In an image correcting camera capable of correcting movement of an image by detecting translational movements thereof, there are provided acceleration detectors (1-3) for detecting respective accelerations in directions of three axes (X,Y,Z) in the camera frame of reference, angular velocity detectors (4-6) for detecting respective angular velocities about the three axes in the camera frame of reference, an attitude determining device (9) for calculating a coordinate transformation matrix between a camera coordinate system and a static coordinate system from the accelerations in the three axial directions and the angular velocities about the three axes, and a gravitational acceleration component calculating means (10) for calculating gravitational acceleration components in the camera coordinate system by the use of the coordinate transformation matrix. Displacements of translational movements are calculated by eliminating the gravitational acceleration components from the outputs of the acceleration detectors and a correction drive amount calculating device (11) calculates an amount of movement of the image based on the displacements.

Image movement correction of camera

PURPOSE:To distribute transmitted power to plural antennas at a ratio based on the estimated value of the attitude angle of a flying object and to stably transmit radio waves from the flying object whose attitude fluctuation is especially severe without generating multipaths to a ground station and instantaneous interruption, etc. CONSTITUTION:A voltage judgement circuit 12 (15) outputs an attitude judgement signal for judging the attitude of an aircraft based on a voltage indicating the fluctuation of gravity detected by a G sensor 10 (14). Based on the attitude judgement signal, a programmer divider 19 distributes the transmission power to a lower part omnidirectional antenna 21 and an upper part omnidirectional antenna 20 at a distribution ratio based on the attitude judgement signal beforehand. The transmission power to be supplied to the lower omnidirectional antenna 21 is made smaller than the transmission power to be supplied to the upper part omnidirectional antenna 20 as the attitude of the aircraft gets closer to horizontal. When the attitude of the aircraft changes, the transmission power to be supplied to the lower part omnidirectional antenna 21 and the upper part omnidirectional antenna 20 is equally distributed and supplied.

Transmission power distribution controller

PURPOSE:To reduce a calculation load and to simplify the device by providing an angular velocity detecting means which detects the angular speed component of machine body motion and an arithmetic means which calculates a coordinate conversion matrix by integrating the angular speed component detected by the angular speed detecting means. CONSTITUTION:Gyros 1, 2, and 3 are used to detect angular velocities P, Q, and R around respective axes of a machine body and a processor solves a differential equation by using the detected angular speeds P, Q, and R to find the coordinate conversion matrix. Further, a computing element 15 calculates the coordinate conversion matrix by using the detection outputs of accelerometers 8, 9, and 10 and a magnetic direction sensor 12 for the removal of a drift due to the use of the gyros 1, 2, and 3, the coordinate conversion matrix is inputted to an integration loop through a subtracter 16 and a proportion device 17 to find the solution of the coordinate conversion matrix, and a computing element 24 calculates finally the coordinate conversion matrix for conversion from earth coordinates to machine body coordinates by transposition arithmetic.

Television antenna directing device

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Television antenna directing device