Slew drive system for aerial platform leveling

A slew drive system for controlling an orientation of a platform, comprising:

• a slew drive disposed between the platform and a boom and configured to change the orientation of the platform;
• a first set of sensors disposed at an upper boom section of the boom detecting an angle of the upper boom section;
• a second set of sensors detecting a state of the slew drive;
• at least one processor;
• and
• one or more non-transitory computer-readable media storing computer-executable instructions that, when executed by the at least one processor, perform a method of controlling the orientation of the platform, the method comprising:
• obtaining the angle of the boom from the first set of sensors;
• determining a velocity of the boom;
• obtaining the state of the slew drive from the second set of sensors;
• determining a slew drive command based at least in part on the angle of the boom detected by the first set of sensors, the velocity of the boom, and the state of the slew drive;
• and
• controlling the platform to a level orientation by the slew drive using the slew drive command,
• wherein the slew drive is configured rotate the platform about a horizontal axis.

One or more non-transitory computer-readable media storing computer- executable instructions that, when executed by at least one processor, perform a method of controlling an orientation of a platform, the method comprising:

• obtaining an angle of a boom from a first set of sensors disposed on the boom;
• obtaining a state of a slew drive from a second set of sensors disposed on the slew drive,
• wherein the slew drive is disposed between the boom and the platform and is configured to change the orientation of the platform;
• determining a slew drive command based at least in part on the angle of the boom and the state of the slew drive;
• and
• controlling the platform to a level orientation by the slew drive using the slew drive command,
• wherein the slew drive is configured rotate the platform about a horizontal axis.