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Aircraft two-axis tracking pan-tilt decoupling control method, system and storage medium

A two-axis tracking and decoupling control technology, which is applied in the field of aircraft control, can solve the problems of being unable to lock the target, and achieve the effects of improving the tracking effect, improving the stabilization of the gimbal, and reducing the shaking of the azimuth axis

Active Publication Date: 2022-03-11
PRODRONE TECH (SHENZHEN) CO LTD
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  • 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

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  • Aircraft two-axis tracking pan-tilt decoupling control method, system and storage medium
  • Aircraft two-axis tracking pan-tilt decoupling control method, system and storage medium
  • Aircraft two-axis tracking pan-tilt decoupling control method, system and storage medium

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Effect test

Embodiment 1

[0041] The applicant found that when using an aircraft to perform shooting and tracking, the two-axis gimbal installed on the aircraft shakes in the azimuth direction due to roll disturbance due to lack of axis, and the image cannot be recognized due to the shaking of the azimuth axis and the shaking of the roll axis. The effect of tracking the target is very poor, which affects the execution of the tracking task.

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

[0043] Step S1, obtaining the data group of the pan-tilt through the sensor installed on the pan-tilt;

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

[0045] Usually, the data set mainly includes:

[0046] The angular veloc...

Embodiment 2

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

[0090] Obtaining module 301, is used for obtaining the data group of PTZ; Also used for;

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

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

[0093] Gimbal 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 gimbal camera shaft and the gimbal motor shaft based on the data set; it is also used for:

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

[0097] According to the size of the pitch angle α of the platform, th...

Embodiment 3

[0108] Embodiment 3 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, obtaining the data group of the pan-tilt through the sensor installed on the pan-tilt;

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

[0111] Usually, the data set mainly includes:

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

[0113] Gimbal pitch angle α, gimbal roll angle β, multi-rotor aircraft flight attitude roll angle γ;

[0114] Gimbal pitch motor shaft angular speed GyroMotorX, gimbal roll motor shaft angular speed GyroMotorY, gimbal azi...

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Abstract

The invention discloses a decoupling control method, system and storage medium for two-axis tracking pan / tilt of an aircraft, comprising the following steps: obtaining a data set of the pan / tilt; coupling; according to the decoupled angular velocity, adjust the gimbal to achieve gimbal image stabilization. In the control method of the present invention, the data group of the pan-tilt is obtained for decoupling, and then the pan-tilt is adjusted to realize image stabilization of the pan-tilt. Compared with the existing two-axis gimbal shooting and tracking, the control method of this application can significantly improve the gimbal image stabilization when the pitch angle of the gimbal is greater than 30°; it can significantly reduce the shaking of the azimuth axis, and the tracking effect is better than that of the traditional method with significant improvement. The present invention greatly optimizes the traditional decoupling method. When the pitch angle is greater than 30°, the shaking of the azimuth axis and the shaking of the roll axis cause the image to be unrecognizable, and overcome the loss of the tracking target during the tracking process, the tracking target cannot be well locked, and the tracking effect is poor. And other issues.

Description

technical field [0001] The invention relates to the technical field of aircraft control, in particular to a decoupling control method, system and storage medium for an aircraft two-axis tracking pan-tilt. Background technique [0002] At present, multi-rotor aircrafts are commonly used to carry gimbals for shooting and tracking tasks. There are many types of gimbals equipped with multi-rotors. Commonly used gimbals can be divided into single-axis gimbals, two-axis gimbals, and three-axis gimbals according to their stable axes. Since the tracking only tracks the XY direction of the target, the two-axis gimbal with pitch axis and azimuth axis is widely used in special industries. [0003] Traditional two-axis gimbals have 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 aircraft body will be trans...

Claims

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Application Information

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Patent Type & Authority Patents(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
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