Apparatus and methods for stabilization and vibration reduction

An aerial vehicle comprising:

• a vehicle body coupled to one or more blades configured to provide lift to the aerial vehicle;
• an image device including:
• a first housing containing an optical unit, the optical unit including a lens and a photosensor;
• and
• a second housing containing a non-optical unit and not the optical unit;
• and
• an apparatus connected to the vehicle body and configured to stabilize at least a portion of the imaging device, the apparatus including:
• a frame assembly supporting the optical unit of the imaging device without supporting the non-optical unit of the imaging device, the frame assembly including:
• a first frame member supporting the optical unit, the first frame member being arranged at an end of the frame assembly close to the optical unit, and configured to drive the optical unit to rotate around a pitch axis, wherein a center of gravity of the first frame member and the optical unit as a whole is located on the pitch axis;
• a second frame member bearing weight of the first frame member and being configured to drive the optical unit to rotate around a roll axis, wherein a center of gravity of the first frame member, the second frame member, and the optical unit as a whole is located on the roll axis;
• and
• a third frame bearing the weight of the first frame member and the second frame and being configured to drive the optical unit around a yaw axis;
• a plurality of inertial measurement units configured to detect first state information associated with the optical unit and second state information associated with the non-optical unit, the first state information associated with the optical unit includes movements of the optical unit around the pitch axis, the roll axis, and the yaw axis, respectively;
• and
• a motor assembly coupled to the frame assembly and being configured to drive, in response to a motor signal generated based on the first state information and the second statement information detected by the plurality of inertial measurement units, the frame assembly to permit the rotation of the optical unit;
• wherein collaboration of the frame assembly, the plurality of inertial measurement units, and the motor assembly reduces more movement experienced by the optical unit than an amount of movement experienced by the non-optical unit.