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1. (WO2019007835) PERCHED AIR VEHICLE THAT PANS
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CLAIMS

1. A hovering air vehicle (HAV) comprising a main body with a plurality of actuators each with a rotor, at least one payload unit on a gimbal, the main body is connected by a rotating element to an undercarriage, the HAV is operable when perched such that when at least one of the rotors is spun up, the main body of the HAV pans.

2. A hovering air vehicle (HAV) according to Claim 1 in which the rotating element is a ball bearing.

3. A hovering air vehicle (HAV) according to Claim 1 or Claim 2 in which there is a brake on the pan rotation.

4. A hovering air vehicle (HAV) according to any of Claims 1 to 3 in which there is a control system.

5. A hovering air vehicle (HAV) according to Claim 4 in which the control system is simple.

6. A hovering air vehicle (HAV) according to Claim 4 in which the control system uses sensors.

7. A hovering air vehicle (HAV) according to any of Claims 4 to 6 in which a user provides demand.

8. A hovering air vehicle (HAV) according to any of Claims 4 to 6 in which an algorithm provides demand.

9. A hovering air vehicle (HAV) according to any of Claims 1 to 8 in which the axis of the main body is angled upwards relative to the axis of the base of the undercarriage.

10. A hovering air vehicle (HAV) according to any of Claims 1 to 9 in which there is a visual spectrum camera payload unit and a thermal camera payload unit mounted on the gimbal.

11. A hovering air vehicle (HAV) according to any of Claims 1 to 9 in which there is a camera payload unit and a designator payload unit mounted on the gimbal.

12. A hovering air vehicle (HAV) according to any of Claims 1 to 11 in which the spun-up rotors have approximately vertical axes.

13. A hovering air vehicle (HAV) according to any of Claims 1 to 12 in which the HAV weighs 250g or less.

14, A hovering air vehicle (HAV) according to any of Claims 1 to 13 in which the panning angle is at least 360 degrees.

15. A hovering air vehicle (HAV) according to any of Claims 1 to 14 in which the panning process has a low visual signature and a low audio signature.

16. A hovering air vehicle (HAV) according to any of Claims 1 to 15 in which panning motion has minimal effect on the quality of moving imagery captured during panning.

17. A hovering air vehicle (HAV) according to any of Claims 1 to 16 in which panning motion is coordinated with motion of at least one gimbal axis to increase the quality of moving imagery captured during panning.

18. A hovering air vehicle (HAV) according to any of Claims 1 to 17 in which the pan axis is approximately at the centre of gravity of the main body.

19. A hovering air vehicle (HAV) according to any of Claims 1 to 18 in which the undercarriage is detachable.