Rotary table control method and device based on gyroscope-coded disc complementary filtering

Abstract

The invention discloses a rotary table control method and device based on gyroscope-coded disc complementary filtering, and belongs to the field of control engineering. The method comprises the following steps: acquiring a gyroscope attitude angle measurement value of a turntable; acquiring a coded disc attitude angle measurement value of the turntable, and judging a coded disc state based on a signal fed back by the coded disc; based on the coded disc state, performing complementary filtering on the gyroscope attitude angle measurement value and the coded disc attitude angle measurement value to obtain a fused attitude angle quaternion estimation value; and calculating a pitch angle, a roll angle and a yaw angle of the rotary table based on the fusion attitude angle quaternion estimation value so as to construct a PID controller to perform steady-state control on the attitude of the rotary table. According to the scheme, the state of the coded disc is judged based on the signal fed back by the coded disc, the measurement results of the gyroscope and the coded disc are fused by using the complementary filtering algorithm, and then PID control is constructed to carry out steady-state control on the turntable, so that the accuracy, the real-time performance and the reliability of turntable attitude angle measurement control under the stormy wave condition can be improved.

Description

Technical Field

[0001] The present invention relates to the technical field of control engineering, and particularly to a turntable control method and device based on gyroscope - encoder complementary filtering. Background Art

[0002] With the continuous development of the economic society, the water transportation industry is also constantly progressing. To maintain the efficiency and safety of the water transportation industry, the supervision work of the marine - related departments is essential. Currently, in actual supervision, the marine - related departments mainly use the turntable equipment installed on the bow of the law - enforcement ship to monitor, track, and obtain evidence of the target object. However, the unstable wind and waves on the sea surface are extremely likely to cause the instability of the turntable attitude, making it difficult to quickly control the turntable to maintain a steady state, which causes difficulties for the law - enforcement department to obtain evidence. Regarding this turntable attitude instability, although the encoder can provide relatively accurate measurement results, due to its slow response speed, it cannot promptly reflect the rapid changes in the turntable attitude. Moreover, usually only a single encoder sensor is set, and its failure will seriously affect the system reliability.

[0003] Therefore, there is an urgent need to provide a new turntable control method. Summary of the Invention

[0004] To solve the problem that it is difficult to quickly control the turntable to maintain a steady state under wind - wave conditions by using a single encoder sensor traditionally, an embodiment of the present invention provides a turntable control method and device based on gyroscope - encoder complementary filtering.

[0005] On the one hand, a turntable control method based on gyroscope - encoder complementary filtering is provided. The method includes: Obtaining the gyroscope attitude angle measurement value of the turntable; Obtaining the encoder attitude angle measurement value of the turntable and judging the encoder state based on the signal fed back by the encoder; Based on the encoder state, performing complementary filtering on the gyroscope attitude angle measurement value and the encoder attitude angle measurement value to obtain a fused attitude angle quaternion estimation value; Calculating the pitch angle, roll angle, and yaw angle of the turntable based on the fused attitude angle quaternion estimation value, and constructing a PID controller to perform steady - state control on the turntable attitude.

[0006] On the other hand, a turntable control device based on gyroscope - encoder complementary filtering according to the steps of any method embodiment of the specification is provided. The device includes: An obtaining unit, configured to obtain the gyroscope attitude angle measurement value of the turntable; A judging unit, configured to obtain the encoder attitude angle measurement value of the turntable and judge the encoder state based on the signal fed back by the encoder; A fusion unit, configured to perform complementary filtering on the gyroscope attitude angle measurement value and the encoder attitude angle measurement value based on the encoder state to obtain a fused attitude angle quaternion estimation value; A control unit, configured to calculate the pitch angle, roll angle, and yaw angle of the turntable based on the fused attitude angle quaternion estimation value, and construct a PID controller to perform steady-state control on the turntable attitude.

[0007] On the other hand, a computer device is provided. The computer device includes a memory and a processor. The memory is used to store a computer program, and the processor is used to execute the computer program stored on the memory to implement the steps of the above method.

[0008] On the other hand, a computer-readable storage medium is provided. The storage medium stores a computer program, and when the computer program is executed by a processor, the steps of the above method are implemented.

[0009] On the other hand, a computer program product is provided, including a computer program, and when the computer program is executed by a processor, the steps of the above method are implemented.

[0010] The technical solution provided by the present invention can at least bring the following beneficial effects: By combining the advantages of two sensors, namely the gyroscope and the encoder, the defect of insufficient system reliability caused by only a single encoder sensor is made up for; and by judging the encoder state based on the signal fed back by the encoder, using the complementary filtering algorithm to fuse the measurement results of the gyroscope and the encoder, and then constructing a PID control to perform steady-state control on the turntable, the accuracy, real-time performance, and reliability of the turntable attitude angle measurement and control under wind and wave conditions can be improved. Description of the Drawings

[0011] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the following drawings are some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0012] Figure 1 It is a flowchart of a turntable control method based on gyroscope-encoder complementary filtering provided by an embodiment of the present invention; Figure 2 It is a structural diagram of a turntable control device based on gyroscope-encoder complementary filtering provided by an embodiment of the present invention; Figure 3 It is a hardware architecture diagram of a computer device provided by an embodiment of the present invention. Detailed Embodiments

[0013] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are some, but not all, of the embodiments of the present invention. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts fall within the scope of protection of the present invention.

[0014] The following describes the specific implementation of the above concept.

[0015] Please refer to Figure 1 , a turntable control method based on gyroscope-encoder complementary filtering provided by an embodiment of the present invention, the method includes: Step 100: Obtain the gyroscope attitude angle measurement value of the turntable; Step 102: Obtain the encoder attitude angle measurement value of the turntable, and judge the encoder state based on the signal fed back by the encoder; Step 104: Based on the encoder state, perform complementary filtering on the gyroscope attitude angle measurement value and the encoder attitude angle measurement value to obtain a fused attitude angle quaternion estimation value; Step 106: Calculate the pitch angle, roll angle, and yaw angle of the turntable based on the fused attitude angle quaternion estimation value, and construct a PID controller to perform steady-state control on the turntable attitude.

[0016] In the embodiments of the present invention, by combining the advantages of two sensors, namely the gyroscope and the encoder, the defect of insufficient system reliability caused by only a single encoder sensor is made up; and by judging the encoder state based on the signal fed back by the encoder, using the complementary filtering algorithm to fuse the measurement results of the gyroscope and the encoder, and then constructing a PID control to perform steady-state control on the turntable, the accuracy, real-time performance, and reliability of the turntable attitude angle measurement and control under wind and wave conditions can be improved.

[0017] The following describes Figure 1 the execution manner of each step shown in

[0018] Regarding step 100: In this embodiment, an MEMS gyroscope is selected to directly obtain the attitude angle measurement value of the turntable generated by external forces , where the external forces refer to the combined external forces such as wind and waves, motors, etc.

[0019] Regarding step 102: In some embodiments, the step of "judging the encoder state based on the signal fed back by the encoder" includes steps S1-S3: Step S1, based on the sampled values of two orthogonal signals fed back by the encoder, calculate the phase difference to determine the signal integrity status value; Step S2: Determine the signal amplitude status value based on the average amplitude of the two orthogonal signals fed back by the code disk; Step S3: Judge the code disk status based on the signal integrity status value and the signal amplitude status value.

[0020] In some embodiments, the signal integrity status value in Step S1 is determined in the following manner: where is the signal integrity status value, is the phase difference, and are the sampling values of the two orthogonal signals fed back by the code disk and respectively, is the phase difference allowable error range value, and N is the number of sampling points of each orthogonal signal.

[0021] In this embodiment, the signal integrity status value of the code disk signal is judged by calculating the phase difference of the two orthogonal signals fed back by the code disk, so as to realize the quantization of the signal integrity status.

[0022] Due to the phase difference error the angle error caused can be approximated as: Therefore, in some embodiments, the phase difference allowable error range value is determined in the following manner: where is the maximum angle error of the system turntable, which can be measured according to the actual situation of the turntable.

[0023] In some embodiments, the signal amplitude status value in Step S2 is determined in the following manner: where is the signal amplitude status value, and are the average amplitudes of the two orthogonal signals fed back by the code disk and respectively, and are the average amplitude allowable error range values of the two orthogonal signals output by the code disk and respectively, and N is the number of sampling points of each orthogonal signal.

[0024] In this embodiment, by calculating the average amplitude of the two orthogonal signals fed back by the code disk, the amplitude state value of the code disk signal is judged to realize the quantization of the signal amplitude state.

[0025] Due to the signal amplitude error The resulting angle error Can be approximated as: Therefore, in some embodiments, the allowable error range value of the signal average amplitude can be expressed as: Wherein, Is the maximum angle error of the system turntable, which can be measured according to the actual situation of the turntable.

[0026] In some embodiments, the code disk state is determined in step S3 in the following manner: In the formula, Is the code disk state, Represents AND, Represents OR.

[0027] In this embodiment, by evaluating the signal integrity and signal amplitude based on the two orthogonal signals fed back by the code disk, it is automatically judged whether the code disk is in a normal state. Only when both the signal integrity and signal amplitude are normal, the code disk state is normal, and in other cases, it is abnormal. And integrating the code disk state into the complementary filtering algorithm of the gyroscope and the code disk can avoid the output of the code disk attitude angle measurement value when the code disk state is abnormal, so as to further improve the accuracy of turntable control.

[0028] For step 104: In some embodiments, step 104 may include steps B1 - B5: Step B1, respectively convert the gyroscope attitude angle measurement value and the code disk attitude angle measurement value into quaternions to obtain the gyroscope attitude angle quaternion estimation value and the code disk attitude angle quaternion estimation value.

[0029] In this step, first, the process of converting the gyroscope attitude angle measurement value into a quaternion is described.

[0030] Gyroscope attitude angle measurement value Can be decomposed on the three-axis coordinate system and expressed as: Since the relationship between the attitude angle and the quaternion is: Wherein, Is the derivative of the quaternion, is a quaternion, is quaternion multiplication, is the attitude angle.

[0031] According to the above formula, substituting the estimated value of the gyroscope attitude angle quaternion into the above formula and expanding it, we get: where is the derivative of the estimated value of the gyroscope attitude angle quaternion.

[0032] Based on the above expansion formula, through numerical integration methods such as the Euler method and the Runge - Kutta method, the estimated value of the gyroscope attitude angle quaternion can be solved.

[0033] Next, the process of converting the measured value of the encoder attitude angle into a quaternion will be described.

[0034] Using the measured value of the encoder attitude angle to construct a rotation matrix : The estimated value of the encoder attitude angle quaternion can be expressed as: Step B2, design a high - pass filter required for fusion and a low - pass filter considering the encoder state.

[0035] In this step, the fusion expression of the fused attitude angle quaternion estimate is: where is the fused attitude angle quaternion estimate, is the weight coefficient, is the gyroscope attitude angle quaternion estimate, is the encoder state, is the encoder attitude angle quaternion estimate.

[0036] In this embodiment, the design of the weight coefficient is as follows: In the system can be understood as a high - pass filter, which is used to extract the attitude angle change information of the gyroscope and reduce the drift error; can be understood as a low - pass filter, which is used to smooth the measured value of the encoder attitude angle and reduce the dynamic error.

[0037] Step B3, input the estimated value of the gyroscope attitude angle quaternion into the high - pass filter to obtain the filtered estimated value of the gyroscope attitude angle quaternion.

[0038] Since the feedback signal of the gyroscope is a high-frequency signal, a high-pass filter is selected to filter the estimated value of the gyroscope attitude angle quaternion, which can enable the gyroscope to play a major measurement role when the wind and waves are large. The encoder signal is a low-frequency signal, and a low-pass filter is selected to filter the estimated value of the encoder attitude angle quaternion, which can enable the encoder to play a major measurement role when the wind and waves are small. By designing the high-pass filter and the low-pass filter, it is possible to output the fused estimated value of the attitude angle quaternion with different focuses under different wind and wave intensities, enabling the turntable attitude control to adapt to different wind and wave environments, with a focus on accuracy when the waves are small and a focus on speed and reliability when the waves are large. In addition, integrating the encoder status into the low-pass filter can not only automatically judge the encoder status, but also enable the gyroscope to play a major measurement role when the encoder fails, improving the reliability of the control system.

[0039] In some embodiments, the high-pass filter filters the estimated value of the gyroscope attitude angle quaternion in the following manner: Substituting gives: In the formula, is the estimated value of the gyroscope attitude angle quaternion after filtering, is the transfer function of the high-pass filter, is the estimated value of the gyroscope attitude angle quaternion, is the time constant, is the angular frequency.

[0040] In this embodiment, using the high-pass filter to filter the estimated value of the gyroscope attitude angle quaternion can enable the gyroscope to play a major measurement role when the wind and waves are large, ensuring the positioning speed and positioning reliability when the waves are large.

[0041] Step B4: Input the encoder status and the estimated value of the encoder attitude angle quaternion into the low-pass filter to obtain the estimated value of the encoder attitude angle quaternion after filtering.

[0042] In some embodiments, the low-pass filter filters the estimated value of the encoder attitude angle quaternion in the following manner: Substituting gives: In the formula, is the estimated value of the encoder attitude angle quaternion after filtering, is the transfer function of the low-pass filter, is the encoder status, is the estimated value of the encoder attitude angle quaternion, is the time constant, is the angular frequency.

[0043] In this embodiment, a low-pass filter is selected to filter the estimated value of the encoder attitude angle quaternion, which can make the encoder play a major measurement role when the wind and waves are small. Moreover, by adding the encoder state, the accuracy of the fusion output can be comprehensively improved.

[0044] Step B5: Sum the filtered estimated value of the gyroscope attitude angle quaternion and the filtered estimated value of the encoder attitude angle quaternion to obtain the fused attitude angle quaternion estimated value.

[0045] Finally, the fused attitude angle quaternion estimated value is obtained through summation : In the formula, is the time constant, is the angular frequency, is the estimated value of the gyroscope attitude angle quaternion, is the encoder state, is the estimated value of the encoder attitude angle quaternion.

[0046] In the embodiment of the present invention, the advantages of the two types of sensors are combined through the complementary filtering algorithm, avoiding the problem of low system reliability caused by a single encoder sensor. Specifically, the estimated value of the gyroscope attitude angle quaternion is input into a high-pass filter, and the estimated value of the encoder attitude angle quaternion is input into a low-pass filter and then summed, enabling the system to achieve the effect that when a high-frequency signal is input, the output of the gyroscope dominates the system output, and when a low-frequency signal is input, the output of the encoder dominates the system output. Moreover, when the encoder fails, the output of the gyroscope dominates the system output, and a turntable control technology with high measurement result accuracy, fast response speed, and high reliability can be obtained.

[0047] Regarding step 106: In the embodiment of the present invention, the fused attitude angle quaternion estimated value can be expressed as: In the formula, , , and are the expansion values of the fused attitude angle quaternion estimated value, , and are the imaginary parts.

[0048] Convert the fused attitude angle quaternion estimated value into the pitch angle and the roll angle Yaw angle are respectively represented as: Next, a PID controller is constructed to perform steady-state control on the turntable attitude.

[0049] Pitch angle , roll angle , yaw angle The PID controller outputs of are respectively , , and are respectively represented as: In the formula, is the proportional coefficient, is the integral coefficient, is the differential coefficient. It can be understood that in the PID controllers for pitch angle , roll angle and yaw angle , different proportional coefficients, integral coefficients and differential coefficients can be set.

[0050] Please refer to Figure 2 , an embodiment of the present invention provides a turntable control device based on gyroscope - encoder complementary filtering. The device includes: An acquisition unit 201 for acquiring the gyroscope attitude angle measurement value of the turntable; A judgment unit 202 for acquiring the encoder attitude angle measurement value of the turntable and judging the encoder state based on the signal fed back by the encoder; A fusion unit 203 for performing complementary filtering on the gyroscope attitude angle measurement value and the encoder attitude angle measurement value based on the encoder state to obtain a fused attitude angle quaternion estimation value; A control unit 204 for calculating the pitch angle, roll angle and yaw angle of the turntable based on the fused attitude angle quaternion estimation value to construct a PID controller to perform steady-state control on the turntable attitude.

[0051] In an embodiment of the present invention, when the judgment unit 202 executes judging the encoder state based on the signal fed back by the encoder, it is used for: Calculating the phase difference based on the sampled values of two orthogonal signals fed back by the encoder to determine the signal integrity state value; Determining the signal amplitude state value based on the average amplitude of two orthogonal signals fed back by the encoder; Judge the encoder status based on the signal integrity status value and the signal amplitude status value.

[0052] In an embodiment of the present invention, the signal integrity status value in the judgment unit 202 is determined in the following manner: Wherein, is the signal integrity status value, is the phase difference, and are the sampling values of two orthogonal signals fed back by the encoder and ; is the allowable error range value of the phase difference, and N is the number of sampling points of each orthogonal signal.

[0053] In an embodiment of the present invention, the fusion unit 203 is configured to perform: Respectively convert the gyroscope attitude angle measurement value and the encoder attitude angle measurement value into quaternions to obtain the gyroscope attitude angle quaternion estimation value and the encoder attitude angle quaternion estimation value; Design a high-pass filter required for fusion and a low-pass filter incorporating encoder status considerations; Input the gyroscope attitude angle quaternion estimation value into the high-pass filter to obtain the filtered gyroscope attitude angle quaternion estimation value; Input the encoder status and the encoder attitude angle quaternion estimation value into the low-pass filter to obtain the filtered encoder attitude angle quaternion estimation value; Sum the filtered gyroscope attitude angle quaternion estimation value and the filtered encoder attitude angle quaternion estimation value to obtain the fused attitude angle quaternion estimation value.

[0054] In an embodiment of the present invention, the high-pass filter in the fusion unit 203 filters the gyroscope attitude angle quaternion estimation value in the following manner: Substituting gives: In the formula, [[ID=5l]] is the filtered gyroscope attitude angle quaternion estimation value, is the transfer function of the high-pass filter, is the gyroscope attitude angle quaternion estimation value, is the time constant, is the angular frequency.

[0055] In an embodiment of the present invention, the low-pass filter in the fusion unit 203 filters the estimated value of the encoder attitude angle quaternion in the following manner: Substituting gives: In the formula, is the estimated value of the encoder attitude angle quaternion after filtering, is the transfer function of the low-pass filter, is the encoder state, is the estimated value of the encoder attitude angle quaternion, is the time constant, is the angular frequency.

[0056] It should be noted that the above device embodiment and method embodiment belong to the same concept. For the specific implementation process, please refer to the method embodiment, which will not be elaborated here.

[0057] An embodiment of the present application also provides a computer device, which includes a processor and a memory. The memory stores at least one instruction, at least one program, a code set or an instruction set. The at least one instruction, at least one program, the code set or the instruction set is loaded and executed by the processor to implement the turntable control method based on gyroscope-encoder complementary filtering provided in the above method embodiments.

[0058] An embodiment of the present application also provides a computer-readable storage medium, on which at least one instruction, at least one program, a code set or an instruction set is stored. The at least one instruction, at least one program, the code set or the instruction set is loaded and executed by the processor to implement the turntable control method based on gyroscope-encoder complementary filtering provided in the above method embodiments.

[0059] An embodiment of the present application also provides a computer program product, which includes a computer program. The processor of the computer device reads the computer program from the computer-readable storage medium, and the processor executes the computer program, so that the computer device executes the turntable control method based on gyroscope-encoder complementary filtering in any of the above embodiments.

[0060] For the convenience of description, when describing the above device or devices, they are described by function as various modules or units respectively. Of course, when implementing the present application, the functions of each unit can be realized in one or more software and / or hardware.

[0061] From the description of the above embodiments, those skilled in the art can clearly understand that this application can be implemented by means of software plus a necessary general hardware platform. Based on such an understanding, the technical solution of this application, in essence, or the part that makes a contribution to the prior art, can be embodied in the form of a software product. This computer software product can be stored in a storage medium, such as ROM / RAM, magnetic disk, optical disc, etc., and includes several instructions for causing a computer device (which can be a personal computer, server, or network device, etc.) to execute the methods of various embodiments or some parts of the embodiments of this application.

[0062] Finally, it should also be noted that in this text, relational terms such as first, second, third, and fourth are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the term "comprising", "including" or any other variant thereof is intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements not only includes those elements, but also includes other elements not expressly listed, or also includes elements inherent to such process, method, article or device. Without further limitation, an element defined by the statement "including one..." does not exclude the existence of additional identical elements in the process, method, article or device including the element.

[0063] The above are only the preferred embodiments of this application. It should be pointed out that for those of ordinary skill in the art, without departing from the principle of this application, several improvements and refinements can be made, and these improvements and refinements should also be regarded as the protection scope of this application.

Claims

1. A turntable control method based on gyroscope - code disk complementary filtering, characterized in that Including: Obtaining the gyroscope attitude angle measurement value of the turntable; Obtaining the encoder attitude angle measurement value of the turntable and judging the encoder state based on the signal fed back by the encoder; Based on the encoder state, performing complementary filtering on the gyroscope attitude angle measurement value and the encoder attitude angle measurement value to obtain a fused attitude angle quaternion estimation value; Calculating the pitch angle, roll angle and yaw angle of the turntable based on the fused attitude angle quaternion estimation value to construct a PID controller for steady-state control of the turntable attitude.

2. The method according to claim 1, characterized in that, The judging the encoder state based on the signal fed back by the encoder includes: Calculating the phase difference based on the sampled values of two orthogonal signals fed back by the encoder to determine the signal integrity state value; Determining the signal amplitude state value based on the average amplitude of two orthogonal signals fed back by the encoder; Judging the encoder state based on the signal integrity state value and the signal amplitude state value.

3. The method according to claim 2, wherein The signal integrity state value is determined by the following method: wherein, is the signal integrity status value, is the phase difference, , are the sampled values of two orthogonal signals , fed back by the code disk, is the allowable error range value of the phase difference, and N is the number of sampling points of each orthogonal signal.

4. The method according to any one of claims 1 to 3, characterized in that, The performing complementary filtering on the gyroscope attitude angle measurement value and the encoder attitude angle measurement value based on the encoder state to obtain a fused attitude angle quaternion estimation value includes: Respectively converting the gyroscope attitude angle measurement value and the encoder attitude angle measurement value into quaternions to obtain a gyroscope attitude angle quaternion estimation value and an encoder attitude angle quaternion estimation value; Designing a high-pass filter required for fusion and a low-pass filter incorporating encoder state consideration factors; Inputting the gyroscope attitude angle quaternion estimation value into the high-pass filter to obtain a filtered gyroscope attitude angle quaternion estimation value; Inputting the encoder state and the encoder attitude angle quaternion estimation value into the low-pass filter to obtain a filtered encoder attitude angle quaternion estimation value; Summing the filtered gyroscope attitude angle quaternion estimation value and the filtered encoder attitude angle quaternion estimation value to obtain a fused attitude angle quaternion estimation value.

5. The method according to claim 4, wherein The high-pass filter filters the gyroscope attitude angle quaternion estimation value by the following method: Substituting to obtain: In the formula, is the estimated value of the gyroscope attitude angle quaternion after filtering, is the transfer function of the high-pass filter, is the estimated value of the gyroscope attitude angle quaternion, is the time constant, is the angular frequency.

6. The method according to claim 4, characterized in that The low-pass filter filters the encoder attitude angle quaternion estimation value by the following method: Substituting to obtain: In the formula, is the estimated value of the encoder attitude angle quaternion after filtering, is the transfer function of the low-pass filter, is the encoder state, is the estimated value of the encoder attitude angle quaternion, is the time constant, is the angular frequency.

7. A turntable control device based on gyroscope-encoder complementary filtering, which is used to implement the steps of the method according to any one of claims 1-6 above, characterized in that, Including: An obtaining unit for obtaining the gyroscope attitude angle measurement value of the turntable; A judging unit for obtaining the encoder attitude angle measurement value of the turntable and judging the encoder state based on the signal fed back by the encoder; A fusing unit for performing complementary filtering on the gyroscope attitude angle measurement value and the encoder attitude angle measurement value based on the encoder state to obtain a fused attitude angle quaternion estimation value; A control unit for calculating the pitch angle, roll angle and yaw angle of the turntable based on the fused attitude angle quaternion estimation value to construct a PID controller for steady-state control of the turntable attitude.

8. A computer device, characterized in that, The computer device includes a memory and a processor. The memory is used for storing a computer program, and the processor is used for executing the computer program stored on the memory to implement the steps of the method according to any one of claims 1-6 above.

9. A computer-readable storage medium, characterized in that, The storage medium stores a computer program, and when the computer program is executed by a processor, it implements the steps of the method according to any one of claims 1-6.

10. A computer program product, characterized in that, Comprising a computer program which, when executed by a processor, implements the steps of the method according to any one of claims 1-6.

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