Camera gimbal tracking from UAV flight control

UAV aerial photography is quite useful development for documentation and monitor on ground feature in remote areas. This paper proposes an aerial photography configuration on camera gimbal control in conjunction with UAV autopilot system. In order to properly control remote photography, coordinate conversions for camera from gimbal fixture to UAV frame until the ground coordinate should be fixed to correctly aiming at the target. Supporting from GPS and UAV attitude estimation, the relationship between U AV and tracking target can be used to implement a reliable autopilot flight control for target aiming and photography.