Handheld pan-tilt attitude estimation method based on extended Kalman filtering

Abstract

The invention provides a handheld pan-tilt attitude estimation method based on extended Kalman filtering. The method comprises the following steps: step 1, selecting a state vector of an attitude estimation system, and constructing a prediction equation of the state vector; step 2, calculating a Jacobian matrix of a measurement prediction value according to a measurement prediction equation, the matrix being a measurement matrix, and completing establishment of an attitude estimation system model; and step 3, writing the extended Kalman filter into a sequential filtering form to complete handheld pan-tilt attitude estimation. According to the handheld pan-tilt attitude estimation method based on the extended Kalman filtering, firstly, the attitude estimation state model is established; secondly, a measurement model is established; finally, filtering parameters are designed according to the selected sensor, the extended Kalman filtering is performed in a sequential filtering form and the high-precision attitude information and speed information of the handheld pan-tilt are outputted.

Description

technical field [0001] The invention belongs to the technical field of automatic control, and in particular relates to an attitude estimation method of a hand-held pan-tilt based on an extended Kalman filter. Background technique [0002] At present, the gimbal is the most widely used in aerial photography. However, in the matinee life, the most widely used photography equipment is the mobile phone, which faces the problem of screen shake when taking pictures with the mobile phone. Although the optical anti-shake technology of photographic equipment has been greatly developed at present, the lens group in the camera can only compensate for small movement displacements. In order to capture stable pictures, the hand must remain stable for a long time, so the introduction of handheld cloud It is necessary to perform a larger range of motion compensation. Hand-held gimbals have only emerged in the past two years, and their principles are similar to those of airborne gimbals. Th...

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Problems solved by technology

[0003] In attitude estimation technology, the classic first-order complementary filter attitude estimation algorithm is widely used in various engineering projects due to its simple algorithm implementation and small amount of calculation. However, the performance of the first-order complementary filter algorithm is limited and cannot be well adapted. The environment with high-frequency disturbance input; the attitude estimation based on Euler angle, its algorithm is intuitive and easy to understand, so it is widely used in various motion control systems, but the Euler angle has the problem of gimbal deadlock

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