Multi-inertial navigation induction holder self-correction system and method

Abstract

The invention discloses a multi-inertial navigation induction holder self-correction system and method, and relates to the technical field of holder rotation, and the method comprises the steps: obtaining the rotation speed of a target holder in the initial rotation process, and combining the preset delay time of a sensor to obtain a sensor delay coefficient; obtaining the temperature to obtain a temperature deviation coefficient of the target holder; acquiring current of a driving motor to obtain a motor influence coefficient of the target holder; and obtaining a rotation angle influence coefficient according to a sensor delay coefficient, a temperature deviation coefficient and a motor influence coefficient of the target holder, obtaining a final rotation angle in combination with an initial preset rotation angle in the secondary rotation instruction, and sending the secondary rotation instruction to the target holder according to the final rotation angle, so that in the holder self-correction process, the self-correction accuracy of the holder is improved. According to different states of the holder, the final rotation angle can be obtained and is sent to the holder as a secondary rotation instruction for rotation, so that the final rotation angle can reach the target angle of the holder, and the deviation of the self-correction rotation angle of the holder is reduced.

Description

Technical Field

[0001] The invention relates to the technical field of pan / tilt rotation, and in particular to a pan / tilt self-correction system and method based on multi-inertial navigation sensors. Background Art

[0002] A multi-INS gimbal is a gimbal device that uses multiple inertial navigation sensors (such as accelerometers, gyroscopes, magnetometers, etc.) to detect the attitude and position information of the device. This gimbal achieves more accurate attitude and motion tracking of the device through the integration of multiple inertial navigation units (IMUs), and is particularly suitable for maintaining stable shooting or monitoring effects in complex dynamic environments. In general, the multi-INS gimbal tracks the subject in real time and stabilizes the image through rotation and the camera device mounted on the gimbal.

[0003] When a general multi-inertial navigation gimbal rotates, a command of the required rotation angle is sent to the gimbal, and the drive motor inside the gimbal is used to drive the multi-inertial navigation gimbal to rotate. The rotation angle is monitored by the sensor inside the multi-inertial navigation gimbal. When it is detected that the gimbal rotation angle has not rotated to the command angle sent, the multi-inertial navigation gimbal self-correction system sends a secondary rotation command again to accurately adjust the gimbal rotation angle to ensure that the target angle is finally reached. This self-correction mechanism enables the gimbal to maintain high-precision positioning when responding to complex commands through real-time feedback and adjustment, effectively reducing the impact of angle deviation and improving image stability.

[0004] However, in the actual rotation process, due to the different states of the gimbal itself, the gimbal rotation angle sent by the secondary rotation command may not reach the target angle of the gimbal after rotation, resulting in a deviation in the gimbal self-correction rotation angle. Summary of the invention

[0005] The purpose of the present invention is to solve the above-mentioned problems and provide a multi-inertial navigation sensor gimbal self-correction system and method.

[0006] In a first aspect of the present invention, a multi-inertial navigation sensing gimbal self-correction method is first proposed, the method comprising:

[0007] Obtain the rotation speed of the target gimbal during the initial rotation process, and obtain the sensor delay coefficient in combination with the preset delay time of the sensor;

[0008] Obtain the temperature of the target gimbal during its initial rotation, and obtain the temperature deviation coefficient of the target gimbal according to the temperature;

[0009] Obtain the current of the driving motor during the initial rotation of the target gimbal, and obtain the motor influence coefficient of the target gimbal according to the current of the driving motor;

[0010] The rotation angle influence coefficient is obtained according to the sensor delay coefficient, temperature deviation coefficient and motor influence coefficient of the target gimbal, and the final rotation angle is obtained by combining the initial preset rotation angle in the secondary rotation instruction, and a secondary rotation instruction is sent to the target gimbal according to the final rotation angle.

[0011] Optionally, obtaining the rotation speed of the target gimbal during the initial rotation process and obtaining the sensor delay coefficient in combination with the preset delay time of the sensor includes:

[0012] The actual speed ω(t) of the target gimbal during its initial rotation is obtained at multiple times continuously, and the instantaneous speed change Δω(t) is calculated. The calculation formula is: In the formula, Δt is the time interval between two adjacent speed sampling points;

[0013] Calculate the maximum value of the speed change Δω max , RMS value Δω rms and the actual speed average And calculate the integral I of the actual speed, the calculation formula is: Where T is the total rotation time of the target gimbal during the initial rotation;

[0014] The sensor delay coefficient is calculated according to the preset delay time of the sensor. The calculation formula is: Where Dcv is the sensor delay coefficient, and gh is the sensor preset delay time.

[0015] Optionally, obtaining a temperature deviation coefficient of a target gimbal according to the temperature includes:

[0016] Continuously obtain the actual temperature of the target gimbal during the initial rotation process at multiple moments to obtain an actual temperature sequence;

[0017] Calculate the absolute difference between each temperature value in the actual temperature sequence and the rated operating temperature to obtain an absolute difference sequence;

[0018] The mean of the absolute difference sequence is calculated, and the temperature deviation coefficient is obtained according to the mean of the absolute difference sequence and the preset deviation mean. The calculation formula is: Saz=ln(ty / tg+1), where Saz is the temperature deviation coefficient, ty is the mean of the absolute difference sequence, and tg is the preset deviation mean.

[0019] Optionally, obtaining a motor influence coefficient of a target gimbal according to a current of a driving motor includes:

[0020] Continuously obtain the current output by the driving motor during the initial rotation of the target gimbal at multiple moments to obtain an output current sequence;

[0021] Compare each current value in the output current sequence with a preset minimum output current value, mark the current value not greater than the preset minimum output current value as an abnormal current value, and divide the total number of abnormal current values ​​by the total number of current values ​​in the output current sequence to obtain a current abnormality coefficient;

[0022] The standard deviation of the output current sequence is calculated, and the standard deviation and the current anomaly coefficient are normalized. The motor influence coefficient is obtained based on the normalized standard deviation and the current anomaly coefficient. The calculation formula is:

[0023]

[0024] Wherein, Fgx is the motor influence coefficient, rg and tk are the standard deviation and current abnormality coefficient after normalization, b1 and b2 are the preset proportional coefficients of rg and tk, and both b1 and b2 are greater than 0.

[0025] Optionally, obtaining a rotation angle influence coefficient according to a sensor delay coefficient, a temperature deviation coefficient, and a motor influence coefficient of the target gimbal, and obtaining a final rotation angle in combination with an initial preset rotation angle in a secondary rotation instruction includes:

[0026] The sensor delay coefficient, temperature deviation coefficient and motor influence coefficient are normalized, and the rotation angle influence coefficient is obtained according to the normalized sensor delay coefficient, temperature deviation coefficient and motor influence coefficient. The calculation formula is:

[0027]

[0028] Wherein, Hd is the rotation angle influence coefficient, er, sd, wa are the sensor delay coefficient, temperature deviation coefficient and motor influence coefficient after normalization respectively; f1, f2, f3 are the preset proportional coefficients of er, sd, wa respectively, and f1, f2, f3 are all greater than 0;

[0029] The final rotation angle is calculated using the formula: Bnc=Bnf×(1+Hd), where Bnc is the final rotation angle and Bnf is the initial preset rotation angle.

[0030] In a second aspect of the present invention, a multi-inertial navigation sensing gimbal self-correction system is provided, comprising:

[0031] Sensor delay module: obtains the rotation speed of the target gimbal during the initial rotation process, and obtains the sensor delay coefficient in combination with the preset delay time of the sensor;

[0032] Temperature deviation module: obtains the temperature of the target gimbal during its initial rotation, and obtains the temperature deviation coefficient of the target gimbal based on the temperature;

[0033] Motor influence module: obtains the current of the driving motor during the initial rotation of the target gimbal, and obtains the motor influence coefficient of the target gimbal according to the current of the driving motor;

[0034] Final rotation angle module: The rotation angle influence coefficient is obtained according to the sensor delay coefficient, temperature deviation coefficient and motor influence coefficient of the target gimbal, and the final rotation angle is obtained by combining the initial preset rotation angle in the secondary rotation instruction, and a secondary rotation instruction is sent to the target gimbal according to the final rotation angle.

[0035] Optionally, the sensor delay module includes:

[0036] Instantaneous speed change module: Continuously obtain the actual speed ω(t) of the target gimbal during the initial rotation process at multiple moments, and calculate the instantaneous speed change Δω(t). The calculation formula is: In the formula, Δt is the time interval between two adjacent speed sampling points;

[0037] Data calculation module: calculate the maximum value of the speed change Δω max , RMS value Δω rms and the actual speed average And calculate the integral I of the actual speed, the calculation formula is: Where T is the total rotation time of the target gimbal during the initial rotation process;

[0038] Sensor delay coefficient module: Calculates the sensor delay coefficient based on the preset delay time of the sensor. The calculation formula is: Where Dcv is the sensor delay coefficient, and gh is the sensor preset delay time.

[0039] Optionally, the temperature deviation module comprises:

[0040] Temperature sequence module: obtain the actual temperature of the target gimbal during the initial rotation process at multiple times continuously to obtain the actual temperature sequence;

[0041] Absolute difference sequence module; calculates the absolute difference between each temperature value in the actual temperature sequence and the rated working temperature to obtain an absolute difference sequence;

[0042] Temperature deviation coefficient module: calculates the mean of the absolute difference sequence, and obtains the temperature deviation coefficient based on the mean of the absolute difference sequence and the preset deviation mean. The calculation formula is: Saz=ln(ty / tg+1), where Saz is the temperature deviation coefficient, ty is the mean of the absolute difference sequence, and tg is the preset deviation mean.

[0043] Optionally, the motor influencing module includes:

[0044] Output current sequence module: continuously obtain the current output by the driving motor during the initial rotation of the target gimbal at multiple moments to obtain the output current sequence;

[0045] Current abnormality coefficient module: compares each current value in the output current sequence with the preset minimum output current value, marks the current value not greater than the preset minimum output current value as an abnormal current value, and divides the total number of abnormal current values ​​by the total number of current values ​​in the output current sequence to obtain the current abnormality coefficient;

[0046] Motor influence coefficient module: Calculate the standard deviation of the output current sequence, normalize the standard deviation and the current anomaly coefficient, and obtain the motor influence coefficient based on the normalized standard deviation and the current anomaly coefficient. The calculation formula is:

[0047]

[0048] Wherein, Fgx is the motor influence coefficient, rg and tk are the standard deviation and current abnormality coefficient after normalization, b1 and b2 are the preset proportional coefficients of rg and tk, and both b1 and b2 are greater than 0.

[0049] Optionally, the final rotation angle module includes:

[0050] Rotation angle influence coefficient calculation module: normalize the sensor delay coefficient, temperature deviation coefficient and motor influence coefficient, and obtain the rotation angle influence coefficient according to the normalized sensor delay coefficient, temperature deviation coefficient and motor influence coefficient. The calculation formula is:

[0051]

[0052] Wherein, Hd is the rotation angle influence coefficient, er, sd, wa are the sensor delay coefficient, temperature deviation coefficient and motor influence coefficient after normalization respectively; f1, f2, f3 are the preset proportional coefficients of er, sd, wa respectively, and f1, f2, f3 are all greater than 0;

[0053] Final rotation angle calculation module: calculates the final rotation angle, and the calculation formula is: Bnc=Bnf×(1+Hd), where Bnc is the final rotation angle and Bnf is the initial preset rotation angle.

[0054] Beneficial effects of the present invention:

[0055] The present invention proposes a multi-inertial navigation sensing gimbal self-correction system and method, which obtains the rotation speed of the target gimbal during the initial rotation process, and obtains the sensor delay coefficient in combination with the preset delay time of the sensor; obtains the temperature during the initial rotation process to obtain the temperature deviation coefficient of the target gimbal; obtains the current of the driving motor during the initial rotation process to obtain the motor influence coefficient of the target gimbal; and obtains the rotation angle influence coefficient according to the sensor delay coefficient, temperature deviation coefficient and motor influence coefficient of the target gimbal, and obtains the final rotation angle in combination with the initial preset rotation angle in the secondary rotation instruction, and sends the secondary rotation instruction to the target gimbal according to the final rotation angle. In this way, during the self-correction process of the gimbal, the final rotation angle can be obtained according to the different states of the gimbal itself, and sent to the gimbal as a secondary rotation instruction for rotation, ensuring that the final rotation angle can reach the target angle of the gimbal and reducing the deviation of the self-correction rotation angle of the gimbal. BRIEF DESCRIPTION OF THE DRAWINGS

[0056] The present invention will be further described below in conjunction with the accompanying drawings.

[0057] Figure 1 It is a flow chart of the gimbal self-correction method with multiple inertial navigation sensors;

[0058] Figure 2 This is the framework diagram of the gimbal self-correction system with multiple inertial navigation sensors. DETAILED DESCRIPTION

[0059] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0060] Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in the field without making any creative work shall fall within the scope of protection of the present invention.

[0061] The embodiment of the present invention provides a multi-inertial navigation sensor gimbal self-correction method. Figure 1 , Figure 1 A flowchart of a multi-inertial navigation sensing gimbal self-correction method provided by an embodiment of the present invention. The method comprises the following steps:

[0062] Obtain the rotation speed of the target gimbal during the initial rotation process, and obtain the sensor delay coefficient in combination with the preset delay time of the sensor;

[0063] Obtain the temperature of the target gimbal during its initial rotation, and obtain the temperature deviation coefficient of the target gimbal according to the temperature;

[0064] Obtain the current of the driving motor during the initial rotation of the target gimbal, and obtain the motor influence coefficient of the target gimbal according to the current of the driving motor;

[0065] The rotation angle influence coefficient is obtained according to the sensor delay coefficient, temperature deviation coefficient and motor influence coefficient of the target gimbal, and the final rotation angle is obtained by combining the initial preset rotation angle in the secondary rotation instruction, and a secondary rotation instruction is sent to the target gimbal according to the final rotation angle.

[0066] Based on the multi-inertial navigation sensing gimbal self-correction method provided by the embodiment of the present invention, during the gimbal self-correction process, the final rotation angle can be obtained according to the different states of the gimbal itself, and sent to the gimbal as a secondary rotation instruction for rotation, thereby ensuring that the final rotation angle can reach the target angle of the gimbal and reducing the deviation of the gimbal self-correction rotation angle.

[0067] In one embodiment, obtaining the rotation speed of the target gimbal during the initial rotation process and obtaining the sensor delay coefficient in combination with the preset delay time of the sensor includes:

[0068] The actual rotation speed of the target gimbal during the initial rotation is obtained at multiple times continuously, and the actual rotation speed is marked as ω(t), where ω(t) represents the rotation speed at time t;

[0069] By differentiating the speed data, the instantaneous speed change Δω(t) is calculated. The calculation formula is: In the formula, Δt is the time interval between two adjacent speed sampling points;

[0070] Calculate the maximum value of the speed change Δω max and the RMS value Δω rms :Δω max =max(Δω(t)), Where N is the total number of moments corresponding to the actual speed;

[0071] Calculate the actual average speed of the target gimbal during its initial rotation The calculation formula is:

[0072] Calculate the integral I of the actual speed using the following formula: Where T is the total rotation time of the target gimbal during the initial rotation;

[0073] The sensor delay coefficient is calculated according to the preset delay time of the sensor. The calculation formula is: Where Dcv is the sensor delay coefficient, and gh is the sensor preset delay time.

[0074] It should be noted that the actual rotation speed of the target gimbal during the initial rotation process can be collected through a rotary encoder or gyroscope inside the target gimbal, or other acquisition methods, which are not limited or elaborated on in detail; in addition, the preset delay time of the sensor is generally obtained based on historical data and experimental results. By testing the operation of the same type of gimbal under different environmental conditions, measuring the delay performance of its feedback data, and establishing a model to estimate the sensor response time under typical operating conditions. The preset value is usually based on the specification parameters provided by the manufacturer.

[0075] It should be noted that, when the sensor delay coefficient is larger, it means that the actual rotation angle of the target gimbal during the initial rotation may be slightly larger than the measured angle. In order to enable the target gimbal to accurately rotate to the initial preset rotation angle during the secondary rotation, it is necessary to appropriately reduce the rotation angle corresponding to the difference between the current rotation angle and the target gimbal in the secondary rotation instruction to ensure that the target gimbal can finally accurately rotate to the initial preset rotation angle.

[0076] In one implementation, by evaluating the instantaneous change and average value of the speed, a true reflection of the dynamic behavior of the gimbal during rotation can be obtained; the maximum speed change and root mean square speed change obtained in this process provide a quantitative basis for evaluating the speed and stability of the system response. Secondly, combined with the integral calculation of the speed change, it can reflect the cumulative effect of the speed change over a period of time, thereby more comprehensively capturing the performance of the gimbal during the initial rotation process; by combining the preset sensor delay time, the final calculated sensor delay coefficient can be more effectively adjusted to make the output result more accurate. The preset value, as a correction factor, can help compensate for various delays and errors caused by the environment, equipment, and the system itself.

[0077] In one embodiment, obtaining the temperature deviation coefficient of the target gimbal according to the temperature includes:

[0078] Continuously obtain the actual temperature of the target gimbal during the initial rotation process at multiple moments to obtain an actual temperature sequence;

[0079] Calculate the absolute difference between each temperature value in the actual temperature sequence and the rated operating temperature to obtain an absolute difference sequence;

[0080] The mean of the absolute difference sequence is calculated, and the temperature deviation coefficient is obtained according to the mean of the absolute difference sequence and the preset deviation mean. The calculation formula is: Saz=ln(ty / tg+1), where Saz is the temperature deviation coefficient, ty is the mean of the absolute difference sequence, and tg is the preset deviation mean.

[0081] It should be noted that the actual temperature of the target gimbal during the initial rotation process can be obtained through a temperature sensor inside the target gimbal, or other acquisition methods, which will not be limited or elaborated in detail.

[0082] It should be noted that the rated operating temperature is generally provided by the manufacturer, and the preset deviation mean is set by professionals based on actual conditions, and no specific limitations or elaborations are made.

[0083] It should be noted that the temperature deviation coefficient refers to the degree to which the actual working temperature of the target gimbal deviates from the rated working temperature during the initial rotation. If the degree of deviation is greater, it means that the actual rotation angle of the target gimbal during the initial rotation may be slightly smaller than the measured angle. In order to enable the target gimbal to accurately rotate to the initial preset rotation angle during the secondary rotation, it is necessary to appropriately increase the rotation angle corresponding to the difference between the current rotation angle and the target gimbal in the secondary rotation instruction to ensure that the target gimbal can eventually accurately rotate to the initial preset rotation angle. The reason is that when the actual operating temperature of the target gimbal deviates from the rated operating temperature, this usually means that the performance of the motor and sensor may be significantly affected. For example, at higher temperatures, the motor may experience thermal demagnetization, resulting in a decrease in output torque, while at lower ... At low temperatures, the motor may become inflexible due to the increased viscosity of the lubricating oil, making it impossible to achieve the desired rotation angle. These factors will cause a deviation between the angle measured by the sensor (assuming an ideal situation) and the actual rotation angle during the initial rotation of the gimbal. Therefore, if the deviation is large, the actual rotation angle will often be smaller than the angle measured by the sensor, resulting in a feedback distortion. The influence of temperature may continue until the correction process of the secondary rotation. In order to accurately restore the initial preset rotation angle during the secondary rotation, the control system needs to appropriately increase the difference between the current rotation angle and the target preset angle in the secondary rotation command issued. This can compensate for the performance degradation caused by temperature changes, thereby ensuring that the gimbal can ultimately accurately reach the preset rotation angle and maintain the stability and reliability of the system.

[0084] In one embodiment, obtaining the motor influence coefficient of the target gimbal according to the current of the driving motor includes:

[0085] Continuously obtain the current output by the driving motor during the initial rotation of the target gimbal at multiple moments to obtain an output current sequence;

[0086] Compare each current value in the output current sequence with a preset minimum output current value, mark the current value not greater than the preset minimum output current value as an abnormal current value, and divide the total number of abnormal current values ​​by the total number of current values ​​in the output current sequence to obtain a current abnormality coefficient;

[0087] The standard deviation of the output current sequence is calculated, and the standard deviation and the current anomaly coefficient are normalized. The motor influence coefficient is obtained based on the normalized standard deviation and the current anomaly coefficient. The calculation formula is:

[0088]

[0089] Wherein, Fgx is the motor influence coefficient, rg and tk are the standard deviation and current abnormality coefficient after normalization, b1 and b2 are the preset proportional coefficients of rg and tk, and both b1 and b2 are greater than 0.

[0090] It should be noted that b1 and b2 are set by professionals according to actual conditions. Generally, the sum of b1 and b2 is 1. For example, b1 and b2 can be 0.5 and 0.5 respectively, or other numbers, which are not specifically limited.

[0091] It should be noted that during the initial rotation of the target gimbal, the current output by the driving motor can be directly read by the built-in control system of the gimbal system, and the current in the motor driving module can be directly read, or other acquisition methods can be used, which will not be limited or elaborated on in detail.

[0092] It should be noted that when the motor influence coefficient is larger, it means that the actual rotation angle of the target gimbal during the initial rotation may be slightly smaller than the measured angle. In order to enable the target gimbal to accurately rotate to the initial preset rotation angle during the secondary rotation, it is necessary to appropriately increase the rotation angle corresponding to the difference between the current rotation angle and the target gimbal in the secondary rotation instruction to ensure that the target gimbal can eventually accurately rotate to the initial preset rotation angle; the reason is that during the rotation of the gimbal, the larger the standard deviation of the current driving the motor, the greater the current fluctuation, which usually means that there is a significant fluctuation or abnormality in the current output by the motor, which may cause the motor to be unable to stably provide the required torque and power; since the power output of the motor is directly related to the current, the current with large fluctuations may This causes the motor to be unable to generate sufficient driving force at certain moments, so that the target gimbal fails to fully reach the measured preset angle during the rotation process; this lack of power will cause the actual rotation angle to be smaller than the measured angle, affecting the overall control accuracy; a larger current abnormality coefficient usually indicates that there is a higher proportion of abnormal current values ​​during the rotation process, which means that at certain moments the output current of the motor does not reach the preset minimum output current value; this insufficient current output will cause the motor to be unable to provide sufficient driving force, thereby affecting its actual rotation angle and making it unable to fully reach the target rotation angle; therefore, it is necessary to appropriately increase the rotation angle corresponding to the difference between the current rotation angle and the target gimbal in the secondary rotation command to ensure that the target gimbal can eventually accurately rotate to the initial preset rotation angle.

[0093] In one embodiment, the rotation angle influence coefficient is obtained according to the sensor delay coefficient, the temperature deviation coefficient and the motor influence coefficient of the target gimbal, including:

[0094] The sensor delay coefficient, temperature deviation coefficient and motor influence coefficient are normalized, and the rotation angle influence coefficient is obtained according to the normalized sensor delay coefficient, temperature deviation coefficient and motor influence coefficient. The calculation formula is:

[0095]

[0096] Where Hd is the rotation angle influence coefficient, er, sd, and wa are the sensor delay coefficient, temperature deviation coefficient, and motor influence coefficient after normalization, respectively; f1, f2, and f3 are the preset proportional coefficients of er, sd, and wa, respectively, and f1, f2, and f3 are all greater than 0.

[0097] It should be noted that f1, f2, and f3 are set by professionals according to actual conditions. Generally, the sum of f1, f2, and f3 is 1. For example, f1, f2, and f3 can be 0.27, 0.41, and 0.32, respectively, or other numbers without specific limitation. In addition, commonly used normalization processing methods include Min-Max normalization, Z-Score standardization, etc. The specific method is selected by professionals according to actual conditions, and no specific limitation or elaboration is made.

[0098] In one embodiment, obtaining the final rotation angle by combining the initial preset rotation angle in the secondary rotation instruction includes:

[0099] Bnc=Bnf×(1+Hd)

[0100] Where Bnc is the final rotation angle, Bnf is the initial preset rotation angle, and Hd is the rotation angle influence coefficient.

[0101] It should be noted that the initial preset rotation angle is calculated based on the actual situation. For example, assuming that the preset gimbal rotates a total of 90 degrees and the first rotation is 80 degrees, then the initial preset rotation angle is 90-80=10 degrees. The specific initial preset rotation angle depends on the actual situation and is not limited or elaborated.

[0102] It should be noted that a secondary rotation instruction is sent to the target gimbal according to the final rotation angle. In this way, during the gimbal self-correction process, the final rotation angle is obtained according to the state of the gimbal itself, and sent to the gimbal as a secondary rotation instruction for rotation, ensuring that the final rotation angle can reach the target angle of the gimbal and reduce the deviation of the gimbal self-correction rotation angle.

[0103] Based on the same inventive concept, the present invention also provides a multi-inertial navigation sensor gimbal self-correction system. Figure 2 , Figure 2 A framework diagram of a multi-inertial navigation sensing gimbal self-correction system provided in an embodiment of the present invention, the system comprising:

[0104] Sensor delay module: obtains the rotation speed of the target gimbal during the initial rotation process, and obtains the sensor delay coefficient in combination with the preset delay time of the sensor;

[0105] Temperature deviation module: obtains the temperature of the target gimbal during its initial rotation, and obtains the temperature deviation coefficient of the target gimbal based on the temperature;

[0106] Motor influence module: obtains the current of the driving motor during the initial rotation of the target gimbal, and obtains the motor influence coefficient of the target gimbal according to the current of the driving motor;

[0107] Final rotation angle module: The rotation angle influence coefficient is obtained according to the sensor delay coefficient, temperature deviation coefficient and motor influence coefficient of the target gimbal, and the final rotation angle is obtained by combining the initial preset rotation angle in the secondary rotation instruction, and a secondary rotation instruction is sent to the target gimbal according to the final rotation angle.

[0108] Based on the multi-inertial navigation sensor gimbal self-correction system provided by the embodiment of the present invention, during the gimbal self-correction process, the final rotation angle can be obtained according to the different states of the gimbal itself, and sent to the gimbal as a secondary rotation instruction for rotation, thereby ensuring that the final rotation angle can reach the target angle of the gimbal and reducing the deviation of the gimbal self-correction rotation angle.

[0109] In one embodiment, the sensor delay module includes:

[0110] Instantaneous speed change module: Continuously obtain the actual speed ω(t) of the target gimbal during the initial rotation process at multiple moments, and calculate the instantaneous speed change Δω(t). The calculation formula is: In the formula, Δt is the time interval between two adjacent speed sampling points;

[0111] Data calculation module: calculate the maximum value of the speed change Δω max , RMS value Δω rms and the actual speed average And calculate the integral I of the actual speed, the calculation formula is: Where T is the total rotation time of the target gimbal during the initial rotation process;

[0112] Sensor delay coefficient module: Calculates the sensor delay coefficient based on the preset delay time of the sensor. The calculation formula is: Where Dcv is the sensor delay coefficient, and gh is the sensor preset delay time.

[0113] In one embodiment, the temperature deviation module comprises:

[0114] Temperature sequence module: obtain the actual temperature of the target gimbal during the initial rotation process at multiple times continuously to obtain the actual temperature sequence;

[0115] Absolute difference sequence module; calculates the absolute difference between each temperature value in the actual temperature sequence and the rated working temperature to obtain an absolute difference sequence;

[0116] Temperature deviation coefficient module: calculates the mean of the absolute difference sequence, and obtains the temperature deviation coefficient based on the mean of the absolute difference sequence and the preset deviation mean. The calculation formula is: Saz=ln(ty / tg+1), where Saz is the temperature deviation coefficient, ty is the mean of the absolute difference sequence, and tg is the preset deviation mean.

[0117] In one embodiment, the motor influence module includes:

[0118] Output current sequence module: continuously obtain the current output by the driving motor during the initial rotation of the target gimbal at multiple moments to obtain the output current sequence;

[0119] Current abnormality coefficient module: compares each current value in the output current sequence with the preset minimum output current value, marks the current value not greater than the preset minimum output current value as an abnormal current value, and divides the total number of abnormal current values ​​by the total number of current values ​​in the output current sequence to obtain the current abnormality coefficient;

[0120] Motor influence coefficient module: Calculate the standard deviation of the output current sequence, normalize the standard deviation and the current anomaly coefficient, and obtain the motor influence coefficient based on the normalized standard deviation and the current anomaly coefficient. The calculation formula is:

[0121]

[0122] Wherein, Fgx is the motor influence coefficient, rg and tk are the standard deviation and current abnormality coefficient after normalization, b1 and b2 are the preset proportional coefficients of rg and tk, and both b1 and b2 are greater than 0.

[0123] In one embodiment, the final rotation angle module includes:

[0124] Rotation angle influence coefficient calculation module: normalize the sensor delay coefficient, temperature deviation coefficient and motor influence coefficient, and obtain the rotation angle influence coefficient according to the normalized sensor delay coefficient, temperature deviation coefficient and motor influence coefficient. The calculation formula is:

[0125]

[0126] Wherein, Hd is the rotation angle influence coefficient, er, sd, wa are the sensor delay coefficient, temperature deviation coefficient and motor influence coefficient after normalization respectively; f1, f2, f3 are the preset proportional coefficients of er, sd, wa respectively, and f1, f2, f3 are all greater than 0;

[0127] Final rotation angle calculation module: calculates the final rotation angle, and the calculation formula is: Bnc=Bnf×(1+Hd), where Bnc is the final rotation angle and Bnf is the initial preset rotation angle.

[0128] The above is a detailed description of an embodiment of the present invention, but the content is only a preferred embodiment of the present invention and cannot be considered to limit the scope of implementation of the present invention. All equivalent changes and improvements made within the scope of the present invention should still fall within the scope of the patent coverage of the present invention.

Claims

1. A multi-inertial navigation sensing gimbal self-correction method, characterized in that: The following steps are involved: Obtain the rotation speed of the target gimbal during the initial rotation process, and obtain the sensor delay coefficient in combination with the preset delay time of the sensor; Obtain the temperature of the target gimbal during its initial rotation, and obtain the temperature deviation coefficient of the target gimbal according to the temperature; Obtain the current of the driving motor during the initial rotation of the target gimbal, and obtain the motor influence coefficient of the target gimbal according to the current of the driving motor; The rotation angle influence coefficient is obtained according to the sensor delay coefficient, temperature deviation coefficient and motor influence coefficient of the target gimbal, and the final rotation angle is obtained by combining the initial preset rotation angle in the secondary rotation instruction, and a secondary rotation instruction is sent to the target gimbal according to the final rotation angle.

2. The multi-inertial navigation sensing gimbal self-correction method according to claim 1, characterized in that: Obtain the rotation speed of the target gimbal during the initial rotation process, and combine it with the preset delay time of the sensor to obtain the sensor delay coefficient, including: The actual speed ω(t) of the target gimbal during its initial rotation is obtained at multiple times continuously, and the instantaneous speed change Δω(t) is calculated. The calculation formula is: In the formula, Δt is the time interval between two adjacent speed sampling points; Calculate the maximum value of the speed change Δω max , RMS value Δω rms and the actual speed average And calculate the integral I of the actual speed, the calculation formula is: Where T is the total rotation time of the target gimbal during the initial rotation; The sensor delay coefficient is calculated according to the preset delay time of the sensor. The calculation formula is: Where Dcv is the sensor delay coefficient, and gh is the sensor preset delay time.

3. The multi-inertial navigation sensing gimbal self-correction method according to claim 1, characterized in that: The temperature deviation coefficient of the target gimbal obtained according to the temperature includes: Continuously obtain the actual temperature of the target gimbal during the initial rotation process at multiple moments to obtain an actual temperature sequence; Calculate the absolute difference between each temperature value in the actual temperature sequence and the rated operating temperature to obtain an absolute difference sequence; The mean of the absolute difference sequence is calculated, and the temperature deviation coefficient is obtained according to the mean of the absolute difference sequence and the preset deviation mean. The calculation formula is: Saz=ln(ty / tg+1), where Saz is the temperature deviation coefficient, ty is the mean of the absolute difference sequence, and tg is the preset deviation mean.

4. The multi-inertial navigation sensing gimbal self-correction method according to claim 1, characterized in that: The motor influence coefficient of the target gimbal is obtained according to the current of the driving motor, including: Continuously obtain the current output by the driving motor during the initial rotation of the target gimbal at multiple moments to obtain an output current sequence; Compare each current value in the output current sequence with a preset minimum output current value, mark the current value not greater than the preset minimum output current value as an abnormal current value, and divide the total number of abnormal current values ​​by the total number of current values ​​in the output current sequence to obtain a current abnormality coefficient; The standard deviation of the output current sequence is calculated, and the standard deviation and the current anomaly coefficient are normalized. The motor influence coefficient is obtained based on the normalized standard deviation and the current anomaly coefficient. The calculation formula is: Wherein, Fgx is the motor influence coefficient, rg and tk are the standard deviation and current abnormality coefficient after normalization, b1 and b2 are the preset proportional coefficients of rg and tk, and both b1 and b2 are greater than 0.

5. The multi-inertial navigation sensing gimbal self-correction method according to claim 1, characterized in that: The rotation angle influence coefficient is obtained according to the sensor delay coefficient, temperature deviation coefficient and motor influence coefficient of the target gimbal, and the final rotation angle is obtained by combining the initial preset rotation angle in the secondary rotation instruction, including: The sensor delay coefficient, temperature deviation coefficient and motor influence coefficient are normalized, and the rotation angle influence coefficient is obtained according to the normalized sensor delay coefficient, temperature deviation coefficient and motor influence coefficient. The calculation formula is: Wherein, Hd is the rotation angle influence coefficient, er, sd, wa are the sensor delay coefficient, temperature deviation coefficient and motor influence coefficient after normalization respectively; f1, f2, f3 are the preset proportional coefficients of er, sd, wa respectively, and f1, f2, f3 are all greater than 0; The final rotation angle is calculated using the formula: Bnc=Bnf×(1+Hd), where Bnc is the final rotation angle and Bnf is the initial preset rotation angle.

6. Multi-inertial navigation sensor gimbal self-correction system, characterized by: The system comprises: Sensor delay module: obtains the rotation speed of the target gimbal during the initial rotation process, and obtains the sensor delay coefficient in combination with the preset delay time of the sensor; Temperature deviation module: obtains the temperature of the target gimbal during its initial rotation, and obtains the temperature deviation coefficient of the target gimbal based on the temperature; Motor influence module: obtains the current of the driving motor during the initial rotation of the target gimbal, and obtains the motor influence coefficient of the target gimbal according to the current of the driving motor; Final rotation angle module: The rotation angle influence coefficient is obtained according to the sensor delay coefficient, temperature deviation coefficient and motor influence coefficient of the target gimbal, and the final rotation angle is obtained by combining the initial preset rotation angle in the secondary rotation instruction, and a secondary rotation instruction is sent to the target gimbal according to the final rotation angle.

7. The multi-inertial navigation sensing pan-tilt self-correction system according to claim 6, characterized in that: The sensor delay module comprises: Instantaneous speed change module: Continuously obtain the actual speed ω(t) of the target gimbal during the initial rotation process at multiple moments, and calculate the instantaneous speed change Δω(t). The calculation formula is: In the formula, Δt is the time interval between two adjacent speed sampling points; Data calculation module: calculate the maximum value of the speed change Δω max , RMS value Δω rms and the actual speed average And calculate the integral I of the actual speed, the calculation formula is: Where T is the total rotation time of the target gimbal during the initial rotation process; Sensor delay coefficient module: Calculates the sensor delay coefficient based on the preset delay time of the sensor. The calculation formula is: Where Dcv is the sensor delay coefficient, and gh is the sensor preset delay time.

8. The multi-inertial navigation sensing pan-tilt self-correction system according to claim 6, characterized in that: The temperature deviation module comprises: Temperature sequence module: obtain the actual temperature of the target gimbal during the initial rotation process at multiple times continuously to obtain the actual temperature sequence; Absolute difference sequence module; calculates the absolute difference between each temperature value in the actual temperature sequence and the rated working temperature to obtain an absolute difference sequence; Temperature deviation coefficient module: calculates the mean of the absolute difference sequence, and obtains the temperature deviation coefficient based on the mean of the absolute difference sequence and the preset deviation mean. The calculation formula is: Saz=ln(ty / tg+1), where Saz is the temperature deviation coefficient, ty is the mean of the absolute difference sequence, and tg is the preset deviation mean.

9. The multi-inertial navigation sensing pan-tilt self-correction system according to claim 6, characterized in that: The motor influence module includes: Output current sequence module: continuously obtain the current output by the driving motor during the initial rotation of the target gimbal at multiple moments to obtain the output current sequence; Current abnormality coefficient module: compares each current value in the output current sequence with the preset minimum output current value, marks the current value not greater than the preset minimum output current value as an abnormal current value, and divides the total number of abnormal current values ​​by the total number of current values ​​in the output current sequence to obtain the current abnormality coefficient; Motor influence coefficient module: Calculate the standard deviation of the output current sequence, normalize the standard deviation and the current anomaly coefficient, and obtain the motor influence coefficient based on the normalized standard deviation and the current anomaly coefficient. The calculation formula is: Wherein, Fgx is the motor influence coefficient, rg and tk are the standard deviation and current abnormality coefficient after normalization, b1 and b2 are the preset proportional coefficients of rg and tk, and both b1 and b2 are greater than 0.

10. The multi-inertial navigation sensing pan-tilt self-correction system according to claim 6, characterized in that: The final rotation angle module includes: Rotation angle influence coefficient calculation module: normalize the sensor delay coefficient, temperature deviation coefficient and motor influence coefficient, and obtain the rotation angle influence coefficient according to the normalized sensor delay coefficient, temperature deviation coefficient and motor influence coefficient. The calculation formula is: Wherein, Hd is the rotation angle influence coefficient, er, sd, wa are the sensor delay coefficient, temperature deviation coefficient and motor influence coefficient after normalization respectively; f1, f2, f3 are the preset proportional coefficients of er, sd, wa respectively, and f1, f2, f3 are all greater than 0; Final rotation angle calculation module: calculates the final rotation angle, and the calculation formula is: Bnc=Bnf×(1+Hd), where Bnc is the final rotation angle and Bnf is the initial preset rotation angle.

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