Gimbal Controller Rotational Shift Correction
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Solution Overview
Problem
Conventional gimbal devices struggle to accurately control the attitude of imaging devices when they are inclined, as the detection axes do not directly correspond to the correction axes, making it difficult to cancel rotational shifts and maintain high accuracy in image stabilization, especially during airborne imaging or when using unmanned helicopters or airplanes.
Innovation Solution
A gimbal device with a controller that defines orthogonal detection and correction axes, utilizing angular velocity signals and relative angles to generate rotational shift angular velocity signals, allowing for precise control of the gimbal mechanism to correct rotational shifts and maintain accurate attitude control, even when the imaging device is largely inclined.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If the imaging device is inclined at a predetermined angle from the basic attitude, then the correction axis Y′ directly corresponds to the detection axis Y, but the detection axes X and Z do not directly correspond to the correction axes X′ and Z′, making it difficult to cancel rotational shifts
Solution Approach 1:
The patent introduces an intermediary computational process that transforms detection axis signals into correction axis signals through coordinate transformation. The controller calculates rotational shifts around correction axes by synthesizing signals from multiple detection axes, effectively mediating between the non-corresponding detection and correction axes. This allows accurate rotational shift cancellation even when detection axes do not directly correspond to correction axes due to device inclination.
2Reliability
If the imaging device is largely inclined from the basic attitude, then the detection axes do not directly correspond to the correction axes, but conventional gimbal devices still struggle to maintain high accuracy in image stabilization
Solution Approach 1:
The patent dynamically changes the computational parameters by calculating relative angles between detection axes and correction axes based on the current inclination state. The controller adjusts the coordinate transformation parameters according to the actual inclination angle, enabling accurate rotational shift correction across a wide range of inclination angles. This parameter adaptation allows the system to maintain high image stabilization accuracy regardless of how largely the device is inclined from the basic attitude.
Data Source
AI summary
A gimbal device includes a controller for controlling a gimbal mechanism to which an imaging device is fixed. The controller includes an angular velocity signal acquisition unit, a relative angle acquisition unit, and an angular velocity signal synthesizer. The angular velocity signal acquisition unit acquires first to third angular velocity signals. The relative angle acquisition unit acquires first and second relative angles. The angular velocity signal synthesizer generates from the first to third angular velocity signals and the first and second relative angles, first to third rotational shift angular velocity signals which are signals of a first rotational shift angular velocity about an axis parallel to a first correction axis, a second rotational shift angular velocity about an axis parallel to a second correction axis, and a third rotational shift angular velocity about an axis parallel to a third correction axis, respectively.