A method and device for measuring attitude of a UAV gimbal, and a system for measuring attitude of a UAV gimbal

Abstract

The present invention provides a method and device for measuring the attitude of a drone gimbal, and a drone gimbal system. The method comprises: obtaining image information of a gimbal camera image and image information of a wide-angle camera image; obtaining the angular resolution of the gimbal camera image and the angular resolution of the wide-angle camera image respectively according to the image information of the gimbal camera image and the image information of the wide-angle camera image; reducing the angular resolution of the gimbal camera image to be consistent with the angular resolution of the wide-angle camera image; performing image registration on the gimbal camera image after the angular resolution reduction and the wide-angle camera image to obtain the coordinate position of the principal point of the gimbal camera image in the wide-angle camera image and the rotation angle of the gimbal camera image; according to the coordinate position of the principal point of the gimbal camera image in the wide-angle camera image, the rotation angle of the gimbal camera image and the image information of the wide-angle camera image, in combination with the camera imaging principle, obtaining the three-axis attitude information of the drone gimbal camera in the body coordinate system.

Description

Technical Field

[0001] The present application relates to the technical field of unmanned aerial vehicles, and in particular to a method and device for measuring the attitude of an unmanned aerial vehicle gimbal, and a system for measuring the attitude of an unmanned aerial vehicle gimbal. Background Art

[0002] A drone is an unmanned aerial vehicle that is controlled by an onboard program or by radio waves. Drones are widely used in aerial photography, express delivery, military reconnaissance and other fields. They are easy to use and have good maneuverability.

[0003] At present, drone gimbals mainly use attitude measurement gyroscopes / inertial navigation to measure the attitude of the camera, but due to limitations such as size, weight, and cost, the performance of attitude measurement components is limited, resulting in poor accuracy in measuring attitude angles. In addition, the inertial navigation method will have cumulative errors and drift, which will become less accurate over time, making it difficult to complete tasks such as ground positioning that require high-precision attitude information.

[0004] Therefore, the industry needs a new technology for UAV gimbal attitude measurement. Summary of the invention

[0005] Based on this, it is necessary to provide a UAV gimbal attitude measurement method, device and UAV gimbal attitude measurement system with high measurement accuracy and no error accumulation or accuracy drift divergence to address the above technical problems.

[0006] A method for measuring the attitude of a drone gimbal, the method comprising:

[0007] Acquire a pan-tilt camera image taken by a pan-tilt camera of the drone and a wide-angle camera image taken by a wide-angle camera; wherein the wide-angle camera is fixedly connected to the drone;

[0008] Acquire image information of the gimbal camera image and image information of the wide-angle camera image respectively according to the gimbal camera image and the wide-angle camera image;

[0009] According to the image information of the gimbal camera image and the image information of the wide-angle camera image, respectively obtaining the angular resolution of the gimbal camera image and the angular resolution of the wide-angle camera image;

[0010] Reducing the angular resolution of the pan / tilt camera image to be consistent with the angular resolution of the wide-angle camera image;

[0011] Perform image registration on the PTZ camera image with reduced angular resolution and the wide-angle camera image to obtain the coordinates of the principal point of the PTZ camera image in the wide-angle camera image and the rotation angle of the PTZ camera image;

[0012] According to the coordinates of the principal point of the gimbal camera image in the wide-angle camera image, the rotation angle of the gimbal camera image and the image information of the wide-angle camera image, combined with the camera imaging principle, the Euler angle rotation conversion relationship between the gimbal camera coordinate system and the body coordinate system is obtained;

[0013] According to the Euler angle rotation transformation relationship between the gimbal camera coordinate system and the body coordinate system, the three-axis attitude information of the drone gimbal camera in the body coordinate system is obtained.

[0014] Further, the image information of the gimbal camera image includes the principal point coordinates of the gimbal camera image, the field of view of the gimbal camera image in a certain direction, and the pixels corresponding to the field of view of the gimbal camera image in that direction; the image information of the wide-angle camera image includes the principal point coordinates of the wide-angle camera image, the field of view of the wide-angle camera image in a certain direction, and the pixels corresponding to the field of view of the wide-angle camera image in that direction; and the vertical field of view and horizontal field of view of the wide-angle camera image;

[0015] Obtaining the angular resolution of the gimbal camera image and the angular resolution of the wide-angle camera image according to the image information of the gimbal camera image and the image information of the wide-angle camera image, including:

[0016] Obtaining an angular resolution of the gimbal camera image according to the field angle of the gimbal camera image in a certain direction and the pixels corresponding to the field angle of the gimbal camera image in the direction;

[0017] The angular resolution of the wide-angle camera image is obtained according to the field angle of the wide-angle camera image in a certain direction and the pixels corresponding to the field angle of the wide-angle camera image in the direction.

[0018] Furthermore, reducing the angular resolution of the gimbal camera image to be consistent with the angular resolution of the wide-angle camera image includes:

[0019] Assume that the field of view of the gimbal camera image in a certain direction is V1 degrees, and the corresponding pixel is W1, then its angular resolution is V1 / W1;

[0020] Assume that the field of view of a wide-angle camera image in a certain direction is V2 degrees, and the corresponding pixel is W2, then its angular resolution is V2 / W2;

[0021] When the angular resolution of the pan-tilt camera image is reduced to be consistent with the angular resolution of the wide-angle camera image, the reduction ratio of the pan-tilt camera image is:

[0022] (V1×W2) / (V2×W1).

[0023] Furthermore, the PTZ camera image with reduced angular resolution is registered with the wide-angle camera image to obtain the coordinate position of the principal point of the PTZ camera image in the wide-angle camera image and the rotation angle of the PTZ camera image, including:

[0024] The PTZ camera image after the angle resolution reduction is used as a template to traverse and match the wide-angle camera image, so as to obtain an overlapping sub-image with the highest pixel matching degree between the PTZ camera image after the angle resolution reduction and the wide-angle camera image;

[0025] According to the overlapping sub-image with the highest pixel matching degree, the rotation angle of the gimbal camera image to move to the position of the overlapping sub-image with the highest pixel matching degree is obtained, and the coordinates of the overlapping sub-image with the highest pixel matching degree are the coordinates of the principal point of the gimbal camera image in the wide-angle camera image.

[0026] Furthermore, according to the coordinates of the principal point of the gimbal camera image in the wide-angle camera image, the rotation angle of the gimbal camera image and the image information of the wide-angle camera image, combined with the camera imaging principle, the Euler angle rotation conversion relationship between the gimbal camera coordinate system and the body coordinate system is obtained, including:

[0027] The Euler angles include pitch angle, roll angle and yaw angle;

[0028] The pitch angle: θ = (y-y0) / V vertical ,

[0029] The roll angle: Φ = (x-x0) / V horizon ,

[0030] The yaw angle: ψ = ω,

[0031] The coordinates of the principal point of the gimbal camera image in the wide-angle camera image are (x, y), the rotation angle of the gimbal camera image to move to the overlapping sub-image position with the highest pixel matching degree is ω, the coordinates of the principal point of the wide-angle camera image are (x0, y0), and the vertical field of view of the wide-angle camera image is V vertical degrees, the horizontal field of view is V horizon Spend.

[0032] The present invention also provides a UAV gimbal attitude measurement device, the device comprising:

[0033] An image information acquisition module is used to acquire a gimbal camera image taken by a gimbal camera of the drone and a wide-angle camera image taken by a wide-angle camera; and to acquire image information of the gimbal camera image and image information of the wide-angle camera image respectively according to the gimbal camera image and the wide-angle camera image;

[0034] An angular resolution acquisition module, used to obtain the angular resolution of the PTZ camera image and the angular resolution of the wide-angle camera image respectively according to the image information of the PTZ camera image and the image information of the wide-angle camera image;

[0035] An angular resolution reduction module, used to reduce the angular resolution of the gimbal camera image to be consistent with the angular resolution of the wide-angle camera image;

[0036] An image registration module is used to perform image registration on the PTZ camera image with reduced angular resolution and the wide-angle camera image to obtain the coordinates of the principal point of the PTZ camera image in the wide-angle camera image and the rotation angle of the PTZ camera image;

[0037] The attitude information output module is used to obtain the Euler angle rotation conversion relationship between the gimbal camera coordinate system and the body coordinate system based on the coordinates of the main point of the gimbal camera image in the wide-angle camera image, the rotation angle of the gimbal camera image and the image information of the wide-angle camera image, combined with the camera imaging principle; according to the Euler angle rotation conversion relationship between the gimbal camera coordinate system and the body coordinate system, the three-axis attitude information of the drone gimbal camera in the body coordinate system is obtained.

[0038] Furthermore, the image registration module further includes: using the PTZ camera image after the angle resolution is reduced as a template to traverse and match the wide-angle camera image, so as to obtain an overlapping sub-image with the highest pixel matching degree between the PTZ camera image after the angle resolution is reduced and the wide-angle camera image;

[0039] According to the overlapping sub-image with the highest pixel matching degree, the rotation angle of the gimbal camera image to move to the position of the overlapping sub-image with the highest pixel matching degree is obtained, and the coordinates of the overlapping sub-image with the highest pixel matching degree are the coordinates of the principal point of the gimbal camera image in the wide-angle camera image.

[0040] The present invention also provides a drone gimbal attitude measurement system, comprising a wide-angle camera fixedly connected to the drone body, a gimbal camera rotatably connected to the drone body, a processor, and a memory connected to the processor, wherein the memory stores a computer program, and when the program is executed by the processor, the steps of the above-mentioned drone gimbal attitude measurement method are implemented.

[0041] The present invention also provides a computer-readable storage medium on which a computer program is stored. When the computer program is executed by a processor, the steps of the above-mentioned unmanned aerial vehicle gimbal attitude measurement method are implemented.

[0042] The beneficial effects of the present invention are:

[0043] The present invention provides a method and device for measuring the attitude of a UAV gimbal, and a system for measuring the attitude of a UAV gimbal. The method adopts an image measurement method to realize the measurement conversion between the gimbal camera coordinate system and the body coordinate system. Compared with the traditional inertial sensor implementation method, the present invention uses the wide-angle camera and the gimbal camera images acquired synchronously in real time for registration measurement, and utilizes the high angular resolution of image measurement and the absence of the problems of error accumulation and precision drift of inertial measurement devices, thereby realizing the high measurement accuracy of the UAV gimbal attitude measurement method and having high engineering application value. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] Figure 1 This is a flow chart of a method for measuring attitude of a UAV gimbal according to the present invention;

[0045] Figure 2 Schematic diagram of the structure and field of view of the pan-tilt attitude measurement system of the present invention;

[0046] Figure 3 Schematic diagram of the dual-camera image registration process. DETAILED DESCRIPTION

[0047] In order to make the purpose, technical solution and advantages of the present application more clearly understood, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0048] like Figure 1 As shown, the present invention provides a method for measuring the attitude of a UAV gimbal, comprising the following steps:

[0049] Step 101, obtaining a pan-tilt camera image taken by a pan-tilt camera of a drone and a wide-angle camera image taken by a wide-angle camera; wherein the wide-angle camera is fixedly connected to the drone;

[0050] Step 102, respectively acquiring image information of the gimbal camera image and image information of the wide-angle camera image according to the gimbal camera image and the wide-angle camera image; the image information of the gimbal camera image includes the principal point coordinates of the gimbal camera image, the field of view of the gimbal camera image in a certain direction, and the pixels corresponding to the field of view of the gimbal camera image in this direction; the image information of the wide-angle camera image includes the principal point coordinates of the wide-angle camera image, the field of view of the wide-angle camera image in a certain direction, and the pixels corresponding to the field of view of the wide-angle camera image in this direction; and the vertical field of view and horizontal field of view of the wide-angle camera image;

[0051] Step 103: obtaining an angular resolution of the pan-tilt camera image and an angular resolution of the wide-angle camera image respectively according to the image information of the pan-tilt camera image and the image information of the wide-angle camera image;

[0052] Step 104: reducing the angular resolution of the PTZ camera image to be consistent with the angular resolution of the wide-angle camera image;

[0053] Step 105, performing image registration on the PTZ camera image after the angle resolution reduction and the wide-angle camera image to obtain the coordinates of the principal point of the PTZ camera image in the wide-angle camera image and the rotation angle of the PTZ camera image;

[0054] Step 106: According to the coordinates of the principal point of the gimbal camera image in the wide-angle camera image, the rotation angle of the gimbal camera image and the image information of the wide-angle camera image, in combination with the camera imaging principle, the Euler angle rotation transformation relationship between the gimbal camera coordinate system and the body coordinate system is obtained; according to the Euler angle rotation transformation relationship between the gimbal camera coordinate system and the body coordinate system, the three-axis attitude information of the gimbal camera of the UAV in the body coordinate system is obtained.

[0055] The present invention adopts an image measurement method to realize the measurement conversion between the gimbal camera coordinate system and the body coordinate system. Compared with the traditional inertial sensor implementation method, the unmanned aerial vehicle gimbal attitude measurement method of the present invention has high measurement accuracy and does not have error accumulation and accuracy drift divergence.

[0056] Figure 2 The schematic diagram of the structure and field of view of the gimbal attitude measurement system of the present invention is shown in FIG. The gimbal attitude measurement system includes a wide-angle camera fixedly connected to the drone body and a gimbal camera rotatably connected to the drone body. The gimbal camera is rotatably connected to the drone body and can rotate along three axes, specifically pitch, roll, and yaw. The wide-angle camera is fixedly connected to the drone body, and its coordinates and orientation can be directly determined by calibrating the wide-angle camera; the field of view of the gimbal camera is relatively small and is within the field of view of the wide-angle camera.

[0057] In a specific embodiment, the angular resolution of the gimbal camera image is obtained according to the field angle of the gimbal camera image in a certain direction and the pixels corresponding to the field angle of the gimbal camera image in the direction;

[0058] The angular resolution of the wide-angle camera image is obtained according to the field angle of a certain direction of the wide-angle camera image and the pixels corresponding to the field angle of the wide-angle camera image in the direction, wherein the certain direction is a vertical direction or a horizontal direction.

[0059] Specifically, let the gimbal camera image be I1, the principal point coordinates of image I1 be O1(x1,y1), let the wide-angle camera image be I2, the principal point coordinates of image I2 be O0(x0,y0). Let the field of view of image I1 in a certain direction be V1 degrees, the corresponding pixel is W1, then its angular resolution is V1 / W1, let the field of view of image I2 in a certain direction be V2 degrees, the corresponding pixel is W2, then its angular resolution is V2 / W2;

[0060] When the angular resolution of the pan-tilt camera image is reduced to be consistent with the angular resolution of the wide-angle camera image, the reduction ratio of the pan-tilt camera image is:

[0061] (V1×W2) / (V2×W1).

[0062] In a specific embodiment, Figure 3 As shown, the PTZ camera image with reduced angular resolution is registered with the wide-angle camera image to obtain the coordinates of the principal point of the PTZ camera image in the wide-angle camera image and the rotation angle of the PTZ camera image, including:

[0063] The PTZ camera image after the angle resolution reduction is used as a template to traverse and match the wide-angle camera image, so as to obtain an overlapping sub-image with the highest pixel matching degree between the PTZ camera image after the angle resolution reduction and the wide-angle camera image;

[0064] According to the overlapping sub-image with the highest pixel matching degree, the rotation angle ω of the gimbal camera image moving to the position of the overlapping sub-image with the highest pixel matching degree is obtained, and the coordinates of the overlapping sub-image with the highest pixel matching degree are the coordinates (x, y) of the principal point of the gimbal camera image in the wide-angle camera image.

[0065] According to the coordinates of the principal point of the gimbal camera image in the wide-angle camera image, the rotation angle of the gimbal camera image and the image information of the wide-angle camera image, combined with the camera imaging principle, the Euler angle rotation transformation relationship between the gimbal camera coordinate system and the body coordinate system is obtained, including:

[0066] The Euler angles include pitch angle, roll angle and yaw angle;

[0067] The pitch angle: θ = (y-y0) / V vertical ,

[0068] The roll angle: Φ = (x-x0) / V horizon ,

[0069] The yaw angle: ψ = ω,

[0070] The coordinates of the principal point of the gimbal camera image in the wide-angle camera image are (x, y), the rotation angle of the gimbal camera image to move to the overlapping sub-image position with the highest pixel matching degree is ω, the principal point of the wide-angle camera image is (x0, y0), and the vertical field of view of the wide-angle camera image is V vertical degrees, the horizontal field of view is V horizon Spend.

[0071] Then the three-axis attitude information of the drone gimbal camera in the body coordinate system is (θ, Φ, ψ).

[0072] The present invention also provides a UAV gimbal attitude measurement device, the device comprising:

[0073] An image information acquisition module is used to acquire a gimbal camera image taken by a gimbal camera of the drone and a wide-angle camera image taken by a wide-angle camera; and to acquire image information of the gimbal camera image and image information of the wide-angle camera image respectively according to the gimbal camera image and the wide-angle camera image;

[0074] An angular resolution acquisition module, used to obtain the angular resolution of the PTZ camera image and the angular resolution of the wide-angle camera image respectively according to the image information of the PTZ camera image and the image information of the wide-angle camera image;

[0075] An angular resolution reduction module, used to reduce the angular resolution of the gimbal camera image to be consistent with the angular resolution of the wide-angle camera image;

[0076] An image registration module is used to perform image registration on the PTZ camera image with reduced angular resolution and the wide-angle camera image to obtain the coordinates of the principal point of the PTZ camera image in the wide-angle camera image and the rotation angle of the PTZ camera image;

[0077] The attitude information output module is used to obtain the Euler angle rotation conversion relationship between the gimbal camera coordinate system and the body coordinate system based on the coordinates of the main point of the gimbal camera image in the wide-angle camera image, the rotation angle of the gimbal camera image and the image information of the wide-angle camera image, combined with the camera imaging principle; according to the Euler angle rotation conversion relationship between the gimbal camera coordinate system and the body coordinate system, the three-axis attitude information of the drone gimbal camera in the body coordinate system is obtained.

[0078] The image registration module further includes: using the pan-tilt camera image after the angle resolution is reduced as a template to traverse and match the wide-angle camera image, so as to obtain an overlapping sub-image with the highest pixel matching degree between the pan-tilt camera image after the angle resolution is reduced and the wide-angle camera image;

[0079] According to the overlapping sub-image with the highest pixel matching degree, the rotation angle of the gimbal camera image to move to the position of the overlapping sub-image with the highest pixel matching degree is obtained, and the coordinates of the overlapping sub-image with the highest pixel matching degree are the coordinates of the principal point of the gimbal camera image in the wide-angle camera image.

[0080] The present invention also provides a drone gimbal attitude measurement system, comprising a wide-angle camera fixedly connected to the drone body, a gimbal camera rotatably connected to the drone body, a processor, and a memory connected to the processor, wherein the memory stores a computer program, and when the program is executed by the processor, the steps of the above-mentioned drone gimbal attitude measurement method are implemented, which will not be repeated here.

[0081] A computer-readable storage medium having a computer program stored thereon, characterized in that the steps of the above method are implemented when the computer program is executed by a processor, which will not be repeated here.

[0082] Those skilled in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be completed by instructing the relevant hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to memory, storage, database or other media used in the embodiments provided in this application can include non-volatile and / or volatile memory. Non-volatile memory can include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM) or flash memory. Volatile memory can include random access memory (RAM) or external cache memory. As an illustration and not limitation, RAM is available in many forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous link (Synchlink) DRAM (SLDRAM), memory bus (Rambus) direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM).

[0083] The technical features of the above embodiments may be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0084] The above-mentioned embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the invention patent. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the patent of the present application shall be subject to the attached claims.

Claims

1. A method for measuring attitude of a drone gimbal, characterized in that: The method comprises: Acquire a pan-tilt camera image taken by a pan-tilt camera of the drone and a wide-angle camera image taken by a wide-angle camera; wherein the wide-angle camera is fixedly connected to the drone; Acquire image information of the gimbal camera image and image information of the wide-angle camera image respectively according to the gimbal camera image and the wide-angle camera image; According to the image information of the pan-tilt camera image and the image information of the wide-angle camera image, respectively obtaining the angular resolution of the pan-tilt camera image and the angular resolution of the wide-angle camera image; Reducing the angular resolution of the pan / tilt camera image to be consistent with the angular resolution of the wide-angle camera image; Perform image registration on the PTZ camera image with reduced angular resolution and the wide-angle camera image to obtain the coordinates of the principal point of the PTZ camera image in the wide-angle camera image and the rotation angle of the PTZ camera image; According to the coordinates of the principal point of the gimbal camera image in the wide-angle camera image, the rotation angle of the gimbal camera image and the image information of the wide-angle camera image, combined with the camera imaging principle, the Euler angle rotation conversion relationship between the gimbal camera coordinate system and the body coordinate system is obtained; According to the Euler angle rotation transformation relationship between the gimbal camera coordinate system and the body coordinate system, the three-axis attitude information of the drone gimbal camera in the body coordinate system is obtained; The image information of the gimbal camera image includes the principal point coordinates of the gimbal camera image, the field of view of the gimbal camera image in a certain direction, and the pixels corresponding to the field of view of the gimbal camera image in that direction; the image information of the wide-angle camera image includes the principal point coordinates of the wide-angle camera image, the field of view of the wide-angle camera image in a certain direction, and the pixels corresponding to the field of view of the wide-angle camera image in that direction; and the vertical field of view and horizontal field of view of the wide-angle camera image; Obtaining the angular resolution of the gimbal camera image and the angular resolution of the wide-angle camera image according to the image information of the gimbal camera image and the image information of the wide-angle camera image, including: Obtaining an angular resolution of the gimbal camera image according to the field angle of the gimbal camera image in a certain direction and the pixels corresponding to the field angle of the gimbal camera image in the direction; Obtaining an angular resolution of the wide-angle camera image according to the field angle of the wide-angle camera image in a certain direction and the pixels corresponding to the field angle of the wide-angle camera image in the direction; Reducing the angular resolution of the gimbal camera image to be consistent with the angular resolution of the wide-angle camera image, comprising: Assume that the field of view of the gimbal camera image in a certain direction is V1 degrees, and the corresponding pixel is W1, then its angular resolution is V1 / W1; Assume that the field of view of a wide-angle camera image in a certain direction is V2 degrees, and the corresponding pixel is W2, then its angular resolution is V2 / W2; When the angular resolution of the pan-tilt camera image is reduced to be consistent with the angular resolution of the wide-angle camera image, the reduction ratio of the pan-tilt camera image is: (V1×W2) / (V2×W1); According to the coordinates of the principal point of the gimbal camera image in the wide-angle camera image, the rotation angle of the gimbal camera image and the image information of the wide-angle camera image, combined with the camera imaging principle, the Euler angle rotation transformation relationship between the gimbal camera coordinate system and the body coordinate system is obtained, including: The Euler angles include pitch angle, roll angle and yaw angle; The pitch angle: θ = (y-y0) / V vertical , The roll angle: Φ = (x-x0) / V horizon , The yaw angle: ψ = ω, The coordinates of the principal point of the gimbal camera image in the wide-angle camera image are (x, y), the rotation angle of the gimbal camera image to move to the overlapping sub-image position with the highest pixel matching degree is ω, the coordinates of the principal point of the wide-angle camera image are (x0, y0), and the vertical field of view of the wide-angle camera image is V vertical degrees, the horizontal field of view is V horizon Spend.

2. The method according to claim 1, characterized in that The image of the gimbal camera with reduced angular resolution is registered with the image of the wide-angle camera to obtain the coordinates of the principal point of the gimbal camera image in the wide-angle camera image and the rotation angle of the gimbal camera image, including: The PTZ camera image after the angle resolution reduction is used as a template to traverse and match the wide-angle camera image, so as to obtain an overlapping sub-image with the highest pixel matching degree between the PTZ camera image after the angle resolution reduction and the wide-angle camera image; According to the overlapping sub-image with the highest pixel matching degree, the rotation angle of the gimbal camera image to move to the position of the overlapping sub-image with the highest pixel matching degree is obtained, and the coordinates of the overlapping sub-image with the highest pixel matching degree are the coordinates of the principal point of the gimbal camera image in the wide-angle camera image.

3. A UAV gimbal attitude measurement device, characterized in that: The device comprises: An image information acquisition module is used to acquire a gimbal camera image taken by a gimbal camera of the drone and a wide-angle camera image taken by a wide-angle camera; and to acquire image information of the gimbal camera image and image information of the wide-angle camera image respectively according to the gimbal camera image and the wide-angle camera image; An angular resolution acquisition module is used to obtain the angular resolution of the gimbal camera image and the angular resolution of the wide-angle camera image respectively according to the image information of the gimbal camera image and the image information of the wide-angle camera image; wherein the image information of the gimbal camera image includes the principal point coordinates of the gimbal camera image, the field of view of the gimbal camera image in a certain direction and the pixels corresponding to the field of view of the gimbal camera image in this direction; the image information of the wide-angle camera image includes the principal point coordinates of the wide-angle camera image, the field of view of the wide-angle camera image in a certain direction and the pixels corresponding to the field of view of the wide-angle camera image in this direction; and the field of view in the vertical direction and the field of view in the horizontal direction of the wide-angle camera image; according to the field of view in a certain direction of the gimbal camera image and the pixels corresponding to the field of view of the gimbal camera image in this direction, the angular resolution of the gimbal camera image is obtained; according to the field of view in a certain direction of the wide-angle camera image and the pixels corresponding to the field of view of the wide-angle camera image in this direction, the angular resolution of the wide-angle camera image is obtained; An angular resolution reduction module is used to reduce the angular resolution of the gimbal camera image to be consistent with the angular resolution of the wide-angle camera image; wherein, assuming that the field of view of the gimbal camera image in a certain direction is V1 degrees, and the corresponding pixel is W1, then its angular resolution is V1 / W1; assuming that the field of view of the wide-angle camera image in a certain direction is V2 degrees, and the corresponding pixel is W2, then its angular resolution is V2 / W2; when the angular resolution of the gimbal camera image is reduced to be consistent with the angular resolution of the wide-angle camera image, the reduction ratio of the gimbal camera image is: (V1×W2) / (V2×W1); An image registration module is used to perform image registration on the PTZ camera image with reduced angular resolution and the wide-angle camera image to obtain the coordinates of the principal point of the PTZ camera image in the wide-angle camera image and the rotation angle of the PTZ camera image; The attitude information output module is used to obtain the Euler angle rotation conversion relationship between the gimbal camera coordinate system and the body coordinate system according to the coordinates of the main point of the gimbal camera image in the wide-angle camera image, the rotation angle of the gimbal camera image and the image information of the wide-angle camera image, combined with the camera imaging principle; according to the Euler angle rotation conversion relationship between the gimbal camera coordinate system and the body coordinate system, obtain the three-axis attitude information of the drone gimbal camera in the body coordinate system; wherein the Euler angle includes pitch angle, roll angle and yaw angle; the pitch angle: θ=(y-y0) / V vertical , the roll angle: Φ = (x-x0) / V horizon , the yaw angle: ψ=ω, wherein the coordinates of the principal point of the gimbal camera image in the wide-angle camera image are (x, y), the rotation angle of the gimbal camera image to move to the overlapping sub-image position with the highest pixel matching degree is ω, the principal point coordinates of the wide-angle camera image are (x0, y0), and the vertical field of view of the wide-angle camera image is V vertical degrees, the horizontal field of view is V horizon Spend.

4. The UAV gimbal attitude measurement device according to claim 3, characterized in that: The image registration module further includes: using the pan-tilt camera image after the angle resolution is reduced as a template to traverse and match the wide-angle camera image, so as to obtain an overlapping sub-image with the highest pixel matching degree between the pan-tilt camera image after the angle resolution is reduced and the wide-angle camera image; According to the overlapping sub-image with the highest pixel matching degree, the rotation angle of the gimbal camera image to move to the position of the overlapping sub-image with the highest pixel matching degree is obtained, and the coordinates of the overlapping sub-image with the highest pixel matching degree are the coordinates of the principal point of the gimbal camera image in the wide-angle camera image.

5. A UAV gimbal attitude measurement system, characterized in that: The invention comprises a wide-angle camera fixedly connected to the drone body, a gimbal camera rotatably connected to the drone body, a processor, and a memory connected to the processor, wherein the memory stores a computer program, and when the program is executed by the processor, the steps of the drone gimbal attitude measurement method as claimed in claim 1 or 2 are implemented.

6. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the UAV gimbal attitude measurement method described in claim 1 or 2 are implemented.

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