UAV Gimbal Target Centering Through Image-Based Angle Control
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Solution Overview
Problem
Users without expertise find it difficult to adjust gimbal angle parameters quickly to obtain an ideal captured picture during UAV aerial photography, as existing methods require manual input of angle parameters through apps or remote controls.
Innovation Solution
A gimbal control method and apparatus that acquires photographing parameter information and image coordinates of a target object, calculating and controlling the gimbal's pitch and yaw angles to position the object at a preset location within the captured image, such as the center, using formulas like θy=tan-1(|y-H2|/H2tan(θh2) and θx=tan-1(|x-W2|/W2tan(θw2), to ensure the object is at a desired position in the image.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If manual input of angle parameters is used to control gimbal movement, then the gimbal can be adjusted to capture images, but the operation becomes too difficult for non-expert users and time-consuming
Solution Approach 1:
The system automatically calculates the required gimbal angle parameters based on the selected target position in the captured image, eliminating the need for manual input by users. The control terminal performs self-service by computing pitch and yaw angles using the formulas θy=tan-1(|y-H2|/H2tan(θh2)) and θx=tan-1(|x-W2|/W2tan(θw2)), where (x,y) is the target coordinate, (H2,W2) is the image center, and (θh2,θw2) are the vertical and horizontal fields of view.
2Ease of operation
If automatic calculation of gimbal angles is implemented, then the operation becomes simple for users, but the system complexity increases
Solution Approach 1:
The control terminal serves as an intermediary between the user's simple tap operation and the gimbal's complex angle adjustment. It receives the target position from the user interface, automatically calculates the required pitch and yaw angles using trigonometric formulas, and transmits the computed parameters to the gimbal control module, thereby shielding the user from complexity while achieving precise gimbal positioning.
Data Source
AI summary
Embodiments of the disclosure relate to the technical field of gimbal control, and disclose a gimbal control method and apparatus, a control terminal and an aircraft system. The gimbal control method is applicable to a control terminal. A gimbal carries a photographing device. The method includes: acquiring photographing parameter information of the photographing device, where the photographing parameter information includes a field of view of the photographing device and a resolution of a captured image of the photographing device; acquiring image coordinates of a target object in the captured image that is selected by a user; and controlling an attitude of the gimbal according to the photographing parameter information and the image coordinates of the target object, so that the target object is at a preset position in the captured image.