Compensation for overflight velocity when stabilizing an airborne camera

Method for controlling the orientation of a device to remain fixed in a blank (302), the device in a vehicle (200; 300) which moves relative to the current position of the target speed, wherein the method comprises: establish an initial orientation for the device that is targeted at the current position of the target; calculating (701) a transformation matrix to transform a CCE terrestrial reference frame to a reference frame device; calculate and set the orientation of the device periodically, where calculate the orientation includes calculating (702) a vector of ΔRE position between the vehicle and the target in the terrestrial reference frame as ΔRE = retarget - REvehicle, where retarget represents the current target position and REvehicle represents the current position of the vehicle; calculating (703) a position vector ΔRC between the vehicle and the target in the framework of the device ΔRE transforming the position vector to the reference frame ΔRC = CCEΔRE device; and calculating (704) a position vector 106 as standard ** (Omitted) **, where the vector of normalized position indicates the difference between a line current view of the device and a line of sight necessary to aim at the target in scanning directions and tilt; calculate and set an angular velocity periodically to move the device in the directions of scanning and tilt based on the current position of the device to compensate for the relative speed between the vehicle and the target, where calculating the angular velocity includes calculating (705) An ΔVE velocity vector between the vehicle and the target in the terrestrial reference frame as ΔVE = Vetarget - VEvehicle, where VEtarget represents the current speed of the target and VEvehicle represents the current vehicle speed in the terrestrial reference frame; calculating (706) a vector ΔVC between the vehicle speed and the target in the framework of the device ΔVE transforming the velocity vector to the reference frame of the device ΔVC = CCEΔVE; and calculating (707) a velocity vector normalized as 107 ** (See formula) ** wherein the vector indicates the normalized angular velocity rate at which the device has to be moved in the directions of scan and tilt to compensate for speed relative between the vehicle and the target; and maintain the sightline of the device calculated by combining the angular velocity and orientation when the altitude of the vehicle changes relative to the current position of the target, including establishing a setting A for the device where ** (Omitted) ** and where W represents the weight factor based at least in part on the accuracy of the measurements used to calculate the angular velocity and orientation.