WO2018191957A1

WO2018191957A1 - Camera mount attitude estimation method and device, and corresponding camera mount

Info

Publication number: WO2018191957A1
Application number: PCT/CN2017/081442
Authority: WO
Inventors: 苏铁; 潘立忠
Original assignee: 深圳市大疆灵眸科技有限公司
Priority date: 2017-04-21
Filing date: 2017-04-21
Publication date: 2018-10-25
Also published as: CN108513610A

Abstract

Provided in the present invention are a camera mount attitude estimation method, camera mount estimation device, and camera mount having the camera mount estimation device. The method comprises: S1, measuring an angular velocity of a camera mount, and acquiring measurement attitude data on the basis of the angular velocity; S2, measuring motion state data of a carrier of the camera mount, and computing, according to the motion state data, reference attitude data of the carrier, the carrier carrying the camera mount; and S3, correcting, by employing the reference attitude data, the measurement attitude data to obtain camera mount attitude data. The present invention effectively handles an influence of a motion state of the carrier on the attitude of the camera mount when estimating the attitude of the camera mount, thus providing a highly accurate attitude estimate of the camera mount, and enabling precision control of the attitude of the camera mount.

Description

PTZ attitude estimation method and device and corresponding gimbal

Copyright statement

The disclosure of this patent document contains material that is subject to copyright protection. This copyright is the property of the copyright holder. The copyright owner has no objection to the reproduction of the patent document or patent disclosure contained in the official records and files of the Patent and Trademark Office.

Technical field

The invention belongs to the field of automatic control, and specifically designs a method and device for estimating the attitude of the gimbal and the corresponding cloud platform.

Background technique

At present, the control of the gimbal is to measure the attitude of the gimbal through the inertial measurement component on the gimbal, and compare the measured attitude of the gimbal with a given target attitude, and control the action of the triaxial motor according to the deviation of the two. To achieve the target posture by controlling the real-time posture of the gimbal.

A device for measuring the posture of a gimbal in the prior art is shown in FIG. Among them, the inertial measurement element 110 mainly includes a gyroscope and an accelerometer. The gyroscope can perform integral acquisition to obtain the attitude of the gimbal, but the speed output of each axis of the gyroscope has a zero offset, and the zero offset cannot be completely eliminated. Therefore, it is inaccurate to obtain the attitude of the gimbal by using the gyroscope speed output integral. Based on this, the inertial measurement element 110 also uses an accelerometer to give an attitude reference for the gimbal. Then, the processor 120 corrects the attitude of the gimbal obtained by the gyro integral according to the attitude reference output by the accelerometer, and finally obtains a relatively stable attitude of the pan/tilt, and performs position output position control and speed control signals on the basis of Control the action of the three-axis motor.

When the apparatus shown in Fig. 1 measures the attitude of the gimbal, the accelerometer in the inertial measurement element 110 cannot accurately measure the motion state of the carrier when the pan/tilt is mounted on the carrier and the motion of the carrier is in a non-uniform linear motion. The influence on the attitude of the gimbal caused the attitude estimation of the gimbal to be incorrect, causing the picture taken by the lens on the gimbal to tilt and not to capture the desired picture. For example, when the PTZ lens is facing forward and the carrier accelerates forward, the attitude of the gimbal itself may be estimated to be affected by the acceleration of the carrier line, and the lens mounted on the gimbal may be tilted involuntarily. Or, when the PTZ lens is facing forward and the carrier is suddenly braking, the posture of the PTZ itself will be affected by the linear acceleration and the error will be estimated, causing the lens mounted on the PTZ to involuntarily go up. tilt. Or, when the direction of the pan-tilt lens is deviated from the direction of the carrier by 90°, when the carrier accelerates forward, the attitude of the gimbal itself may be estimated to be affected by the linear acceleration, resulting in an involuntary lens mounted on the gimbal. Tilt to the left; or, when the direction of the pan-tilt lens deviates from the direction of the carrier by 90°, when the carrier brakes suddenly, the attitude of the gimbal itself is estimated to be affected by the linear acceleration, resulting in a lens mounted on the gimbal. Involuntarily tilted to the right.

Summary of the invention

One aspect of the present invention provides a pan/tilt attitude estimation method. The method includes: S1: measuring an angular velocity value of the pan-tilt, and obtaining measured attitude data based on the angular velocity value; S2, measuring motion state data of the carrier of the pan-tilt, and calculating reference pose data of the carrier according to the motion state data, The carrier supports the pan/tilt; S3, correcting the measured attitude data by using the reference attitude data to obtain pan/tilt attitude data.

Another aspect of the present invention provides a pan/tilt attitude estimating apparatus. The apparatus includes a first inertial measurement element for measuring an angular velocity value of the pan/tilt, and obtaining measured attitude data based on the angular velocity value; a communication interface for obtaining motion state data of the carrier, the carrier supporting the pan/tilt And a processor, configured to calculate reference attitude data of the carrier according to the motion state data of the carrier, and correct the measurement posture data by using the reference posture data to obtain pan/tilt attitude data.

Another aspect of the present invention provides a pan/tilt head comprising the pan/tilt attitude estimating device described above.

The pan-tilt attitude estimation method, the pan-tilt attitude estimation device, and the pan/tilt head of the present invention can effectively calculate the influence of the motion state of the carrier on the attitude of the pan-tilt when estimating the attitude of the gimbal, thereby enabling more accurate estimation of the gimbal The posture is to make the control of the attitude of the gimbal more accurate.

DRAWINGS

For a more complete understanding of the present invention and its advantages, reference will now be made to the following description

FIG. 1 is a block diagram schematically showing an apparatus for measuring a posture of a gimbal in the prior art; FIG.

2 is a flow chart schematically showing a pan/tilt attitude estimation method according to an embodiment of the invention;

3 is a flow chart schematically showing a method for correcting measurement attitude data by using reference attitude data in a pan/tilt attitude estimation method according to an embodiment of the invention;

FIG. 4 is a flow chart schematically showing a pan/tilt attitude estimation method according to another embodiment of the present invention; FIG.

FIG. 5 is a block diagram schematically showing a pan/tilt attitude estimating apparatus according to an embodiment of the present invention; FIG.

FIG. 6 is a block diagram schematically showing a pan/tilt attitude estimating apparatus according to an embodiment of the present invention; FIG.

FIG. 7 is a block diagram schematically showing a pan-tilt attitude estimation device interacting with a carrier of a pan-tilt according to an embodiment of the present invention; FIG.

FIG. 8 is a block diagram schematically showing a pan-tilt attitude estimation device interacting with a carrier of a pan-tilt according to another embodiment of the present invention; FIG.

Figure 9 is a schematic block diagram of a pan/tilt head in accordance with an embodiment of the present invention.

detailed description

Other aspects, advantages, and salient features of the present invention will become apparent to those skilled in the <

In the present invention, the terms "include" and "including" and their derivatives are intended to be inclusive and not limiting; the term "or" is inclusive, meaning and/or.

In the present specification, the following various embodiments for describing the principles of the present invention are merely illustrative and should not be construed as limiting the scope of the invention. The following description of the invention is intended to be understood as The description below includes numerous specific details to assist the understanding, but these details should be considered as merely exemplary. Accordingly, it will be apparent to those skilled in the art that various changes and modifications may be made to the embodiments described herein without departing from the scope and spirit of the invention. In addition, descriptions of well-known functions and constructions are omitted for clarity and conciseness. Further, the same reference numerals are used throughout the drawings for the same or similar functions and steps.

For pan/tilt attitude estimation, the present invention mainly considers a situation in which the gimbal is mounted on a certain carrier, and when the carrier is in a non-uniform linear motion, the motion state of the carrier may deviate from the estimation of the attitude of the gimbal. Due to the existence of this deviation, after the estimated attitude of the gimbal is compared with the target attitude, the control of the attitude of the gimbal according to the comparison result may not be accurate enough. In this case, how to effectively deal with the estimated deviation of the attitude of the gimbal caused by the motion state of the carrier, thereby more accurately estimating the attitude of the gimbal, in order to achieve accurate control of the attitude of the gimbal is critical.

When the gimbal is installed on the carrier, if the gimbal and the carrier are regarded as a mass point as a whole, the coordinate position change of the particle in the world coordinate system is determined by the motion of the carrier, that is, the movement of the gimbal with the carrier is Move in the world coordinate system.

At the same time, the gimbal will also translate or rotate relative to the carrier itself. The attitude of the gimbal is the position of the gimbal and the angle of rotation in each direction in the local coordinate system composed of the carrier as a reference. For example, a spatial three-dimensional local coordinate system can be defined by using a point on the carrier as a coordinate origin. At this time, the posture of the pan-tilt is the position in the local coordinate system, and the pan-tilt is in the local coordinate system. The angle of rotation of the three axes.

According to an embodiment of the present invention, a pan/tilt attitude estimation method is provided. First, the angular velocity value of the gimbal is measured, and the measured attitude data is obtained based on the angular velocity value. Next, the motion state data of the carrier of the pan/tilt is measured, and reference pose data of the carrier is calculated according to the motion state data, and the carrier supports the pan/tilt. Finally, the measured attitude data is corrected by using the reference attitude data to obtain pan/tilt attitude data. According to the embodiment of the present invention, after the measurement attitude data of the pan/tilt is obtained, the measurement posture data is corrected by using the reference attitude data related to the motion state of the carrier, so as to eliminate the motion state of the carrier and the estimation of the attitude of the pan/tilt. The deviation, which results in more accurate gimbal attitude data, can more accurately estimate the attitude of the gimbal.

According to an embodiment of the present invention, there is also provided a pan/tilt attitude estimating apparatus comprising a first inertial measurement element, a communication interface, and a processor. Wherein, the first inertial measurement component is configured to measure an angular velocity value of the pan/tilt, and obtain measurement attitude data based on the angular velocity value. a communication interface for obtaining motion state data of the carrier, the carrier supporting the pan/tilt. And a processor, configured to calculate reference attitude data of the carrier according to the motion state data of the carrier, and correct the measurement posture data by using the reference posture data to obtain pan/tilt attitude data.

According to an embodiment of the present invention, there is also provided a pan/tilt head comprising the pan/tilt attitude estimating device provided by the present invention. The attitude of the gimbal can be accurately controlled, so that the control of the lens mounted on the gimbal is more accurate and effective, and the captured image is more accurate.

FIG. 2 is a flow chart schematically showing a pan/tilt attitude estimation method according to an embodiment of the present invention.

As shown in FIG. 2, the pan/tilt attitude estimation method according to an embodiment of the present invention includes steps S210 to S230.

First, in step S210, the angular velocity value of the gimbal is measured, and the measured attitude data is obtained based on the angular velocity value.

Specifically, the angular velocity value of the gimbal may be measured by the first inertial measurement element, and the measured attitude data of the gimbal may be calculated based on the angular velocity. For example, when the first inertial measurement element includes a gyroscope, a gyroscope can be utilized. The angular velocity value of the gimbal is measured, and the gyroscope can obtain the attitudes of the pitch, roll, and yaw directions of the gimbal by using the integral.

Generally, in order to obtain the real-time state of the gimbal and the inertial motion state data, the first inertial measurement component is directly mounted on the gimbal to form part of the composition of the gimbal.

Then, in step S220, motion state data of the carrier of the pan/tilt is measured, and reference pose data of the carrier is calculated according to the motion state data, and the carrier supports the pan/tilt.

The carrier supporting the gimbal may be a device such as an airplane or a car.

The motion state of the carrier may be a uniform linear motion or a non-uniform linear motion.

The motion state data of the carrier may be, for example, the linear acceleration of the carrier. In this case, when the motion state of the carrier is a uniform linear motion, the linear acceleration of the carrier is zero. When the motion state of the carrier is non-uniformly performing motion, the linear acceleration of the carrier is measured at this time, and the reference attitude data of the carrier is obtained according to the linear acceleration value.

In addition, the motion state data of the carrier may also be, for example, an angular velocity, an angular acceleration, a rotational angular velocity of the carrier, etc. during motion of the carrier curve, and different calculation methods may be used to obtain a reference posture of the corresponding carrier based on different motion state data. data.

The reference attitude data of the carrier is calculated according to the measured motion state data of the carrier, for example, the motion state data of the carrier can be converted into a quaternion or the like.

In step S230, the measured attitude data is corrected using the reference attitude data to obtain pan/tilt attitude data.

Specifically, for example, the reference attitude data is compared with the measured attitude data to obtain a small angle error between the two. An extended Kalman filter (EKF) estimation is performed on the small angle error, and the measured attitude data is corrected by the EKF estimation, thereby obtaining more accurate pan/tilt attitude data.

According to the pan/tilt attitude estimation method of the embodiment of the present invention, the measurement attitude data of the pan-tilt is corrected by the reference attitude data of the carrier obtained from the motion state data of the carrier, so as to eliminate the estimation of the posture of the pan-tilt by the motion state of the carrier. The deviation, thus obtaining more accurate gimbal attitude data, can more accurately estimate the attitude of the gimbal.

FIG. 3 is a flow chart schematically showing a method for correcting measurement attitude data by using reference attitude data in a pan/tilt attitude estimation method according to an embodiment of the invention.

As shown in FIG. 3, in the pan/tilt attitude estimation method according to an embodiment of the present invention, the step of correcting the measurement posture data by using the reference posture data in step S210 includes step S331-1, step S331-2, and step S332.

At step 331-1, the posture data is forged.

In step 331-2, the three-axis joint angle of the gimbal is read.

At step 332, reference pose data is obtained based on the triaxial joint angle and the forged pose data.

Specifically, for example, when the pan/tilt is directly mounted horizontally on the carrier without damping in the middle, or the shock absorbing deformation of the installation is small, the attitude and encoder data of the part connected to the pan-tilt on the carrier can be used to forge the attitude data. The measurement attitude data of the pan/tilt is corrected based on the reference attitude data obtained from the forged posture data. In this way, it is possible to ensure the stability of the attitude of the gimbal, so that the gimbal is not affected by the state of motion of the carrier.

In step S331-1, the forged posture data may specifically be a forged posture quaternion (1000).

In step S331-2, the three-axis joint angle of the pan/tilt is read, including the joint angles of the three axes of the pitch axis, the roll axis, and the yaw axis of the pan/tilt.

In step S332, the read three-axis joint angle of the pan/tilt can be converted into a quaternion, and the quaternion is multiplied by the forged pose quaternion (1000) to obtain the quaternion of the reference pose data. number.

FIG. 4 is a flow chart schematically showing a pan/tilt attitude estimation method according to another embodiment of the present invention.

As shown in FIG. 4, a pan/tilt attitude estimation method according to another embodiment of the present invention includes steps S410, S420, and step S230. Wherein, step S230 is consistent with step S230 described in FIG. 2.

First, in step S410, the angular velocity value of the gimbal is measured, and the measured attitude data is obtained based on the angular velocity value; and the acceleration value of the pan/tilt is measured. In step S410, while measuring the angular velocity value of the gimbal, the acceleration value of the gimbal is also measured.

Then, in step S420, the motion state data of the carrier of the pan/tilt is measured, wherein the motion state data includes a linear acceleration of the carrier, and the acceleration value of the pan-tilt is subtracted from the linear acceleration of the carrier to obtain reference attitude data.

For example, when the pan/tilt is directly horizontally mounted on the carrier, the linear acceleration of the carrier is obtained, and the reference attitude data of the carrier is obtained according to the linear acceleration, and then the reference attitude data is subtracted from the measured attitude data, thereby obtaining a more accurate gimbal. Gesture data.

Specifically, the linear acceleration of the carrier can be measured by a compass and a satellite positioning device. Both the compass and the satellite positioning device are mounted on the carrier. GPS is used to obtain the linear acceleration of the large coordinate system download body, and the compass is used to measure the direction. The combination of the two can measure the linear acceleration of the carrier in the PTZ coordinate system.

Alternatively, the linear acceleration of the carrier can also be measured by a second accelerometer mounted on the carrier. The second accelerometer is mounted on the carrier in accordance with the movement of the carrier, and can effectively measure the linear acceleration of the carrier.

According to an embodiment of the invention, the reference attitude data can be obtained by subtracting the linear acceleration of the carrier from the acceleration value of the gimbal. The acceleration value of the pan/tilt may be measured by the first inertial measurement component, and further, may be measured by the first accelerometer of the first measurement component.

The linear acceleration of the carrier is subtracted from the acceleration value of the gimbal, and the influence of the linear acceleration of the carrier on the attitude of the gimbal is removed.

Finally, in step S230, the measured attitude data is corrected using the reference attitude data obtained in step 430 to obtain pan/tilt attitude data.

By using the reference attitude data obtained in step 420 to correct the measurement attitude data of the pan/tilt, it is possible to effectively eliminate the deviation caused by the estimation of the attitude of the carrier by the linear acceleration of the carrier, thereby obtaining more accurate pan/tilt attitude data.

In the pan/tilt attitude estimation method according to an embodiment of the present invention, the pan/tilt includes a first inertial measurement element, and an angular velocity value of the pan/tilt is measured by the first inertial measurement element. Further, the first inertial measurement element may comprise a gyroscope.

The gyroscope is an angular motion detecting device that uses a momentum moment sensitive housing of a high-speed rotating body to rotate around one or two axes orthogonal to the rotating shaft with respect to the inertial space, and an angular motion detecting device made by the principle thereof, which can be accurately and effectively Measure the angular velocity value of the gimbal.

And the gyroscope can also integrate the measured angular velocity values and output the pitch, roll, and yaw three-axis directions of the gimbal.

In addition, the first inertial measurement element may further include a first accelerometer, which may be used to measure the acceleration value of the pan/tilt.

In the pan/tilt attitude estimation method according to an embodiment of the present invention, the carrier may include a second inertial measurement element, and the second inertial measurement element may be used to measure the motion state data of the carrier. For example, the second accelerometer used when measuring the linear acceleration of the carrier belongs to the second inertial measurement element.

FIG. 5 is a block diagram schematically showing a pan/tilt attitude estimating apparatus according to an embodiment of the present invention.

As shown in FIG. 5, a pan/tilt attitude estimating apparatus 500 according to an embodiment of the present invention includes a first inertial measurement component including a first inertial measurement component 510, a communication interface 520, and a processor 530.

The first inertial measurement element 510 is configured to measure an angular velocity value of the gimbal and obtain measurement attitude data based on the angular velocity value.

The communication interface 520 is configured to obtain motion state data of the carrier, wherein the carrier supports the pan/tilt.

The processor 530 is configured to calculate reference posture data of the carrier according to the motion state data of the carrier, and correct the measurement posture data by using the reference posture data to obtain pan/tilt attitude data.

The first inertial measurement element 510 measures an angular velocity value of the pan-tilt and calculates measurement attitude data of the gimbal based on the angular velocity. Specifically, for example, when the first inertial measurement element includes a gyroscope, the angular velocity value of the gimbal can be measured by using the gyroscope, and the gyroscope can perform the attitude of obtaining the pitch, roll, and yaw directions of the gimbal by using the integral. .

The motion state data of the carrier obtained by the communication interface 520 may be, for example, the linear acceleration of the carrier, the angular velocity at which the carrier curve moves, the angular acceleration, the rotational angular velocity of the carrier, and the like.

The processor 530 calculates the reference attitude data of the carrier according to the motion state data of the carrier, including acquiring the reference posture data of the corresponding carrier according to different calculation methods according to different motion state data, for example, converting the motion state data of the carrier For quaternions, etc.

The processor 530 further corrects the measured attitude data by using the reference attitude data to obtain pan/tilt attitude data. Specifically, for example, the reference attitude data is compared with the measured attitude data to obtain a small angle error between the two. An extended Kalman filter (EKF) estimation is performed on the small angle error, and the measured attitude data is corrected by the EKF estimation, thereby obtaining more accurate pan/tilt attitude data.

According to an embodiment of the present invention, the pan/tilt attitude estimating apparatus 500 uses the acquired reference posture data of the motion state data carrier of the carrier, and corrects the measurement attitude data of the pan/tilt using the reference attitude data of the carrier to eliminate the motion state of the carrier. The deviation caused by the estimation of the attitude of the gimbal, resulting in more accurate gimbal attitude data, can more accurately estimate the attitude of the gimbal.

According to an embodiment of the present invention, when the motion state data of the carrier obtained by the communication interface 520 includes the three-axis joint angle of the pan/tilt, the processor 530 is further configured to establish forged posture data, and based on the three-axis joint angle of the gimbal The forged pose data is used to obtain reference pose data.

For example, the forged pose data established by processor 530 can be a forged pose quaternion (1000).

At the same time, the processor 530 obtains the reference attitude data based on the three-axis joint angle of the pan-tilt and the forged posture data, and may convert the three-axis joint angle of the gimbal into a quaternion, and quaternize the quaternion and the forged posture. The number (1000) is multiplied to obtain the quaternion of the reference attitude data of the gimbal.

Finally, the processor 530 corrects the measured attitude data of the pan/tilt according to the obtained quaternion of the reference attitude data, thereby obtaining pan/tilt attitude data.

FIG. 6 is a block diagram schematically showing a pan/tilt attitude estimating apparatus according to another embodiment of the present invention.

As shown in FIG. 6, a pan/tilt attitude estimating apparatus 500 according to another embodiment of the present invention includes a first inertial measurement element including a first inertial measurement element 510, a communication interface 520, and a processor 530.

The first inertial measurement element 510 further includes a gyroscope 511.

The gyroscope 511 is an angular motion detecting device that uses a momentum moment sensitive housing of a high speed rotating body to orbit the one or two axes orthogonal to the rotation axis with respect to the inertia space, and an angular motion detecting device made by the principle thereof, which can be accurately and effectively The angular velocity value of the measuring platform.

The gyroscope 511 can also integrate the measured angular velocity values to output the pitch, roll, and yaw attitudes of the pan/tilt.

The first inertial measurement element 510 can also include a first accelerometer 512.

The first accelerometer 512 can measure the acceleration value of the pan/tilt.

FIG. 7 is a block diagram schematically showing a pan-tilt attitude estimation device interacting with a carrier of a pan-tilt to perform pan-tilt attitude estimation according to an embodiment of the present invention.

As shown in FIG. 7, the pan/tilt attitude estimating apparatus 500 includes a first inertial measurement component including a first inertial measurement component 510, a communication interface 520, and a processor 530. The first inertial measurement element 510 further includes a gyroscope 511 and a first accelerometer 512.

The communication interface 520 of the pan/tilt attitude estimating apparatus 500 acquires motion state data of the carrier from the carrier 700. More specifically, the number of motion states of the carrier includes the linear acceleration of the carrier, measured by the GPS on the carrier and the compass 710, and transmitted to the communication interface 520 of the pan/tilt attitude estimating device 500.

The gyroscope 511 measures the angular velocity value of the gimbal and integrates it to obtain the measurement attitude data of the gimbal, and transmits it to the processor 530.

The first accelerometer 512 measures the acceleration value of the gimbal and transmits it to the processor 530.

The GPS and compass 710 measure the linear acceleration of the carrier and is transmitted by the communication interface 520 to the processor 530.

The processor 530 subtracts the linear acceleration of the carrier from the acceleration value of the pan/tilt to obtain reference attitude data. And the measurement attitude data of the pan/tilt is corrected according to the reference attitude data, and the attitude information of the gimbal is obtained.

The reference attitude data obtained by the processor 530 is obtained by subtracting the linear acceleration of the carrier from the acceleration value of the gimbal, thereby eliminating the deviation caused by the estimation of the attitude of the carrier by the motion state of the carrier. By correcting the measured attitude data with the reference attitude data, more accurate pan/tilt attitude data can be obtained, and the attitude of the pan/tilt can be estimated more accurately.

FIG. 8 is a block diagram schematically showing a pan-tilt attitude estimation device interacting with a carrier of a pan-tilt to perform pan-tilt attitude estimation according to another embodiment of the present invention.

As shown in FIG. 8, unlike FIG. 7, the pan/tilt attitude estimating apparatus 500 communication interface 520 acquires motion state data of the carrier from the carrier 800. And the motion state of the carrier is measured by the second inertial measurement element 810 on the carrier. The second inertial measurement element 810 includes a second gyroscope 811 and a second accelerometer 812.

The second gyroscope 811 measures the angular velocity value of the carrier and transmits it to the communication interface 520 of the pan/tilt attitude estimating device 500.

The second accelerometer 820 measures the linear acceleration of the carrier and is transmitted by the communication interface 520 to the processor 530.

As shown in FIG. 9, the pan/tilt 900 includes a pan/tilt attitude estimating device 500. The other parts of the gimbal are not limited by the present invention. For example, as a specific implementation manner, the pan/tilt head further includes a pan-tilt body, and the pan-tilt attitude estimating device 500 is installed on the pan-tilt body.

The structure of the pan/tilt attitude estimation apparatus 500 can be referred to the description in FIGS. 5-7. The other components or structures of the gimbal can be set according to actual needs. For example, for the structure and function of the gimbal itself, any existing structure can be used and any other functions can be implemented, which is not limited in the present invention.

In addition, when performing the pan/tilt attitude estimation, the pan/tilt attitude estimating apparatus 500 can implement the method described with reference to FIG. 2 to FIG. 4 to obtain the pan-tilt attitude data, so that the posture of the pan-tilt 900 can be accurately controlled. The control of the lens mounted on the pan/tilt is more accurate and effective, and the captured image is more accurate.

Although the present invention has been shown and described with respect to the specific exemplary embodiments of the present invention, those skilled in the art Various changes in form and detail are made to the invention. Therefore, the scope of the invention should not be construed as being limited by the appended claims.

Claims

A gimbal attitude estimation method, the method comprising:

S1, measuring an angular velocity value of the gimbal, and obtaining measurement attitude data based on the angular velocity value;

S2, measuring motion state data of the carrier of the pan/tilt, calculating reference attitude data of the carrier according to the motion state data, the carrier supporting the cloud platform;

S3. Correct the measurement posture data by using the reference attitude data to obtain pan/tilt attitude data.
The pan/tilt attitude estimation method according to claim 1, wherein the step S2 comprises:

Forging gesture data;

Reading the three-axis joint angle of the gimbal;

The reference attitude data is obtained based on the triaxial joint angle and the forged posture data.
The pan/tilt attitude estimation method according to claim 1, wherein the motion state data comprises a linear acceleration of a carrier;

Step S1 further includes: measuring a linear acceleration of the pan/tilt;

Calculating the reference attitude data of the carrier in step S2 includes: subtracting the acceleration value of the pan/tilt from the linear acceleration of the carrier to obtain the reference attitude data;
The pan/tilt attitude estimation method according to claim 3, wherein

The linear acceleration of the carrier is measured by a compass and a satellite positioning device.
The pan/tilt attitude estimation method according to claim 3, wherein

The linear acceleration of the carrier is measured by a second accelerometer.
The pan/tilt attitude estimation method according to any one of claims 1 to 5, wherein the pan/tilt head comprises a first inertial measurement element:

The angular velocity value of the pan/tilt is measured by the first inertial measurement component; and/or

The first inertial measurement element includes a gyroscope.
The pan/tilt attitude estimation method according to any one of claims 3 to 5, wherein the pan/tilt head comprises a first inertial measurement element:

The angular velocity value and the acceleration value of the pan/tilt are measured by the first inertial measurement component; and/or

The first inertial measurement element comprises a gyroscope and/or a first accelerometer.
The pan/tilt attitude estimating method according to claim 5, wherein said carrier comprises a second inertial measurement The second accelerometer belongs to the second inertial measurement component.
A pan/tilt attitude estimating device, comprising:

a first inertial measurement component, configured to measure an angular velocity value of the pan/tilt, and obtain measurement attitude data based on the angular velocity value;

a communication interface, configured to obtain motion state data of the carrier, the carrier supporting the cloud platform;

And a processor, configured to calculate reference attitude data of the carrier according to the motion state data of the carrier, and correct the measurement posture data by using the reference posture data to obtain pan/tilt attitude data.
The pan/tilt attitude estimating apparatus according to claim 9, wherein the motion state data of the carrier is a three-axis joint angle, and the processor is further configured to:

Establish forged posture data;

A prime reference attitude data is obtained based on the triaxial joint angle and the forged posture data.
The pan/tilt attitude estimating apparatus according to claim 10, wherein

The first inertial measurement component is further configured to measure an acceleration value of the pan/tilt;

The motion state data of the carrier obtained by the communication interface includes a linear acceleration of the carrier;

The processor is configured to obtain the reference attitude data by subtracting an acceleration value of the pan/tilt from a linear acceleration of the carrier.
The pan/tilt attitude estimating apparatus according to any one of claims 9 to 11, wherein the first inertial measurement element comprises a gyroscope.
The pan/tilt attitude estimating apparatus according to claim 11, wherein said first inertial measurement element comprises a gyroscope and a first accelerometer.
A pan/tilt head includes a pan-tilt body and a pan-tilt attitude estimating device installed on the pan-tilt body, the pan-tilt attitude estimating device comprising:

a first inertial measurement component, configured to measure an angular velocity value of the pan/tilt, and obtain measurement attitude data based on the angular velocity value;

a communication interface, configured to obtain motion state data of the carrier, the carrier supporting the cloud platform;

And a processor, configured to calculate reference attitude data of the carrier according to the motion state data of the carrier.
The pan/tilt head according to claim 14, wherein the motion state data of the carrier is a triaxial joint angle, and the processor is further configured to:

Establish forged posture data;

A prime reference attitude data is obtained based on the triaxial joint angle and the forged posture data.
The pan/tilt head according to claim 15, wherein

The first inertial measurement component is further configured to measure an acceleration value of the pan/tilt;

The motion state data of the carrier obtained by the communication interface includes a linear acceleration of the carrier;

The processor is configured to obtain the reference attitude data by subtracting an acceleration value of the pan/tilt from a linear acceleration of the carrier.
A pan/tilt head according to any one of claims 14 to 16, the first inertial measurement element comprising a gyroscope.