Measuring camera attitude

A method for using attitude sensors with a camera, said camera being part of a camera assembly, said camera assembly including a fixed portion and a movable portion, said method comprising:

• sensing data from a first sensor, said first sensor measures movement of said movable portion relative to said fixed portion;
• sensing data from a first inclinometer, said first inclinometer measures an angle of a first axis of said camera assembly, said measured angle including an actual angle component attributable to a gravitational force on said first inclinometer and an error component attributable to an acceleration force on said first inclinometer;
• sensing data from a first gyro, said first gyro measures a relative angular change of said first axis, said measured relative angular change including an actual relative angular change component substantially equal to said actual angle component of said angle measured by said first inclinometer and an error component attributable to at least one of offset and drift of said first gyro;
• and
• combining said data from said first sensor, said data from said first inclinometer, and said data from said first gyro, said combining includes combining said measured angle and said measured relative angular change to remove said error component of said measured angle and said error component of said measured relative angular change in order to determine a value of said actual relative angular change component.

A system for using attitude sensors with a camera, said camera being part of a camera assembly, said camera assembly including a fixed portion and a moveable portion, said system comprising:

• a first sensor coupled to said camera assembly, said first sensor measures movement of said movable portion with respect to said fixed portion along a first axis;
• a first gyro coupled to said camera assembly, said first gyro measures a relative angular change of said first axis, said measured relative angular change of said first axis including an actual relative angular change component and an error component attributable to at least one of offset and drift of said first gyro;
• a first inclinometer coupled to said camera assembly, said first inclinometer measures an angle of said first axis, said measured angle of said first axis including an actual angle component attributable to a gravitational force on said first inclinometer and an error component attributable to an acceleration force on said first inclinometer;
• a second sensor coupled to said camera assembly, said second sensor measures movement of said movable portion with respect to said fixed portion along a second axis;
• a second inclinometer coupled to said camera assembly, said second inclinometer measures an angle of said second axis, said measured angle of said second axis including an actual angle component attributable to a gravitational force on said second inclinometer and an error component attributable to an acceleration force on said second inclinometer;
• a second gyro coupled to said camera assembly, said second gyro measures a relative angular change of said second axis, said measured relative angular change of said second axis including an actual relative angular change component and an error component attributable to at least one of offset and drift of said second gyro;
• and
• circuitry adapted to receive said measured angle of said first axis, said measured relative angular change of said first axis, said measured angle of said second axis, and said measured relative angular change of said second axis, said circuitry combines said measured angle of said first axis and said measured relative angular change of said first axis to remove said error component of said measured angle of said first axis and said error component of said measured relative angular change of said first axis in order to determine a value of said actual relative angular change component for said first axis, said circuitry combines said measured angle of said second axis and said measured relative angular change of said second axis to remove said error component of said measured angle of said second axis and said error component of said measured relative angular change of said second axis in order to determine a value of said actual relative angular change component for said second axis.