Angle measurement method and system of holder, electronic equipment and storage medium

Abstract

The embodiment of the invention discloses an angle measurement method and system of a holder, electronic equipment and a storage medium, and the method comprises the steps: obtaining discrete reference data of a discrete reference position which is discretely measured according to a fixed interval Euler angle in a movement process of the holder relative to a magnetic device; wherein the holder is bound with a set number of Hall sensors; the discrete reference data comprises Hall coordinate data and Euler angles; acquiring Hall coordinate data of the magnetic device at the current position; and determining the joint angle of the holder at the current position according to the Hall coordinate data of the magnetic device at the current position and the discrete reference data. According to the technical scheme, the joint angle of the holder can be accurately measured, and the accuracy of holder angle measurement is improved.

Description

Technical Field

[0001] This invention relates to the field of gimbal angle measurement technology, and in particular to a gimbal angle measurement method, system, electronic device and storage medium. Background Technology

[0002] In fields such as industrial automation, security monitoring, drones and robots, the gimbal is a core motion control component, and its angle measurement accuracy directly affects the stability of the system and the accuracy of target tracking.

[0003] Traditional gimbal angle measurement technology mainly relies on mechanical encoders, potentiometers, or optical sensors. However, while mechanical encoders can provide high angular resolution, their mechanical structure is susceptible to wear, leading to a gradual decrease in accuracy over long-term use. Furthermore, their reliability is significantly reduced in environments with high vibration or shock. Potentiometer solutions, although lower in cost, suffer from nonlinear errors caused by changes in contact resistance and have a limited lifespan, making it difficult to meet the requirements for high precision and high reliability. Optical sensors, while enabling non-contact measurement, are sensitive to environmental interference such as dust and oil, have high maintenance costs, and are difficult to adapt to harsh working environments. Summary of the Invention

[0004] This invention provides a method, system, electronic device, and storage medium for measuring the angle of a gimbal, which can accurately measure the joint angle of the gimbal and improve the accuracy of gimbal angle measurement.

[0005] According to one aspect of the present invention, a method for measuring the angle of a gimbal is provided, comprising:

[0006] Discrete reference data is obtained by measuring discrete reference positions at fixed intervals of Euler angles during the movement of the gimbal relative to the magnetic device; wherein the gimbal is equipped with a set number of Hall sensors; the discrete reference data includes Hall coordinate data and Euler angles;

[0007] Obtain the Hall coordinate data of the magnetic device at its current position;

[0008] The joint angle of the gimbal at the current position is determined based on the Hall coordinate data of the magnetic device at the current position and the discrete reference data.

[0009] According to another aspect of the present invention, a gimbal angle measurement system is provided, comprising a gimbal and a measurement data receiving device, wherein the gimbal and the measurement data receiving device are communicatively connected, and the gimbal is fitted with a predetermined number of Hall sensors; wherein:

[0010] The gimbal is used to collect discrete reference data of discrete reference positions at fixed intervals of Euler angles during the movement of the gimbal relative to the magnetic device; wherein, the discrete reference data includes Hall coordinate data and Euler angles; the gimbal collects the Hall coordinate data of the magnetic device at the current position; and sends the discrete reference data and the Hall coordinate data of the magnetic device at the current position to the measurement data receiving device;

[0011] The measurement data receiving device is used to determine the joint angle of the gimbal at the current position based on the Hall coordinate data of the magnetic device at the current position and the discrete reference data.

[0012] According to another aspect of the present invention, a gimbal angle measuring device is provided, comprising:

[0013] The discrete reference data acquisition module is used to acquire discrete reference data of discrete reference positions measured at fixed intervals of Euler angles during the movement of the gimbal relative to the magnetic device; wherein, the gimbal is bound with a set number of Hall sensors; the discrete reference data includes Hall coordinate data and Euler angles;

[0014] The Hall coordinate data acquisition module at the current position is used to acquire the Hall coordinate data of the magnetic device at the current position;

[0015] The joint angle determination module is used to determine the joint angle of the gimbal at the current position based on the Hall coordinate data of the magnetic device at the current position and the discrete reference data.

[0016] According to another aspect of the present invention, an electronic device is provided, the electronic device comprising:

[0017] At least one processor; and

[0018] A memory communicatively connected to the at least one processor; wherein,

[0019] The memory stores a computer program that can be executed by the at least one processor, which enables the at least one processor to perform the gimbal angle measurement method according to any embodiment of the present invention.

[0020] According to another aspect of the present invention, a computer-readable storage medium is provided, the computer-readable storage medium storing computer instructions for causing a processor to execute and implement the angle measurement method of the gimbal according to any embodiment of the present invention.

[0021] This invention, through its embodiments, acquires discrete reference positions measured at fixed intervals using Euler angles during the movement of the gimbal relative to a magnetic device. This includes both Hall coordinate data and discrete reference data for Euler angles. Simultaneously, it acquires the Hall coordinate data of the magnetic device at its current position. Based on the Hall coordinate data of the magnetic device at its current position and the discrete reference data, the joint angle of the gimbal at that current position is determined. This solution utilizes a magnetic device as a reference for measuring the gimbal angle, enabling non-contact measurement of the gimbal's joint angles and exhibiting strong anti-interference capabilities. It solves the problem of insufficient accuracy in gimbal angle measurement in existing technologies, enabling precise measurement of the gimbal's joint angles and improving the accuracy of gimbal angle measurement.

[0022] It should be understood that the description in this section is not intended to identify key or essential features of the embodiments of the present invention, nor is it intended to limit the scope of the invention. Other features of the invention will become readily apparent from the following description. Attached Figure Description

[0023] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0024] Figure 1 This is a flowchart of a gimbal angle measurement method provided in Embodiment 1 of the present invention;

[0025] Figure 2 This is a flowchart of a gimbal angle measurement method provided in Embodiment 2 of the present invention;

[0026] Figure 3 This is a flowchart of a gimbal angle measurement method provided in Embodiment 3 of the present invention;

[0027] Figure 4 This is a schematic diagram of a gimbal angle measurement system provided in Embodiment 4 of the present invention;

[0028] Figure 5 This is a schematic diagram of a gimbal angle measuring device provided in Embodiment 5 of the present invention;

[0029] Figure 6 This is a schematic diagram of the structure of an electronic device provided in Embodiment Six of the present invention. Detailed Implementation

[0030] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of the present invention.

[0031] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this invention are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of the invention described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0032] Example 1

[0033] Figure 1 This is a flowchart of a gimbal angle measurement method provided in Embodiment 1 of the present invention. This embodiment is applicable to situations where the joint angle of the gimbal is measured based on discrete reference data obtained during the movement of the gimbal relative to the magnetic device. This method can be executed by a gimbal angle measurement device, which can be implemented in software and / or hardware, and is generally integrated into an electronic device. This electronic device can be a terminal device or a server device, as long as it can execute the gimbal angle measurement method. The present invention does not limit the specific type of electronic device. Correspondingly, as... Figure 1 As shown, the method includes the following operations:

[0034] S110. During the movement of the gimbal relative to the magnetic device, discrete reference data of discrete reference positions are obtained by discrete measurement at fixed intervals of Euler angles; wherein, the gimbal is bound with a set number of Hall sensors; the discrete reference data includes Hall coordinate data and Euler angles.

[0035] The gimbal can be any gimbal requiring joint angle measurement. For example, it can be a gimbal mounted on a drone, surveillance camera, or robot for motion control. The magnetic device can be of any shape, including but not limited to curved magnets or ring magnets; this embodiment does not limit the specific type of magnetic device. Discrete reference data can be data on discrete reference positions measured at fixed intervals of Euler angles during the movement of the gimbal relative to the magnetic device. For example, discrete reference data can include, but is not limited to, Hall coordinate data and Euler angles; this embodiment does not limit the specific type of discrete reference data. Hall coordinate data can be magnetic field data acquired using a Hall sensor. Euler angles can be used to describe the orientation of the gimbal in three-dimensional space. Fixed interval Euler angles can be achieved by uniformly dividing an angle range into several equally sized angle segments, each segment having a fixed size. For example, during the movement of the gimbal relative to the magnetic device, data can be measured every 1 degree. The set quantity can be a pre-set number of sensors.

[0036] In this embodiment of the invention, to measure the angle of the gimbal, the magnetic device and the gimbal to be measured are first determined. For example, an arc-shaped magnet can be selected as the magnetic device. Using an arc-shaped magnet as the magnetic device for angle measurement of the gimbal effectively avoids machine wear caused by contact through non-contact measurement, and the arc-shaped magnet has good stability to environmental changes, exhibiting strong anti-interference capabilities. After determining the magnetic device, it can be fixed, and the gimbal can be driven to move relative to the magnetic device. For example, the gimbal can be driven to rotate, causing relative movement between the gimbal and the magnetic device. Correspondingly, during the relative movement of the gimbal to the magnetic device, the gimbal can perform discrete measurements at fixed intervals of Euler angles relative to a discrete reference position, and use the discrete measurement results as discrete reference data. Therefore, the joint angle of the gimbal at its current position can be determined based on the discrete reference data.

[0037] In a specific example, three Hall sensors can be attached to the gimbal to discretely measure the Hall coordinate data (H) of the magnetic components on the gimbal at fixed intervals using Euler angles. i1 H i2 H i3 ), where i = 1, 2, ..., n, and n is the number of times the discrete reference data is measured. Simultaneously, the gimbal can also integrate an IMU (Inertial Measurement Unit) containing multiple sensors such as accelerometers, gyroscopes, and magnetometers to measure the Euler angles of the discrete reference positions during gimbal movement.

[0038] It should be noted that because the spatial distribution of magnetic field strength varies approximately sinusoidally, the resolution and accuracy of the Hall magnetic field strength data are low when the Hall sensor is located at a magnetic field pole or on the other side of the target magnetic device and cannot properly read the Hall magnetic field strength data. Therefore, the placement of a set number of Hall sensors with a certain angular distance ensures that their detection range and pole positions are within a certain distance when displayed in the image.

[0039] S120. Obtain the Hall coordinate data of the magnetic device at its current position.

[0040] The current position can be the current location of the gimbal to be measured.

[0041] Specifically, to determine the joint angle of the gimbal at its current position, the Hall coordinate data of the magnetic device at its current position can also be obtained.

[0042] S130. Determine the joint angle of the gimbal at the current position based on the Hall coordinate data of the magnetic device at the current position and the discrete reference data.

[0043] The joint angle can be the joint angle of the gimbal at its current position, which is to be measured.

[0044] Specifically, after acquiring discrete reference data and Hall coordinate data of the magnetic device at the current position, the joint angle of the gimbal at the current position can be determined based on the Hall coordinate data of the magnetic device at the current position and the discrete reference data.

[0045] Therefore, the solution of this invention calculates the joint angle of the gimbal at the current position using discrete reference data and Hall coordinate data of the magnetic device at the current position, achieving high-precision measurement within an extremely small angle range. Furthermore, the above solution eliminates the need for mechanical contact, avoiding problems such as mechanical wear and changes in contact resistance. In addition, changes in magnetic field strength are less affected by environmental factors, thus significantly improving the reliability of the gimbal angle measurement system.

[0046] This invention, through its embodiments, acquires discrete reference positions measured at fixed intervals using Euler angles during the movement of the gimbal relative to a magnetic device. This includes both Hall coordinate data and discrete reference data for Euler angles. Simultaneously, it acquires the Hall coordinate data of the magnetic device at its current position. Based on the Hall coordinate data of the magnetic device at its current position and the discrete reference data, the joint angle of the gimbal at that current position is determined. This solution utilizes a magnetic device as a reference for measuring the gimbal angle, enabling non-contact measurement of the gimbal's joint angles and exhibiting strong anti-interference capabilities. It solves the problem of insufficient accuracy in gimbal angle measurement in existing technologies, enabling precise measurement of the gimbal's joint angles and improving the accuracy of gimbal angle measurement.

[0047] Example 2

[0048] Figure 2 This is a flowchart of a gimbal angle measurement method provided in Embodiment 2 of the present invention. This embodiment is a specific embodiment based on the above embodiment. In this embodiment, various specific optional implementations for determining the joint angle of the gimbal at the current position based on the Hall coordinate data of the magnetic device at the current position and discrete reference data are given. At the same time, optional implementation operations before determining the joint angle of the gimbal at the current position based on the Hall coordinate data of the magnetic device at the current position and discrete reference data are also given. Correspondingly, such as... Figure 2 As shown, the method in this embodiment may include:

[0049] S210. Obtain discrete reference data of discrete reference positions measured at fixed intervals of Euler angles during the movement of the gimbal relative to the magnetic device.

[0050] S220. Obtain the Hall coordinate data of the magnetic device at its current position.

[0051] S230. Normalize the discrete reference data and the Hall coordinate data of the current position.

[0052] The normalization process can be a process of converting discrete reference data and Hall coordinate data of the magnetic device at the current position into a standard normal distribution.

[0053] Accordingly, after acquiring the discrete reference data and the Hall coordinate data of the magnetic device at the current location, these data can be normalized to convert them into a standard normal distribution. Converting the Hall coordinate data to a standard normal distribution eliminates the influence of the dimensions of the discrete reference data and the magnetic device at the current location through the mean and standard deviation. Furthermore, even with fluctuations in the data distribution, the normalized values ​​are ensured to remain within a reasonable range, thereby enhancing the measurement system's ability to resist noise and outlier interference.

[0054] In a specific example, when normalizing the discrete reference data and the Hall coordinate data of the magnetic device at the current position, the average value of each dimension of the Hall coordinate data of the discrete reference data and the magnetic device at the current position can be calculated based on the following formula:

[0055]

[0056] Where, μ XX is the average of the coordinates of each dimension of the discrete reference data and the Hall coordinate data of the magnetic device at the current position, where N is the total number of discrete reference data and Hall coordinate data of the magnetic device at the current position. i The coordinates of each dimension are the discrete reference data and the Hall coordinate data of the magnetic device at its current position.

[0057] Furthermore, the standard deviation of each dimension of the discrete reference data and the Hall coordinate data of the magnetic device at the current position can be calculated based on the following formula:

[0058]

[0059] Where, σ X The standard deviation of each dimension of the discrete reference data and the Hall coordinate data of the magnetic device at its current position.

[0060] Finally, the normalized values ​​of each dimension of the discrete reference data and the Hall coordinate data of the magnetic device at the current position can be obtained based on the following formula:

[0061]

[0062] Among them, Z i These are the normalized values ​​of each dimension of the discrete reference data and the Hall coordinate data of the magnetic device at its current position.

[0063] S240. Determine the joint angle of the gimbal at the current position based on the normalized Hall coordinate data and discrete reference data.

[0064] Accordingly, after obtaining the normalized Hall coordinate data and discrete reference data of the current position, analysis can be performed based on the normalized Hall coordinate data and discrete reference data of the current position to determine the joint angle of the gimbal at the current position.

[0065] This invention acquires discrete reference positions, including Hall coordinate data and discrete reference data of Euler angles, measured at fixed intervals during the movement of the gimbal relative to a magnetic device. Simultaneously, it acquires the Hall coordinate data of the magnetic device at the current position. Further, the discrete reference data and the Hall coordinate data at the current position are normalized, thereby determining the joint angle of the gimbal at the current position based on the normalized Hall coordinate data and the discrete reference data. This solution utilizes a magnetic device as a reference to measure the gimbal angle, enabling non-contact measurement of the gimbal's joint angle with strong anti-interference capabilities. It solves the problem of insufficient accuracy in gimbal angle measurement in existing technologies, enabling precise measurement of the gimbal's joint angle and improving the accuracy of gimbal angle measurement.

[0066] Example 3

[0067] Figure 3 This is a flowchart of a gimbal angle measurement method provided in Embodiment 3 of the present invention. This embodiment is a specific embodiment based on the above embodiment. In this embodiment, several specific optional implementations are given for determining the joint angle of the gimbal at the current position based on the normalized Hall coordinate data and discrete reference data of the current position. At the same time, optional implementation operations are also given before determining the joint angle of the gimbal at the current position based on the Hall coordinate data and discrete reference data of the magnetic device at the current position. Correspondingly, such as... Figure 3 As shown, the method in this embodiment may include:

[0068] S310. Obtain discrete reference data of discrete reference positions measured at fixed intervals of Euler angles during the movement of the gimbal relative to the magnetic device.

[0069] S320. Obtain the Hall coordinate data of the magnetic device at its current position.

[0070] S330. Normalize the discrete reference data and the Hall coordinate data of the current position.

[0071] S340. Calculate the Euclidean distance between the current position and each of the discrete reference positions using the normalized Hall coordinate data of the current position and the discrete reference data.

[0072] Euclidean distance can be the straight-line distance between two points in Euclidean space.

[0073] In this embodiment of the invention, when determining the joint angle of the gimbal at the current position based on the normalized Hall coordinate data and discrete reference data, the joint angle of the gimbal at the current position can be calculated using a three-dimensional nearest neighbor interpolation algorithm.

[0074] Specifically, firstly, the Hall coordinate data (X) of the magnetic device at each discrete position can be used based on the following formula. i Y i Z i Given the Hall coordinates (X, Y, Z) of the current position, calculate the Euclidean distance between each discrete position and the current position:

[0075]

[0076] Where, d i Hall coordinate data (X) for each discrete location i Y i Z i The Euclidean distance between the current location and the Hall coordinates (X, Y, Z).

[0077] S350. Determine the reference position of the current position and the associated positions on both sides of the reference position based on the Euclidean distance.

[0078] The reference position for the current location can be the benchmark point used to determine the current location. The associated positions on both sides of the reference position can be other positional information based on the reference position when determining the current location, and can be used to assist in locating the current location.

[0079] Accordingly, after obtaining the Euclidean distance between each discrete position and the current position, the Euclidean distances can be sorted, the discrete position closest to the current position can be selected as the reference position of the current position, and the discrete positions closest to the reference position on the left and right sides can be selected as the associated positions on both sides of the reference position.

[0080] It should be noted that typical 3D nearest neighbor interpolation algorithms require traversing all points during calculation, resulting in a very large computational load. However, in this embodiment of the invention, the gimbal's motion angle is continuous, with no abrupt angle changes. Therefore, it is only necessary to traverse the points with a set angle on the left and right sides of the current position at the previous moment, for example, 5 degrees. This method can significantly improve the computational efficiency of the testing system and save computation time.

[0081] The accuracy of 3D nearest neighbor interpolation algorithms largely depends on the density of discrete data points. The resolution of the interpolation result is the angular interval between each discrete location acquired. Reducing the angular interval increases the amount of data acquired and the amount of data traversed at the end, thus reducing efficiency. Optionally, the angular interval can be adjusted by comparing the difference between the Hall coordinate data of the current position and the reference point, as well as the difference between the Hall coordinate data of the reference point and the associated positions on both sides of the reference position, to re-acquire data.

[0082] S360. Determine the reference coordinate axis based on the difference in Hall coordinate data of each dimension of the associated positions on both sides of the reference position.

[0083] The reference coordinate axis can be a coordinate axis in the coordinate system.

[0084] Accordingly, after determining the reference position of the current location and the associated positions on both sides of the reference position, the differences in Hall coordinate data in each dimension of the associated positions on both sides of the reference position can be calculated. Furthermore, the reference coordinate axis can be determined based on the differences in Hall coordinate data in each dimension of the associated positions on both sides of the reference position.

[0085] In an optional embodiment of the present invention, determining the reference coordinate axis based on the difference in Hall coordinate data of each dimension of the associated positions on both sides of the reference position may include: calculating the difference in Hall coordinate data of each dimension of the associated positions on both sides of the reference position; and determining the reference coordinate axis based on the difference in Hall coordinate data of each dimension of the associated positions on both sides of the reference position.

[0086] In this embodiment of the invention, when determining the reference coordinate axis based on the difference in Hall coordinate data of each dimension of the associated positions on both sides of the reference position, the difference in Hall coordinate data of each dimension of the associated positions on both sides of the reference position can first be calculated based on the following formula:

[0087] |ΔX|=|X min+1 -X min-1 |

[0088] |ΔY|=|Y min-1 -Y min-1 |

[0089] |ΔZ|=|Z min+1 Z min-1 |

[0090] Where |ΔX| is the difference in Hall coordinate data between the two associated positions on the X-axis, |ΔY| is the difference in Hall coordinate data between the two associated positions on the Y-axis, and |ΔZ| is the difference in Hall coordinate data between the two associated positions on the Z-axis. min-1 ,Y min-1 Z min-1 (X) represents the Hall coordinate data of the associated position to the left of the reference position. min+1 ,Y min+1 Z min+1 ) represents the Hall coordinate data of the associated position to the right of the reference position.

[0091] Furthermore, the coordinate axis corresponding to the dimension with the largest difference in the Hall coordinate data can be selected as the reference coordinate axis. For example, if |ΔX|>|ΔY|>|ΔZ|, then the X-axis can be used as the reference coordinate axis; if |ΔY|>|ΔX|>|ΔZ|, then the Y-axis can be used as the reference coordinate axis.

[0092] S370. Determine the direction data of the current position based on the Hall coordinate data of the current position on the reference coordinate axis, the Hall coordinate data of the reference position, and the Hall coordinate data of the associated positions on both sides of the reference position.

[0093] The direction data of the current position can be data indicating which direction the current position is relative to the reference position.

[0094] Accordingly, after determining the reference coordinate axis, the Hall coordinate data of the current position on the reference coordinate axis, the Hall coordinate data of the reference position, and the Hall coordinate data of the associated positions on both sides of the reference position can be used to determine which side of the reference position the current position is on. In a specific example, assuming that the data is collected from 0 degrees to 180 degrees, then when the current position is to the left of the reference position, the direction data of the current position can be -1; when the current position is to the right of the reference position, the direction data of the current position can be 1.

[0095] In an optional embodiment of the present invention, determining the direction data of the current position based on the Hall coordinate data of the current position on the reference coordinate axis, the Hall coordinate data of the reference position, and the Hall coordinate data of the associated positions on both sides of the reference position may include: calculating the distance between the current position and the associated positions on both sides of the reference position on the reference coordinate axis to obtain a proximity distance; calculating the distance between the reference position and the associated positions on both sides of the reference position on the reference coordinate axis to obtain a second difference; and determining the direction data of the current position based on the proximity distance and the second difference.

[0096] The nearest distance can be the distance between the current position and any associated position on either side of the reference position on the reference coordinate axis. The second difference can be the distance between the reference position and any associated position on either side of the reference position on the reference coordinate axis.

[0097] In this embodiment of the invention, when determining the direction data of the current position based on the Hall coordinate data of the current position on the reference coordinate axis, the Hall coordinate data of the reference position, and the Hall coordinate data of the associated positions on both sides of the reference position, the distance between the current position and the associated position on either side of the reference position on the reference coordinate axis can be calculated based on the following formula, and the calculation result is used as the proximity distance:

[0098] |ΔH p,prev |=|H p –H prev |

[0099] Meanwhile, the distance between the reference position and the associated position on either side of the reference position on the reference coordinate axis can be calculated based on the following formula, and the result can be used as the second difference:

[0100] |ΔH min,prev |=|H min -H prev |

[0101] Where, |ΔH p，prev | represents the nearest neighbor distance, H p H represents the Hall coordinates of the current position on the reference coordinate axis. prevFor the Hall coordinate data of the associated position on any side of the reference position on the reference coordinate axis, |ΔH min，prev | is the second difference, H min This refers to the Hall coordinate data for the reference position on the reference coordinate axis.

[0102] Furthermore, after calculating the nearest distance and the second difference, the orientation data of the current position can be determined by comparing the magnitudes of the nearest distance and the second difference. In the above method, calculating the distance using Hall coordinates on the reference coordinate axis simplifies the calculation process and improves computational efficiency.

[0103] In a specific example, suppose we select the associated position to the left of the reference position for calculation. When the proximity distance is less than the second difference, the current position is to the left of the reference position, and the direction data of the current position can be -1; when the proximity distance is greater than the second difference, the current position is to the right of the reference position, and the direction data of the current position can be 1.

[0104] S380. Determine the angle difference of the current position based on the direction data of the current position, the fixed interval Euler angle, the Hall coordinate data of the reference position on the reference coordinate axis, the coordinate data of the current position, and the coordinate data of the associated position of the reference position.

[0105] The angle difference at the current position can be the angle difference between the current position and the reference position.

[0106] Accordingly, after determining the direction data, the angle difference between the current position and the reference position can be determined based on the direction data of the current position, the fixed interval Euler angles, the Hall coordinate data of the reference position on the reference coordinate axis, the coordinate data of the current position, and the coordinate data of the associated position of the reference position.

[0107] In an optional embodiment of the present invention, determining the angle difference of the current position based on the direction data of the current position, the fixed-interval Euler angles, and the Hall coordinate data of the reference position on the reference coordinate axis, the coordinate data of the current position, and the coordinate data of the associated position of the reference position may include: calculating a first difference based on the Hall coordinate data of the reference position and the Hall coordinate data of the current position on the reference coordinate axis; calculating a second difference based on the Hall coordinate data of the reference position and the Hall coordinate data of the associated position of the reference position on the reference coordinate axis; and determining the angle difference based on the direction data of the current position, the fixed-interval Euler angles, the first difference, and the second difference.

[0108] The first difference can be the difference between the Hall coordinate data of the reference position on the reference coordinate axis and the Hall coordinate data of the current position.

[0109] In this embodiment of the invention, when determining the angle difference of the current position based on the direction data of the current position, the fixed interval Euler angles, the Hall coordinate data of the reference position on the reference coordinate axis, the coordinate data of the current position, and the coordinate data of the associated position of the reference position, the difference between the Hall coordinate data of the reference position on the reference coordinate axis and the Hall coordinate data of the current position can first be calculated based on the following formula, as the first difference:

[0110] |ΔH p,min |=|H p -H min |

[0111] Simultaneously, the difference between the Hall coordinate data of the reference position on the reference coordinate axis and the Hall coordinate data of the associated position of the reference position can be calculated based on the following formula, and used as a second difference:

[0112] |ΔH min，prev |=|H min -H prev |

[0113] Furthermore, the angle difference can be determined using the following formula based on the direction data of the current position, the fixed interval Euler angles, and the first and second differences:

[0114]

[0115] S390. Calculate the joint angle of the gimbal at the current position based on the Euler angle of the reference position and the angle difference.

[0116] Accordingly, after determining the angle difference, the joint angle of the gimbal at the current position can be calculated based on the Euler angle of the reference position and the angle difference.

[0117] In an optional embodiment of the present invention, calculating the joint angle of the gimbal at the current position based on the Euler angle of the reference position and the angle difference may include: calculating the joint angle of the gimbal at the current position based on the following formula:

[0118] θ=Δθ′+θ min

[0119]

[0120] |ΔH p,min |=|H p -H min |

[0121] |ΔH min，prev |=|H min -H prev |

[0122] Where θ is the joint angle of the gimbal when it is in the current position, |ΔH p，min | is the first difference, |ΔH min,prev | represents the second difference, β represents the direction data of the current position, Δθ represents the fixed-interval Euler angles, and Δθ′ represents the angle difference. min H is the Euler angle at the reference position. p H represents the Hall coordinate data of the current position on the reference coordinate axis. min H represents the Hall coordinate data of the reference position on the reference coordinate axis. prev The Hall coordinate data are for any associated position on either side of the reference position on the reference coordinate axis.

[0123] This invention acquires discrete reference positions, including Hall coordinate data and discrete reference data of Euler angles, at fixed intervals during the movement of the gimbal relative to the magnetic device. Simultaneously, it acquires the Hall coordinate data of the magnetic device at the current position. Further, the discrete reference data and the Hall coordinate data of the current position are normalized. After obtaining the normalized Hall coordinate data of the current position and the discrete reference data, the Euclidean distances between the current position and each discrete reference position are calculated using these data. Based on these Euclidean distances, the reference position of the current position and the associated positions on both sides of the reference position are determined. Further, the reference coordinate axis is determined based on the differences in the Hall coordinate data of each dimension of the associated positions on both sides of the reference position. After determining the reference coordinate axis, the orientation data of the current position is determined based on the Hall coordinate data of the current position on the reference coordinate axis, the Hall coordinate data of the reference position, and the Hall coordinate data of the associated positions on both sides of the reference position. Then, the angle difference of the current position is determined based on the orientation data of the current position, the fixed-interval Euler angles, and the Hall coordinate data of the reference position on the reference coordinate axis, the coordinate data of the current position, and the coordinate data of the associated positions of the reference position. Finally, the joint angle of the gimbal at the current position is calculated based on the Euler angle of the reference position and the angle difference. This scheme utilizes the target magnetic device as a reference to measure the gimbal angle, enabling non-contact measurement of the joint angle of the target gimbal with strong anti-interference capabilities. It solves the problem of insufficient accuracy in gimbal angle measurement in existing technologies, enabling precise measurement of the gimbal joint angle and improving the accuracy of gimbal angle measurement.

[0124] The collection, storage, use, processing, transmission, provision, and disclosure of user personal information in this technical solution comply with relevant laws and regulations and do not violate public order and good morals.

[0125] It should be noted that all information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for display, data used for analysis, etc.) involved in this disclosure are information and data authorized by the user or fully authorized by all parties, and the collection, use and processing of the relevant data comply with the relevant laws, regulations and standards of the relevant regions.

[0126] It should be noted that any arrangement or combination of the technical features in the above embodiments also falls within the protection scope of this invention.

[0127] Example 4

[0128] Figure 4 This is a schematic diagram of a gimbal angle measurement system provided in Embodiment 4 of the present invention, as shown below. Figure 4 As shown, the gimbal angle measurement system 400 includes a gimbal control module 410 and a set number of Hall sensors 420. The gimbal control module 410 and the Hall sensors 420 are communicatively connected, wherein:

[0129] The gimbal control module 410 is used to acquire discrete reference data of discrete reference positions measured at fixed intervals of Euler angles during the movement of the gimbal relative to the magnetic device; wherein, the discrete reference data includes Hall coordinate data and Euler angles; acquire the Hall coordinate data of the magnetic device at the current position; and determine the joint angle of the gimbal at the current position based on the Hall coordinate data of the magnetic device at the current position and the discrete reference data.

[0130] Optionally, the gimbal control module 410 is specifically used to: normalize the discrete reference data and the Hall coordinate data of the current position.

[0131] Optionally, the gimbal control module 410 is also used to: determine the joint angle of the gimbal at the current position based on the normalized Hall coordinate data and discrete reference data of the current position.

[0132] Optionally, the gimbal control module 410 is further configured to: calculate the Euclidean distance between the current position and each of the discrete reference positions using the normalized Hall coordinate data of the current position and the discrete reference data; determine the reference position of the current position and the associated positions on both sides of the reference position based on the Euclidean distance; determine the reference coordinate axis based on the difference in Hall coordinate data of each dimension of the associated positions on both sides of the reference position; determine the direction data of the current position based on the Hall coordinate data of the current position on the reference coordinate axis, the Hall coordinate data of the reference position, and the Hall coordinate data of the associated positions on both sides of the reference position; determine the angle difference of the current position based on the direction data of the current position, the fixed interval Euler angle, and the Hall coordinate data of the reference position on the reference coordinate axis, the coordinate data of the current position, and the coordinate data of the associated positions of the reference position; and calculate the joint angle of the gimbal at the current position based on the Euler angle of the reference position and the angle difference.

[0133] Optionally, the gimbal control module 410 is further configured to: calculate the difference in Hall coordinate data of each dimension of the associated positions on both sides of the reference position; and determine the reference coordinate axis based on the difference in Hall coordinate data of each dimension of the associated positions on both sides of the reference position.

[0134] Optionally, the gimbal control module 410 is further configured to: calculate the distance between the current position and the associated positions on both sides of the reference position on the reference coordinate axis to obtain the proximity distance; calculate the distance between the reference position and the associated positions on both sides of the reference position on the reference coordinate axis to obtain the second difference; and determine the direction data of the current position based on the proximity distance and the second difference.

[0135] Optionally, the gimbal control module 410 is further configured to: calculate a first difference based on the Hall coordinate data of the reference position on the reference coordinate axis and the Hall coordinate data of the current position; calculate a second difference based on the Hall coordinate data of the reference position on the reference coordinate axis and the Hall coordinate data of the associated position of the reference position; and determine the angle difference based on the direction data of the current position, the fixed interval Euler angle, and the first and second differences.

[0136] Optionally, the gimbal control module 410 is further configured to: calculate the joint angle of the gimbal at the current position based on the following formula:

[0137] θ=Δθ′+θ min

[0138]

[0139] |ΔH p,min |=|Hp -H min |

[0140] |ΔH min，prev |=|H min -H prev |

[0141] Where θ is the joint angle of the gimbal when it is in the current position, |ΔH p,min | is the first difference, |ΔH min，prev | represents the second difference, β represents the direction data of the current position, Δθ represents the fixed-interval Euler angles, and Δθ′ represents the angle difference. min H is the Euler angle at the reference position. p H represents the Hall coordinate data of the current position on the reference coordinate axis. min H represents the Hall coordinate data of the reference position on the reference coordinate axis. prev The Hall coordinate data are for any associated position on either side of the reference position on the reference coordinate axis.

[0142] This invention, through a gimbal control module, acquires discrete reference data, including Hall coordinates and Euler angles, at fixed intervals during the gimbal's movement relative to a magnetic device. It also acquires the Hall coordinates of the magnetic device at its current position. Furthermore, based on the Hall coordinates and discrete reference data of the magnetic device at its current position, the joint angle of the gimbal at that position is determined. This solution utilizes the target magnetic device as a reference to measure the gimbal angle, enabling non-contact measurement of the target gimbal's joint angle with strong anti-interference capabilities. This solves the problem of insufficient accuracy in gimbal angle measurement in existing technologies, enabling precise measurement of the gimbal's joint angle and improving the accuracy of gimbal angle measurement.

[0143] Example 5

[0144] Figure 5 This is a schematic diagram of a gimbal angle measuring device provided in Embodiment 5 of the present invention, as shown below. Figure 5 As shown, the device includes: a discrete position data acquisition module 510, a Hall coordinate data acquisition module 520 for the current position, and a joint angle determination module 530, wherein:

[0145] The discrete reference data acquisition module 510 is used to acquire discrete reference data of discrete reference positions measured at fixed intervals of Euler angles during the movement of the gimbal relative to the magnetic device; wherein, the gimbal is bound with a set number of Hall sensors; the discrete reference data includes Hall coordinate data and Euler angles.

[0146] The Hall coordinate data acquisition module 520 for the current position is used to acquire the Hall coordinate data of the magnetic device at the current position.

[0147] The joint angle determination module 530 is used to determine the joint angle of the gimbal at the current position based on the Hall coordinate data of the magnetic device at the current position and the discrete reference data.

[0148] This invention, through its embodiments, acquires discrete reference positions measured at fixed intervals using Euler angles during the movement of the gimbal relative to a magnetic device. This includes both Hall coordinate data and discrete reference data for Euler angles. Simultaneously, it acquires the Hall coordinate data of the magnetic device at its current position. Based on the Hall coordinate data of the magnetic device at its current position and the discrete reference data, the joint angle of the gimbal at that current position is determined. This solution utilizes a magnetic device as a reference for measuring the gimbal angle, enabling non-contact measurement of the gimbal's joint angles and exhibiting strong anti-interference capabilities. It solves the problem of insufficient accuracy in gimbal angle measurement in existing technologies, enabling precise measurement of the gimbal's joint angles and improving the accuracy of gimbal angle measurement.

[0149] Optionally, the above-mentioned device may further include a data processing module for: normalizing the discrete reference data and the Hall coordinate data of the current position.

[0150] Optionally, the joint angle determination module 530 is specifically used to: determine the joint angle of the gimbal at the current position based on the normalized Hall coordinate data and discrete reference data of the current position.

[0151] Optionally, the joint angle determination module 530 is further configured to: calculate the Euclidean distance between the current position and each of the discrete reference positions using the normalized Hall coordinate data of the current position and the discrete reference data; determine the reference position of the current position and the associated positions on both sides of the reference position based on the Euclidean distance; determine the reference coordinate axis based on the difference in Hall coordinate data of each dimension of the associated positions on both sides of the reference position; determine the direction data of the current position based on the Hall coordinate data of the current position on the reference coordinate axis, the Hall coordinate data of the reference position, and the Hall coordinate data of the associated positions on both sides of the reference position; determine the angle difference of the current position based on the direction data of the current position, the fixed interval Euler angle, and the Hall coordinate data of the reference position on the reference coordinate axis, the coordinate data of the current position, and the coordinate data of the associated positions of the reference position; and calculate the joint angle of the gimbal at the current position based on the Euler angle of the reference position and the angle difference.

[0152] Optionally, the joint angle determination module 530 is further configured to: calculate the difference in Hall coordinate data of each dimension of the associated positions on both sides of the reference position; and determine the reference coordinate axis based on the difference in Hall coordinate data of each dimension of the associated positions on both sides of the reference position.

[0153] Optionally, the joint angle determination module 530 is further configured to: calculate the distance between the current position and the associated positions on both sides of the reference position on the reference coordinate axis to obtain the proximity distance; calculate the distance between the reference position and the associated positions on both sides of the reference position on the reference coordinate axis to obtain the second difference; and determine the direction data of the current position based on the proximity distance and the second difference.

[0154] Optionally, the joint angle determination module 530 is further configured to: calculate a first difference based on the Hall coordinate data of the reference position on the reference coordinate axis and the Hall coordinate data of the current position; calculate a second difference based on the Hall coordinate data of the reference position on the reference coordinate axis and the Hall coordinate data of the associated position of the reference position; and determine the angle difference based on the direction data of the current position, the fixed interval Euler angle, and the first and second differences.

[0155] Optionally, the joint angle determination module 530 is further configured to: calculate the joint angle of the gimbal at the current position based on the following formula:

[0156] θ=Δθ′+θ min

[0157]

[0158] |ΔH p,min |=|H p -H min |

[0159] |ΔH min，prev |=|H min -H prev |

[0160] Where θ is the joint angle of the gimbal when it is in the current position, |ΔH p，min | is the first difference, |ΔH min,prev | represents the second difference, β represents the direction data of the current position, Δθ represents the fixed-interval Euler angles, and Δθ′ represents the angle difference. min H is the Euler angle at the reference position. p H represents the Hall coordinate data of the current position on the reference coordinate axis. min H represents the Hall coordinate data of the reference position on the reference coordinate axis. prevThe Hall coordinate data are for any associated position on either side of the reference position on the reference coordinate axis.

[0161] The above-described gimbal angle measuring device can execute the gimbal angle measuring method provided in any embodiment of the present invention, and has the corresponding functional modules and beneficial effects of the method. Technical details not described in detail in this embodiment can be found in the gimbal angle measuring method provided in any embodiment of the present invention.

[0162] Since the gimbal angle measuring device described above is capable of executing the gimbal angle measuring method in the embodiments of the present invention, those skilled in the art can understand the specific implementation and various variations of the gimbal angle measuring device in this embodiment based on the gimbal angle measuring method described in the embodiments of the present invention. Therefore, how the gimbal angle measuring device implements the gimbal angle measuring method in the embodiments of the present invention will not be described in detail here. Any device used by those skilled in the art to implement the gimbal angle measuring method in the embodiments of the present invention falls within the scope of protection of this application.

[0163] Example 6

[0164] Figure 6 A schematic diagram of an electronic device 10 that can be used to implement embodiments of the present invention is shown. The electronic device is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device can also represent various forms of mobile devices, such as personal digital processors, cellular phones, smartphones, wearable devices (e.g., helmets, glasses, watches, etc.), and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely illustrative and are not intended to limit the implementation of the invention described and / or claimed herein.

[0165] like Figure 6 As shown, the electronic device 10 includes at least one processor 11 and a memory, such as a read-only memory (ROM) 12 or a random access memory (RAM) 13, communicatively connected to the at least one processor 11. The memory stores computer programs executable by the at least one processor. The processor 11 can perform various appropriate actions and processes based on the computer program stored in the ROM 12 or loaded from storage unit 18 into the RAM 13. The RAM 13 may also store various programs and data required for the operation of the electronic device 10. The processor 11, ROM 12, and RAM 13 are interconnected via a bus 14. An input / output (I / O) interface 15 is also connected to the bus 14.

[0166] Multiple components in electronic device 10 are connected to I / O interface 15, including: input unit 16, such as keyboard, mouse, etc.; output unit 17, such as various types of displays, speakers, etc.; storage unit 18, such as disk, optical disk, etc.; and communication unit 19, such as network card, modem, wireless transceiver, etc. Communication unit 19 allows electronic device 10 to exchange information / data with other devices through computer networks such as the Internet and / or various telecommunications networks.

[0167] Processor 11 can be a variety of general-purpose and / or special-purpose processing components with processing and computing capabilities. Some examples of processor 11 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various special-purpose artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any suitable processor, controller, microcontroller, etc. Processor 11 performs the various methods and processes described above, such as the angle measurement method of a gimbal.

[0168] In some embodiments, the gimbal angle measurement method can be implemented as a computer program, which constitutes a computer program product and is tangibly contained in a computer-readable storage medium, such as storage unit 18. In some embodiments, part or all of the computer program can be loaded and / or installed on electronic device 10 via ROM 12 and / or communication unit 19. When the computer program is loaded into RAM 13 and executed by processor 11, one or more steps of the gimbal angle measurement method described above can be performed. Alternatively, in other embodiments, processor 11 can be configured to perform the gimbal angle measurement method by any other suitable means (e.g., by means of firmware).

[0169] Optionally, the angle measurement method for the gimbal may include: acquiring discrete reference data of discrete reference positions measured at fixed intervals of Euler angles during the movement of the gimbal relative to the magnetic device; wherein the gimbal is bound to a set number of Hall sensors; the discrete reference data includes Hall coordinate data and Euler angles; acquiring Hall coordinate data of the magnetic device at the current position; and determining the joint angle of the gimbal at the current position based on the Hall coordinate data of the magnetic device at the current position and the discrete reference data.

[0170] Various embodiments of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field-programmable gate arrays (FPGAs), application-specific integrated circuits (ASICs), application-specific standard products (ASSPs), systems-on-a-chip (SoCs), payload-programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various embodiments may include implementations in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which may be a dedicated or general-purpose programmable processor, capable of receiving data and instructions from a storage system, at least one input device, and at least one output device, and transmitting data and instructions to the storage system, the at least one input device, and the at least one output device.

[0171] Computer programs used to implement the methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, such that when executed by the processor, the computer programs cause the functions / operations specified in the flowcharts and / or block diagrams to be performed. The computer programs may be executed entirely on a machine, partially on a machine, or as a standalone software package, partially on a machine and partially on a remote machine, or entirely on a remote machine or server.

[0172] In the context of this invention, a computer-readable storage medium can be a tangible medium that may contain or store a computer program for use by or in conjunction with an instruction execution system, apparatus, or device. A computer-readable storage medium may include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatus, or devices, or any suitable combination thereof. Alternatively, a computer-readable storage medium may be a machine-readable signal medium. More specific examples of machine-readable storage media include electrical connections based on one or more wires, portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fibers, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination thereof.

[0173] To provide interaction with a user, the systems and techniques described herein can be implemented on an electronic device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and pointing device (e.g., a mouse or trackball) through which the user provides input to the electronic device. Other types of devices can also be used to provide interaction with the user; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form (including sound input, voice input, or tactile input).

[0174] The systems and technologies described herein can be implemented in computing systems that include backend components (e.g., as data servers), or computing systems that include middleware components (e.g., application servers), or computing systems that include frontend components (e.g., user computers with graphical user interfaces or web browsers through which users can interact with implementations of the systems and technologies described herein), or any combination of such backend, middleware, or frontend components. The components of the system can be interconnected via digital data communication of any form or medium (e.g., communication networks). Examples of communication networks include local area networks (LANs), wide area networks (WANs), blockchain networks, and the Internet.

[0175] A computing system can include clients and servers. Clients and servers are generally located far apart and typically interact through communication networks. The client-server relationship is created by computer programs running on the respective computers and having a client-server relationship with each other. The server can be a cloud server, also known as a cloud computing server or cloud host, which is a hosting product within the cloud computing service system to address the shortcomings of traditional physical hosts and VPS services, such as high management difficulty and weak business scalability.

[0176] It should be understood that the various forms of processes shown above can be used to rearrange, add, or delete steps. For example, the steps described in this disclosure can be executed in parallel, sequentially, or in different orders, as long as the desired result of the technical solution disclosed in this disclosure can be achieved, and this is not limited herein.

[0177] The specific embodiments described above do not constitute a limitation on the scope of protection of this disclosure. Those skilled in the art should understand that various modifications, combinations, sub-combinations, and substitutions can be made according to design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this disclosure should be included within the scope of protection of this disclosure.

Claims

1. A method for measuring the angle of a gimbal, characterized in that, include: Discrete reference data is obtained by measuring discrete reference positions at fixed intervals of Euler angles during the movement of the gimbal relative to the magnetic device; wherein the gimbal is equipped with a set number of Hall sensors; the discrete reference data includes Hall coordinate data and Euler angles; Obtain the Hall coordinate data of the magnetic device at its current position; The joint angle of the gimbal at the current position is determined based on the Hall coordinate data of the magnetic device at the current position and the discrete reference data.

2. The method according to claim 1, characterized in that, Before determining the joint angle of the gimbal at the current position based on the Hall coordinate data of the magnetic device at the current position and the discrete reference data, the method further includes: The discrete reference data and the Hall coordinate data of the current position are normalized. Determining the joint angle of the gimbal at the current position based on the Hall coordinate data of the magnetic device at the current position and the discrete reference data includes: The joint angle of the gimbal at the current position is determined based on the normalized Hall coordinate data and discrete reference data.

3. The method according to claim 2, characterized in that, Determining the joint angle of the gimbal at the current position based on the normalized Hall coordinate data and discrete reference data includes: The Euclidean distances between the current position and each of the discrete reference positions are calculated using the normalized Hall coordinate data of the current position and the discrete reference data. The reference position of the current position and the associated positions on both sides of the reference position are determined based on the Euclidean distance. The reference coordinate axis is determined based on the difference in Hall coordinate data of each dimension of the associated positions on both sides of the reference position; The direction data of the current position is determined based on the Hall coordinate data of the current position on the reference coordinate axis, the Hall coordinate data of the reference position, and the Hall coordinate data of the associated positions on both sides of the reference position; The angle difference of the current position is determined based on the direction data of the current position, the fixed interval Euler angle, the Hall coordinate data of the reference position on the reference coordinate axis, the coordinate data of the current position, and the coordinate data of the associated position of the reference position. The joint angle of the gimbal at the current position is calculated based on the Euler angle at the reference position and the angle difference.

4. The method according to claim 3, characterized in that, The step of determining the reference coordinate axis based on the difference in Hall coordinate data of each dimension of the associated positions on both sides of the reference position includes: Calculate the difference in Hall coordinate data in each dimension of the associated positions on both sides of the reference position; The reference coordinate axis is determined based on the difference in Hall coordinate data of each dimension of the associated positions on both sides of the reference position.

5. The method according to claim 3, characterized in that, The step of determining the direction data of the current position based on the Hall coordinate data of the current position on the reference coordinate axis, the Hall coordinate data of the reference position, and the Hall coordinate data of the associated positions on both sides of the reference position includes: Calculate the distance between the current position and the associated positions on both sides of the reference position on the reference coordinate axis to obtain the nearest distance; Calculate the distances on the reference coordinate axis between the reference position and the associated positions on both sides of the reference position to obtain the second difference; The direction data of the current position is determined based on the proximity distance and the second difference.

6. The method according to claim 3, characterized in that, The step of determining the angle difference of the current position based on the direction data of the current position, the fixed-interval Euler angles, the Hall coordinate data of the reference position on the reference coordinate axis, the coordinate data of the current position, and the coordinate data of the associated position of the reference position includes: Calculate a first difference based on the Hall coordinate data of the reference position on the reference coordinate axis and the Hall coordinate data of the current position; The second difference is calculated based on the Hall coordinate data of the reference position on the reference coordinate axis and the Hall coordinate data of the associated position of the reference position; The angle difference is determined based on the direction data of the current position, the fixed interval Euler angle, and the first and second differences.

7. The method according to claim 6, characterized in that, The step of calculating the joint angle of the gimbal at the current position based on the Euler angle at the reference position and the angle difference includes: The joint angle of the gimbal at the current position is calculated based on the following formula: Where θ is the joint angle of the gimbal when it is in the current position, |ΔH p，min | is the first difference, |ΔH min，prev | represents the second difference, β represents the direction data of the current position, Δθ represents the fixed-interval Euler angles, and Δθ′ represents the angle difference. min H is the Euler angle at the reference position. p H represents the Hall coordinate data of the current position on the reference coordinate axis. min H represents the Hall coordinate data of the reference position on the reference coordinate axis. prev The Hall coordinate data are for any associated position on either side of the reference position on the reference coordinate axis.

8. A gimbal angle measurement system, comprising a gimbal control module and a predetermined number of Hall sensors, wherein the gimbal control module and the Hall sensors are communicatively connected, and the gimbal control module is used for: Discrete reference data of the discrete reference position, measured at fixed intervals of Euler angles, is obtained during the movement of the gimbal relative to the magnetic device; among which, The discrete reference data includes Hall coordinate data and Euler angles; Obtain the Hall coordinate data of the magnetic device at its current position; The joint angle of the gimbal at the current position is determined based on the Hall coordinate data of the magnetic device at the current position and the discrete reference data.

9. An electronic device, characterized in that, The electronic device includes: At least one processor; and A memory communicatively connected to the at least one processor; wherein, The memory stores a computer program that is executed by the at least one processor to enable the at least one processor to perform the angle measurement method of the gimbal according to any one of claims 1-7.

10. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer instructions that cause a processor to execute the angle measurement method of the gimbal according to any one of claims 1-7.

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