Gimbal device and control method of gimbal device

A control method of controlling a gimbal device including a gimbal mechanism to which an imaging device is fixed, wherein

• detection axes for detecting a rotational shift of the imaging device are defined as first to third detection axes which are orthogonal to each other,
• correction axes for correcting the rotational shift of the imaging device are defined as first to third correction axes which are orthogonal to each other,
• the control method comprising:
• generating first to third target angular velocity signals which are signals of first target angular velocity about an axis parallel to the first correction axis, second target angular velocity about an axis parallel to the second correction axis, and third target angular velocity about an axis parallel to the third correction axis, respectively;
• acquiring first to third angular velocity signals which are signals of first angular velocity about an axis parallel to the first detection axis, second angular velocity about an axis parallel to the second detection axis, and third angular velocity about an axis parallel to the third detection axis, respectively;
• acquiring a first relative angle between the second detection axis and the second correction axis in a two-dimensional plane orthogonal to the first correction axis and a second relative angle between the third detection axis and the third correction axis in a two-dimensional plane orthogonal to the second correction axis;
• generating from the first to third angular velocity signals and the first and second relative angles, first to third rotational shift angular velocity signals which are signals of a first rotational shift angular velocity about an axis parallel to the first correction axis, a second rotational shift angular velocity about an axis parallel to the second correction axis, and a third rotational shift angular velocity about an axis parallel to the third correction axis, respectively;
• generating a first correction angular velocity signal from the first target angular velocity signal and the first rotational shift angular velocity signal, generating a second correction angular velocity signal from the second target angular velocity signal and the second rotational shift angular velocity signal, and generating a third correction angular velocity signal from the third target angular velocity signal and the third rotational shift angular velocity signal;
• and
• controlling drive of the gimbal mechanism based on the first to third correction angular velocity signals.