually added checkpoints, like ENVI.
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