Pan-tilt attitude detection method and device

Abstract

The invention relates to the technical field of unmanned aerial vehicles and discloses a pan-tilt attitude detection method and a pan-tilt attitude detection device. The method comprises the following steps: acquiring data of a pan-tilt inertia measurement unit, wherein the data of the inertia measurement unit includes angular velocity data of a gyro and accelerometer data; performing quaternion integral operation on the data of the inertia measurement unit; changing the data of the inertia measurement unit from quaternion expression into rotation matrix expression; and changing the data of the inertia measurement unit from the rotation matrix expression into eulerian angle expression, wherein the step of performing the quaternion integral operation on the data of the inertia measurement unit comprises the following sub-steps: by taking the rotation matrix expression as feedback, performing feedback correction on the quaternion expression, acquiring pan-tilt attitude data through an attitude heading system, performing pan-tilt attitude expression by adopting different algorithms and compensating and correcting the pan-tilt attitude. Therefore, the accuracy of the pan-tilt attitude detection is improved.

Description

technical field [0001] The invention relates to the technical field of unmanned aerial vehicles, in particular to a method and device for detecting the posture of a pan-tilt. Background technique [0002] With the continuous development of control theory, unmanned aerial vehicles have also attracted the attention of researchers from all over the world. Various aircrafts have been produced in the world, among which the rotor aircraft with simple mechanical structure and small footprint has attracted special attention. At present, the attitude expression methods of airborne gimbals can be divided into: Euler angle, quaternion and rotation matrix. Quaternion avoids the singularity problem of Euler angle, but Euler angle expresses attitude more intuitively; four Compared with the rotation matrix, the rotation matrix needs 9 variables to express the attitude, and the quaternion only needs 4 fewer variables to express the attitude. The integral operation and normalization operatio...

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Problems solved by technology

At present, the attitude expression methods of airborne gimbals can be divided into: Euler angle, quaternion and rotation matrix. Quaternion avoids the singularity problem of Euler angle, but Euler angle expresses attitude more intuitively; four Compared with the rotation matrix, the rotation matrix needs 9 variables to express the attitude, and the quaternion only needs 4 fewer variables to express the attitude. The integral operation and normalization operation of the quaternion are more convenient than the rotation matrix. But the quaternion is not as convenient as the rotation matrix when performing vector rotation

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