Airelectronics U-Camera, Руководство пользователя

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U-Camera User Manual - U-Camera Operation
4
4
U-Camera Operation
U-Camera Operation
4.1 4.1 Powering U-Camera Powering U-Camera
Before powering U-Camera, all the harness and wiring must be connected. U-Camera
system is not ready for hot-plugging, and powerup without all the harness connected may
damage the electronics.
U-Camera accepts input voltages from 9 to 28V.
IMPORTANT : if the power supply is above
17V, active cooling of U-Camera Board is highly recommended to avoid permanent
damage.
Upon power-up, the camera will point momentarily to Pan 0º and Tilt 0º and then will start
to stabilize in Angles Mode (Defined in Section 4.2).
4.2
4.2
Pointing modes
Pointing modes
U-Camera accepts different modes in order to satisfy various pointing operations:
•
Angles Mode : Angles Mode will point the gimbal to the angles provided by Set
Gimbal Angles Packet (Section 5.5.5). Note that the Gimbal will try to stabilize the
camera while maintaining the Pan-Tilt angles. This will stabilize the image less
accurately that the Rates Mode.
•
Rates Mode : Rates Mode will completely stabilize the camera. The Gimbal will
keep the camera pointing to a fixed direction in the space. The stabilization point
can be modified using the Set Gimbal Rates Packet (Section 5.5.5.3).
•
STOW : The mode will protect the camera lens pointing it to the angle tilt = +90°
and pan = 0°.
•
Pilot : The pilot mode will point the gimbal to tilt = 0° and pan = 0° to provide the
front view from the vehicle. This mode has a soft stabilization.
4.3 4.3 GPS Configuration GPS Configuration
U-Camera can work with and without GPS input. However, it is recommended to work with
GPS input to provide the maximum pointing accuracy.
The GPS source can be selected according to the protocol description in section 5.5.5.4,
being the following options available.
•
Internal GPS : U-Camera will use the onboard GPS receiver to get the position and
velocities. In this case, the GPS antenna must be placed correctly on the vehicle
and connected to U-Camera Board.
•
External Feed : U-Camera will use the position and velocities send from the
controller as described in the communication protocol (Sections 5.5.5.1 and
5.5.5.2).
If no antenna is connected and no external feed is provided, U-Camera will continue
working but pointing accuracy may decrease in high dynamics vehicles.
4.3.1 4.3.1 GPS Antenna position GPS Antenna position
In order to obtain the most accurate pointing, the GPS antenna position relative to the
gimbal position should be provided to U-Camera. If this information is unaccurate, pointing
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