# Comparison Framework

## Selected Framework Type
Decision Support — evaluating trade-offs between gimbal camera systems for a specific use case

## Selected Dimensions
1. GSD from 10km (achievable ground resolution)
2. Image resolution / FOV coverage
3. Sensor quality (size, SNR, dynamic range)
4. Integration feasibility (control protocol, balloon platform compatibility)
5. Stabilization quality (gimbal precision, balloon motion handling)
6. Additional sensors (thermal, LRF)
7. Power requirements
8. Weight
9. Price (total system cost)
10. Atmospheric haze resilience (sensor size impact on contrast)

## GSD Calculations Summary

All calculations assume:
- Altitude: 10,000m
- Target GSD: 10-20 cm/pixel (to match AI training data)

| System | Sensor | Pixel Pitch | Max FL | GSD@10km | Resolution | FOV@10km | In Target? |
|---|---|---|---|---|---|---|---|
| A40 Pro | 1/2.8" 5MP | 1.98µm | 170mm | 11.6 cm | 2560×1920 | 297×223m | ✅ Yes |
| Z40K | 1/2.3" 25.9MP | 1.05µm | ~102mm | 10.3 cm | 5888×4400 | 606×453m | ✅ Yes |
| SIYI ZT30 | 1/2.7" 8MP | ~1.65µm | ~138mm | 12.0 cm | 3264×2448 | 392×294m | ✅ Yes |
| A40TR Pro | 1/2.8" 5MP | 1.98µm | 170mm | 11.6 cm | 2560×1920 | 297×223m | ✅ Yes |
| DJI H30T | 1/1.8" 40MP | 0.99µm | 172mm | 5.7 cm | 7296×5472 | 416×312m | ✅ (adjustable) |
| VT500Rs | ~1/2" 48MP | 0.92µm | 192mm | 4.8 cm | 8000×6000 | 385×289m | ✅ (adjustable) |
| Sony α7RV+800mm | FF 61MP | 3.76µm | 800mm | 4.7 cm | 9504×6336 | 447×298m | ✅ (adjustable) |
| Sony RX10 IV | 1" 20MP | 2.41µm | 220mm | 11.0 cm | 5472×3648 | 602×401m | ✅ Yes |

## Initial Population

| Dimension | A40 Pro | Z40K | SIYI ZT30 | A40TR Pro | Sony α7RV+800mm | Sony RX10 IV |
|---|---|---|---|---|---|---|
| GSD@10km | 11.6 cm ✅ | 10.3 cm ✅ | 12.0 cm ✅ | 11.6 cm ✅ | 4.7-9.4 cm ✅ | 11.0 cm ✅ |
| Resolution | 5MP (low) | 25.9MP (good) | 8MP (adequate) | 5MP (low) | 61MP (excellent) | 20MP (good) |
| FOV@10km | 297×223m | 606×453m | 392×294m | 297×223m | 447×298m | 602×401m |
| Sensor quality | Small, low SNR | Small, decent | Small, adequate | Small, low SNR | Full-frame, excellent | 1", good |
| Integration | Serial/TCP ✅ | Serial/TCP ✅ | Serial ✅ | Serial/TCP ✅ | Custom ⚠️ | Custom ⚠️ |
| Gimbal quality | ±0.02° | ±0.02° | ±0.01° | ±0.005° | Gremsy T7 ±0.02° | Needs external |
| Additional sensors | AI tracking | AI tracking | Thermal+LRF | Thermal+LRF | None | None |
| Power | ~15-25W | ~15-25W | 9W avg | ~20-30W | ~40-60W | ~10-15W |
| Weight | ~1kg | ~1kg | ~1.2kg | ~1.5kg | ~5kg total | ~1.1kg+gimbal |
| Price | $2,299 | $3,000-5,000 | $6,099-7,309 | $7,499-7,999 | ~$10,850 | ~$4,200-5,200 |
| Haze resilience | Low | Low | Low | Low | High | Moderate |

Note: DJI H30T ($10,240-11,610) and LOONG VT500Rs (price unknown) excluded from primary comparison due to DJI platform lock and unknown pricing respectively.
