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WO2018191957A1 - Procédé et dispositif d'estimation d'attitude de dispositif de suspension de caméra, et dispositif de suspension de caméra correspondant - Google Patents

Procédé et dispositif d'estimation d'attitude de dispositif de suspension de caméra, et dispositif de suspension de caméra correspondant Download PDF

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Publication number
WO2018191957A1
WO2018191957A1 PCT/CN2017/081442 CN2017081442W WO2018191957A1 WO 2018191957 A1 WO2018191957 A1 WO 2018191957A1 CN 2017081442 W CN2017081442 W CN 2017081442W WO 2018191957 A1 WO2018191957 A1 WO 2018191957A1
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WO
WIPO (PCT)
Prior art keywords
pan
tilt
carrier
attitude
data
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/CN2017/081442
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English (en)
Chinese (zh)
Inventor
苏铁
潘立忠
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
SZ DJI Osmo Technology Co Ltd
Original Assignee
SZ DJI Osmo Technology Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by SZ DJI Osmo Technology Co Ltd filed Critical SZ DJI Osmo Technology Co Ltd
Priority to PCT/CN2017/081442 priority Critical patent/WO2018191957A1/fr
Priority to CN201780004424.7A priority patent/CN108513610A/zh
Publication of WO2018191957A1 publication Critical patent/WO2018191957A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
    • G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
    • G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
    • G01C21/166—Mechanical, construction or arrangement details of inertial navigation systems
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D3/00—Control of position or direction
    • G05D3/12—Control of position or direction using feedback

Definitions

  • 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.
  • 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.
  • target posture by controlling the real-time posture of the gimbal.
  • 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.
  • the inertial measurement element 110 also uses an accelerometer to give an attitude reference for the gimbal.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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
  • 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
  • FIG. 4 is a flow chart schematically showing a pan/tilt attitude estimation method according to another embodiment of the present invention.
  • FIG. 5 is a block diagram schematically showing a pan/tilt attitude estimating apparatus according to an embodiment of the present invention
  • FIG. 6 is a block diagram schematically showing a pan/tilt attitude estimating apparatus according to an embodiment of the present invention.
  • 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. 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.
  • Figure 9 is a schematic block diagram of a pan/tilt head in accordance with an embodiment of the present invention.
  • 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.
  • 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.
  • 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.
  • a spatial three-dimensional local coordinate system can be defined by using a point on the carrier as a coordinate origin.
  • the posture of the pan-tilt is the position in the local coordinate system, and the pan-tilt is in the local coordinate system.
  • 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.
  • the measurement posture data of the pan/tilt 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.
  • a pan/tilt attitude estimating apparatus comprising a first inertial measurement element, a communication interface, and a processor.
  • 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.
  • 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.
  • 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.
  • the pan/tilt attitude estimation method includes steps S210 to S230.
  • step S210 the angular velocity value of the gimbal is measured, and the measured attitude data is obtained based on the angular velocity value.
  • 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.
  • 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.
  • the first inertial measurement component is directly mounted on the gimbal to form part of the composition of the gimbal.
  • 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.
  • the linear acceleration of the carrier is zero.
  • 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.
  • 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.
  • step S230 the measured attitude data is corrected using the reference attitude data to obtain pan/tilt attitude data.
  • 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.
  • EKF extended Kalman filter
  • 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.
  • 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.
  • the posture data is forged.
  • step 331-2 the three-axis joint angle of the gimbal is read.
  • reference pose data is obtained based on the triaxial joint angle and the forged pose data.
  • 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.
  • the forged posture data may specifically be a forged posture quaternion (1000).
  • 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.
  • 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.
  • a pan/tilt attitude estimation method includes steps S410, S420, and step S230.
  • step S230 is consistent with step S230 described in FIG. 2.
  • 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.
  • step S410 while measuring the angular velocity value of the gimbal, the acceleration value of the gimbal is also measured.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • step S230 the measured attitude data is corrected using the reference attitude data obtained in step 430 to obtain pan/tilt attitude data.
  • 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.
  • 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.
  • the gyroscope can also integrate the measured angular velocity values and output the pitch, roll, and yaw three-axis directions of the gimbal.
  • first inertial measurement element may further include a first accelerometer, which may be used to measure the acceleration value of the pan/tilt.
  • 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.
  • 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.
  • a 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 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.
  • EKF extended Kalman filter
  • 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.
  • the processor 530 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.
  • the forged pose data established by processor 530 can be a forged pose quaternion (1000).
  • 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.
  • 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.
  • a pan/tilt attitude estimating apparatus 500 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • Figure 9 is a schematic block diagram of a pan/tilt head in accordance with an embodiment of the present invention.
  • 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.
  • 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.
  • 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.

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  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Automation & Control Theory (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Gyroscopes (AREA)
  • Length Measuring Devices With Unspecified Measuring Means (AREA)

Abstract

La présente invention concerne un procédé et un dispositif d'estimation d'attitude de dispositif de suspension de caméra, et un dispositif de suspension de caméra pourvu du dispositif d'estimation de dispositif de suspension de caméra. Le procédé consiste : S1, à mesurer une vitesse angulaire d'un dispositif de suspension de caméra, et à acquérir des données d'attitude de mesure en fonction de la vitesse angulaire ; S2, à mesurer des données d'état de mouvement d'un support du dispositif de suspension de caméra, et à calculer, en fonction des données d'état de mouvement, des données d'attitude de référence du support, le support portant le dispositif de suspension de caméra ; et S3, à corriger, à l'aide des données d'attitude de référence, les données d'attitude de mesure afin d'obtenir des données d'attitude de dispositif de suspension de caméra. La présente invention gère efficacement une influence d'un état de mouvement du support sur l'attitude du dispositif de suspension de caméra lors de l'estimation de l'attitude du dispositif de suspension de caméra, ce qui permet une estimation d'attitude hautement précise du dispositif de suspension de caméra ainsi qu'une commande de précision de l'attitude du dispositif de suspension de caméra.
PCT/CN2017/081442 2017-04-21 2017-04-21 Procédé et dispositif d'estimation d'attitude de dispositif de suspension de caméra, et dispositif de suspension de caméra correspondant Ceased WO2018191957A1 (fr)

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PCT/CN2017/081442 WO2018191957A1 (fr) 2017-04-21 2017-04-21 Procédé et dispositif d'estimation d'attitude de dispositif de suspension de caméra, et dispositif de suspension de caméra correspondant
CN201780004424.7A CN108513610A (zh) 2017-04-21 2017-04-21 一种云台姿态估计方法、装置以及相应的云台

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PCT/CN2017/081442 WO2018191957A1 (fr) 2017-04-21 2017-04-21 Procédé et dispositif d'estimation d'attitude de dispositif de suspension de caméra, et dispositif de suspension de caméra correspondant

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CN110770671A (zh) * 2018-09-30 2020-02-07 深圳市大疆创新科技有限公司 云台及其控制方法、可移动平台
WO2020062281A1 (fr) * 2018-09-30 2020-04-02 深圳市大疆创新科技有限公司 Procédé de commande de tête de berceau, tête de berceau, plateforme mobile et support de stockage lisible
CN113848999B (zh) * 2021-12-01 2022-02-15 普宙科技(深圳)有限公司 一种云台正反倒置自适应控制方法、装置及云台
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