Gimbal attitude dynamic adjustment accelerometer optimization method, device, and storage medium

Abstract

The present invention discloses an accelerometer optimization method, device and storage medium for dynamically adjusting the attitude of a gimbal, and relates to the technical field of unmanned aerial vehicles. The method comprises the following steps: step S1, real-time acquisition of accelerometer data Acc_Roll; step S2, judging whether the accelerometer data Acc_Roll exceeds a preset first threshold value W0; step S3, if Acc_Roll>W0, maintaining the current state and executing step S4; step S4, judging whether the accelerometer data Acc_Roll exceeds a second threshold value W1; step S5, if Acc_Roll<W1 is satisfied, correcting the gyro angular velocity value Gyro_Roll; step S6, judging whether the accelerometer data Acc_Roll exceeds a set third threshold value W2, and whether the correction time t satisfies a certain time T1; if Acc_Roll<W2 and t>T1 is satisfied, restoring the acceleration limit value in step S3 and the accelerometer proportional coefficient K in the attitude solution p The optimization is finished. The present invention can realize the rapid convergence of the pan-tilt roll posture, and make the pan-tilt roll axis return to the structural horizontal zero position rapidly.

Description

Technical Field

[0001] The present invention relates to the technical field of unmanned aerial vehicles, and in particular to an accelerometer optimization method, device and storage medium for dynamically adjusting the attitude of a gimbal. Background Art

[0002] The three-axis gimbal carried by drones currently on the market flies at a high speed when in operation. Especially when the drone is turning, the roll axis direction of the gimbal will produce a large angle. When the drone completes the turn and returns to horizontal movement, the roll direction of the gimbal takes a long time to return to the structural horizontal zero position. Visually, the image will be skewed in the roll direction for a long time.

[0003] At present, all the drones on the market are equipped with three-axis stabilized gimbals. When the drone is in the hovering or slow-flying state, the azimuth, roll and pitch axes of the three-axis gimbal are all at the structural zero position. Figure 1 As shown, the image viewed at the display end will not be skewed;

[0004] However, when the drone is flying fast, especially when turning, the three-axis gimbal will roll at a larger angle θ due to the influence of the rolling direction of the drone body. Figure 2 As shown, the image viewed on the display end will appear skewed, affecting the user experience and work efficiency.

[0005] The gimbal roll direction is skewed for a long time. This is mainly because when the drone is turning, the gimbal roll acceleration increases instantly. However, when the drone completes the turn and returns to horizontal motion, the gimbal roll acceleration converges too slowly, resulting in a long time to return to the horizontal zero position. Figure 2 As shown, it appears to be skewed.

[0006] In view of this, the present application proposes an accelerometer optimization method, device, and storage medium for dynamically adjusting the gimbal attitude. Summary of the invention

[0007] The technical problem to be solved by the present invention is to provide a method, device and storage medium for optimizing the accelerometer for dynamic adjustment of the gimbal attitude, so as to solve the problem that when the drone completes a turn and returns to horizontal movement, it takes a long time for the gimbal's rolling direction to return to the structural horizontal zero position, resulting in a long-term skew in the visual image's rolling direction.

[0008] The present invention solves the above technical problems through the following technical means:

[0009] A method for optimizing an accelerometer for dynamic adjustment of a gimbal attitude comprises the following steps:

[0010] Step S1, obtaining accelerometer data Acc_Roll in real time;

[0011] Step S2, determining whether the accelerometer data Acc_Roll exceeds a preset first threshold W0;

[0012] Step S3: If Acc_Roll>W0, maintain the current state and execute step S4; if not, continue to execute step S1;

[0013] Step S4, determining whether the accelerometer data Acc_Roll exceeds a second threshold value W1;

[0014] Step S5: if Acc_Roll<W1 is satisfied, then the gyro angular velocity value Gyro_Roll is corrected; if not, then continue to execute step S4;

[0015] Step S6, determining whether the accelerometer data Acc_Roll exceeds a third threshold value W2, and whether the correction time t exceeds a certain time T1;

[0016] If Acc_Roll<W2 and t>T1, then restore the acceleration limit value in step S3 and the accelerometer proportional coefficient K in the attitude solution. p , the optimization ends; if not satisfied, continue to step S5.

[0017] This application compares the accelerometer data Acc_Roll with multiple preset thresholds. When it is greater than the first threshold Acc_Roll, the existing state parameters are maintained, and the size with the second threshold W1 is determined. If it is greater than the second threshold W1, the gyro angular velocity value Gyro_Roll is corrected. Finally, when Acc_Roll<W2 and t>T1 is satisfied, the original state parameters are restored. In this way, the gimbal roll attitude can converge faster and the gimbal roll axis can return to the structural horizontal zero position faster.

[0018] Preferably, the maintaining of the current state parameters includes maintaining the existing acceleration limit value, maintaining the accelerometer corrected gyro angular velocity proportional coefficient K in the attitude solution p .

[0019] Preferably, the correcting the gyro angular velocity value Gyro_Roll comprises the following steps:

[0020] S51, increase the acceleration limit range, and at the same time increase the accelerometer proportional coefficient K in the attitude solution p , and correct the gyro angular velocity value Gyro_Roll;

[0021] S52. Based on the corrected gyro angular velocity value Gyro_Roll, obtain the gimbal attitude Angle_Roll, so as to dynamically adjust the roll attitude convergence speed.

[0022] Preferably, step S51 includes:

[0023] Use formula (1) to increase the accelerometer proportional coefficient K p , that is, K p The value changes linearly according to the acceleration change value;

[0024] K p =K*Acc_Roll (1)

[0025] And use formula (2) to correct the gyro angular velocity value Gyro_Roll;

[0026] Gyro_Roll=Gyro_Roll+K p *EAcc_Roll (2);

[0027] Where K is a constant and EAcc_Roll represents the unit acceleration error value after coordinate system conversion.

[0028] Preferably, step S52 includes:

[0029] Use formula (3) to obtain the gimbal attitude Angle_Roll to dynamically adjust the roll attitude convergence speed.

[0030]

[0031] Preferably, the accelerometer data Acc_Roll is the acceleration of the gimbal gyroscope chip.

[0032] A device for optimizing an accelerometer for dynamically adjusting a gimbal attitude, comprising:

[0033] Acquisition module, used to obtain accelerometer data Acc_Roll in real time;

[0034] A first judgment module, used to judge whether the accelerometer data Acc_Roll exceeds a preset first threshold W0;

[0035] The first execution module is used for maintaining the current state and executing step S4 when Acc_Roll>W0; otherwise, continuing to execute the acquisition module;

[0036] A second judgment module, used to judge whether the accelerometer data Acc_Roll exceeds a second threshold value W1;

[0037] A second execution module, configured to correct the gyro angular velocity value Gyro_Roll if Acc_Roll<W1 is satisfied, and continue to execute the second judgment module if it is not satisfied;

[0038] A third judgment module is used to judge whether the accelerometer data Acc_Roll exceeds a set third threshold value W2, and whether the correction time t satisfies a certain time T1;

[0039] If Acc_Roll<W2 and t>T1, then restore the acceleration limit value in step S3 and the accelerometer proportional coefficient K in the attitude solution. p , the optimization ends; if not satisfied, continue to execute the second execution module.

[0040] Preferably, maintaining the current state includes maintaining the existing acceleration limit value, maintaining the accelerometer corrected gyro angular velocity proportional coefficient K in the attitude solution p .

[0041] Preferably, the correcting the gyro angular velocity value Gyro_Roll comprises the following steps:

[0042] Increase the acceleration limit range and increase the accelerometer proportional coefficient K in attitude calculation p , and correct the gyro angular velocity value Gyro_Roll;

[0043] Based on the corrected gyro angular velocity value Gyro_Roll, the gimbal attitude Angle_Roll is obtained to dynamically adjust the roll attitude convergence speed.

[0044] A readable storage medium stores computer instructions, which implement any of the methods described above when executed by a processor.

[0045] The advantages of the present invention are:

[0046] 1. The present invention compares the accelerometer data Acc_Roll with multiple preset thresholds. When it is greater than the first threshold Acc_Roll, the existing state parameters are maintained, and the size with the second threshold W1 is judged. If it is greater than the second threshold W1, the gyro angular velocity value Gyro_Roll is corrected. Finally, when Acc_Roll<W2 and t>T1 is satisfied, the original state parameters are restored. Thus, the pan-tilt roll attitude can converge faster, and the pan-tilt roll axis can return to the structural horizontal zero position faster.

[0047] 2. The present invention ensures that the image is not skewed and improves the experience effect and work efficiency by enabling the pan / tilt roll axis to return to the structural horizontal zero position more quickly. BRIEF DESCRIPTION OF THE DRAWINGS

[0048] Figure 1This is the front view of the gimbal when the gimbal roll axis is in the structural horizontal zero position.

[0049] Figure 2 This is the front view of the gimbal when the gimbal roll axis is tilted.

[0050] Figure 3 It is a flow chart of the accelerometer optimization method for dynamically adjusting the gimbal attitude provided in the embodiment of the present application.

[0051] Figure 4 It is a structural schematic diagram of an accelerometer optimization device for dynamically adjusting the gimbal attitude provided in an embodiment of the present application.

[0052] Figure 5 It is a schematic diagram of the judgment flow of the accelerometer optimization method for dynamic adjustment of the gimbal attitude provided in the embodiment of the present application.

[0053] Figure 6 It is the posture convergence curve before optimization.

[0054] Figure 7 It is the posture convergence curve after optimization. DETAILED DESCRIPTION

[0055] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution in the embodiments of the present invention will be clearly and completely described below in combination with the embodiments of the present invention. Obviously, the described embodiments are 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.

[0056] The applicant has discovered that when a drone is equipped with a three-axis gimbal, the image will be skewed in the rolling direction for a long time when the drone returns to horizontal motion after turning. Therefore, the applicant solves this technical problem through the following implementation methods.

[0057] Implementation Method 1

[0058] See also Figure 3 , Figure 5 , a method for optimizing an accelerometer for dynamic adjustment of a gimbal attitude, comprising the following steps:

[0059] Step S1, obtaining accelerometer data Acc_Roll in real time;

[0060] The accelerometer data Acc_Roll is the acceleration of the gimbal gyro chip, that is, the acceleration in the roll axis direction of the three-axis gimbal.

[0061] Step S2, determining whether the accelerometer data Acc_Roll exceeds a preset first threshold W0;

[0062] It is understandable that the speed of the drone is different when performing different tasks, so the first threshold W0 here should also be preset according to the actual situation.

[0063] Step S3: If Acc_Roll>W0, maintain the current state parameters and execute step S4; if not, continue to execute step S1;

[0064] The parameters for maintaining the current state include maintaining the existing acceleration limit value, maintaining the accelerometer corrected gyro angular velocity proportional coefficient K in the attitude solution, and maintaining the current acceleration limit value, maintaining the accelerometer corrected gyro angular velocity proportional coefficient K in the attitude solution. p .

[0065] In the actual flight process of the drone, in order to ensure that the roll axis of the three-axis gimbal returns to the horizontal zero position of the structure quickly, you only need to pay attention to the acceleration limit value and maintain the accelerometer correction gyro angular velocity proportional coefficient K in the attitude solution. p That's it.

[0066] Step S4, determining whether the accelerometer data Acc_Roll exceeds a second threshold value W1;

[0067] It is understandable that the speed of the drone is different when performing different tasks, so the second threshold W1 here should also be preset according to the actual situation.

[0068] Step S5: If Acc_Roll<W1, then correct the gyro angular velocity value Gyro_Roll; otherwise, continue to execute step S4.

[0069] The correcting of the gyro angular velocity value Gyro_Roll comprises the following steps:

[0070] S51, increase the acceleration limit range, and at the same time increase the accelerometer proportional coefficient K in the attitude solution p , and correct the gyro angular velocity value Gyro_Roll;

[0071] Specifically, in this step, the accelerometer proportional coefficient K is increased using formula (1): p , that is, K p The value changes linearly according to the acceleration change value;

[0072] K p =K*Acc_Roll (1)

[0073] And use formula (2) to correct the gyro angular velocity value Gyro_Roll,

[0074] Gyro_Roll=Gyro_Roll+K p*EAcc_Roll (2)

[0075] Wherein, K is a constant, and the specific value can be selected according to the actual debugging situation. EAcc_Roll represents the unit acceleration error value after the coordinate system conversion.

[0076] S52, using formula (3) to obtain the gimbal attitude Angle_Roll, so as to dynamically adjust the roll attitude convergence speed,

[0077]

[0078] Increase the acceleration limit range and increase the accelerometer proportional coefficient K in attitude calculation p , which is conducive to the adjustment speed of the UAV's three-axis gimbal to adapt to the speed of the UAV.

[0079] Step S6, determining whether the accelerometer data Acc_Roll exceeds a set third threshold value W2, and whether the correction time t satisfies a preset time threshold value T1;

[0080] If Acc_Roll<W2 and t>T1, then restore the acceleration limit value in step S3 and the accelerometer proportional coefficient K in the attitude solution. p , the optimization ends; if not satisfied, continue to step S5.

[0081] It is understandable that the speed of the drone is different when performing different tasks, so the third threshold W2 here should also be preset according to the actual situation.

[0082] To verify the effect of this application, please refer to Figure 6 and Figure 7 ;

[0083] Among them, the posture convergence curve before optimization Figure 6 It can be seen that the maximum feedback value of the roll attitude angle slowly decreases to a stable state, and the attitude convergence curve after optimization Figure 7 It can be seen that, through the method of the present application, when the roll attitude of the drone changes greatly and the gimbal rolls at a large angle instantly, the gimbal roll attitude can converge quickly, so that the gimbal roll axis returns to the horizontal zero position of the structure quickly, ensuring that the image is not skewed, and improving the experience effect and operation efficiency.

[0084] In order to facilitate the understanding of this application, the method of this application is set to be integrated into the control end of the server (which can also be a controller built into the drone) for remote operation. The steps of this application are explained below with a specific example:

[0085] 1) When the drone is performing a shooting mission, it makes a sharp turn and resumes horizontal movement;

[0086] 2) The control end obtains the accelerometer data Acc_Roll in real time and determines whether it exceeds the preset first threshold W0. If Acc_Roll>W0, the current state of the drone is maintained;

[0087] 3) Then the control end determines whether the accelerometer data Acc_Roll exceeds the second threshold value W1; if Acc_Roll<W1, the gyro angular velocity value Gyro_Roll is corrected;

[0088] 5) Finally, the control end determines whether the accelerometer data Acc_Roll exceeds the set third threshold value W2, and whether the correction time t satisfies the preset time T1;

[0089] If Acc_Roll<W2 and t>T1, then restore the acceleration limit value in step S3 and the accelerometer proportional coefficient K in the attitude solution. p Otherwise, continue to increase the limit range and increase the accelerometer proportional coefficient K in the attitude solution. p .

[0090] Through the above process, when the UAV performs a mission, it is ensured that the accelerometer data Acc_Roll can meet the requirements of being greater than the first threshold and less than the second threshold and the third threshold, and finally the gimbal roll attitude can converge faster.

[0091] It should be noted that, in the present application, the first threshold W0 may be smaller than the second threshold W1; meanwhile, the first threshold, the second threshold, and the third threshold may be between [-1, 1].

[0092] Implementation Method 2

[0093] See also Figure 4 , the application provides a device for optimizing the accelerometer for dynamic adjustment of the gimbal attitude, comprising:

[0094] An acquisition module 301 is used to acquire accelerometer data Acc_Roll in real time;

[0095] The accelerometer data Acc_Roll is the acceleration of the gimbal gyro chip, that is, the acceleration in the roll axis direction of the three-axis gimbal.

[0096] A first judging module 302, configured to judge whether the accelerometer data Acc_Roll exceeds a preset first threshold W0;

[0097] The first execution module 303 is used to maintain the current state parameters and execute step S4 when Acc_Roll>W0; otherwise, continue to execute the acquisition module;

[0098] The parameters for maintaining the current state include maintaining the existing acceleration limit value, maintaining the accelerometer corrected gyro angular velocity proportional coefficient K in the attitude solution, and maintaining the current acceleration limit value, maintaining the accelerometer corrected gyro angular velocity proportional coefficient K in the attitude solution. p .

[0099] A second determination module 304 is used to determine whether the accelerometer data Acc_Roll exceeds a second threshold value W1;

[0100] The second execution module 305 is used to correct the gyro angular velocity value Gyro_Roll if Acc_Roll<W1 is satisfied, and continue to execute the second judgment module if it is not satisfied;

[0101] The correcting of the gyro angular velocity value Gyro_Roll comprises the following steps:

[0102] Increase the acceleration limit range and increase the accelerometer proportional coefficient K in attitude calculation p , and correct the gyro angular velocity value Gyro_Roll;

[0103] Specifically, in this step, the accelerometer proportional coefficient K is increased using formula (1): p , that is, K p The value changes linearly according to the acceleration change value;

[0104] K p =K*Acc_Roll (1)

[0105] And use formula (2) to correct the gyro angular velocity value Gyro_Roll,

[0106] Gyro_Roll=Gyro_Roll+K p *EAcc_Roll (2)

[0107] Use formula (3) to obtain the gimbal attitude Angle_Roll, so as to dynamically adjust the roll attitude convergence speed.

[0108]

[0109] Among them, EAcc_Roll represents the unit acceleration error value after the coordinate system is converted.

[0110] A third judgment module 306 is used to judge whether the accelerometer data Acc_Roll exceeds a set third threshold value W2, and whether the correction time t exceeds a certain time T1;

[0111] If Acc_Roll<W2 and t>T1, then restore the acceleration limit value in step S3 and the accelerometer proportional coefficient K in the attitude solution. p , the optimization ends; if not satisfied, continue to execute the second execution module.

[0112] Implementation Method 3

[0113] The embodiment of the present application also provides a computer-readable storage medium storing a computing program. When the computer program is executed by a processor, the accelerometer optimization method for dynamically adjusting the gimbal attitude of the above-mentioned embodiment 1 can be implemented.

[0114] It should be noted that the computer-readable storage medium may be the computer-readable storage medium included in the above-mentioned embodiment; or it may be a computer-readable storage medium that exists independently and is not assembled into a device. The computer-readable storage medium stores one or more programs, and the programs are used by one or more processors to execute the method described in the first embodiment of the present invention.

[0115] According to an embodiment of the present application, the readable storage medium may be a computer-readable signal medium or a computer-readable storage medium or any combination of the above two. The computer-readable storage medium may be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device or device, or any combination of the above. More specific examples of computer-readable storage media may include, but are not limited to, an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above.

[0116] It should also be noted that the flowcharts and block diagrams in the accompanying drawings of the specification illustrate the possible architecture, functions and operations of the systems, methods and computer program products according to various embodiments of the present application. In this regard, each box in the road map or block diagram can represent a module, a program segment or a part of the code, and a part of the module, program segment or code contains one or more executable instructions for implementing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the box can also occur in a different order from the order marked in the accompanying drawings. For example, two boxes represented in succession can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the block diagram and / or flow chart, and the combination of boxes in the block diagram and / or flow chart can be implemented with a dedicated hardware-based system that performs a specified function or operation, or can be implemented with a combination of dedicated hardware and computer instructions.

[0117] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A method for optimizing an accelerometer for dynamic adjustment of a gimbal attitude, characterized in that: The following steps are involved: Step S1, obtaining accelerometer data Acc Roll in real time; Step S2, determining whether the accelerometer data Acc Roll exceeds a preset first threshold W0; Step S3: If Acc Roll>W0, maintain the current state parameters and execute step S4; if not, continue to execute step S1; Step S4, determining whether the accelerometer data Acc Roll exceeds a second threshold W1; Step S5: if Acc Roll < W1 is satisfied, then the gyro angular velocity value Gyro Roll is corrected; if not, then continue to execute step S4; Step S6, determining whether the accelerometer data Acc Roll exceeds a set third threshold value W2, and whether the correction time t exceeds a certain time T1; If Acc Roll<W2 and t>T1 is satisfied, the current state parameters in step S3 are restored and the optimization ends; if not satisfied, step S5 is continued; The correction of the gyro angular velocity value Gyro Roll comprises the following steps: S51, increase the acceleration limit range, and at the same time increase the accelerometer proportional coefficient K in the attitude solution p , and correct the gyro angular velocity value Gyro Roll; S52, based on the corrected gyro angular velocity value Gyro Roll, obtaining the gimbal attitude Angle Roll, so as to dynamically adjust the roll attitude convergence speed; Step S51 includes: Use formula (1) to increase the accelerometer proportional coefficient K p , that is, K p The value changes linearly according to the acceleration change value; K p =K*Acc Roll(1) And use formula (2) to correct the gyro angular velocity value Gyro Roll, Gyro Roll=Gyro Roll+K p *EAcc Roll (2); Where K is a constant, and EAcc Roll represents the unit acceleration error value after coordinate system conversion; Step S52 includes: Use formula (3) to obtain the gimbal attitude Angle Roll to dynamically adjust the roll attitude convergence speed.

2. The method for optimizing the accelerometer for dynamic adjustment of the gimbal attitude according to claim 1, characterized in that: Maintaining the current state parameters includes maintaining the existing acceleration limit value and maintaining the accelerometer corrected gyro angular velocity proportional coefficient K in attitude solution p .

3. The accelerometer optimization method for dynamic adjustment of the gimbal attitude according to claim 1, characterized in that: The accelerometer data Acc Roll is the acceleration of the gimbal gyroscope chip.

4. A device for optimizing accelerometer for dynamic adjustment of gimbal attitude, characterized in that: include: Acquisition module, used to obtain accelerometer data Acc Roll in real time; A first judgment module, used to judge whether the accelerometer data Acc Roll exceeds a preset first threshold W0; The first execution module is used to maintain the current state parameters when Acc Roll>W0; otherwise, continue to execute the acquisition module; A second judgment module, configured to judge whether the accelerometer data Acc Roll exceeds a second threshold value W1 if Acc Roll>W0 is satisfied; The second execution module is used to correct the gyro angular velocity value Gyro Roll if Acc Roll < W1 is satisfied, and continue to execute the second judgment module if it is not satisfied; the correction of the gyro angular velocity value Gyro Roll includes the following steps: Increase the acceleration limit range and increase the accelerometer proportional coefficient K in attitude calculation p , and correct the gyro angular velocity value Gyro Roll; Based on the corrected gyro angular velocity value Gyro Roll, the gimbal attitude Angle Roll is obtained, so as to dynamically adjust the roll attitude convergence speed; Increase the acceleration limit range and increase the accelerometer proportional coefficient K in attitude calculation p , and correct the gyro angular velocity value Gyro Roll, including: Use formula (1) to increase the accelerometer proportional coefficient K p , that is, K p The value changes linearly according to the acceleration change value; K p =K*Acc Roll(1) And use formula (2) to correct the gyro angular velocity value Gyro Roll, Gyro Roll=Gyro Roll+K p *EAcc Roll (2); Where K is a constant, and EAcc Roll represents the unit acceleration error value after coordinate system conversion; Based on the corrected gyro angular velocity value Gyro Roll, the gimbal attitude Angle Roll is obtained to dynamically adjust the roll attitude convergence speed, including: Use formula (3) to obtain the gimbal attitude Angle Roll to dynamically adjust the roll attitude convergence speed. A third judgment module is used to judge whether the accelerometer data Acc Roll exceeds a set third threshold W2, and whether the correction time t satisfies a certain time T1; If Acc Roll<W2 and t>T1, the acceleration limit value in the current state parameter and the accelerometer proportional coefficient K in the attitude solution are restored. p , the optimization ends; if not satisfied, continue to execute the second execution module.

5. The device for optimizing the accelerometer for dynamic adjustment of the gimbal attitude according to claim 4, characterized in that: Maintaining the current state parameters includes maintaining the existing acceleration limit value and maintaining the accelerometer corrected gyro angular velocity proportional coefficient K in attitude solution p .

6. The device for optimizing the accelerometer for dynamic adjustment of the gimbal attitude according to claim 4, characterized in that: The correction of the gyro angular velocity value Gyro Roll comprises the following steps: Increase the acceleration limit range and increase the accelerometer proportional coefficient K in attitude calculation p , and correct the gyro angular velocity value Gyro Roll; Based on the corrected gyro angular velocity value Gyro Roll, the gimbal attitude Angle Roll is obtained to dynamically adjust the roll attitude convergence speed.

7. A readable storage medium, characterized in that: Computer instructions are stored thereon, and when the computer instructions are executed by a processor, the method according to any one of claims 1 to 3 is implemented.

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