Pan-tilt attitude estimation method and device
An attitude estimation and gimbal technology, applied in the field of gimbal, can solve the problems of increasing cumulative error, reducing the accuracy of gimbal attitude estimation, and inaccurate attitude increment.
Active Publication Date: 2020-03-10
HANGZHOU HIKVISION DIGITAL TECH
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Problems solved by technology
[0004] In the process of realizing the present invention, the inventor found that the prior art has at least the following problems: the attitude increment obtained by integrating the angular velocity of the gyroscope has a cumulative error in the integral operation, and the cumulative error will increase with time, so The calculated attitude increment is inaccurate, which reduces the estimation accuracy of the gimbal attitude
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[0111] In order to make the object, technical solution and advantages of the present invention clearer, the implementation manner of the present invention will be further described in detail below in conjunction with the accompanying drawings.
[0112] In order to facilitate the understanding of the pan-tilt attitude estimation method and device provided in the embodiments of the present invention, some terms involved in the embodiments are explained first.
[0113] The Extended Kalman Filter (EKF for short) is a high-efficiency recursive filter (autoregressive filter). The basic idea of EKF is to linearize the nonlinear system and then perform Kalman filtering. EKFs are able to estimate the state of a dynamical system from a series of measurements that do not fully contain noise.
[0114] The gimbal attitude, also known as the gimbal camera attitude, refers to the relative angular displacement relationship between the gimbal coordinate system and the navigation coordinate ...
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The invention discloses a pan-tilt attitude estimation method and device, and belongs to the technical field of pan-tilts. The method comprises the following steps: respectively acquiring angular velocity and linear acceleration of image acquisition equipment in a pan-tilt in three axes of a pan-tilt coordinate system at the (i + 1) th moment, and angular displacement of an output shaft of a heading axis motor in the pan-tilt; based on the angular velocity and the linear acceleration of the image acquisition equipment in the pan-tilt coordinate system at the (i + 1) th moment and the angular displacement of the output shaft of the heading axis motor in the pan-tilt, calculating a pan-tilt platform error angle at the (i + 1) th moment, obtaining a pan-tilt attitude at the i-th moment, and updating the pan-tilt attitude at the i-th moment based on the pan-tilt platform error angle at the (i + 1) th moment to obtain the pan-tilt attitude at the (i + 1) th moment. The device comprises a first acquisition module, a calculation module, a second acquisition module and an updating module. The pan-tilt attitude estimation precision can be improved.
Description
technical field [0001] The present invention relates to the technical field of pan-tilts, in particular to a method and device for estimating the attitude of pan-tilts. Background technique [0002] Aerial drones generally carry cameras through the gimbal. When the camera is working, the gimbal will be unstable due to the influence of the drone's flying environment, such as vibration and shaking. At this time, it is not conducive to the camera to shoot stable videos or images. In order to ensure that the camera can obtain a stable video or image, it is necessary to achieve a good tracking of the gimbal posture to the target gimbal posture. When achieving good tracking of the gimbal attitude, it is first necessary to accurately estimate the gimbal attitude. [0003] The existing pan-tilt attitude estimation method is to install a gyroscope on the camera and estimate the pan-tilt attitude through the working parameters of the gyroscope. Specifically, the initial attitude of...
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Login to View More IPC IPC(8): G01C21/20
CPCG01C21/20
Inventor 王洁
Owner HANGZHOU HIKVISION DIGITAL TECH