| 摘要 |
PROBLEM TO BE SOLVED: To eliminate the sense of incongruity by discontinuity of an image caused at the control switching point of a boundary between an image rotation compensation range and a significant point avoiding range. SOLUTION: Within the image rotation compensation range, a control angle in an RL axis direction given to a gimbal is set to beϕRL(t)=-θRL(t). Provided thatθRL is the angle of a camera in the RL axis direction detected by a horizontal reference gyro. Within the significant point avoiding range where the angleθEL of the camera in an EL axis direction is -90 deg. or near it, the control angle in the RL axis direction is set to beϕRL(t)=-LMRL(t). Provided that JMRC is the present rotating angle of the gimbal in the RL axis direction detected by a potentiometer incorporated in the gimbal. Besides, a control eclectic range where the control angleϕRL in the RL axis direction is set to beϕRL=-a×ϕRL (t)-b×JMRL(t) by using weight coefficients (a) and (b)(a+b=1) is set between the image rotation compensation range and the significant point evading range. |
