Image stabilization and pointing control mechanization for aircraft imaging systems
First Claim
1. An aircraft comprising:
- a platform;
a camera assembly rotatable relative to the platform and about three camera axes, the camera assembly comprising;
a camera; and
a mirror attached to the camera, wherein the mirror is rotatable relative to the camera and about a mirror axis, different from the three camera axes;
a first inertial measurement unit configured to measure inertial angles of the camera assembly; and
a second inertial measurement unit configured to measure inertial angles of the mirror.
1 Assignment
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Accused Products
Abstract
An imaging device can be mounted on a vehicle and used to capture images. The imaging device can include a camera assembly rotatable relative to a platform of the vehicle and about two or three camera axes. The camera assembly can include a camera and a mirror attached to the camera. The mirror can be rotatable relative to the camera and about one or two mirror axes, different from the camera axes. Users can provide input to controllers that operate the vehicle, the camera, and the mirror to control both flight and the line-of-sight of the camera. The controllers combine separate inputs as well as measured conditions, such as inertial angles, to coordinate control of vehicle, camera, and mirror parameters, such as yaw adjustments to both the camera and the mirror to achieve a desired line-of-sight.
45 Citations
20 Claims
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1. An aircraft comprising:
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a platform; a camera assembly rotatable relative to the platform and about three camera axes, the camera assembly comprising; a camera; and a mirror attached to the camera, wherein the mirror is rotatable relative to the camera and about a mirror axis, different from the three camera axes; a first inertial measurement unit configured to measure inertial angles of the camera assembly; and a second inertial measurement unit configured to measure inertial angles of the mirror. - View Dependent Claims (2, 3, 4, 5, 6)
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7. An aircraft comprising:
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a platform; and a camera assembly rotatable relative to the platform and about three camera axes, the camera assembly comprising; a camera; and a mirror attached to the camera, wherein the mirror is rotatable relative to the camera and about a mirror axis, different from the three camera axes, wherein the three camera axes intersect at a center of mass of the camera assembly.
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8. An aircraft comprising:
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a platform; and a camera assembly rotatable relative to the platform and about three camera axes, the camera assembly comprising; a camera; and a mirror attached to the camera, wherein the mirror is rotatable relative to the camera and about a mirror axis, different from the three camera axes, wherein the mirror axis intersects a center of mass of the mirror.
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9. An imaging device comprising:
a camera assembly rotatable relative to a platform and about three camera axes, the camera assembly comprising; a camera; and a mirror attached to the camera, wherein the mirror is rotatable relative to the camera and about a mirror axis, different from the camera axes, wherein the three camera axes intersect at a first location and the mirror axis does not intersect the first location. - View Dependent Claims (10, 11, 12, 13, 14)
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15. A method of operating a vehicle, the method comprising:
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receiving a command at the vehicle, the vehicle comprising a platform and a camera assembly, the camera assembly being rotatable relative to a platform of the vehicle and about three camera axes, the camera assembly comprising a camera and a mirror attached to the camera, wherein the command is to capture a view reflected by the mirror; in response to the command, rotating the mirror relative to the camera and about a mirror axis, different from the camera axes, to obtain the view; after rotating the mirror, rotating the vehicle and further rotating the mirror to maintain the view; and with the camera, capturing an image of the view reflected by the mirror. - View Dependent Claims (16, 17, 18, 19, 20)
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Specification