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Method and device for attitude estimation of a pan-tilt

A technology of pan-tilt and attitude, which is applied in the field of pan-tilt, can solve the problems of increasing cumulative error, inaccurate attitude increment, and reducing the estimation accuracy of pan-tilt attitude, so as to improve the estimation accuracy and avoid the problem of integration error

Active Publication Date: 2022-03-08
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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  • Method and device for attitude estimation of a pan-tilt

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Embodiment Construction

[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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Abstract

The invention discloses a method and a device for estimating the attitude of a pan-tilt, belonging to the technical field of pan-tilts. The method includes: respectively obtaining the angular velocity and linear acceleration of the image acquisition device in the cloud platform at the i+1th moment in the three axes of the cloud platform coordinate system, and the angular displacement of the output shaft of the yaw axis motor in the cloud platform; The angular velocity and linear acceleration of the three axes of the Taichung image acquisition equipment in the gimbal coordinate system, and the angular displacement of the output shaft of the yaw axis motor in the gimbal, calculate the gimbal platform error angle at the i+1th moment, and obtain the gimbal at the ith moment Attitude, based on the error angle of the gimbal platform at the i+1th moment and the gimbal attitude at the ith moment, the gimbal attitude at the i+1th moment is obtained. Device: a first acquisition module, a calculation module, a second acquisition module and an update module. The invention can improve the attitude estimation accuracy of the pan-tilt.

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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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G01C21/20
CPCG01C21/20
Inventor 王洁
Owner HANGZHOU HIKVISION DIGITAL TECH