WO2011114059A1

WO2011114059A1 - System and method intended for capturing a video sequence pertaining to a target subject in motion on the basis in particular of an autonomous or semi-autonomous aircraft

Info

Publication number: WO2011114059A1
Application number: PCT/FR2011/050538
Authority: WO
Inventors: Guillaume Sanchez
Original assignee: Flyway-Media
Priority date: 2010-03-18
Filing date: 2011-03-17
Publication date: 2011-09-22
Also published as: FR2957690A1

Abstract

The invention relates to the field of systems and methods intended for capturing a visual or audiovisual sequence relating to a target subject in motion, on the basis of an autonomous or semi-autonomous aircraft. More particularly, the invention relates to a system intended for capturing a visual or audiovisual sequence relating to a target subject (1) in motion, on the basis of an aircraft (2), autonomous or semi-autonomous, linking means (10) able to physically link a target module (3) to the target subject (1) so that a displacement of this target subject (1) results in a substantially identical displacement of the target module (3) and a target module (3). Furthermore, the target module (3) forms a compact structural and functional unit independent and distinct of the target subject (1) and in that the linking means (10) are removable in relation to the target module (3) and/or the target subject (1) in such a way as to permit the separation of said target module (3) and target subject (1) on completion of the visual or audiovisual sequence without undermining the structural and functional unit of the target module (3).

Description

System and method for capturing a video sequence relating to a moving target subject, in particular from an autonomous or semi-autonomous aircraft

The invention relates to the field of systems and methods for capturing a visual or audiovisual sequence concerning a moving target subject, in particular from an aircraft.

These systems and processes can in particular be exploited for the production of visual or audio-visual sequences of scenes taking place in an inaccessible medium, such as sailing, ski, car rally competitions, etc.

It is known from the prior art several devices for capturing video data of a moving target subject from aircraft.

Firstly, it should be noted that an autonomous or semi-autonomous aircraft, also known as an aerial drone, refers to any type of flying platform capable of moving by air without the need for intervention on board. a pilot. On the contrary, their driving is generally ensured by an on-board electronic, automatic or semi-automatic, receiving information from different sensors (GPS, infrared sensors, gyroscopes, accelerometers, compass ...) and controlling the control actuators on the basis of preprogrammed or remotely transmitted instructions from a land station. Thus, according to some embodiments, these autonomous or semi-autonomous aircraft can also be controlled by means of remote controls transmitting the piloting instructions by means of radio-frequency waves.

It should also be emphasized that, by convention, the term "target subject" may refer to any object or set of more or less complex objects that may be observed via a registration. video as part of a temporary activity. Thus, the term "target subject" may cover material elements such as a boat, a car, a craft moving in air, and so on. He can also be a person or a group of people. It can also cover a group of material elements as long as they form, on an appropriate scale, a unit that can be viewed in its entirety.

It is particularly known from the state of the art the patent document No. FR-A-2 922 666 which relates to a miniature flying platform with an embedded intelligence for communicating with a ground station to follow a predefined mission. In one embodiment, the flying platform is provided with a video camera for performing an image survey and, more particularly, an embedded technology for enslaving the camera to track a target on the ground. It is also known from the state of the art the patent document No. US-A-2005/004723 describing a drone comprising an embedded intelligence capable of autonomously defining a trajectory over a target and automatically aim a camera lens at that target to monitor it.

These two systems, however, have several disadvantages. They pose problems of identification of the target subject to pursue and observe since it is necessary, on the one hand to know a priori the position of this target subject and, on the other hand, to implement heavy resources embedded electronics to ensure the enslavement of the camera and / or control circuits necessary for the pursuit of the target subject. In addition, if the systems of the prior art can collect video data, there is no solution to associate the corresponding audio data.

In a completely different technical field, it is known to those skilled in the art the document "Target acquisition, localization and Surveillance using a fixed-wing Mini-UAV and Gimbaled Camera" by Quigley et al. data acquisition and continuous monitoring using a fixed-wing aircraft on which is mounted an articulated cardan carrying a video camera. This document discusses the realization of a video data acquisition system on a target subject, in which this target subject - in this case an aircraft - regularly transmits its GPS position to the aircraft that monitors it. Similarly, it is also known from EP-A2-2 071 353 a system for monitoring and monitoring autonomously, using a surveillance aircraft moving in the air, a cooperative military vehicle regularly transmitting its geodesic coordinates. to the surveillance aircraft.

Furthermore, the document US-A1-2003 / 067542 describes an aircraft monitoring system including steerable surveillance cameras, placed on the ground and capable of being activated and oriented with positioning information provided by a GPS system. belonging to aircraft. In this way, an automatic tracking of the aircraft and a recording of the corresponding images can be performed.

In a still different technical field relating to satellite monitoring, the document "Results of the ETS-7 mission - rendezvous docking and space robotics experiments" by Toru Kasai et al. describes a navigation system of two satellites provided with cameras and intended to remain close to each other, in which the coordinates of the first satellite are transmitted to the second to define its trajectory.

These four documents relate to technical fields very different from that of the invention since they do not relate to the production of visual or audiovisual sequences relating to target subjects in the context of temporary activities such as sailing competitions, ski, car rallies, etc. but to the surveillance of spacecraft or terrestrial vehicles especially intended for a military use and having, fixed permanently, elements of communication and of usable usable within the framework of their own activities. As a result, the elements of communication and geo-positioning of monitored spacecraft or spacecraft are useful, on the one hand, to the management of the movements of spacecraft and ground and on the other hand, to communication with other devices such as flying platforms to record shots of these spacecraft or land vehicles.

These monitoring systems have several disadvantages. First, such systems can only work to the extent that the devices to monitor include an electronic circuit including communication and geo-positioning elements. Consequently, they can not be used to capture visual or audiovisual sequences relating to a target subject without such communication and geo-positioning elements. In addition, the implementation of such systems require the implementation of a predefined communication protocol between the monitored vehicle and the flying surveillance platform. Therefore, such monitoring systems require having previously made a specific setting, necessarily expensive and long, the machine to monitor. It follows that such solutions are not adapted to the realization of visual or audio-visual sequences of scenes taking place in an inaccessible medium, such as competitions of sailing, skiing, car rallies, etc.

US-A1-2005 / 004723, US-B1-6,281,970, "Autonomous target following by unmanned aerial vehicles" by Rafi et al. and "Process Technologies - BTC-40 Gimbal" from the Internet URL http: //www.procerusuav/downloads/datasheets/techsheet BTC-40 qimbal.pdf describe other types of surveillance systems using aircraft equipped with camera video allowing to follow the trajectory of a target subject and to record video data relating thereto. However, rather than using the GPS coordinates of a target module connected to the subject to be monitored to track it, these monitoring systems offer other techniques.

Finally, the document "Strategies of Path-Planning for a UAV to track ground vehicle" by Jusuk Lee et al. and WO-A1 -2009 / 13755 relate to other embodiments of monitoring systems unrelated to the object of the invention. In this context, the invention therefore aims at producing a system and a method for capturing a visual or audiovisual sequence concerning a moving target subject from an aircraft that is capable of performing, by means of a protocol of Simple communication and requiring few electronic resources, the pursuit of the target subject even when it is moving out of the field of the camera.

The invention also proposes to successively produce several visual or audiovisual sequences relating to the temporary activity of several different target subjects in a simple and rapid manner that does not require any specific and / or complex intervention on the target subjects. in question. As such, the invention relates to a system for capturing a visual or audiovisual sequence concerning a moving target subject, from an aircraft, comprising:

^■ firstly, an autonomous or semi-autonomous aircraft comprising:

propulsion and piloting means able to put the aircraft in motion in the air along a path defined by control instructions issued by a first control unit,

a first satellite geo-positioning module capable of delivering first geo-positioning data relating to the spatial position of this aircraft,

a first transmitter / receiver module for receiving data by radio frequency link,

a video camera, having an optical axis, for collecting video data from images captured by the video camera,

o means for changing and / or maintaining the orientation of the optical axis of the video camera capable, according to a fixed reference vis-à-vis the aircraft, to change and / or maintain the orientation of the optical axis of the video camera in a direction defined by orientation instructions of the optical axis;

^■ a second part, a target module comprising:

a second satellite geo-positioning module capable of delivering second geo-positioning data relating to the spatial position of said target module, a second transmitting module capable of transmitting, by radio link, the second geo-positioning data delivered. by the second geo-positioning module to the first transmitter / receiver module of said aircraft;

^■ thirdly, connecting means capable of physically connecting the target module to the target subject so that a displacement of this target subject causes a substantially identical displacement of the target module;

^■ the first control unit being adapted to receive the first and second geo-location data, of the aircraft and the target module, and comprising functional means for calculating, from the first and second geo-positioning data, , issuing the instructions for controlling the trajectory of the aircraft and the orientation instructions for means for changing and / or maintaining the orientation of the optical axis of the video camera, so that the camera is able to collect video data on the target subject, whether the subject changes position or not;

characterized in that the target module forms a compact structural and functional unit independent of and distinct from the target subject and in that the link means are removable from the target module and / or the target subject so as to allow the separating said target module and target subject at the end of the visual or audiovisual sequence without affecting the structural and functional unit of the target module.

According to one embodiment, the aircraft comprises means for measuring the attitude of the aircraft capable of delivering attitude data, the first control unit being able to receive the attitude data and to calculate the command instructions. of the flight path of the aircraft and the instructions orientation of the means for changing and / or maintaining the optical axis, also taking into account these attitude data.

According to one embodiment, the first control unit is able to calculate the instructions for controlling the trajectory of the aircraft and the orientation instructions for the means for changing and / or maintaining the optical axis, also taking account of data. navigation.

According to one embodiment, the first control unit is able to calculate the control instructions of the trajectory of the aircraft to position the aircraft vis-à-vis the target subject in a relative position defined by the navigation data

According to one embodiment, the first control unit is able to calculate the orientation instructions of the means for changing and / or maintaining the optical axis in order to orient the optical axis of the video camera in a direction defined by the data of FIG. navigation.

According to one embodiment, the aircraft comprises a first memory space capable of storing the navigation data.

According to one embodiment, the system comprises a terrestrial station provided with a third memory space able to store the navigation data and a third transmitter / receiver module able to transmit this navigation data to the first transmitter / receiver module of the aircraft.

In one embodiment, the navigation data comprises at least one flight instruction defining a relative position of the aircraft vis-à-vis the target module.

In one embodiment, the navigation data comprises a series of flight instructions defined by a succession of relative positions of the aircraft vis-à-vis the target subject.

In one embodiment, the navigation data comprises a series of flight instructions defined by a succession of spatial positions of the aircraft.

In one embodiment, the navigation data comprises a series of flight instructions defined by a succession of figures, or spatial trajectories, of the aircraft. According to one embodiment, the navigation data comprise at least one shooting instruction defining a specific orientation of the optical axis of the video camera.

In one embodiment, the navigation data includes a shooting instruction defining a specific orientation of the optical axis of the video camera vis-à-vis the target subject. In one embodiment, the navigation data relates to a series of shooting instructions defined by a succession of specific orientations of the optical axis of the video camera vis-à-vis the target subject. In one embodiment in which the system comprises the earth station, the latter is provided with a manual or automated control unit able to generate the navigation data for transmission to the first transmitter / receiver module of the aircraft.

According to one embodiment in which the system comprises the earth station, the video camera is able to directly transmit the video data to the earth station, via a dedicated transmitter module.

According to one embodiment in which the system comprises the terrestrial station, the latter is able to communicate the video data to an audiovisual data stream broadcasting server, to an online television Internet platform or to a broadcasting module positioned at proximity to the visual or audiovisual sequence.

According to one embodiment, the control unit is able to control the power supply of the video camera and / or the dedicated transmitter so as to allow this video camera and / or this video camera to be switched on and off. dedicated transmitter, from the navigation data.

According to one embodiment, the aircraft comprises a memory space in connection with the video camera capable of recording the video data collected by this video camera.

According to one embodiment, the control unit is able to control the power supply of the video camera and / or the memory space in connection with the video camera so as to enable the start and stop of this camera video and / or memory space in connection with the video camera, from the navigation data.

According to one embodiment, the system comprises a radio frequency relay capable of transmitting, by radio link, the second geo-positioning data from the target module to the aircraft.

In one embodiment, the radio frequency relay belongs to the earth station, a secondary earth station or a secondary aircraft. According to one embodiment, the means for maintaining and orienting the optical axis are able to move the optical axis of the video camera around three distinct axes of rotation.

In one embodiment, the target module has a microphone adapted to capture a sound signal from the target subject and a transmitter module connected to the microphone so as to transmit, by radio link, the sound signal towards the aircraft. In one embodiment, the target module has two microphones for capturing a stereophonic sound signal from the target subject.

According to one embodiment, the target module comprises a peripheral wall forming a housing delimiting at least one inner enclosure within which are arranged the second module of geopositioning and the second transmitter module.

The invention also relates to a method for capturing a visual or audiovisual sequence concerning a target subject in motion from an aircraft, which can be implemented by a system according to any one of claims to, including steps consists in :

^Placing an autonomous or semi-autonomous aircraft in motion along a path defined according to control instructions issued by a first control unit,

^■ deliver first geo-positioning data relating to the spatial position of this aircraft,

Collecting video data from images captured by a video camera on board the aircraft and having an optical axis that can be oriented in a direction defined by instructions for orienting the optical axis,

^Delivering second geo-positioning data relating to the spatial position of a target module in structural connection with the target subject via connecting means, so that a displacement of this target subject results in a substantially identical displacement of the target module; target module,

^■ transmit the first geo-positioning data and the second geopositioning data to the first control unit,

^■ the first control unit comprising operating means for calculating, from the first and second geo-positioning data ,, outputting the control commands to the trajectory of the aircraft and guidance instructions changing means and / or maintaining the optical axis of the video camera, so that the video camera is able to collect video data on the target subject, while the latter changes position or not

characterized in that the target module which forms a compact and independent functional and structural unit independent of the target subject is connected to the target subject via removable link means with respect to the target module and / or target subject so as to allow the separation of said target module and target subject at the end of the visual or audiovisual sequence without affecting the structural and functional unit of the target module. According to one embodiment, the aircraft comprises means for measuring the attitude of the aircraft capable of delivering attitude data, the first control unit being able to receive the attitude data and to calculate the control instructions of the aircraft. the trajectory of the aircraft and the orientation instructions of the means for changing and / or maintaining the optical axis, also taking into account these attitude data. According to one embodiment, the first control unit calculates the instructions for controlling the trajectory of the aircraft and the orientation instructions for the means for changing and / or maintaining the optical axis, also taking account of navigation data.

According to one embodiment, the first control unit calculates the control instructions of the trajectory of the aircraft to position the aircraft vis-à-vis the target subject in a relative position defined by the navigation data. According to one embodiment, the first control unit calculates the orientation instructions of the means for changing and / or maintaining the optical axis in order to orient the optical axis of the video camera in a direction defined by the navigation data.

In one embodiment, the navigation data is transmitted to the first control unit from a first memory space on board the aircraft.

In one embodiment, the navigation data is transmitted to the first control unit from a land station having a third memory space. In one embodiment, the navigation data comprises at least one flight instruction defining a relative position of the aircraft vis-à-vis the target module.

In one embodiment, the navigation data comprises a series of flight instructions defining a succession of spatial positions of the aircraft.

In one embodiment, the navigation data comprises a series of flight instructions defining a succession of relative positions of the aircraft vis-à-vis the target subject.

In one embodiment, the navigation data relate to a series of flight instructions defining a succession of figures, or spatial trajectories, of the aircraft.

In one embodiment, the navigation data comprises at least one shooting instruction defining a specific orientation of the optical axis of the video camera. In one embodiment, the navigation data comprises at least one shooting instruction defining a specific orientation of the optical axis of the video camera vis-à-vis the target subject.

In one embodiment, the navigation data comprises a series of instructions defining a succession of specific orientations of the optical axis of the video camera vis-à-vis the target subject. In one embodiment, the navigation data is generated by a manual or automated control unit belonging to the land station.

In one embodiment, the video camera transmits video data directly to the earth station via a dedicated transmitter module.

According to one embodiment, the terrestrial station communicates the video data to an audiovisual data stream broadcast server, to an online television Internet platform, or to a broadcast module positioned near the visual or audiovisual sequence.

According to one embodiment, the control unit controls the power supply of the video camera and / or the dedicated transmitter so as to start or stop this video camera and / or this dedicated transmitter, from the data of navigation. In one embodiment, wherein the video data collected by the video camera is recorded in a memory space on the aircraft.

According to one embodiment, the control unit controls the power supply of the video camera and / or the memory space in association with the video camera so as to start or stop this video camera and / or this memory space. connection with the video camera, from the navigation data.

In one embodiment, the second geo-positioning data from the target module is transmitted to the aircraft by radio link via a radio frequency relay.

In one embodiment, the radio frequency relay belongs to the earth station, a secondary earth station or a secondary aircraft.

In one embodiment, the means for maintaining and orienting the optical axis move the optical axis of the video camera around three distinct axes of rotation.

According to one embodiment, a microphone embedded in the target module captures any sound signal from the target subject and a transmitter module is connected to the microphone so as to transmit, by radio link, the sound signal towards the aircraft.

According to one embodiment, an audio receiver on board the aircraft receives the sound signal, and sends this sound signal to the video transmitter so that the sound signal and the video data are associated in their transmission to the land station. According to one embodiment, the target module comprises a peripheral wall forming a housing delimiting at least one inner enclosure within which are arranged the second module of geopositioning and the second transmitter module. The invention finally relates to a system for capturing a visual or audiovisual sequence concerning a moving target subject, from a shooting module, comprising:

^■ firstly, a shooting module comprising:

a first satellite geo-positioning module capable of delivering first geo-positioning data relating to the spatial position of this camera module, a first transmitter / receiver module for receiving data by radio frequency link,

o means for changing and / or maintaining the orientation of the optical axis of the video camera adapted, according to a fixed reference, to change and / or maintain the orientation of the optical axis of the video camera in a direction defined by orientation instructions of the optical axis delivered by a first control unit;

^■ a second part, a target module comprising:

a second satellite geo-positioning module capable of delivering second geo-positioning data relating to the spatial position of said target module; a second transmitting module connected to the second geo-positioning module and able to transmit, by radio link; the second geo-positioning data delivered by the second geo-positioning module of the target module to the first transmitter / receiver module of the shooting module;

A third part, connecting means capable of physically connecting the target module to the target subject so that a displacement of this target subject results in a substantially identical displacement of the target module;

^■ the first control unit being adapted to receive the first and second geo-location data from the shooting unit and the target module, and comprising functional means for calculating, from the first and second geo-positioning data , issuing the orientation instructions of the means for changing and / or maintaining means for changing and / or maintaining the orientation of the optical axis of the video camera, so that the video camera is able to collect data. video data on the target subject, whether or not it changes position

characterized in that the target module forms a compact structural and functional unit independent of and distinct from the target subject and in that the link means are removable from the target module and / or the target subject so as to allow the separating said target module and target subject at the end of the visual or audiovisual sequence without affecting the structural and functional unit of the target module. Several embodiments of the invention will now be described in the light of the accompanying drawings, in which:

FIG. 1 is a schematic representation of a system for capturing visual or audiovisual sequences from an aircraft according to the invention in which a moving target subject is represented, an aircraft in pursuit of the target subject and a ground station communicating with the aircraft.

FIG. 2 is a perspective view of an exemplary embodiment of the aircraft belonging to the system shown in FIG.

Fig. 3a is a flowchart showing the composition of a first target module embodiment that can be connected to the target subject to enable implementation of a system as shown in Fig. 1.

Fig. 3b is a flowchart showing the composition of a second target module embodiment that can be connected to the target subject to enable implementation of a system as shown in Fig. 1. - Fig. 4 is a schematic representation of an exemplary embodiment of a terrestrial station belonging to the system, as shown in FIG.

FIG. 5 is a schematic representation of a system for capturing visual or audiovisual sequences, in particular from a shooting module carried by an offshore buoy according to the invention, in which a moving target subject is represented, a buoy at sea and a land station communicating with the shooting module attached to the buoy at sea.

As illustrated in FIG. 1, the system for capturing visual or audiovisual sequences according to the invention can, for example, be used to capture audiovisual sequences during sports competitions that require the filming of a moving subject in a relatively wide area. .

This may, for example, be the case of windsurfing competitions as shown in Figure 1 but also of any other sports competition such as car rallies, sea regattas or ski competitions in the mountains. The system according to the invention could also be used in many other fields, such as the field of documentary production when the presence of tele-reporters can be dangerous or economically too expensive. According to the embodiment shown in Figure 1, the system is composed of an aircraft 2, a target module 3 and a terrestrial platform 4 capable of communicating with each other by a method which will be described later. The aircraft 2 here has a fixed wing but could, alternatively, have a rotary wing, which would have the particular advantage of allowing to make video sequences during which the aircraft 2 is geostationary.

As illustrated in FIG. 1, the target module 3 forms a compact and independent functional unit that is independent of and distinct from the target subject 1. More particularly, as illustrated in FIG. 1, the target module 3 comprises a peripheral wall forming a housing. delimiting an inner chamber inside which are arranged the electronic components for communicating with the aircraft 2 and, where appropriate, with the terrestrial platform 4. Thus, the target module 3 can be used independently of the target subject 1 and therefore, to be used with a first target subject 1 in the context of a first visual or audiovisual sequence, then, quickly and without requiring tedious intervention on the target module 3 or on the first target subject 1, said module target 3 can then be associated with a second target subject 2 for a second visual or audiovisual sequence. This embodiment therefore makes it possible to use a target module 3 to successively carry out several visual or audiovisual sequences relating to the temporary activity of several different target subjects in a simple, rapid manner and which does not require any specific and / or complex intervention on the target subjects 1 in question.

In the embodiment of Figure 1, the target module 3 is connected to the mast of the windsurfing through connecting means 10 and, more particularly, a connecting tape. Thus the target module 3 and the target subject 1 are physically connected to each other via these connecting means 10 so that a displacement of the target subject 1 has the effect of a substantially identical displacement of the target module. 3. This configuration ensures some form of solidarity between the target subject 1 and the target module 3. Thus, the displacement of the target module is characteristic of a similar displacement of the target subject 1.

Moreover, these connecting means 10 are removable vis-à-vis the target subject 1 that constitutes windsurfing so as to allow the separation of said target module 3 and target subject 1 at the end of the visual or audiovisual sequence without adversely affect the structural and functional unit of the target module 3. In this way, the target module 3 can easily be separated from the target subject 1 at the end of the visual or audiovisual sequence to be, for example, reused in the context of another visual or audiovisual sequence involving another target subject 1. This realization is all the more advantageous as since the target module 3 is reusable in a different context, it is not necessary to proceed with the implementation of a specific communication protocol for each target subject 1 making the object of a visual or audiovisual sequence.

The connection means 10 described with reference to the embodiment of FIG. 3 are adjacent to the target module 3 and removable vis-à-vis the target subject 1. However, it should be pointed out that, of course, the connection means could according to an alternative embodiment, as well as being adjacent to the target subject 1 and removable vis-à-vis the target module 3 or else removable vis-à-vis the target subject 1 and the target module 3.

According to an alternative embodiment, the target module 3 could also be fixed directly to the mast of the windsurf board by means of fixing screws, glue or any other removable connection means allowing the separation of said target module 3 and target subject 1 at the end of the visual or audiovisual sequence without affecting the structural and functional unit of the target module 3.

An aircraft 2 fixed wing as used in the system of Figure 1 is shown in Figure 2. In this embodiment, this aircraft 2, also called aerial drone, has a first control unit 21, means of propulsion and driving 22, a first satellite module 23, a first transmitter / receiver module 24, a video camera 25, means for changing and / or maintaining the orientation of the optical axis (250) of the video camera 25, attitude measuring means 27 of the aircraft 2 and receiving means 28 for receiving the commands of a radio control (described later) in case of manual handling, for example in part of a rescue procedure.

These elements are described below. First, the first control unit 21 is the brain of the aircraft to provide automatic or semi-automatic steering. To do this, the first control unit 21 is in electrical communication with the propulsion and control means 22, the first geo-positioning module 23, the first transmitter / receiver module 24, the means for changing and / or maintaining 26 of the orientation of the axis 250 of the video camera 25 and the means for measuring the attitude 27 of the aircraft 2.

The propulsion and control means 22 are capable of putting the aircraft 2 in motion in an aerial trajectory or in a geostationary position when it is equipped with a rotary wing. In this case, the propulsion and driving means 22 are constituted by an electric motor capable of driving a propeller and propeller which controls the engine speed, and servomotors capable of controlling the steering elements of the drone. Thus, the servomotors can control control surfaces such as the ailerons, the fin, the flaps and any other element making it possible to steer the aircraft 2.

Several drone models can be considered depending on production needs. In particular, depending on the type of flight, the range and the desired altitude, it will be appropriate to alternately favor a flying platform with fixed wing or rotating or an airship.

The first satellite geo-positioning module 23 makes it possible to obtain, at regular time intervals, geo-positioning data 230 defining the spatial position of the aircraft 2. It is thus possible to follow very precisely and without requiring any electronic resources too important, the displacement of this aircraft 2 as a function of time.

The first transmitter / receiver module 24 makes it possible to receive data by radiofrequency link. Advantageously, this first transmitter / receiver module 24 has an antenna extending in a wing or fuselage element, for example the drifts of the aircraft 2 so as not to increase the drag of the aircraft.

The transmitter / receiver module 24 advantageously makes it possible to perform data modulation as well as demodulation of the signals.

The aircraft 2 further comprises a video camera 25, preferably adapted to the production of good quality images for broadcasting on the Internet, as well as means for changing and / or maintaining the orientation of the axis 250 optical camera 25. This orientation allows to determine a line of sight. Thus, supported by the means of change and / or holding 26, the video camera 25 may alternatively be maintained in a fixed direction or, on the contrary, be displaced vis-à-vis a reference linked to the aircraft 2 of so that its optical axis 250 aims to aim at any direction.

When the target subject 1 moves vis-à-vis the video camera 25, the means of change and / or holding 26 can change the orientation of the optical axis 250, and therefore the line of sight, in direction of the target subject 1. To do so, the means of change and / or holding 26 are movable about two axes thus making it possible to orient the optical axis 250 of the camera 25 in any direction. In addition, the means of change and / or holding 26 are also movable about a third axis coinciding with the optical axis 250 to ensure a constant orientation of the images captured by the camera 25 vis-à-vis the ground despite the movements of the aircraft 2.

In operation, this video camera 25 captures video data 251 relating to the target subject.

According to this embodiment, the aircraft 2 comprises a dedicated transmitter 252 and / or a dedicated recorder in order to allow this video data 251 to be retransmitted directly and / or to record them in the dedicated recorder. The measurement means 27 of the attitude of the aircraft 2 are, for example, constituted by infrared sensors positioned in the body of the latter in order to follow its movements around a longitudinal axis (roll) and a transverse axis (pitch). These infrared sensors are capable of measuring the energy of atmospheric thermal radiation and transforming them into attitude data characterizing the rotation of the aircraft 2 around these two axes.

The measuring means 27 may use other sensors to provide other physical measurements for the attitude calculation. In particular, according to an alternative or complementary embodiment, these sensors can be formed by accelerometers, gyroscopes (oriented along different axes) and an electronic compass.

Thus, these measurement means 27 generate attitude data which the control unit 21 can take into account in order to stabilize the attitude of the aircraft 2 and to capture the audiovisual sequence according to a suitable shot.

The control unit 21 also uses the attitude data to calculate the desired positions of the actuators to direct the aircraft according to the navigation instructions. In addition, the aircraft 2 comprises a first onboard memory space, integrated in the control unit 21, for storing information such as navigation data 400.

Furthermore, there is also provided a rechargeable electric battery 29 for supplying all the electronic and electromechanical components (servomotors, motor) of the system.

The sum of the components of the aircraft 2 is, in one embodiment, about 1.5 kg.

The target module 3 is now described in detail. In particular, the constituent elements of a first embodiment of this target module 3 are described below with reference to FIG. 3a.

This target module 3 comprises in particular a second transmitter module 35, a second satellite geo-positioning module 31, a microcontroller 32, an energy storage module such as a battery pack 33 and a USB port 34.

The energy storage module makes it possible to supply these electronic components with electrical energy so as to render the target module 3 independent of the target subject, in particular, from an energy point of view. According to the embodiment of FIG. 3a, the target module 3 has a peripheral wall delimiting a single internal enclosure in which the second transmitter module 35, the second satellite geo-positioning module 31, the microcontroller 32, the module are arranged. energy storage 33 and the USB port 34. It should be noted, however, that other embodiments are also conceivable. In particular, the realization of a target module 3 having a peripheral wall delimiting several internal enclosures separated from each other and receiving, respectively, the second geo-positioning module and the second transmitter module is also possible provided that communication can be established between said second geo-positioning module and said second transmitter module.

The second satellite geo-positioning module 31 consists of a GPS chip 31a connected to a GPS antenna 31b and makes it possible to obtain, at regular time intervals, location data 310 defining the spatial position of the aircraft . This second geo-positioning module 31 communicates with the second transmitter module 35 which can thus transmit the geo-positioning data 310 to the aircraft 2.

The second geo-positioning module 31 makes it possible to receive the signals coming from the satellites and to calculate the second data relating to the geo-positioning of the target module 3 in order to transmit them to the microcontroller 32 which is responsible for exploiting these second data of geopositioning 310. The microcontroller 32 then decides on the transmission of the second geo-positioning data 310, via the transmitter 35 and by radio waves, to the aircraft 2 and possibly the terrestrial station 4. This second transmitter module 35 is possibly also able to receive radio data from the aircraft 2 and / or the ground station 4 to control for example the time interval at which the second geo-positioning data 310 must be transmitted.

According to this embodiment, the microcontroller 32 is connected to the USB port 34 to allow the download of preprogrammed instructions for adapting the behavior of the target module 3 according to the type of audiovisual production desired. It is thus possible to increase or decrease the rate of transmission of geo-positioning data 310 delivered by the second geo-positioning module 31. The target module 3 comprises a rechargeable battery 33 to ensure the transmission of information geo-positioning for at least the entire duration of the recorded audiovisual sequence.

The constituent elements of a second embodiment of the target module 3 are now described with reference to FIG. 3B. This second embodiment comprises, in addition to the elements described above, one or more microphones 36 for collecting sound data 360.

In addition, these microphones 36 are connected to a preamplifier 361, then to a transmitter module 362. Thus, during the capture of a visual sequence made by the video camera 25 of the aircraft, it is also possible to collect the data. sound 360 from target subject 1 from microphones 36.

This sound data 360 can then be transmitted by radio link, from the transmitter module 362 and towards an audio receiver (not shown) on board the aircraft 2 or, alternatively or simultaneously, towards the ground station 4 (not shown)

It should be pointed out that the transmitter module 362 may correspond, as shown in FIG. 3B, to a transmitter module 362 specifically dedicated to the transmission of the sound data 360. However, according to an alternative embodiment, this transmitter module 362 may also correspond to the second transmitter module 35 which then ensures, on the one hand, the transmission of the second geo-positioning data 310 delivered by the second module of geopositioning 31 to the aircraft 2 and, on the other hand, the transmission of these sound data 362 to the aircraft 2 as well.

The advantage of positioning the microphones 36 inside the target module 3 which is itself structurally and functionally related to the target subject 1 is to capture the sound data 360 from this target subject 1 and to transmit this sound data 360 in direction of the aircraft 2 - which is nearby - without having to develop a significant power level. The aircraft 2 which has a greater electric power capacity than the target module 3 can then support the transmission of this sound data 360 towards the terrestrial station 4 or even keep the sound data 360 stored in a memory space.

Another advantage consists in minimizing the number of physical obstacles likely to be on the path of the radio signals conveying the sound data 360. Indeed, because of the relative position of the target module 3, the aircraft 2 and the Earth Station 4, the physical obstacles - including terrestrial - are fewer and therefore less likely to disrupt the transmission of radio signals. Therefore, the quality of the sound data 360 received by the aircraft 2, on the one hand, and the ground station, on the other hand, are improved.

Advantageously, the target module 3 has two microphones 36, which makes it possible to take into account the sound received from the target subject in a stereophonic manner.

As previously, according to the embodiment of FIG. 3B, the target module 3 has a peripheral wall delimiting a single internal enclosure in which the second transmitter module 35, the second satellite geo-positioning module 31, is arranged. microcontroller 32, the energy storage module 33, the USB port 34 and, in addition, the microphone (s) 36, the preamplifier 361, and the transmitter module 362. However, it would also be possible to make a module target 3 having a peripheral wall delimiting several internal enclosures separated from each other and receiving, respectively, the second geo-positioning module and the second transmitting module, for example, provided that a communication can be established between said second geo-positioning module and said second transmitter module.

The terrestrial station 4 is described with reference to FIG.

This terrestrial station 4 comprises a third transmitter / receiver 40, a control unit 41, a third memory space 42 and an audiovisual receiver 43.

This third memory space 42 makes it possible to store navigation data 400 which can, consequently, be transmitted to the aircraft 2.

The terrestrial station 4 thus makes it possible to execute various programs:

^■ receiving telemetry data from aircraft 2 and target modules 3, displaying and tracking the flight plan;

■ flight plan modification, sending instructions for navigation, sending instructions for camera control, and microphones 36;

^■ receiving audio and video signals, transcoding, recording and / or broadcasting the audio video stream to an internet platform (or locally). The control unit 41 is a radio control that serves to manually control the aircraft. This serves for the manual handling and the emergency control in the event of failure of the automated flight program which is integrated in the control unit 21. More particularly, the control unit 41 makes it possible to take control of the control surfaces and of the engine of the aircraft 2 when the user decides and then return this control to the control unit 21 later.

On the other hand, the audiovisual receiver 43 makes it possible to directly collect the video data 251 and the audio data 360 coming respectively from the video camera 25 and the microphone or microphones 36.

The different steps of the process according to the invention will now be described in detail.

First of all, it is necessary to put the aircraft 2 in motion. To do this, the first control unit 21 transmits, from predetermined navigation data 400, control instructions 210 to the propulsion and control means 22 of the aircraft 2. Thus, this aircraft 2 is set to movement in the air along a predetermined path. In the case of a fixed-wing model, and when this model is light enough, it can be launched by hand for take-off. A catapult can also be used for light or heavier models. It should be noted that in the case where the aircraft 2 has a rotary wing, the control instructions 210 generated by the first control unit 21 could consist of a hovering flight according to a predetermined point in the space.

The navigation data 400 may be transmitted to the first control unit 21 according to two alternative or complementary processes. In the first place, these navigational data 400 may come from the first memory space embedded in the control unit 21 on the aircraft. In this case, the navigation data 400 previously stored in this first memory space are used by the first control unit 21. The measurements of the sensors 27 are used by the control unit 21 to define the attitude of the aircraft . With the navigation data and the attitude definition, the control unit 21 derives the appropriate control instructions 210. According to a second case, the navigation data 400 can come from the third memory space 42 belonging to the earth station and transmitted, via the third transmitter module 40 to the aircraft 2. Then, the first transmitter / receiver 24 on board Aircraft 2 makes it possible to receive this navigation data 400 and transmit it to the first control unit 21 which deduces the appropriate control instructions 210 from it. These two scenarios can of course be used alternately or simultaneously. Indeed, initial navigation data can be loaded into the first memory space embedded in the control unit 21 and then modified by the ground station 4 during the flight.

At this time, the navigation data 400 can define flight instructions relating to a spatial position of the aircraft 2. However, the navigation data 400 can also relate to a succession of spatial positions of the aircraft 2 while taking into account the spatial position of it. The aircraft 2 will then follow a predetermined trajectory to pass successively on each of these points of passage. In addition, the navigation data 400 may also include a series of flight instructions defining a succession of predetermined figures, or spatial trajectories, it will thus be possible to order the aircraft 2 to perform a predetermined route, according to an example realization, it is for example possible to fly the aircraft on a circle around a point defined by these spatial coordinates, with a radius of 30m.

This navigation data 400 defining flight instructions relating to figures may especially be useful when a fixed-wing aircraft 2 must follow the movement of the target module 3 while it remains stationary. The fixed-wing aircraft 2 can not remain motionless, it is interesting that the navigation data 400 provides a predefined trajectory of the aircraft 2, for example circular around the point of projection of the spatial position of the target module 3 in a plane corresponding to a predetermined altitude.

According to the invention, the navigation data 400 may also include flight instructions relating to a spatial position or a succession of spatial positions of the aircraft 2 vis-à-vis the of the target subject 1. It is then appropriate that the first control unit 21 detects the position of the target module 3 vis-à-vis the position of the aircraft 2.

To do this, first geo-positioning data 230 relating to the spatial position of the aircraft 2 are transmitted by the first geo-positioning module 23 to the first control unit 21. In parallel, second geo-positioning data 310 are calculated by the second geo-positioning module 31 and then transmitted to the second control unit 32, via the second transmitter module 35 of the target module 3, to the aircraft 2. These second geo-positioning data 310 are therefore received by the first transmitter / receiver module 24 of the aircraft 2 which transmits them to the first control unit 21.

Thus, this first control unit 21 can deduce from these first data of geopositioning 230 and second positioning data 310 the relative position of the aircraft 2 vis-à-vis the target module 3.

The first control unit 21 can therefore, from functional calculation means and its knowledge of the attitude, issue control instructions 210 making it possible to adapt the trajectory of the aircraft 2 to follow the movements of the target module 3 According to the navigation instructions 400, the first control unit 21 can issue control instructions 210 for positioning the aircraft 2 according to a spatial position or a succession of spatial positions relating to the position of the target subject 1.

To allow not only to follow the target module 3 according to the navigation instructions 400 but also to obtain an orientation of the video camera 25 which captures the images relating to the target subject 1, it is advantageous that the first control unit 21 can simultaneously manage the trajectory of the aircraft and the orientation of the optical axis 250 of the video camera 25.

Thus, having determined the relative position of the aircraft 2 vis-à-vis the target module 3 and having received information on the attitude of the aircraft 2 through the attitude measuring means 27, the functional means of calculation of the first control unit 21 can be used to issue orientation instructions for the means for changing and / or maintaining the orientation of the optical axis 250 of the video camera 25 so that the optical axis is directed in the direction of the target module and collects video data 251 concerning the target subject 1. The orientation of the camera 25 can therefore be modified in order to follow the relative movements of the target module 3 vis-à-vis the aircraft 2. These relative movements can be due either to the displacement of the aircraft 2 while the target module 3 remains fixed, either to the displacement of the target module 3 while the aircraft remains fixed, or to the respective displacements of the aircraft 2 and the target module 3. This aspect is interesting since the use of this attitude information combined with the relative geo-positioning data of the aircraft 2 vis-à-vis the target module 3 makes it possible to control the trajectory of the aircraft and / or the orientation of the camera without requiring too much electronic resources.

The trajectory of the aircraft 2 and the orientation of the optical axis 250 of the camera 25 are independent of one another.

Thus, the trajectory of the aircraft 2 can be:

■ defined by the navigation data 400 possibly modified during the mission, and / or

^■ slave to track the movement of the target module 3.

By way of example, the navigation data 400 can relate to the realization of a trajectory forming a circle of two hundred meters in diameter and whose center coincides with the projection of the position of the target module 3 at a predetermined altitude.

Thus, the displacement of the aircraft depends not only on the navigation data 400 but also on the second geo-positioning data 310 relating to the spatial position of said target module 3.

Moreover, the orientation of the optical axis 250 of the video camera 25 can be:

^■ defined by the navigation data 400 possibly modified during the mission, and / or

^■ controlled to track the movement of the target module 3. Therefore, all combinations are possible.

The trajectory of the aircraft 2 can follow a predetermined circuit while the orientation of the camera 25 is slaved to the relative displacement of the target module 3 to systematically point in its direction

Alternatively, the trajectory of the aircraft 2 can follow the target module 3 while the camera 25 keeps a fixed optical axis 250 relative to the reference frame of the aircraft 2. For example, if the aircraft 2 follows a skier, it possible to set a fixed shot, for example by pointing the camera 250 right front down, to observe the path followed by the skier.

In addition, it is possible for the trajectory of the aircraft 2 and the orientation of the camera 25 to be simultaneously slaved to the relative displacement of the target module 3.

Depending on the chosen option, the first control unit 21 will be able to issue command instructions 210 making it possible to adapt the trajectory of the aircraft 2 as well as instructions orientation for orienting the optical axis 250 of the video camera 25 to collect the video data 251 corresponding to the predefined trajectory and / or shooting instructions.

The advantage is therefore to obtain a modularity of the control instructions of the aircraft 2 and instructions for orienting the optical axis 250 according to whether the needs of the production relate to the position of the camera vis-a-vis target subject 1 or the orientation of the axis of the camera 25 with respect to this target subject 1.

According to one embodiment, the video camera 25 directly transmits the collected video data 251 to the terrestrial station 4, via a dedicated transmitter module 252. The transmission of these video data 251 is thus carried out under optimal conditions of quality and speed since the signal is not disturbed by other data.

If necessary, this transmission also includes the audio data 360 sent by the target module 3 and relayed by the aircraft 2.

According to one embodiment, the audiovisual receiver module 43 of the terrestrial station 4 can collect these video data 252 and record them on the third memory space 42 for subsequent distribution. Alternatively, the terrestrial station 4 can also be configured to communicate this video data to a streaming server or an online television Internet platform.

In addition, the terrestrial station 4 can also be in communication with a broadcast module positioned near the place where the audiovisual production is located so that it can be broadcast in front of the spectators who would be too far from the target subject to be able to observe it. In particular, the video data collected by the terrestrial station 4 can thus be broadcast on a giant screen.

According to an alternative embodiment, the video camera records the video data 251 on a dedicated memory space.

The first control unit can also, advantageously, control the power supply of the video camera 25, the dedicated transmitter 252 or the memory space connected to the video camera 25 so as to start or stop this video camera 25 and / or of this dedicated transmitter 252 or of this memory space, from the navigation data 400. Thus, according to the mission plan recorded in the navigation data 400, it is possible to activate deactivate its components. when their use is not necessary so as not to exhaust the battery unnecessarily and thus to prolong the autonomy of the aircraft as much as possible 2.

According to another embodiment, the target module 3 comprises one or more microphones 36 connected to a preamplifier 361, then to a transmitter module 362. Thus, the system according to the invention also makes it possible to collect sound data 360 coming from the target subject 1 from the microphones 36. This sound data 360 is then transmitted, by radio link, from the transmitter module 362 and towards the aircraft 2. The audio receiver (not shown) on board the aircraft 2 sends the audio signal to the video transmitter 252 which then transmits the audio and visual data to the terrestrial station 4. The viewer thus feels totally immersed in the the scene and this despite the constraints of accessibility of it.

It should be emphasized that this audio data 360 can be transmitted directly from the target module 3 and to the terrestrial station 4. However, it is advantageous to pass these sound data 360 by the aircraft 2 as this makes it possible to avoid obstacles that could exist between the target module 3 and the land station 4.

Alternatively, the association and synchronization of the audio data 360 and the video data 251 could be performed by the terrestrial station 4 rather than the video transmitter 252 of the aircraft 2.

It should be noted that, in one embodiment, the aircraft 2 can be found during a mission too far from the target module 3 to receive the second geo-positioning data 310 relating to the spatial position of the target module 3. is then advantageous to provide radio frequency relays adapted to receive and transmit, by radio waves, the second positioning data 310 from the target module 3 to the aircraft 2.

In this respect, these radio frequency relays may alternatively or simultaneously belong to the terrestrial station 4, to a secondary earth station or to a secondary aircraft. Thus, when the system comprises a plurality of earth stations 4 or aircraft 2 for collecting video data 251 on several different target subjects 1, land stations 4 and aircraft 2 form a mesh in which each element can play. the radiofrequency relay role in order to transmit the geo-positioning data 310 of a target module 3 to the aircraft 2 associated therewith.

Thus, the area of territory covered by the video capture system can be considerably increased.

FIG. 5 represents another embodiment of the system according to the invention.

According to this embodiment, the aircraft 2 is replaced by a shooting module 2 'placed on a buoy 20' at sea to capture images of Y boats moving, during regattas, near the buoy 20 ' . But, the buoy at sea 20 'could be replaced by any other static or mobile object on which could be integrated the module of shooting 2' According to this embodiment, the video capture module 2 'has a first control unit 21', a first satellite geo-positioning module 23 ', a first transmitter / receiver module 24', a video camera 25 ', means for changing and / or maintaining 26 'the orientation of the optical axis 250' of the video camera 25 'and means for measuring the orientation with respect to a fixed reference (not shown) of the taking module from view 2 '.

These elements are described below.

Firstly, the first control unit 21 'constitutes the brain of the camera module 2' making it possible to provide automatic or semi-automatic control of the means for changing and / or maintaining 26 'of the orientation of the camera. the optical axis 250 'of the video camera 25'.

To do this, the first control unit 21 'is in electrical communication with the first geo-positioning module 23', the first transmitter / receiver module 24 ', the means for changing and / or maintaining 26' of the orientation of the optical axis 250 'of the video camera 25' and the means for measuring the orientation.

The first geo-positioning module 23 'by satellite makes it possible to obtain, at regular time intervals, geo-positioning data defining the spatial position of the shooting module 2'.

The first transmitter / receiver module 24 'makes it possible to receive data by radiofrequency link. The camera module 2 'furthermore comprises a video camera 25', preferably adapted to the production of good quality images for broadcasting on the Internet, as well as means for changing and / or holding 26 'of the camera. orientation of the optical axis 250 'of the camera 25'. This orientation makes it possible to determine a line of sight. Thus, supported by the means of change and / or holding 26 ', the video camera 25' can alternatively be maintained in a fixed direction or, conversely, be moved relative to a fixed reference linked to the module of video shooting 2 'so that its optical axis 250' aims to aim in any direction. When the target subject 1 'moves towards the video camera 25', the means of change and / or hold 26 'make it possible to modify the orientation of the optical axis 250', and therefore the axis aiming at the target subject 1 '. To do so, the means of change and / or holding 26 'are movable about two axes thus making it possible to orient the optical axis 250' of the camera 25 'in any direction. In addition, the means of change and / or holding 26 'are also movable about a third axis coinciding with the optical axis 250' to ensure orientation constant images captured by the camera 25 'vis-à-vis the horizontal plane, and despite the movements of the camera module 2'.

In operation, this video camera 25 'captures video data relating to the target subject.

According to this embodiment, the shooting module 2 'comprises a dedicated transmitter 252' and a dedicated recorder in order to alternatively or simultaneously retransmit the video data directly or to record them in the dedicated recorder. The means for measuring the spatial orientation of the camera module 2 'are, for example, constituted by gyroscopes, accelerometers, an electronic compass and infrared sensors positioned in the body thereof. Thus, these measurement means generate data that enable the control unit 21 'to continuously calculate the orientation of the camera and can thus stabilize the orientation of the camera of the camera module 2' and capture the audiovisual sequence according to a suitable shot.

The operation of this other embodiment is similar to what has been described with reference to FIG. 1. More particularly, the first control unit 21 'can take into account the first and second geo-positioning data as well as the data of FIG. orientation for providing position instructions of means for changing and / or maintaining the orientation of the optical axis of the video camera 25 'so that the optical axis is directed towards the target module 3' and collects video data concerning the target subject 1 '.

The orientation of the camera 25 'can therefore be modified to follow the relative movements of the target module 3' vis-à-vis the shooting module 2 '.

The orientation of the camera 25 'can also be controlled from the land station 4 by instructions sent to the control unit 21' via the transmitters / receivers 40 and 24 '.

Claims

A system for capturing a visual or audiovisual sequence relating to a target subject (1) in motion from an aircraft (2), comprising:

^■ firstly, an autonomous or semi-autonomous aircraft (2) comprising:

o propulsion and control means (22) able to set the aircraft (2) in motion in the air along a path defined by control instructions (210) delivered by a first control unit (21),

a first geo-positioning module (23) by satellite capable of delivering first geo-positioning data (230) relative to the spatial position of this aircraft (2), o a first transmitter / receiver module (24) allowing receive data by radio frequency link,

a video camera (25) having an optical axis (250) for collecting video data

(251) from images captured by the video camera (25),

o means for changing and / or maintaining (26) the orientation of the optical axis (250) of the video camera (25) capable, according to a fixed reference vis-à-vis the aircraft (2) changing and / or maintaining the orientation of the optical axis (250) of the video camera (25) in a direction defined by orientation instructions of the optical axis (250);

^■ a second part, a target module (3) comprising:

a second satellite geo-positioning module (31) capable of delivering second geo-positioning data (310) relating to the spatial position of said target module (3), o a second transmitting module (30) capable of transmitting, by radio link, the second geo-positioning data (310) delivered by the second geopositioning module (31) to the first transmitter / receiver module (24) of said aircraft (2);

^■ a third part, connecting means (10) adapted to physically connect the target module (3) to the target subject (1) so that movement of the target subject (1) causes substantially the same movement of the module target (3);

^■ the first control unit (21) being adapted to receive the first and second geo-positioning data (230.310) of the aircraft (2) and the target module (3), and having functional computing means for at starting from the first and second data of geopositioning (230,310), issuing the control instructions (210) of the trajectory of the aircraft (2) and the orientation instructions of means for changing and / or maintaining (26) the orienting the optical axis (250) of the video camera (25), so that the camera (25) is able to collect video data on the target subject (1), whether or not the camera changes position; characterized in that the target module (3) forms a compact and independent functional and structural unit independent of the target subject (1) and in that the connection means (10) are removable from the target module (3). ) and / or the target subject (1) so as to allow the separation of said target module (3) and target subject (1) at the end of the visual or audiovisual sequence without impairing the structural and functional unit of the module target (3).

2. System according to claim 1, wherein the aircraft comprises means for measuring the attitude (27) of the aircraft (2) capable of delivering attitude data, the first control unit (21) being adapted to receive the attitude data and to calculate the control instructions (210) of the trajectory of the aircraft (2) and the orientation instructions of the means for changing and / or maintaining (26) the axis optical (250) taking into account also these attitude data.

3. System according to claim 1 or 2, wherein the first control unit (21) is able to calculate the control instructions (210) of the trajectory of the aircraft (2) and the orientation instructions of the means of changing and / or maintaining (26) the optical axis (250) also taking into account navigation data (400).

4. System according to claim 3, wherein the first control unit (21) is able to calculate the control instructions (210) of the trajectory of the aircraft (2) to position the aircraft (2) vis-à-vis -vising the target subject (1) according to a relative position defined by the navigation data (400).

5. System according to claim 3 or 4, wherein the first control unit (21) is able to calculate the orientation instructions of the means for changing and / or maintaining (26) the optical axis (250) for orienting the optical axis of the video camera (25) in a direction defined by the navigation data (400).

System according to any one of claims 3 to 5, wherein the navigation data (400) comprises a series of flight instructions defined by a succession of relative positions of the aircraft (2) vis-à-vis the target subject (1).

7. System according to any one of claims 3 to 6, wherein the navigation data (400) comprises a series of flight instructions defined by a succession of spatial positions of the aircraft (2).

8. System according to any one of claims 3 to 7, wherein the navigation data (400) comprises a series of flight instructions defined by a succession of figures, or spatial trajectories, of the aircraft (2).

9. System according to one of claims 3 to 8, wherein the navigation data (400) relate to a series of shooting instructions defined by a succession of specific orientations of the optical axis (250) of the video camera (25) vis-à-vis the target subject (1).

10. System according to any one of claims 1 to 9, wherein the aircraft (2) comprises a memory space in association with the video camera (25) capable of recording the video data (251) collected by this video camera ( 25).

A system according to any one of claims 1 to 10, wherein the target module (3) has a microphone (36) adapted to capture a sound signal (360) from the target subject (1) and a transmitter module (1). 362) connected to the microphone (36) so as to transmit, by radio link, the sound signal (360) towards the aircraft (2).

12. System according to any one of claims 1 to 1 1, wherein the target module (3) comprises a peripheral wall forming a housing delimiting at least one inner chamber inside which are arranged the second module of geo- positioning (31) and the second transmitter module (30).

13. A method for capturing a visual or audiovisual sequence concerning a target subject (1) in motion from an aircraft (2), capable of being implemented by a system according to any one of claims 1 to 12 , comprising steps of:

Placing an autonomous or semi-autonomous aircraft (2) in motion along a path defined according to control instructions (210) delivered by a first control unit (21),

^■ delivering first geo-positioning data (230) relating to the spatial position of this aircraft (2),

^■ collect video data (251) from images captured by a video camera (25) on board the aircraft (2) and having an optical axis (250) being oriented in a direction defined by orientation instructions of the optical axis (250),

^■ delivering second geo-positioning data (310) relating to the spatial position of a target module (3) in structural connection with the target subject (1) via connecting means (10) so that a displacement of this target subject (1) causes a substantially identical displacement of the target module (3),

^■ transmitting the first geo-positioning data (230) and the second geo-location data (310) to the first control unit (210),

^■ the first control unit (21) having operating means for calculating, from the first and second geo-positioning data (230.310), issue the control commands (210) the trajectory of the aircraft (2) and the orientation instructions of the means for changing and / or maintaining (26) the optical axis (250) of the video camera (25), so that the video camera (25) is able to collect data video on the target subject (1), whether or not it changes position

characterized in that the target module (3) which forms a compact and independent functional and structural unit separate from the target subject (1) is connected to the target subject (1) by means of removable connecting means (10) to the target module (3) and / or the target subject (1) so as to allow the separation of said target module (3) and target subject (1) at the end of the visual or audiovisual sequence without affecting the the structural and functional unit of the target module (3).

14. The method of claim 13, wherein the aircraft (2) comprises means for measuring the attitude (27) of the aircraft (2) capable of delivering attitude data, the first control unit ( 21) being able to receive the attitude data and to calculate the control instructions (210) of the trajectory of the aircraft (2) and the orientation instructions of the means for changing and / or holding (26) the optical axis (250) also taking into account these attitude data.

15. The method of claim 13 or 14, wherein the first control unit (21) calculates the control instructions (210) of the trajectory of the aircraft (2) and the orientation instructions of the means of change and / or maintaining (26) the optical axis (250) while also taking into account navigation data (400).

16. The method of claim 15, wherein the first control unit (21) calculates the control instructions (210) of the trajectory of the aircraft (2) for positioning the aircraft (2) vis-à-vis the target subject (1) according to a relative position defined by the navigation data (400).

17. The method of claim 15 or 16, wherein the first control unit (21) calculates the orientation instructions of the means for changing and / or maintaining (26) the optical axis to orient the optical axis of the video camera (25) in a direction defined by the navigation data (400).

The method of any one of claims 15 to 17, wherein the navigation data (400) comprises a series of flight instructions defining a succession of spatial positions of the aircraft (2).

The method according to any one of claims 15 to 18, wherein the navigation data (400) comprises a series of flight instructions defining a succession of relative positions of the aircraft (2) with respect to the target subject (1).

20. A method according to any one of claims 15 to 19, wherein the navigation data (400) relate to a series of flight instructions defining a succession of figures, or spatial trajectories, of the aircraft (2).

21. Method according to one of claims 15 to 20, wherein the navigation data (400) comprises a series of instructions defining a succession of specific orientations of the optical axis (250) of the video camera (25). vis-à-vis the target subject (1).

22. A method according to any one of claims 13 to 21, wherein the video data (251) collected by the video camera (25) are recorded in a memory space embedded on the aircraft (2).

23. A method according to any one of claims 13 to 22, wherein a microphone (36) embedded in the target module (3) captures any sound signal (360) from the target subject (1) and a transmitter module (362) is connected to the microphone (36) so as to transmit, by radio link, the sound signal (360) towards the aircraft (2).

24. The method of claim 23, wherein an audio receiver on board the aircraft (2) receives the sound signal (360), and sends this sound signal (360) to the video transmitter (252) so that the signal sound (360) and the video data (251) are associated in their transmission to the earth station (4).

25. A method according to any one of claims 13 to 24, wherein the target module (3) comprises a peripheral wall forming a housing delimiting at least one inner chamber inside which are arranged the second geo-positioning module. (31) and the second transmitter module (30).

26. A system for capturing a visual or audiovisual sequence concerning a moving target subject (1 ') from a shooting module (2'), comprising:

^■ firstly, a shooting module (2 ') comprising:

a first satellite geo-positioning module (23 ') capable of delivering first geo-positioning data relating to the spatial position of this camera module (2'),

a first transmitter / receiver module (24 ') for receiving data by radiofrequency link,

a video camera (25 '), having an optical axis (250'), for collecting video data from images captured by the video camera (25 '),

o means for changing and / or maintaining (26 ') the orientation of the optical axis (250') of the video camera (25 ') able, according to a fixed reference, to change and / or maintain the orientation the optical axis (250 ') of the video camera (25') in a direction defined by orientation instructions of the optical axis (250 ') provided by a first control unit (21');

^■ a second part, a target module (3) comprising:

a second satellite geo-positioning module (31) capable of delivering second geo-positioning data (310) relating to the spatial position of said target module (3), o a second transmitting module (30) connected to the second module geo-positioning device (31) and adapted to transmit, by radio link, the second geo-positioning data (310) delivered by the second geo-positioning module (31) of the target module to the first transmitter / receiver module (24) the shooting module (2 ');

^■ a third part, connecting means (10) adapted to physically connect the target module (3) to the target subject (1 ') so that movement of the target subject (1') causes a displacement substantially identical to the target module (3);

^■ the first control unit (21 ') being adapted to receive the first and second geo-location data (310) of the shooting unit (2') and the target module (3), and having functional calculating means for, from the first and second location data (310), issuing the orientation instructions of the means for changing and / or maintaining (26) means for changing and / or maintaining (26 ' ) of the orientation of the optical axis (250 ') of the video camera (25'), so that the video camera (25 ') is able to collect video data on the target subject (1'), then whether it changes position or not

characterized in that the target module (3) forms a compact and independent functional and structural unit independent of the target subject (1 ') and in that the connection means (10) are removable from the target module ( 3) and / or the target subject (1 ') so as to allow the separation of said target module (3) and target subject (1') at the end of the visual or audiovisual sequence without impairing the structural unit and functional module of the target module (3).