Gimbal Pose Correction Using Vision and Vertical Compensation

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Solution Overview

Problem

Conventional inertial-GNSS integrated navigations face challenges in providing accurate pose information, especially in indoor environments and applications requiring high velocity control accuracy, due to susceptibility to interference and limitations in position measurement.

Innovation Solution

A gimbal pose correction method and device that utilizes a vertical compensation device equipped with an Inertial Measurement Unit (IMU) and a vision device to obtain and correct the pose of the gimbal, compensating for vertical movements and enhancing pose estimation accuracy.

Engineering Contradictions & Design Principles

VSEngineering Contradiction Analysis

1Reliability

If geomagnetic sensor is used to provide reference heading, then the system can obtain heading information, but the sensor is susceptible to interference from electric current and magnetic field

Engineering Contradiction:

Improveheading information reliabilityVSAvoidinterference from electric current and magnetic field

Core Design Contradiction:

ReliabilityVSObject-affected harmful factors

Solution Approach 1:

The patent replaces the geomagnetic sensor-based heading system with a vision-based pose correction system. The vision device captures images to determine position and orientation information, substituting the magnetic field-dependent sensor with an optical measurement system that is not susceptible to electromagnetic interference.

Inventive Principle:

Principle #28Mechanics substitution (Replace mechanical system)

Solution Approach 2:

The vision device acts as an intermediary between the gimbal system and the environment, providing heading and position information without direct interaction with magnetic fields or electric currents. This intermediary approach eliminates the susceptibility to electromagnetic interference while maintaining navigation capability.

Inventive Principle:

Principle #24Intermediary (Mediator)

Applied Scientific Principles

This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.

Function Achieved in This Case

The solution provides improved accuracy and stability in gimbal pose estimation, enabling smooth camera images and meeting the requirements of control bandwidth and accuracy, while being suitable for both indoor and outdoor environments.

Implementation Method 1

obtaining a first pose of a gimbal based on an Inertial Measurement Unit (IMU) arranged at a vertical compensation device

Methodology Applied

Scientific EffectInertial measurement: Accelerometer

Implementation Method 2

obtaining a second pose of the vertical compensation device based on a vision device arranged at the vertical compensation device

Methodology Applied

Scientific EffectVision-based measurement: Photography

Data Source

PatentUS12345370B1Gimbal pose correction method and device

Publication Date: 2025.07.01 SZ DJI TECH CO LTD

AI summary

A gimbal pose correction method includes obtaining a first pose of a gimbal based on a sensor arranged at a vertical compensation device configured to be coupled to the gimbal and compensate for movement of the gimbal in a vertical direction, obtaining a second pose of the vertical compensation device based on a vision device arranged at the vertical compensation device, and correcting the first pose according to the second pose.