Sensor parameter adjustment method, apparatus, device, and medium

Abstract

The present disclosure relates to the technical field of aircraft, in particular to a sensor parameter adjustment method, device, equipment and medium, the method comprising: obtaining acceleration data of a UAV, acceleration data of a gimbal, and sensing data. Based on the sensor parameters and the sensing data, a detected pitch angle and a detected roll angle are obtained. The pitch angle and the roll angle of the gimbal are obtained, and the pitch angle and the roll angle of the UAV are obtained. An estimated pitch angle is obtained according to the pitch angle of the gimbal and the pitch angle of the UAV, and an estimated roll angle is obtained according to the roll angle of the gimbal and the roll angle of the UAV. If the angle difference between the estimated pitch angle and the detected pitch angle is greater than or equal to an angle difference threshold, or the angle difference between the estimated roll angle and the detected roll angle is greater than or equal to the angle difference threshold, the sensor parameters are adjusted. This scheme can adjust the sensor parameters in a wide range of scenarios, ensuring that the gimbal can be used normally and improving the user experience.

Description

Technical Field

[0001] This disclosure relates to the field of aircraft technology, specifically to a sensor parameter adjustment method, apparatus, device, and medium. Background Technology

[0002] In recent years, drones have been widely used in various fields due to their advantages such as small size, light weight, and high maneuverability. A drone generally consists of a fuselage and a gimbal. The gimbal includes multiple rotating axes, each equipped with an angle sensor. Based on the data collected by these angle sensors, the angle of rotation of the gimbal relative to the fuselage can be calculated, thus enabling gimbal control. To ensure accurate gimbal control, a self-test is performed on the gimbal after power-on. This self-test involves rotating the corresponding axis of the gimbal and adjusting the sensor parameters of the angle sensors on that axis based on the angle data collected during rotation, ensuring the accuracy of the calculated angle of rotation relative to the fuselage.

[0003] However, the applicant discovered that in some scenarios, the gimbal is easily blocked by objects or the ground when rotating, making it impossible to adjust the sensor parameters based on the data collected by the angle sensor. This prevents the gimbal from completing its self-test, rendering it unusable in some scenarios and harming the user experience. Summary of the Invention

[0004] To address the problems in the related technologies, this disclosure provides a sensor parameter adjustment method, apparatus, device, and medium.

[0005] In a first aspect, this disclosure provides a sensor parameter adjustment method, including:

[0006] Acquire acceleration data of the drone, acceleration data of the gimbal in the drone, and sensing data collected by the angle sensors corresponding to each axis of the gimbal.

[0007] Based on preset sensor parameters and sensing data, the gimbal acquires the detection pitch angle and detection roll angle relative to the drone's body.

[0008] The pitch and roll angles of the gimbal are obtained based on the gimbal's acceleration data, and the pitch and roll angles of the drone are obtained based on the drone's acceleration data.

[0009] The estimated pitch angle of the gimbal relative to the drone's fuselage is obtained based on the pitch angle of the gimbal and the pitch angle of the drone, and the estimated roll angle of the gimbal relative to the drone's fuselage is obtained based on the roll angle of the gimbal and the roll angle of the drone.

[0010] If the angle difference between the estimated pitch angle and the detected pitch angle is greater than or equal to a preset angle difference threshold, or the angle difference between the estimated roll angle and the detected roll angle is greater than or equal to an angle difference threshold, then the sensor parameters are adjusted based on the estimated pitch angle, the estimated roll angle, the detected pitch angle, and the detected roll angle.

[0011] In one embodiment of this disclosure, obtaining an estimated pitch angle of the gimbal relative to the drone's fuselage based on the gimbal's pitch angle and the drone's pitch angle, and obtaining an estimated roll angle of the gimbal relative to the drone's fuselage based on the gimbal's roll angle and the drone's roll angle, includes:

[0012] If the pitch angle of the drone is less than or equal to a preset pitch angle threshold, and the roll angle of the drone is less than or equal to a preset roll angle threshold, then the estimated pitch angle of the gimbal relative to the drone's body is obtained based on the pitch angle of the gimbal and the pitch angle of the drone, and the estimated roll angle of the gimbal relative to the drone's body is obtained based on the roll angle of the gimbal and the roll angle of the drone.

[0013] In one embodiment of this disclosure, the method further includes:

[0014] If the pitch angle of the drone is greater than the preset pitch angle threshold, or the roll angle of the drone is greater than the preset roll angle threshold, then the limit sensing data collected by the angle sensor corresponding to each axis in the gimbal is obtained when each axis rotates to the limit angle.

[0015] The gimbal is used to acquire the detection limit pitch angle and detection limit roll angle of the gimbal relative to the drone's fuselage based on sensor parameters and limit sensor data.

[0016] Obtain the preset target limit pitch angle and target limit roll angle.

[0017] If the angle difference between the target limit pitch angle and the detection limit pitch angle is greater than or equal to the angle difference threshold, or the angle difference between the target limit roll angle and the detection limit roll angle is greater than or equal to the angle difference threshold, then the sensor parameters are adjusted based on the detection limit pitch angle, the detection limit roll angle, the target limit pitch angle, and the target limit roll angle.

[0018] In one embodiment of this disclosure, the gimbal's rotating axis includes a roll axis and a pitch axis. Each rotating axis of the gimbal corresponds to two linear Hall sensors. Both linear Hall sensors are mounted on the stator of a drive motor used to drive the corresponding rotating axis. When the rotor of the drive motor rotates relative to the stator of the drive motor, the phase difference between the magnetic field induction signal detected by one of the two linear Hall sensors and the magnetic field induction signal detected by the other linear Hall sensor is 90°.

[0019] In one embodiment of this disclosure, before acquiring the acceleration data of the UAV, the acceleration data of the gimbal in the UAV, and the sensing data collected by the angle sensor corresponding to each axis of rotation in the gimbal, the method further includes:

[0020] Obtain the connection status information of the data transmission module in the control device.

[0021] Acquire acceleration data of the drone, acceleration data of the gimbal in the drone, and sensor data collected by the angle sensors corresponding to each axis of the gimbal, including:

[0022] If the data transmission link between the data transmission module and the drone is successfully connected based on the connection status information, then the module receives sensor data sent by the drone, acceleration data from the gimbal, and acceleration data from the drone.

[0023] The method also includes:

[0024] Send the adjusted sensor parameters to the control terminal of the gimbal.

[0025] Secondly, this disclosure provides a sensor parameter adjustment device, comprising:

[0026] The data acquisition module is configured to acquire acceleration data of the drone, acceleration data of the gimbal in the drone, and sensing data collected by the angle sensors corresponding to each axis of the gimbal.

[0027] The angle detection module is configured to acquire the pitch angle and roll angle of the gimbal relative to the drone's fuselage based on preset sensor parameters and sensing data.

[0028] The angle acquisition module is configured to acquire the pitch and roll angles of the gimbal based on the gimbal's acceleration data, and to acquire the pitch and roll angles of the drone based on the drone's acceleration data.

[0029] The angle estimation module is configured to obtain the estimated pitch angle of the gimbal relative to the drone's fuselage based on the pitch angle of the gimbal and the pitch angle of the drone, and to obtain the estimated roll angle of the gimbal relative to the drone's fuselage based on the roll angle of the gimbal and the roll angle of the drone.

[0030] The first parameter adjustment module is configured to adjust the sensor parameters based on the estimated pitch angle, estimated roll angle, detected pitch angle, and detected roll angle if the angle difference between the estimated pitch angle and the detected pitch angle is greater than or equal to a preset angle difference threshold, or the angle difference between the estimated roll angle and the detected roll angle is greater than or equal to an angle difference threshold.

[0031] In one embodiment of this disclosure, the angle estimation module is specifically configured as follows:

[0032] If the pitch angle of the drone is less than or equal to a preset pitch angle threshold, and the roll angle of the drone is less than or equal to a preset roll angle threshold, then the estimated pitch angle of the gimbal relative to the drone's body is obtained based on the pitch angle of the gimbal and the pitch angle of the drone, and the estimated roll angle of the gimbal relative to the drone's body is obtained based on the roll angle of the gimbal and the roll angle of the drone.

[0033] In one embodiment of this disclosure, the apparatus further includes:

[0034] The limit data acquisition module is configured to acquire the limit sensing data collected by the angle sensor of each axis when each axis in the gimbal rotates to the limit angle if the pitch angle of the drone is greater than a preset pitch angle threshold or the roll angle of the drone is greater than a preset roll angle threshold.

[0035] The limit angle acquisition module is configured to acquire the detection limit pitch angle and detection limit roll angle of the gimbal relative to the drone's fuselage based on sensor parameters and limit sensing data.

[0036] The target angle acquisition module is configured to acquire the preset target limit pitch angle and target limit roll angle.

[0037] The second parameter adjustment module is configured to adjust the sensor parameters based on the detection limit pitch angle, the detection limit roll angle, the target limit pitch angle, and the target limit roll angle if the angle difference between the target limit pitch angle and the detection limit pitch angle is greater than or equal to the angle difference threshold, or the angle difference between the target limit roll angle and the detection limit roll angle is greater than or equal to the angle difference threshold.

[0038] In one embodiment of this disclosure, the gimbal's rotating axis includes a roll axis and a pitch axis. Each rotating axis of the gimbal corresponds to two linear Hall sensors. Both linear Hall sensors are mounted on the stator of a drive motor used to drive the corresponding rotating axis. When the rotor of the drive motor rotates relative to the stator of the drive motor, the phase difference between the magnetic field induction signal detected by one of the two linear Hall sensors and the magnetic field induction signal detected by the other linear Hall sensor is 90°.

[0039] In one embodiment of this disclosure, the apparatus further includes:

[0040] The status information acquisition module is configured to acquire the connection status information of the data transmission module in the control device.

[0041] The data acquisition module is specifically configured as follows:

[0042] If the data transmission link between the data transmission module and the drone is successfully connected based on the connection status information, then the module receives sensor data sent by the drone, acceleration data from the gimbal, and acceleration data from the drone.

[0043] The device also includes:

[0044] The parameter sending module is configured to send adjusted sensor parameters to the control terminal of the gimbal.

[0045] Thirdly, embodiments of this disclosure provide an electronic device including a memory and a processor, wherein the memory is used to store one or more computer instructions, wherein the one or more computer instructions are executed by the processor to implement the method as described in any one of the first aspects.

[0046] Fourthly, this disclosure provides a computer-readable storage medium having computer instructions stored thereon, which, when executed by a processor, implement the method as described in any one of the first aspects.

[0047] According to the technical solution provided in this disclosure, the acceleration data of the UAV, the acceleration data of the gimbal in the UAV, and the sensing data collected by the angle sensors corresponding to each axis of the gimbal are obtained; based on preset sensor parameters and sensing data, the detected pitch angle and detected roll angle of the gimbal relative to the UAV body are obtained; based on the acceleration data of the gimbal, the pitch angle and roll angle of the gimbal are obtained, and based on the acceleration data of the UAV, the pitch angle and roll angle of the UAV are obtained; based on the pitch angle of the gimbal and the pitch angle of the UAV, the estimated pitch angle of the gimbal relative to the UAV body is obtained, and based on the roll angle of the gimbal and the roll angle of the UAV, the estimated roll angle of the gimbal relative to the UAV body is obtained; if the angle difference between the estimated pitch angle and the detected pitch angle is greater than or equal to a preset angle difference threshold, or the angle difference between the estimated roll angle and the detected roll angle is greater than or equal to the angle difference threshold, then the sensor parameters are adjusted based on the estimated pitch angle, the estimated roll angle, the detected pitch angle, and the detected roll angle. In the above technical solution, the sensor parameters can be adjusted without relying on the rotating shaft to touch the limit part, avoiding interference from ground or environmental objects on the rotation of the gimbal. This ensures that the sensor parameters can be adjusted and the gimbal can perform self-tests in a wide range of scenarios, thereby ensuring that the gimbal can be used normally in a wide range of scenarios and improving the user experience.

[0048] It should be understood that the above general description and the following detailed description are exemplary and explanatory only, and are not intended to limit this disclosure. Attached Figure Description

[0049] Other features, objects, and advantages of this disclosure will become more apparent from the following detailed description of non-limiting embodiments, taken in conjunction with the accompanying drawings. In the drawings:

[0050] Figure 1 A flowchart illustrating a sensor parameter adjustment method according to an embodiment of the present disclosure is shown.

[0051] Figure 2 A structural block diagram of a sensor parameter adjustment device according to an embodiment of the present disclosure is shown.

[0052] Figure 3 A structural block diagram of an electronic device according to an embodiment of the present disclosure is shown.

[0053] Figure 4 A schematic diagram of the structure of a computer system suitable for implementing the method according to embodiments of the present disclosure is shown. Detailed Implementation

[0054] In the following, exemplary embodiments of the present disclosure will be described in detail with reference to the accompanying drawings to enable those skilled in the art to readily implement them. Furthermore, for clarity, portions unrelated to the description of exemplary embodiments have been omitted from the drawings.

[0055] In this disclosure, it should be understood that terms such as “comprising” or “having” are intended to indicate the presence of features, figures, steps, behaviors, components, parts or combinations thereof disclosed in this specification, and are not intended to exclude the possibility of the presence or addition of one or more other features, figures, steps, behaviors, components, parts or combinations thereof.

[0056] It should also be noted that, unless otherwise specified, the embodiments and features described in this disclosure can be combined with each other. This disclosure will now be described in detail with reference to the accompanying drawings and embodiments.

[0057] In this disclosure, any operation involving the acquisition of user information or user data, or the display of user information or user data to others, is an operation authorized or confirmed by the user, or actively selected by the user.

[0058] In related technologies, in order to ensure accurate control of the gimbal, the gimbal needs to perform a self-test after the drone is powered on. The self-test process includes rotating the corresponding axis of the gimbal and adjusting the sensor parameters of the angle sensor in the gimbal based on the angle data collected by the angle sensor set on the corresponding axis when the axis rotates, so as to ensure that the calculated angle of rotation of the gimbal relative to the fuselage is relatively accurate.

[0059] In one embodiment of this disclosure, a limiting part can be provided at each axis of the gimbal. After the drone is powered on, it rotates the corresponding axis of the gimbal until the corresponding axis is stopped by the limiting part and cannot continue to rotate. At this time, the angle sensor provided on the corresponding axis collects data, and the sensor parameters of the gimbal are adjusted according to the data collected by the angle sensor and the preset angle. If the angle calculated based on the adjusted sensor parameters and the data collected by the angle sensor matches the preset angle, the adjusted sensor parameters can be considered to be relatively accurate.

[0060] However, the applicant discovered that in some scenarios, the gimbal is easily jammed by objects or the ground while rotating. This causes the corresponding axis of the gimbal to be jammed by the objects or the ground before being stopped by the limiting part, preventing the axis from continuing to rotate. In this situation, it is impossible to adjust the sensor parameters based on the data collected by the angle sensor, resulting in the inability to complete the gimbal's self-test. Consequently, the gimbal cannot be used normally in some scenarios, damaging the user experience.

[0061] To address the aforementioned problems, embodiments of this disclosure provide a sensor parameter adjustment method, apparatus, device, and medium.

[0062] According to the technical solution provided in this disclosure, the acceleration data of the UAV, the acceleration data of the gimbal in the UAV, and the sensing data collected by the angle sensors corresponding to each axis of the gimbal are obtained; based on preset sensor parameters and sensing data, the detected pitch angle and detected roll angle of the gimbal relative to the UAV body are obtained; based on the acceleration data of the gimbal, the pitch angle and roll angle of the gimbal are obtained, and based on the acceleration data of the UAV, the pitch angle and roll angle of the UAV are obtained; based on the pitch angle of the gimbal and the pitch angle of the UAV, the estimated pitch angle of the gimbal relative to the UAV body is obtained, and based on the roll angle of the gimbal and the roll angle of the UAV, the estimated roll angle of the gimbal relative to the UAV body is obtained; if the angle difference between the estimated pitch angle and the detected pitch angle is greater than or equal to a preset angle difference threshold, or the angle difference between the estimated roll angle and the detected roll angle is greater than or equal to the angle difference threshold, then the sensor parameters are adjusted based on the estimated pitch angle, the estimated roll angle, the detected pitch angle, and the detected roll angle. In the above technical solution, the sensor parameters can be adjusted without relying on the rotating shaft to touch the limit part, avoiding interference from ground or environmental objects on the rotation of the gimbal. This ensures that the sensor parameters can be adjusted and the gimbal can perform self-tests in a wide range of scenarios, thereby ensuring that the gimbal can be used normally in a wide range of scenarios and improving the user experience.

[0063] Figure 1A flowchart illustrating a sensor parameter adjustment method according to an embodiment of the present disclosure is provided. The method can be applied to drones, corresponding control devices, etc., wherein the control devices may include mobile phones, tablets, PDAs, laptops, wearable devices, virtual reality devices, augmented reality devices, personal digital assistants, in-vehicle devices, etc., and the embodiments of the present disclosure are not limited thereto.

[0064] like Figure 1 As shown, the sensor parameter adjustment method includes the following steps S101-S105:

[0065] In step S101, the acceleration data of the UAV, the acceleration data of the gimbal in the UAV, and the sensing data collected by the angle sensor corresponding to each axis of the gimbal are acquired.

[0066] In one implementation of this disclosure, the drone includes a fuselage and a gimbal, with the fuselage and gimbal being rigidly connected.

[0067] In one implementation of this disclosure, the acceleration data includes acceleration measurements in the x-axis direction, acceleration measurements in the y-axis direction, and acceleration measurements in the z-axis direction.

[0068] Angle sensors may include linear Hall sensors, and the sensing data collected by linear Hall sensors may be magnetic field sensing signals.

[0069] In step S102, the detection pitch angle and detection roll angle of the gimbal relative to the drone's body are obtained based on preset sensor parameters and sensing data.

[0070] In one implementation of this disclosure, the detection pitch angle and detection roll angle of the gimbal relative to the drone's fuselage are obtained based on preset sensor parameters and sensing data. This can be understood as calculating the detection pitch angle and detection roll angle of the gimbal relative to the drone's fuselage by substituting the preset sensor parameters and sensing data into a pre-acquired algorithm. Alternatively, it can be understood as acquiring a pre-trained model and inputting the preset sensor parameters and sensing data into the model to obtain the detection pitch angle and detection roll angle of the gimbal relative to the drone's fuselage output by the model.

[0071] In one implementation of this disclosure, the gimbal's rotating axis includes a roll axis and a pitch axis. Each rotating axis of the gimbal corresponds to two linear Hall sensors. Both linear Hall sensors are mounted on the stator of a drive motor used to drive the corresponding rotating axis. When the rotor of the drive motor rotates relative to the stator of the drive motor, the phase difference between the magnetic field induction signal detected by one of the two linear Hall sensors and the magnetic field induction signal detected by the other linear Hall sensor is 90°.

[0072] For example, the preset sensor parameters include roll sensor parameter offset1 and pitch sensor parameter offset2. The sensing data collected by the two linear Hall sensors corresponding to the roll axis of the gimbal are H1 and H2, respectively, and the sensing data collected by the two linear Hall sensors corresponding to the pitch axis of the gimbal are H3 and H4, respectively.

[0073] The process of acquiring the gimbal's detection pitch and roll angles relative to the drone's fuselage based on preset sensor parameters and sensing data can include the following steps:

[0074] The electrical angle θ1 of the gimbal's roll axis is obtained using θ1 = atan2(H1, H2), and the electrical angle θ2 of the gimbal's pitch axis is obtained using θ2 = atan2(H3, H4). 2， Where atan2 is the arctangent function in the four quadrants, for example atan2(H1, H2) is the arctangent value of H1 / H2 expressed in radians.

[0075] The detected roll angle Hall_roll_angle relative to the drone's fuselage is calculated based on Hall_roll_angle = θ1 / p - offset1.

[0076] The detected pitch angle Hall_pitch_angle relative to the drone's fuselage is calculated based on Hall_pitch_angle = θ2 / p - offset2.

[0077] Where p is the preset number of motor pole pairs.

[0078] In step S103, the pitch angle and roll angle of the gimbal are obtained based on the acceleration data of the gimbal, and the pitch angle and roll angle of the UAV are obtained based on the acceleration data of the UAV.

[0079] For example, the gimbal's acceleration data includes the gimbal's acceleration on the x-axis (acc_x1), the gimbal's acceleration on the y-axis (acc_y1), and the gimbal's acceleration on the z-axis (acc_z1), while the drone's acceleration data includes the drone's acceleration on the x-axis (acc_x2), the drone's acceleration on the y-axis (acc_y2), and the drone's acceleration on the z-axis (acc_z2).

[0080] Obtaining the pitch and roll angles of the gimbal based on its acceleration data can include the following steps:

[0081] The pitch angle y_pitch of the gimbal is calculated based on y_pitch = arcsin(-ax1).

[0082] The roll angle y_roll of the gimbal is calculated based on y_roll = arctan(ay1, az1).

[0083] Here, ax1 can be obtained by ax1 = acc_x1 / sqrt(acc_x1) 2 + acc_y1 2 + acc_z1 2 ) was calculated.

[0084] ay1 can be obtained by ay1 = acc_y1 / sqrt(acc_x1) 2 + acc_y1 2 + acc_z1 2 ) was calculated.

[0085] az1 can be obtained by az1 = acc_z1 / sqrt(acc_x1) 2 + acc_y1 2 + acc_z1 2 ) was calculated.

[0086] Where sqrt is the square root function, for example sqrt(acc_x1) 2 + acc_y1 2 + acc_z1 2 ) is acc_x1 2 + acc_y1 2 + acc_z1 2 The square root of.

[0087] Obtaining the pitch and roll angles of a drone based on its acceleration data can include the following steps:

[0088] The pitch angle f_pitch of the UAV is calculated based on f_pitch = arcsin(-ax2).

[0089] The roll angle f_roll of the UAV is calculated based on f_roll = arctan(ay2, az2).

[0090] Here, ax2 can be calculated using ax2 = acc_x2 / sqrt(acc_x2). 2 + acc_y2 2 + acc_z2 2 ) was calculated.

[0091] ay2 can be calculated using ay2 = acc_y2 / sqrt(acc_x2) 2 + acc_y2 2 + acc_z2 2 ) was calculated.

[0092] az2 can be calculated using az2 = acc_z2 / sqrt(acc_x2) 2 + acc_y2 2 + acc_z2 2 ) was calculated.

[0093] In step S104, the estimated pitch angle of the gimbal relative to the drone's fuselage is obtained based on the pitch angle of the gimbal and the pitch angle of the drone, and the estimated roll angle of the gimbal relative to the drone's fuselage is obtained based on the roll angle of the gimbal and the roll angle of the drone.

[0094] In one implementation of this disclosure, the estimated pitch angle of the gimbal relative to the drone's fuselage is obtained based on the gimbal's pitch angle and the drone's pitch angle, which can be achieved through the following steps:

[0095] The estimated pitch angle M_pitch_angle relative to the drone's fuselage is calculated based on M_pitch_angle = f_pitch - y_pitch.

[0096] The estimated roll angle of the gimbal relative to the drone's fuselage can be obtained by comparing the roll angle of the gimbal with the roll angle of the drone. This can be achieved through the following steps:

[0097] The estimated roll angle M_roll_angle relative to the drone's fuselage is calculated based on M_roll_angle = f_roll - y_roll.

[0098] In step S105, if the angle difference between the estimated pitch angle and the detected pitch angle is greater than or equal to a preset angle difference threshold, or the angle difference between the estimated roll angle and the detected roll angle is greater than or equal to an angle difference threshold, then the sensor parameters are adjusted based on the estimated pitch angle, the estimated roll angle, the detected pitch angle, and the detected roll angle.

[0099] In one implementation of this disclosure, adjusting the sensor parameters based on the estimated pitch angle, estimated roll angle, detected pitch angle, and detected roll angle can be understood as using a pre-acquired algorithm, substituting the estimated pitch angle, estimated roll angle, detected pitch angle, detected roll angle, and sensor parameters into the calculation to obtain the adjusted sensor parameters. Alternatively, it can be understood as acquiring a pre-trained model, inputting the estimated pitch angle, estimated roll angle, detected pitch angle, detected roll angle, and sensor parameters into the model, and obtaining the adjusted sensor parameters output by the model.

[0100] It should be noted that, based on the adjusted sensor parameters and the gimbal's adjusted pitch and roll angles relative to the drone's fuselage obtained from the sensor data, if the estimated angle difference between the pitch angle and the adjusted pitch angle is less than a preset angle difference threshold, and the estimated roll angle is less than the angle difference threshold, then no further adjustments will be made to the adjusted sensor parameters. In other words, it is determined that the accuracy of the subsequent pitch and roll angles of the gimbal relative to the drone's fuselage obtained based on the adjusted sensor parameters and the subsequently acquired sensor data is high.

[0101] For example, adjusting the sensor parameters based on the estimated pitch angle, estimated roll angle, detected pitch angle, and detected roll angle may include the following steps:

[0102] If the sensor parameter offset1 is less than the preset first sensor parameter threshold offset_default1, then n1 is adjusted (n1 is the Hall quadrant value of the roll axis motor of the gimbal, and n1 is an integer whose absolute value is less than or equal to the number of pole pairs p of the motor), and the adjusted n1 is substituted into the following formula to calculate the adjusted sensor parameter offset1. * :

[0103] offset1 * =(n1+0.5)×2πp+offset_default1;

[0104] Where π is the ratio of a circle's diameter to its circumference.

[0105] If the sensor parameter offset1 is greater than or equal to the preset first sensor parameter threshold offset_default1, then n1 is adjusted, and the adjusted n1 is substituted into the following formula to calculate the adjusted sensor parameter offset1. * :

[0106] offset1 * =(n1-0.5)×2πp+offset_default1;

[0107] If the sensor parameter offset2 is less than the preset second sensor parameter threshold offset_default2, then the adjusted sensor parameter offset2 is obtained by adjusting n2 (n2 is the Hall quadrant value of the pan-tilt axis motor, and n2 is an integer whose absolute value is less than or equal to the number of pole pairs p of the motor) and substituting the adjusted n2 into the following formula. * :

[0108] offset2 * =(n2+0.5)×2πp+offset_default2;

[0109] If the sensor parameter offset2 is greater than or equal to the preset second sensor parameter threshold offset_default2, then n2 is adjusted. The adjusted n2 is substituted into the following formula to calculate the adjusted sensor parameter offset2. * :

[0110] offset2 * =(n2-0.5)×2πp+offset_default2;

[0111] Based on Hall_roll_angle * =θ1 / p - offset1 * Calculate the adjusted roll angle (Hall_roll_angle) of the gimbal relative to the drone's fuselage. * .

[0112] Based on Hall_pitch_angle * =θ² / p - offset² * Calculate the adjusted pitch angle (Hall_pitch_angle) of the gimbal relative to the drone's fuselage. * .

[0113] If the angle difference between the estimated pitch angle and the adjusted pitch angle is less than the preset angle difference threshold, and the angle difference between the estimated roll angle and the adjusted roll angle is less than the angle difference threshold, then the adjusted sensor parameter offset1 will no longer be adjusted. * offset2 * Further adjustments will be made, that is, determining the appropriate sensor parameters based on offset1 during subsequent processing. * offset2 * The accuracy of the gimbal's pitch and roll angles relative to the drone's fuselage, obtained from subsequent sensor data acquisition, is relatively high.

[0114] According to the technical solution provided in this disclosure, the acceleration data of the UAV, the acceleration data of the gimbal in the UAV, and the sensing data collected by the angle sensors corresponding to each axis of the gimbal are obtained; based on preset sensor parameters and sensing data, the detected pitch angle and detected roll angle of the gimbal relative to the UAV body are obtained; based on the acceleration data of the gimbal, the pitch angle and roll angle of the gimbal are obtained, and based on the acceleration data of the UAV, the pitch angle and roll angle of the UAV are obtained; based on the pitch angle of the gimbal and the pitch angle of the UAV, the estimated pitch angle of the gimbal relative to the UAV body is obtained, and based on the roll angle of the gimbal and the roll angle of the UAV, the estimated roll angle of the gimbal relative to the UAV body is obtained; if the angle difference between the estimated pitch angle and the detected pitch angle is greater than or equal to a preset angle difference threshold, or the angle difference between the estimated roll angle and the detected roll angle is greater than or equal to the angle difference threshold, then the sensor parameters are adjusted based on the estimated pitch angle, the estimated roll angle, the detected pitch angle, and the detected roll angle. In the above technical solution, the sensor parameters can be adjusted without relying on the rotating shaft to touch the limit part, avoiding interference from ground or environmental objects on the rotation of the gimbal. This ensures that the sensor parameters can be adjusted and the gimbal can perform self-tests in a wide range of scenarios, thereby ensuring that the gimbal can be used normally in a wide range of scenarios and improving the user experience.

[0115] In one embodiment of this disclosure, obtaining an estimated pitch angle of the gimbal relative to the drone's fuselage based on the gimbal's pitch angle and the drone's pitch angle, and obtaining an estimated roll angle of the gimbal relative to the drone's fuselage based on the gimbal's roll angle and the drone's roll angle, includes:

[0116] If the pitch angle of the drone is less than or equal to a preset pitch angle threshold, and the roll angle of the drone is less than or equal to a preset roll angle threshold, then the estimated pitch angle of the gimbal relative to the drone's body is obtained based on the pitch angle of the gimbal and the pitch angle of the drone, and the estimated roll angle of the gimbal relative to the drone's body is obtained based on the roll angle of the gimbal and the roll angle of the drone.

[0117] According to the technical solution provided in this disclosure, by obtaining the estimated pitch angle of the gimbal relative to the drone's body based on the pitch angle of the gimbal and the pitch angle of the drone, and obtaining the estimated roll angle of the gimbal relative to the drone's body based on the pitch angle of the gimbal and the pitch angle of the drone, it can be ensured that the acceleration data of the drone and the gimbal will not be distorted due to the excessive movement of the drone when obtaining the estimated pitch angle and the estimated roll angle. This improves the accuracy of the obtained estimated pitch angle and estimated roll angle, and helps to improve the efficiency of adjusting sensor parameters.

[0118] In one embodiment of this disclosure, the method further includes:

[0119] If the pitch angle of the drone is greater than the preset pitch angle threshold, or the roll angle of the drone is greater than the preset roll angle threshold, then the limit sensing data collected by the angle sensor corresponding to each axis in the gimbal is obtained when each axis rotates to the limit angle.

[0120] The gimbal is used to acquire the detection limit pitch angle and detection limit roll angle of the gimbal relative to the drone's fuselage based on sensor parameters and limit sensor data.

[0121] Obtain the preset target limit pitch angle and target limit roll angle.

[0122] If the angle difference between the target limit pitch angle and the detection limit pitch angle is greater than or equal to the angle difference threshold, or the angle difference between the target limit roll angle and the detection limit roll angle is greater than or equal to the angle difference threshold, then the sensor parameters are adjusted based on the detection limit pitch angle, the detection limit roll angle, the target limit pitch angle, and the target limit roll angle.

[0123] According to the technical solution provided in this disclosure, when the pitch angle of the drone exceeds a preset pitch angle threshold, or the roll angle of the drone exceeds a preset roll angle threshold, the limit sensing data collected by the angle sensor corresponding to each axis of the gimbal is obtained when each axis rotates to the limit angle. Based on the sensor parameters and the limit sensing data, the detected limit pitch angle and the detected limit roll angle of the gimbal relative to the drone's body are obtained, and the preset target limit pitch angle and target limit roll angle are obtained. If the angle difference between the target limit pitch angle and the detected limit pitch angle is greater than or equal to the angle difference threshold, or the angle difference between the target limit roll angle and the detected limit roll angle is greater than or equal to the angle difference threshold, the sensor parameters are adjusted based on the detected limit pitch angle, the detected limit roll angle, the target limit pitch angle, and the target limit roll angle. The above solution can ensure that the sensor parameters can still be adjusted when the drone's activity is too violent, completing the gimbal's self-test, thereby ensuring the gimbal can be used normally and improving the user experience.

[0124] In one embodiment of this disclosure, before acquiring the acceleration data of the UAV, the acceleration data of the gimbal in the UAV, and the sensing data collected by the angle sensor corresponding to each axis of rotation in the gimbal, the method further includes:

[0125] Obtain the connection status information of the data transmission module in the control device.

[0126] Acquire acceleration data of the drone, acceleration data of the gimbal in the drone, and sensor data collected by the angle sensors corresponding to each axis of the gimbal, including:

[0127] If the data transmission link between the data transmission module and the drone is successfully connected based on the connection status information, then the module receives sensor data sent by the drone, acceleration data from the gimbal, and acceleration data from the drone.

[0128] The method also includes:

[0129] Send the adjusted sensor parameters to the control terminal of the gimbal.

[0130] According to the technical solution provided in this disclosure, by acquiring the connection status information of the data transmission module in the control device, and determining that the data transmission link between the data transmission module and the drone is successfully connected based on the connection status information, the reception of sensor data, gimbal acceleration data, and drone acceleration data sent by the drone can ensure a high success rate in acquiring these data. Subsequently, by sending adjusted sensor parameters to the gimbal's control terminal, it can be ensured that the gimbal's control terminal can perform more precise control of the gimbal based on the adjusted sensor parameters, thus improving the user experience.

[0131] Figure 2 A structural block diagram of a sensor parameter adjustment device according to an embodiment of the present disclosure is shown. This device can be implemented as part or all of an electronic device through software, hardware, or a combination of both.

[0132] like Figure 2 As shown, the sensor parameter adjustment device 200 includes:

[0133] The data acquisition module 201 is configured to acquire acceleration data of the UAV, acceleration data of the gimbal in the UAV, and sensing data collected by the angle sensor corresponding to each axis of the gimbal.

[0134] The angle detection module 202 is configured to acquire the detection pitch angle and detection roll angle of the gimbal relative to the drone's fuselage based on preset sensor parameters and sensing data.

[0135] The angle acquisition module 203 is configured to acquire the pitch and roll angles of the gimbal based on the gimbal's acceleration data, and to acquire the pitch and roll angles of the UAV based on the UAV's acceleration data.

[0136] The angle estimation module 204 is configured to obtain the estimated pitch angle of the gimbal relative to the fuselage of the drone based on the pitch angle of the gimbal and the pitch angle of the drone, and to obtain the estimated roll angle of the gimbal relative to the fuselage of the drone based on the roll angle of the gimbal and the roll angle of the drone.

[0137] The first parameter adjustment module 205 is configured to adjust the sensor parameters based on the estimated pitch angle, estimated roll angle, detected pitch angle, and detected roll angle if the angle difference between the estimated pitch angle and the detected pitch angle is greater than or equal to a preset angle difference threshold, or the angle difference between the estimated roll angle and the detected roll angle is greater than or equal to an angle difference threshold.

[0138] In one embodiment of this disclosure, the angle estimation module is specifically configured as follows:

[0139] If the pitch angle of the drone is less than or equal to a preset pitch angle threshold, and the roll angle of the drone is less than or equal to a preset roll angle threshold, then the estimated pitch angle of the gimbal relative to the drone's body is obtained based on the pitch angle of the gimbal and the pitch angle of the drone, and the estimated roll angle of the gimbal relative to the drone's body is obtained based on the roll angle of the gimbal and the roll angle of the drone.

[0140] In one embodiment of this disclosure, the apparatus further includes:

[0141] The limit data acquisition module is configured to acquire the limit sensing data collected by the angle sensor of each axis when each axis in the gimbal rotates to the limit angle if the pitch angle of the drone is greater than a preset pitch angle threshold or the roll angle of the drone is greater than a preset roll angle threshold.

[0142] The limit angle acquisition module is configured to acquire the detection limit pitch angle and detection limit roll angle of the gimbal relative to the drone's fuselage based on sensor parameters and limit sensing data.

[0143] The target angle acquisition module is configured to acquire the preset target limit pitch angle and target limit roll angle.

[0144] The second parameter adjustment module is configured to adjust the sensor parameters based on the detection limit pitch angle, the detection limit roll angle, the target limit pitch angle, and the target limit roll angle if the angle difference between the target limit pitch angle and the detection limit pitch angle is greater than or equal to the angle difference threshold, or the angle difference between the target limit roll angle and the detection limit roll angle is greater than or equal to the angle difference threshold.

[0145] In one embodiment of this disclosure, the gimbal's rotating axis includes a roll axis and a pitch axis. Each rotating axis of the gimbal corresponds to two linear Hall sensors. Both linear Hall sensors are mounted on the stator of a drive motor used to drive the corresponding rotating axis. When the rotor of the drive motor rotates relative to the stator of the drive motor, the phase difference between the magnetic field induction signal detected by one of the two linear Hall sensors and the magnetic field induction signal detected by the other linear Hall sensor is 90°.

[0146] In one embodiment of this disclosure, the apparatus further includes:

[0147] The status information acquisition module is configured to acquire the connection status information of the data transmission module in the control device.

[0148] The data acquisition module is specifically configured as follows:

[0149] If the data transmission link between the data transmission module and the drone is successfully connected based on the connection status information, then the module receives sensor data sent by the drone, acceleration data from the gimbal, and acceleration data from the drone.

[0150] The device also includes:

[0151] The parameter sending module is configured to send adjusted sensor parameters to the control terminal of the gimbal.

[0152] According to the technical solution provided in this disclosure, the acceleration data of the UAV, the acceleration data of the gimbal in the UAV, and the sensing data collected by the angle sensors corresponding to each axis of the gimbal are obtained; based on preset sensor parameters and sensing data, the detected pitch angle and detected roll angle of the gimbal relative to the UAV body are obtained; based on the acceleration data of the gimbal, the pitch angle and roll angle of the gimbal are obtained, and based on the acceleration data of the UAV, the pitch angle and roll angle of the UAV are obtained; based on the pitch angle of the gimbal and the pitch angle of the UAV, the estimated pitch angle of the gimbal relative to the UAV body is obtained, and based on the roll angle of the gimbal and the roll angle of the UAV, the estimated roll angle of the gimbal relative to the UAV body is obtained; if the angle difference between the estimated pitch angle and the detected pitch angle is greater than or equal to a preset angle difference threshold, or the angle difference between the estimated roll angle and the detected roll angle is greater than or equal to the angle difference threshold, then the sensor parameters are adjusted based on the estimated pitch angle, the estimated roll angle, the detected pitch angle, and the detected roll angle. In the above technical solution, the sensor parameters can be adjusted without relying on the rotating shaft to touch the limit part, avoiding interference from ground or environmental objects on the rotation of the gimbal. This ensures that the sensor parameters can be adjusted and the gimbal can perform self-tests in a wide range of scenarios, thereby ensuring that the gimbal can be used normally in a wide range of scenarios and improving the user experience.

[0153] This disclosure also discloses an electronic device, Figure 3 A structural block diagram of an electronic device according to an embodiment of the present disclosure is shown.

[0154] like Figure 3 As shown, the electronic device includes a memory and a processor, wherein the memory is used to store one or more computer instructions, wherein the one or more computer instructions are executed by the processor to implement the method according to embodiments of the present disclosure.

[0155] This disclosure provides a sensor parameter adjustment method, including:

[0156] Acquire acceleration data of the drone, acceleration data of the gimbal in the drone, and sensing data collected by the angle sensors corresponding to each axis of the gimbal.

[0157] Based on preset sensor parameters and sensing data, the gimbal acquires the detection pitch angle and detection roll angle relative to the drone's body.

[0158] The pitch and roll angles of the gimbal are obtained based on the gimbal's acceleration data, and the pitch and roll angles of the drone are obtained based on the drone's acceleration data.

[0159] The estimated pitch angle of the gimbal relative to the drone's fuselage is obtained based on the pitch angle of the gimbal and the pitch angle of the drone, and the estimated roll angle of the gimbal relative to the drone's fuselage is obtained based on the roll angle of the gimbal and the roll angle of the drone.

[0160] If the angle difference between the estimated pitch angle and the detected pitch angle is greater than or equal to a preset angle difference threshold, or the angle difference between the estimated roll angle and the detected roll angle is greater than or equal to an angle difference threshold, then the sensor parameters are adjusted based on the estimated pitch angle, the estimated roll angle, the detected pitch angle, and the detected roll angle.

[0161] In one embodiment of this disclosure, obtaining an estimated pitch angle of the gimbal relative to the drone's fuselage based on the gimbal's pitch angle and the drone's pitch angle, and obtaining an estimated roll angle of the gimbal relative to the drone's fuselage based on the gimbal's roll angle and the drone's roll angle, includes:

[0162] If the pitch angle of the drone is less than or equal to a preset pitch angle threshold, and the roll angle of the drone is less than or equal to a preset roll angle threshold, then the estimated pitch angle of the gimbal relative to the drone's body is obtained based on the pitch angle of the gimbal and the pitch angle of the drone, and the estimated roll angle of the gimbal relative to the drone's body is obtained based on the roll angle of the gimbal and the roll angle of the drone.

[0163] In one embodiment of this disclosure, the method further includes:

[0164] If the pitch angle of the drone is greater than the preset pitch angle threshold, or the roll angle of the drone is greater than the preset roll angle threshold, then the limit sensing data collected by the angle sensor corresponding to each axis in the gimbal is obtained when each axis rotates to the limit angle.

[0165] The gimbal is used to acquire the detection limit pitch angle and detection limit roll angle of the gimbal relative to the drone's fuselage based on sensor parameters and limit sensor data.

[0166] Obtain the preset target limit pitch angle and target limit roll angle.

[0167] If the angle difference between the target limit pitch angle and the detection limit pitch angle is greater than or equal to the angle difference threshold, or the angle difference between the target limit roll angle and the detection limit roll angle is greater than or equal to the angle difference threshold, then the sensor parameters are adjusted based on the detection limit pitch angle, the detection limit roll angle, the target limit pitch angle, and the target limit roll angle.

[0168] In one embodiment of this disclosure, the gimbal's rotating axis includes a roll axis and a pitch axis. Each rotating axis of the gimbal corresponds to two linear Hall sensors. Both linear Hall sensors are mounted on the stator of a drive motor used to drive the corresponding rotating axis. When the rotor of the drive motor rotates relative to the stator of the drive motor, the phase difference between the magnetic field induction signal detected by one of the two linear Hall sensors and the magnetic field induction signal detected by the other linear Hall sensor is 90°.

[0169] In one embodiment of this disclosure, before acquiring the acceleration data of the UAV, the acceleration data of the gimbal in the UAV, and the sensing data collected by the angle sensor corresponding to each axis of rotation in the gimbal, the method further includes:

[0170] Obtain the connection status information of the data transmission module in the control device.

[0171] Acquire acceleration data of the drone, acceleration data of the gimbal in the drone, and sensor data collected by the angle sensors corresponding to each axis of the gimbal, including:

[0172] If the data transmission link between the data transmission module and the drone is successfully connected based on the connection status information, then the module receives sensor data sent by the drone, acceleration data from the gimbal, and acceleration data from the drone.

[0173] The method also includes:

[0174] Send the adjusted sensor parameters to the control terminal of the gimbal.

[0175] Figure 4 A schematic diagram of the structure of a computer system suitable for implementing the method according to embodiments of the present disclosure is shown.

[0176] like Figure 4 As shown, the computer system includes a processing unit that can execute various methods described above based on a program stored in a read-only memory (ROM) or a program loaded from a storage portion into a random access memory (RAM). The RAM also stores various programs and data required for the operation of the computer system. The processing unit, ROM, and RAM are interconnected via a bus. Input / output (I / O) interfaces are also connected to the bus.

[0177] The following components are connected to the I / O interface: input sections including keyboards, mice, etc.; output sections including cathode ray tubes (CRTs), liquid crystal displays (LCDs), and speakers; storage sections including hard disks; and communication sections including network interface cards such as LAN cards and modems. The communication section performs communication processes via a network such as the Internet. Drives are also connected to the I / O interface as needed. Removable media, such as disks, optical disks, magneto-optical disks, semiconductor memories, etc., are installed on the drive as needed so that computer programs read from them can be installed into the storage section as required. The processing unit can be implemented as a CPU, GPU, TPU, FPGA, NPU, etc.

[0178] In particular, according to embodiments of this disclosure, the methods described above can be implemented as computer software programs. For example, embodiments of this disclosure include a computer program product comprising a computer program tangibly embodied on a machine-readable medium, the computer program containing program code for performing the methods described above. In such embodiments, the computer program can be downloaded and installed from a network via a communication component, and / or installed from a removable medium.

[0179] The flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of systems, methods, and computer program products according to various embodiments of this disclosure. In this regard, each block in a flowchart or block diagram may represent a module, segment, or portion of code containing one or more executable instructions for implementing a specified logical function. It should also be noted that in some alternative implementations, the functions indicated in the blocks may occur in a different order than those indicated in the drawings. For example, two consecutively indicated blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each block in the block diagrams and / or flowcharts, and combinations of blocks in the block diagrams and / or flowcharts, can be implemented using a dedicated hardware-based system that performs the specified function or operation, or using a combination of dedicated hardware and computer instructions.

[0180] The units or modules described in the embodiments of this disclosure can be implemented in software or programmable hardware. The described units or modules can also be located in a processor, and the names of these units or modules do not necessarily constitute a limitation on the unit or module itself.

[0181] In another aspect, this disclosure also provides a computer-readable storage medium, which may be a computer-readable storage medium included in the electronic device or computer system described above; or it may be a standalone computer-readable storage medium not assembled into a device. The computer-readable storage medium stores one or more programs, which are used by one or more processors to perform the methods described in this disclosure.

[0182] The above description is merely a preferred embodiment of this disclosure and an explanation of the technical principles employed. Those skilled in the art should understand that the scope of the invention involved in this disclosure is not limited to technical solutions formed by specific combinations of the above-described technical features, but should also cover other technical solutions formed by arbitrary combinations of the above-described technical features or their equivalents without departing from the inventive concept. For example, technical solutions formed by substituting the above-described features with (but not limited to) technical features disclosed in this disclosure that have similar functions.

Claims

1. A method for adjusting sensor parameters, characterized in that, include: Acquire acceleration data of the drone, acceleration data of the gimbal in the drone, and sensing data collected by the angle sensor corresponding to each axis of rotation in the gimbal; Based on preset sensor parameters and the sensing data, the gimbal's detection pitch angle and detection roll angle relative to the drone's body are obtained. The pitch and roll angles of the gimbal are obtained based on the acceleration data of the gimbal, and the pitch and roll angles of the drone are obtained based on the acceleration data of the drone. The estimated pitch angle of the gimbal relative to the fuselage of the drone is obtained based on the pitch angle of the gimbal and the pitch angle of the drone, and the estimated roll angle of the gimbal relative to the fuselage of the drone is obtained based on the roll angle of the gimbal and the roll angle of the drone. If the angle difference between the estimated pitch angle and the detected pitch angle is greater than or equal to a preset angle difference threshold, or the angle difference between the estimated roll angle and the detected roll angle is greater than or equal to the angle difference threshold, then the sensor parameters are adjusted based on the estimated pitch angle, the estimated roll angle, the detected pitch angle, and the detected roll angle.

2. The sensor parameter adjustment method according to claim 1, characterized in that, The step of obtaining an estimated pitch angle of the gimbal relative to the fuselage of the drone based on the pitch angle of the gimbal and the pitch angle of the drone, and obtaining an estimated roll angle of the gimbal relative to the fuselage of the drone based on the roll angle of the gimbal and the roll angle of the drone, includes: If the pitch angle of the UAV is less than or equal to a preset pitch angle threshold, and the roll angle of the UAV is less than or equal to a preset roll angle threshold, then the estimated pitch angle of the gimbal relative to the UAV's fuselage is obtained based on the pitch angle of the gimbal and the pitch angle of the UAV, and the estimated roll angle of the gimbal relative to the UAV's fuselage is obtained based on the roll angle of the gimbal and the roll angle of the UAV.

3. The sensor parameter adjustment method according to claim 2, characterized in that, The method further includes: If the pitch angle of the UAV is greater than a preset pitch angle threshold, or the roll angle of the UAV is greater than a preset roll angle threshold, then the limit sensing data collected by the angle sensor corresponding to each rotating axis when each rotating axis in the gimbal rotates to the limit angle is obtained. Based on the sensor parameters and the limit sensing data, the detection limit pitch angle and detection limit roll angle of the gimbal relative to the body of the UAV are obtained. Obtain the preset target limit pitch angle and target limit roll angle; If the angle difference between the target limit pitch angle and the detection limit pitch angle is greater than or equal to the angle difference threshold, or the angle difference between the target limit roll angle and the detection limit roll angle is greater than or equal to the angle difference threshold, then the sensor parameters are adjusted based on the detection limit pitch angle, the detection limit roll angle, the target limit pitch angle, and the target limit roll angle.

4. The sensor parameter adjustment method according to claim 1, characterized in that, The gimbal's rotating axis includes a roll axis and a pitch axis. Each rotating axis of the gimbal corresponds to two linear Hall sensors. Both linear Hall sensors are mounted on the stator of the drive motor that drives the corresponding rotating axis. When the rotor of the drive motor rotates relative to the stator of the drive motor, the phase difference between the magnetic field induction signal detected by one of the two linear Hall sensors and the magnetic field induction signal detected by the other linear Hall sensor is 90°.

5. The sensor parameter adjustment method according to claim 1, characterized in that, Before acquiring the acceleration data of the UAV, the acceleration data of the gimbal in the UAV, and the sensing data collected by the angle sensors corresponding to each axis of rotation in the gimbal, the method further includes: Obtain the connection status information of the data transmission module in the control device; The acquisition of acceleration data of the drone, acceleration data of the gimbal in the drone, and sensing data collected by the angle sensors corresponding to each axis of rotation in the gimbal includes: If the data transmission link between the data transmission module and the drone is successfully connected based on the connection status information, then the sensor data, the gimbal acceleration data, and the drone acceleration data sent by the drone are received. The method further includes: The adjusted sensor parameters are sent to the control terminal of the gimbal.

6. A sensor parameter adjustment device, characterized in that, include: The data acquisition module is configured to acquire the acceleration data of the UAV, the acceleration data of the gimbal in the UAV, and the sensing data collected by the angle sensor corresponding to each axis of the gimbal. An angle detection module is configured to acquire the detected pitch angle and detected roll angle of the gimbal relative to the body of the UAV based on preset sensor parameters and the sensing data. An angle acquisition module is configured to acquire the pitch angle and roll angle of the gimbal based on the acceleration data of the gimbal, and to acquire the pitch angle and roll angle of the drone based on the acceleration data of the drone. An angle estimation module is configured to obtain an estimated pitch angle of the gimbal relative to the fuselage of the drone based on the pitch angle of the gimbal and the pitch angle of the drone, and to obtain an estimated roll angle of the gimbal relative to the fuselage of the drone based on the roll angle of the gimbal and the roll angle of the drone. The first parameter adjustment module is configured to adjust the sensor parameters based on the estimated pitch angle, the estimated roll angle, the detected pitch angle, and the detected roll angle if the angle difference between the estimated pitch angle and the detected pitch angle is greater than or equal to a preset angle difference threshold, or the angle difference between the estimated roll angle and the detected roll angle is greater than or equal to the angle difference threshold.

7. The sensor parameter adjustment device according to claim 6, characterized in that, The angle estimation module is specifically configured as follows: If the pitch angle of the UAV is less than or equal to a preset pitch angle threshold, and the roll angle of the UAV is less than or equal to a preset roll angle threshold, then the estimated pitch angle of the gimbal relative to the UAV's fuselage is obtained based on the pitch angle of the gimbal and the pitch angle of the UAV, and the estimated roll angle of the gimbal relative to the UAV's fuselage is obtained based on the roll angle of the gimbal and the roll angle of the UAV.

8. The sensor parameter adjustment device according to claim 7, characterized in that, The device further includes: The limit data acquisition module is configured to acquire the limit sensing data collected by the angle sensor corresponding to each rotating axis when each rotating axis in the gimbal rotates to the limit angle if the pitch angle of the UAV is greater than a preset pitch angle threshold or the roll angle of the UAV is greater than a preset roll angle threshold. The limit angle acquisition module is configured to acquire the detection limit pitch angle and the detection limit roll angle of the gimbal relative to the body of the UAV based on the sensor parameters and the limit sensing data. The target angle acquisition module is configured to acquire the preset target limit pitch angle and target limit roll angle; The second parameter adjustment module is configured to adjust the sensor parameters based on the detection limit pitch angle, the detection limit roll angle, the target limit pitch angle, and the target limit roll angle if the angle difference between the target limit pitch angle and the detection limit pitch angle is greater than or equal to the angle difference threshold, or the angle difference between the target limit roll angle and the detection limit roll angle is greater than or equal to the angle difference threshold.

9. The sensor parameter adjustment device according to claim 6, characterized in that, The gimbal's rotating axis includes a roll axis and a pitch axis. Each rotating axis of the gimbal corresponds to two linear Hall sensors. Both linear Hall sensors are mounted on the stator of the drive motor that drives the corresponding rotating axis. When the rotor of the drive motor rotates relative to the stator of the drive motor, the phase difference between the magnetic field induction signal detected by one of the two linear Hall sensors and the magnetic field induction signal detected by the other linear Hall sensor is 90°.

10. The sensor parameter adjustment device according to claim 6, characterized in that, The device further includes: The status information acquisition module is configured to acquire the connection status information of the data transmission module in the control device. The data acquisition module is specifically configured as follows: If the data transmission link between the data transmission module and the drone is successfully connected based on the connection status information, then the sensor data, the gimbal acceleration data, and the drone acceleration data sent by the drone are received. The device further includes: The parameter sending module is configured to send adjusted sensor parameters to the control terminal of the gimbal.

11. An electronic device, characterized in that, It includes a memory and a processor; wherein the memory is used to store one or more computer instructions, wherein the one or more computer instructions are executed by the processor to implement the method of any one of claims 1-5.

12. A computer-readable storage medium storing computer instructions thereon, characterized in that, When executed by a processor, the computer instructions implement the method of any one of claims 1-5.

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