CM160 Multi-sensor Operations Manual
Doc#: 100-104
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Version:1.8.0
1.
Features
This section will present the features for the UAV Vision CM160 gimbals.
Pan and Tilt operation is super smooth with our internal controller, you can pan the system continuously and
tilt from +90 though 0 to -90 degrees.
The gyro sensors are being read and filtered at 3khz giving us great vibration smooth data enabling us to
provide you with the best stabilization possible.
The CM160 can be fitted with multiple sensors, as default we fit the SONY FCB-EX980SP and the FLIR
TAU 2 336 with a 35mm lens. This gives us great characteristics for search and rescue, amongst others.
We have fitted two 5megapixel video cameras for a particular project and have fantastic tracking results.
1.1.
Control Modes
The CM160 Gimbal has three operational modes:
1.1.1
Position Mode
This mode allows a user to demand pan/tilt position. The CM160 will move to the demanded position in the
direction that is quickest for the system to arrive at it.
The velocity of movement toward the demanded position will be determined by the distance away from the
demanded position.
The position demands are capable of demanding the system to one of 32768 positions in pan, corresponding
to the full 360
0
rotations. The 32768 positions result in a position resolution for the system of 0.011
0
(360/32768) in both the pan and tilt axis. The tilt axis is limited by the end stops programmed into the
system, with an effective travel of ±90
0
from the centre position.
1.1.2
Velocity Mode
The pan and tilt can be controlled via a velocity, this being an absolute system pan or tilt velocity to the
CM160.
This velocity is the actual velocity (in degrees per second) that the system will move at. The velocity limit
demands are ±155
0
/sec and in 0.01
0
/sec increments for both pan and tilt.
1.1.3
Gyro Mode
The CM160 is delivered with gyros. The CM160 gimbal performs excellently on moving platforms. This
feature gives us the ability to hold an image still even through adverse movements.
When the CM160 is in Stabilization Mode, the user can demand velocities on both Pan and Tilt which are
relative to the ‘World’. For example, the platform which is carrying the CM160 is rotating at +10
0
/sec and
the user would like to continue to pan the image slowly at -2
0
/sec then the internal calculations will pan the
system at -12
0
/sec, relative to the CM100 but a smooth -2
0
/sec relative to the image/world.
The CM160 is capable of streaming its current angle at 40Hz, therefore giving the user the ability to close
the loop on a hybrid position control manually. This can be activated in all three modes.
1.2.
Daylight Camera Controls
1.2.1
Zoom Velocity Set
The CM160 is fitted with the Sony FCB-EX980SP as standard and as such comes with an incredible 26x
optical continuous zoom; the Sony protocol allows us to demand 6 levels that the user can demand the zoom
velocity. The numbers are from 2 to 7, with 2 being the slowest zoom speed and 7 the highest. The user can
choose to zoom in or out at any of these speeds.
