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摘要
本文介紹一套於工研院 (ITRI，Industrial Technology Research Institute) E300 實驗室所開發之三軸無
人機雲台系統之設計與系統整合。此文章屬於強化無人機 (UAV, Unmanned Aerial Vehicle) 核心技術自主化
的重要一環。不同於將穩定控制視為單一控制問題，本系統整合了機械隔離、主從式通訊架構、同步化
感測器融合、運動插值，以及載荷端影像穩定等多項技術。系統核心為主控制器 (MCU, Micro Controller
Unit)，透過UART (Universal Asynchronous Receiver/Transmitter) 串列通訊菊鏈架構，連接飛控系統、三軸
無刷直流馬達 (BLDC, Brushless Direct Current) 驅動器、慣性量測單元 (IMU, Inertial Measurement Unit) 以
及相機模組。由飛控端透過MAVLink (Micro Air Vehicle Link) [1] 傳送之控制指令，會先於主控制器中解
析並轉換為精簡且高更新率之UART 封包，並沿著IMU 與相機模組所在的通訊路徑傳遞，同時結合姿態
資訊以支援軟體式影像穩定，最後再重建為MAVLink 格式之狀態回傳訊息。本系統將通訊延遲、更新頻
率不匹配以及載荷端影像處理等因素納入整體設計考量，使其能夠實現平順、高效率且具備高穩定性的空
中影像擷取能力。
Abstract
This article presents the design and system-level integration of a three-axis drone gimbal developed at ITRI (Industrial
Technology Research Institute) E300 Lab as part of a broader effort to strengthen UAV (Unmanned Aerial
Vehicle) core technology independence. Rather than treating stabilization as a single control problem, the platform
combines mechanical isolation, a master–slave communication network, synchronized sensor fusion, motion interpolation,
and payload-side image stabilization. The main MCU (Micro Controller Unit) sits at the center of a
UART (Universal Asynchronous Receiver/Transmitter) daisy chain that links the flight controller, three BLDC
(Brushless Direct Current) axis drivers, the IMU (Inertial Measurement Unit), and the camera module. MAVLink
(Micro Air Vehicle Link) [1] commands received from the flight controller are split into compact high-rate UART
frames, forwarded through the IMU/camera path, enriched with attitude data for software stabilization, and then
reconstructed into MAVLink status replies. By treating communication delay, update-rate mismatch, and payload
processing as design constraints, the system delivers smooth, efficient, and robust aerial imaging.
Introduction
Capturing stable aerial footage is more difficult than it first appears。A drone is constantly exposed to wind gusts，vibration，actuator ripple，and sudden attitude changes，all which feed motion into the camera’s view。The objective of a gimbal is not simply to make the camera move in the opposite direction；it is to keep the camera pointed where the mission requires，even when the airframe is being pushed away from that direction。
The system described here was developed entirely in the E300 Lab with the explicit goal of building UAV independence core elements。That objective shaped every layer of the design：the mechanical stack，the embedded control architecture，the custom high-rate custom communication scheme，and the payload-level image-stabilization workflow。The result is a compact platform that preserves compatibility with standard UAV ecosystems while reducing dependence on external black-box solutions。
Mechanical Design of the Gimbal
Mechanically，the gimbal is arranged as a layered three-axis platform built around yaw，roll，and pitch motion。The key idea is that the camera is carried through a sequence of rotating frames，each supporting the next。This structure reduces the amount of disturbance that reaches the camera and gives the controller a clean mechanical base on which to work。
Figure 2（a）shows the base with label a.1 that provides the mechanical interface to the UAV and carries the first rotational stage。The yaw section forms the foundation of the upper assembly and therefore must be stiff，well aligned，and easy to assemble。Inside this enclosure Figure 2（b），the main controller with label and the associated motor-driver label b circuits are mounted close to the structure to reduce wiring length and to simplify thermal and mechanical integration。
Next，the yaw stage，the roll support frame Figure 2（a）label 3 acts as the intermediate bridge between the lower base and the camera-facing pitch stage。Its role is not to isolate one single type of motion，but to provide the mechanical freedom needed for the control system to reach the desired camera orientation through coordinated multi-axis motion。Depending on the base attitude and the target orientation，yaw，roll，and pitch can all participate in the correction at the same time。The pitch link Figure 2（a）label 5，mounted at the end of the roll axis，directly governs the final camera tilt and carries the payload moving its last axis actuator that makes the stabilization problem most demanding。
The payload module Figure 2（a）label 7 sits at the terminal end of the kinematic chain。In this design，the camera housing is kept as light as possible while still protecting the optics and electronics from vibration and handling loads。The camera module integrates the zoom，focus，iris，and infrared actuators，the lenses，the stepper-driver board，the IMX477 sensor，the Raspberry Pi CM4，the carrier board，and the camera-side IMU。The end-effector IMU is a critical mechanical choice because it measures the true motion of the camera rather than the motion of the base，which makes the control loop more representative of the actual imaging condition。At this point is where the inverse kinematics is calculated as an ed effector as is shown in［2］。
DOI:10.30256/JIM.202607_(520).0011
更完整的內容歡迎訂購
2026年07月號
(單篇費用：參考材化所定價)