Pan-tilt attitude adjustment method and device

Abstract

The embodiment of the invention provides a pan-tilt attitude adjustment method and device, and the method comprises the steps: obtaining an angular velocity measurement value and an attitude measurement quaternion of pan-tilt equipment according to a preset period; calculating an attitude prediction quaternion and a covariance prediction value of the pan-tilt equipment; judging whether the attitude measurement quaternion and the attitude prediction quaternion meet attitude singularity conditions or not; if so, converting the attitude measurement quaternion into Euler angles, negating a course angle in the Euler angles, and converting the Euler angles after the course angle negation to obtain an updated attitude measurement quaternion, and calculating a difference between the updated attitude measurement quaternion and the attitude prediction quaternion to obtain a second measurement information value; calculating to obtain an attitude estimation quaternion of the pan-tilt equipment in the current period; and adjusting the attitude of the pan-tilt equipment based on the attitude estimation quaternion of the pan-tilt equipment in the current period. Therefore, the problem of attitude divergence of the pan-tilt equipment is reduced, and all-attitude adjustment of the pan-tilt equipment is realized.

Description

technical field [0001] The invention relates to the technical field of pan-tilt control, in particular to a method and device for adjusting the attitude of a pan-tilt. Background technique [0002] As the application scenarios of cameras become more and more complex, the requirements for the adaptability of the pan / tilt equipped with cameras to various application scenarios are also getting higher and higher. In some scenarios, it is necessary for the gimbal to be able to work in full attitude without being restricted by the structure and the attitude of the carrier. [0003] In related technologies, the EKF (Extended Kalman Filter) model of Euler angle measurement is usually used to adjust the attitude of the pan / tilt, but this model will have a singular point of attitude, when the pan / tilt reaches the singular point of attitude , it is prone to divergence and random rotation, and it is difficult to control the attitude of the gimbal. [0004] Therefore, there is an urgen...

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Problems solved by technology

[0003] In related technologies, the EKF (Extended Kalman Filter) model of Euler angle measurement is usually used to adjust the attitude of the pan / tilt. However, this model will have a singular point of attitude. When the pan / tilt reaches the singular point of attitude It is easy to diverge and turn randomly, and it is difficult to control the attitude of the gimbal

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