Systems and methods for gimbal simulation

Abstract

A gimbal on-board a vehicle includes a receiver and a gimbal control system. The receiver is configured to receive a gimbal mode signal indicative of user selection of a gimbal mode from a plurality of gimbal modes. Each gimbal mode of the plurality of gimbal modes causes one or more axes of the gimbal to be stabilized with respect to an environment of the vehicle. The gimbal control system is configured to receive gimbal control data indicative of an attitude of the gimbal, receive position data of the vehicle indicative of a location or an attitude of the vehicle, and generate simulated gimbal response data indicative of a simulated attitude of the gimbal based on (1) the gimbal mode signal, (2) the gimbal control data, and (3) the position data of the vehicle.

What is claimed is: 
     
         1 . A gimbal on-board a vehicle, comprising:
 a receiver, configured to receive a gimbal mode signal indicative of user selection of a gimbal mode from a plurality of gimbal modes, wherein each gimbal mode of the plurality of gimbal modes causes one or more axes of the gimbal to be stabilized with respect to an environment of the vehicle; and   a gimbal control system, configured to:
 receive gimbal control data indicative of an attitude of the gimbal; 
 receive position data of the vehicle indicative of a location or an attitude of the vehicle; and 
 generate simulated gimbal response data indicative of a simulated attitude of the gimbal based on (1) the gimbal mode signal, (2) the gimbal control data, and (3) the position data of the vehicle. 
   
     
     
         2 . The gimbal of  claim 1 , wherein the plurality of gimbal modes include at least one of a first person view mode, a following mode, or a free gimbal mode. 
     
     
         3 . The gimbal of  claim 1 , wherein the simulated gimbal response data causes a pitch axis of the gimbal to be stabilized with respect to the environment, when the gimbal mode signal indicates a first person view mode. 
     
     
         4 . The gimbal of  claim 1 , wherein the simulated gimbal response data causes a pitch axis and a roll axis of the gimbal to be stabilized with respect to the environment, when the gimbal mode signal indicates a following mode. 
     
     
         5 . The gimbal of  claim 1 , wherein the simulated gimbal response data causes a pitch axis, a yaw axis, and a roll axis of the gimbal to be stabilized with respect to the environment, when the gimbal mode signal indicates a free gimbal mode. 
     
     
         6 . The gimbal of  claim 1 , wherein the gimbal control system is further configured to:
 receive environment data indicative of an environment factor of the environment; and   generate the simulated gimbal response data further based on the environment data.   
     
     
         7 . The gimbal of  claim 6 , wherein the environment factor includes a wind speed, a wind direction, precipitation, humidity, air density, amount of sunshine, cloudiness, temperature, or one or more predetermined weather modes. 
     
     
         8 . The gimbal of  claim 6 , wherein the position data of the vehicle is determined at least partially based on the environment data. 
     
     
         9 . The gimbal of  claim 1 , wherein the gimbal control system is further configured to:
 synchronize the gimbal control data and the position data of the vehicle in a time domain.   
     
     
         10 . The gimbal of  claim 9 , wherein the gimbal control system is further configured to:
 generate the simulated gimbal response data by using a data fusion algorithm to combine the gimbal control data and the position data of the vehicle after synchronization.   
     
     
         11 . The gimbal of  claim 1 , further comprising:
 a transmitter, configured to transmit the simulated gimbal response data to a terminal that displays (1) a visual illustration of the gimbal in an orientation described by the simulated gimbal response data, or (2) simulated gimbal state information generated based on the simulated attitude of the gimbal.   
     
     
         12 . The gimbal of  claim 1 , wherein the vehicle is an unmanned aerial vehicle (UAV). 
     
     
         13 . A method of operating a gimbal on-board a vehicle, the method comprising:
 receiving, with aid of a receiver, a gimbal mode signal indicative of user selection of a gimbal mode from a plurality of gimbal modes, wherein each gimbal mode of the plurality of gimbal modes causes one or more axes of the gimbal to be stabilized with respect to an environment of the vehicle;   receiving, with aid of a gimbal control system, gimbal control data indicative of an attitude of the gimbal;   receiving, with aid of the gimbal control system, position data of the vehicle indicative of a location or an attitude of the vehicle; and   generating, with aid of the gimbal control system, simulated gimbal response data indicative of a simulated attitude of the gimbal based on (1) the gimbal mode signal, (2) the gimbal control data, and (3) the position data of the vehicle.   
     
     
         14 . The method of  claim 13 , wherein the plurality of gimbal modes include at least one of a first person view mode, a following mode, or a free gimbal mode. 
     
     
         15 . The method of  claim 13 , wherein the simulated gimbal response data causes a pitch axis of the gimbal to be stabilized with respect to the environment, when the gimbal mode signal indicates a first person view mode. 
     
     
         16 . The method of  claim 13 , wherein the simulated gimbal response data causes a pitch axis and a roll axis of the gimbal to be stabilized with respect to the environment, when the gimbal mode signal indicates a following mode. 
     
     
         17 . The method of  claim 13 , wherein the simulated gimbal response data causes a pitch axis, a yaw axis, and a roll axis of the gimbal to be stabilized with respect to the environment, when the gimbal mode signal indicates a free gimbal mode. 
     
     
         18 . The method of  claim 13 , further comprising:
 receiving, with aid of the gimbal control system, environment data indicative of an environment factor of the environment; and   generating, with aid of the gimbal control system, the simulated gimbal response data further based on the environment data.   
     
     
         19 . The method of  claim 13 , further comprising:
 synchronizing, with aid of the gimbal control system, the gimbal control data and the position data of the vehicle in a time domain; and   generating, with aid of the gimbal control system, the simulated gimbal response data by using a data fusion algorithm to combine the gimbal control data and the position data of the vehicle after synchronization.   
     
     
         20 . The method of  claim 13 , further comprising:
 transmitting, with aid of a transmitter, the simulated gimbal response data to a terminal that displays (1) a visual illustration of the gimbal in an orientation described by the simulated gimbal response data, or (2) simulated gimbal state information generated based on the simulated attitude of the gimbal.