Pan-tilt positioning error measuring method
A measurement method and technology for positioning error, which are applied in measurement devices, surveying and navigation, photogrammetry/video surveying, etc., and can solve problems such as reducing the control and positioning accuracy of the gimbal, the repeated positioning error of the gimbal, and insufficient accuracy.
Active Publication Date: 2020-09-11
NANJING TETRAELC ELECTRONICS TECH CO LTD
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Problems solved by technology
The existing gimbal positioning method has the following defects: due to factors such as motor drive method, mechanical hysteresis or abnormal external force blocking, it will largely cause gimbal repeat positioning error, thereby reducing gimbal control and positioning accuracy
[0003] In the prior art, the method of measuring the positioning error of the pan / tilt is usually to compensate the mechanical error of the pan / tilt, and the accuracy of such a method is not enough
Method used
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[0062] The technical solutions of the present invention will be described in detail below, but the protection scope of the present invention is not limited to the embodiments.
[0063] Such as figure 1 As shown, in the method for measuring the positioning error of a pan / tilt in this embodiment, the visible light camera on the pan / tilt adopts a binocular depth camera, and the visible light image and the depth value corresponding to the pixel point in the image are simultaneously obtained through the binocular depth camera, specifically including The following steps:
[0064] Step 1: Use the gimbal to take a picture against a plane or an approximate plane, record and store the horizontal angle of the gimbal for this shooting and vertical angle , and record the focal length f, zoom ratio a and aperture b of the binocular depth camera during this shooting, and then save the template image M and the corresponding depth matrix Dm;
[0065]
[0066] In the above formula, m ...
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The invention discloses a pan-tilt positioning error measurement method. The method comprises the following steps: shooting a template picture by using a pan-tilt and recording corresponding shootingparameters and a corresponding depth matrix; extracting a feature description subset after preprocessing the template picture, setting a pan-tilt motion target value to simulate pan-tilt repeated positioning, solving a deviation between an actual pan-tilt motion angle and a preset value, shooting a current view angle picture, extracting s feature description subset of the current picture, matchingthe two feature description subsets, selecting four pairs of feature points which are optimally matched, and calculating normal vectors of a plane where the four points are located under world coordinates and the distance from the plane to a camera when the template is shot; and finally calculating pan-tilt positioning deviation. The method can improve the accuracy of feature matching, is used for pan-tilt repeated positioning precision detection, pan-tilt performance evaluation and pan-tilt error correction, and overcomes the defect that the hardware modification amount is large when an inertial measurement unit is adopted or an encoder is added or other methods are adopted.
Description
technical field [0001] The invention belongs to the technology of pan-tilt equipment, and in particular relates to a method for measuring the positioning error of the pan-tilt. Background technique [0002] The gimbal is used to fix the target carrier, adjust the posture of the target carrier and keep the target carrier stable at a certain posture, so as to realize the stable, smooth and multi-angle shooting of the target carrier. The existing pan-tilt positioning method has the following defects: due to factors such as motor drive method, mechanical hysteresis or abnormal external force blocking, it will largely cause repeated positioning errors of the pan-tilt, thereby reducing the control and positioning accuracy of the pan-tilt. [0003] In the prior art, the method for measuring the positioning error of the pan / tilt is usually to compensate the mechanical error of the pan / tilt, and the accuracy of such a method is not enough. Contents of the invention [0004] Purpos...
Claims
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IPC IPC(8): G05D3/10G01B11/00G01C11/00
CPCG05D3/10G01B11/002G01C11/00
Inventor 雷丽君刘爽闵济海叶增军姜红杉
Owner NANJING TETRAELC ELECTRONICS TECH CO LTD