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A detection method and detection device technology, applied in the field of unmanned aerial vehicles, can solve problems such as quaternion without rotation matrix
Active Publication Date: 2017-07-18
EHANG INTELLIGENT EQUIP GUANGZHOU CO LTD
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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 v...
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Embodiment 1
[0052] Such as figure 1 Shown, in the present embodiment, a kind of pan-tilt posture detection method comprises:
[0053] S10, acquiring the data of the inertial measurement unit of the platform, the data of the inertial measurement unit includes the angular velocity data and the accelerometer data of the gyroscope;
[0054] S20, performing quaternion integration operation on the data of the inertial measurement unit;
[0055] S30. Convert the data of the inertial measurement unit from a quaternion representation to a rotation matrix representation;
[0056] S40. Converting the data of the inertial measurement unit from a representation of a rotation matrix to a representation of Euler angles;
[0057] Wherein, the method also includes:
[0058] S21. Using the rotation matrix expression as feedback, perform feedback correction on the quaternion expression.
[0059]In the present embodiment, the pan-tilt attitude data is obtained by the attitude heading system, and the pan-...
Embodiment 2
[0096] Such as Figure 7 Shown, in the present embodiment, a kind of pan-tilt posture detection device comprises:
[0097] Attitude data acquisition module 10, for obtaining the data of the inertial measurement unit of cloud platform, the data of described inertial measurement unit comprises the angular velocity data of gyroscope and accelerometer data;
[0098] A quaternion integration module 20, configured to perform a quaternion integration operation on the data of the inertial measurement unit;
[0099] A rotation matrix module 30, configured to convert the data of the inertial measurement unit from a quaternion representation to a rotation matrix representation;
[0100] The Euler angle module 40 is used to convert the data of the inertial measurement unit from the representation of the rotation matrix into the representation of Euler angles;
[0101] The feedback correction module 50 is configured to use the rotation matrix expression as feedback to perform feedback co...
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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...
Claims
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