A camera stabilization technique for a teleoperated vehicle

The Instrumentation and Controls Division Telerobotic Systems Section, in participation with the US Marine Corps Ground-Air TeleRobotic System Program, has completed a study in camera stabilization for a teleoperated combat vehicle (TOV). The technique developed uses accelerometer feedback from the camera to attenuate disturbances viewed on the remote display. A model of the high mobility multipurpose wheeled vehicle (HMMWV) was developed to study the dynamics of the camera disturbances. A stabilization control algorithm was developed, and a test stand implementation to reduce camera jitter performed admirably. The camera control system can be implemented on the TOV to track motion of less than 1 Hz while attenuating disturbances in the 1- to 10-Hz range. Disturbances greater than 20 Hz can be effectively reduced with passive damping types of suspension. Less expensive than currently used gyro-based units, the system requires minimal additions to the TOV and is easily maintained. 5 refs., 10 figs., 1 tab.