[Studies in Computational Intelligence 481] Artur Babiarz, Robert Bieda, Karol Jędrasiak, Aleksander Nawrat (auth.), Aleksander Nawrat, Zygmunt Kuś (eds.) - Vision Based Systemsfor UAV Applications (2013, Sprin

Object Tracking for Rapid Camera Movements in 3D Space 65
Figure 8 represents the model of helicopter dynamics for 3D space. It must be
assumed that the trajectory control system ensures flight along a set trajectory.
Therefore the following transfer functions denoting helicopter behavior are
proposed:
- transfer function for distortion in axis
- transfer function for distortion in axis
- transfer function for distortion in axis $z$
- transfer function for distortion which results in helicopter
rotation in a vertical plane.
- transfer function for distortion which results in helicopter
rotation in the horizontal plane.
Fig. 8. The helicopter dynamic model for particular control loops in 3D space
Figure 9 shows the camera head control system. The goal of this control system
is to compute the required set values for and variables. This signal
allows to set camera direction to the object regardless of the helicopter position.
The first block computes the position of the object , on the basis of
the distance and the camera position. The influence of the helicopter rotations
on the (x, y) plane and on an plane on the camera is defined as an adder. The