Eureka AIR delivers breakthrough ideas for toughest innovation challenges, trusted by R&D personnel around the world.

Aircraft double-axis tracking holder decoupling control method and system, and storage medium

A dual-axis tracking and decoupling control technology, applied in the field of aircraft control, can solve the problem of unable to lock the target, and achieve the effect of improving the tracking effect, improving the image stabilization of the gimbal, and reducing the shaking of the azimuth axis.

Active Publication Date: 2022-02-08
PRODRONE TECH (SHENZHEN) CO LTD
View PDF6 Cites 0 Cited by
  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] The technical problem to be solved by the present invention is to provide a decoupling control method, system, and storage medium for a two-axis tracking gimbal of an aircraft, so as to overcome the problem that the two-axis gimbal cannot lock the target during the tracking process

Method used

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View more

Image

Smart Image Click on the blue labels to locate them in the text.
Viewing Examples
Smart Image
  • Aircraft double-axis tracking holder decoupling control method and system, and storage medium
  • Aircraft double-axis tracking holder decoupling control method and system, and storage medium
  • Aircraft double-axis tracking holder decoupling control method and system, and storage medium

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0041] The applicant found that when the aircraft was used to perform shooting and tracking, the dual-axis gimbal installed on the aircraft swayed in the azimuth direction due to the problem of the missing axis due to the roll disturbance. The effect of tracking the target is poor, which affects the performance of the tracking task.

[0042] To this end, an embodiment of the present application provides a method for decoupling a dual-axis tracking gimbal for an aircraft. Refer to figure 1 , applied to the server side, including the following steps:

[0043] Step S1, acquiring the data group of the PTZ through the sensor installed on the PTZ;

[0044] It should be emphasized that the pan / tilt in the embodiment of the present application is a pan / tilt with two image stabilization axes of azimuth and pitch.

[0045] Usually, the data set mainly includes:

[0046] The angular velocity in the pitch direction of the gimbal camera is GyroX, the angular velocity in the roll directi...

Embodiment 2

[0089] The embodiment of the present application provides a dual-axis tracking gimbal decoupling control device for an aircraft, refer to figure 2 , the device includes:

[0090] The acquiring module 301 is used for acquiring the data group of the PTZ; also used for;

[0091] Among them, the data group of the gimbal includes:

[0092] The angular velocity in the pitch direction of the gimbal camera is GyroX, and the angular velocity in the azimuth direction of the gimbal camera is GyroZ;

[0093] PTZ pitch angle α;

[0094] The angular velocity of the gimbal pitch motor shaft is GyroMotorX, and the angular velocity of the gimbal azimuth motor shaft is GyroMotorZ.

[0095] The decoupling module 302 is used for decoupling the angular velocity between the camera shaft of the gimbal and the motor shaft of the gimbal based on the data set; and is also used for:

[0096] The angular velocity decoupling includes the following steps:

[0097] According to the size of the gimbal ...

Embodiment 3

[0108] The third embodiment of the present application also provides a storage medium, on which computer instructions are stored, and when the computer instructions are executed by a processor, the following steps are implemented:

[0109] Step S31, acquiring the data group of the PTZ through the sensor installed on the PTZ;

[0110] It should be emphasized that the pan / tilt in the embodiment of the present application is a pan / tilt with two image stabilization axes of azimuth and pitch.

[0111] Usually, the data set mainly includes:

[0112] The angular velocity in the pitch direction of the gimbal camera is GyroX, the angular velocity in the roll direction of the gimbal camera is GyroY, and the angular velocity in the azimuth direction of the gimbal camera is GyroZ;

[0113] The pitch angle of the gimbal is α, the roll angle of the gimbal is β, and the flight attitude roll angle of the multi-rotor aircraft is γ;

[0114] The angular velocity of the gimbal pitch motor shaf...

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More

PUM

No PUM Login to View More

Abstract

The invention discloses an aircraft double-axis tracking holder decoupling control method and system, and a storage medium. The method comprises the following steps of: obtaining a data set of a holder; decoupling the angular velocity between a camera axis and a motor axis of the holder based on the data set; and according to the decoupled angular velocity, adjusting the holder to realize holder image stabilization. According to the control method provided by the invention, decoupling is carried out by acquiring the data set of the holder, and then the holder is adjusted to realize holder image stabilization. Compared with an existing two-axis holder shooting tracking method, the control method can obviously improve holder image stabilization when the pitching angle of the holder is larger than 30 degrees; and the method can obviously reduce azimuth axis shaking, and is remarkably improved in tracking effect compared with a conventional method. According to the method, the problem that images cannot be recognized due to shaking of an azimuth axis and rotation shaking of a transverse rolling shaft when the pitching angle is larger than 30 degrees in a traditional decoupling method is greatly solved, and the problem that in the tracking process, a tracking target is lost and cannot be well locked, and the tracking effect is poor is solved.

Description

technical field [0001] The invention relates to the technical field of aircraft control, in particular to a method, a system and a storage medium for decoupling control of a dual-axis tracking pan / tilt of an aircraft. Background technique [0002] At present, multi-rotor aircraft are commonly used to carry the gimbal for shooting and tracking tasks. The gimbal carried by the multi-rotor has various forms. The commonly used gimbal can be divided into single-axis gimbal, two-axis gimbal, and three-axis gimbal according to its stable axis. Since the tracking only tracks the XY direction of the target, the two-axis pan / tilt with the pitch axis and the azimuth axis is widely used in special industries. [0003] The traditional two-axis gimbal has better tracking effect only when the pitch axis is horizontal. When the pitch angle is greater than 30°, since there is no motor shaft to isolate the disturbance in the roll direction, the disturbance in the roll direction on the aircr...

Claims

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More

Application Information

Patent Timeline
no application Login to View More
Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/08G05D1/10
CPCG05D1/0808G05D1/101
Inventor 黄立余哲张佳李攀任佳豪薛源刘华斌
Owner PRODRONE TECH (SHENZHEN) CO LTD
Who we serve
  • R&D Engineer
  • R&D Manager
  • IP Professional
Why Eureka
  • Industry Leading Data Capabilities
  • Powerful AI technology
  • Patent DNA Extraction
Social media
Eureka Blog
Learn More
PatSnap group products

Browse by: Latest US Patents, China's latest patents, Technical Efficacy Thesaurus, Application Domain, Technology Topic, Popular Technical Reports.

© 2024 PatSnap. All rights reserved.Legal|Privacy policy|Modern Slavery Act Transparency Statement|Sitemap|About US| Contact US: help@patsnap.com