CN105045293A - Cradle head control method, external carrier control method and cradle head - Google Patents
Cradle head control method, external carrier control method and cradle head Download PDFInfo
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- CN105045293A CN105045293A CN201510279788.9A CN201510279788A CN105045293A CN 105045293 A CN105045293 A CN 105045293A CN 201510279788 A CN201510279788 A CN 201510279788A CN 105045293 A CN105045293 A CN 105045293A
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Abstract
The invention discloses a cradle head control method, a flight carrier control method and a cradle head. The method comprises the steps of determining a target rotation matrix Rtcn of a bearing object carried by a cradle head on an external carrier to the ground; acquiring a current rotation matrix Rcn of the bearing object to the ground; acquiring a current rotation matrix Rcv of the bearing object to the external carrier; calculating to acquire a target rotation matrix Rtcv of the bearing object to the external carrier according to the target rotation matrix Rtcn of the bearing object to the ground, the current rotation matrix Rcn of the bearing object to the ground and the current rotation matrix Rcv of the bearing object to the external carrier; and calculating to acquire the compensation amount of a driving device on the cradle head according to the target rotation matrix Rtcv of the bearing object to the external carrier, and acting on the bearing object. According to the invention, attitude compensation can be carried out quickly in real time, thereby avoiding jitter caused by an external environment, and keeping a steady effect of the bearing object carried on the cradle head.
Description
Technical field
The present invention relates to The Cloud Terrace and correlative technology field thereof, particularly relate to a kind of cloud platform control method, outer carrier control method and The Cloud Terrace.
Background technology
At present, three axle holder for aerial photographings need carry on board the aircraft, drive the camera that holder for aerial photographing carries to carry out Aerial photography by aircraft.For keeping flight shooting picture stable effect, requirement can make holder for aerial photographing institute carry the certain attitude over the ground of camera maintenance towards camera site constantly, and eliminates the float that aircraft flight and external environment condition cause.Therefore, require that three axle holder for aerial photographings can compensate the change of the attitude that flying platform and external environment condition cause in real time rapidly.And prior art does not solve this problem preferably.
Summary of the invention
Fundamental purpose of the present invention is to propose a kind of cloud platform control method, outer carrier control method and The Cloud Terrace, is intended to the change compensating the attitude that external environment condition causes in real time rapidly, keeps the flattening effect of the carrier be mounted on The Cloud Terrace.
For achieving the above object, a kind of cloud platform control method provided by the invention, comprising:
Determine the carrier target rotation matrix Rtcn over the ground that the The Cloud Terrace in outer carrier carries;
Obtain described carrier current rotation matrix Rcn over the ground;
Obtain the current rotation matrix Rcv of described carrier to outer carrier;
According to described carrier target rotation matrix Rtcn over the ground, carrier current rotation matrix Rcn over the ground, carrier to the current rotation matrix Rcv of outer carrier, calculate the target rotation matrix Rtcv of described carrier to outer carrier;
According to the target rotation matrix Rtcv of described carrier to outer carrier, calculate the compensation rate obtaining drive unit on described The Cloud Terrace, and act on described carrier.
Preferably, described according to described carrier target rotation matrix Rtcn over the ground, carrier current rotation matrix Rcn over the ground, carrier to the current rotation matrix Rcv of outer carrier, calculate the step of described carrier to the target rotation matrix Rtcv of outer carrier and comprise:
According to described carrier current rotation matrix Rcn over the ground, described carrier to the current rotation matrix Rcv of outer carrier, calculate outer carrier current rotation matrix Rvn over the ground;
According to described carrier target rotation matrix Rtcn over the ground and described outer carrier current rotation matrix Rvn over the ground, calculate the target rotation matrix Rtcv of described carrier to outer carrier.
Preferably, described according to described carrier current rotation matrix Rcn over the ground, described carrier to the current rotation matrix Rcv of outer carrier, the step calculating outer carrier current rotation matrix Rvn over the ground comprises:
Obtain the transposed matrix Rvc of described carrier to the current rotation matrix Rcv of outer carrier;
According to described carrier to the transposed matrix Rvc of the current rotation matrix Rcv of outer carrier and described carrier current rotation matrix Rcn over the ground, calculate outer carrier current rotation matrix Rvn over the ground;
Described according to described carrier target rotation matrix Rtcn over the ground and described outer carrier current rotation matrix Rvn over the ground, calculate the step of described carrier to the target rotation matrix Rtcv of outer carrier and comprise:
Obtain the transposed matrix Rnv of described outer carrier current rotation matrix Rvn over the ground;
According to transposed matrix Rnv and the carrier target rotation matrix Rtcn over the ground of described outer carrier current rotation matrix Rvn over the ground, calculate the target rotation matrix Rtcv of described carrier to outer carrier.
Preferably, described drive unit is PMSM motor; Described outer carrier is at least aircraft.
Preferably, the step of the described carrier of described acquisition to the current rotation matrix Rcv of outer carrier comprises:
By the contrast in the relative original position of the current location of described carrier, and obtain the current rotation matrix Rcv of described carrier to outer carrier through the process of controller.
The embodiment of the present invention also proposes a kind of The Cloud Terrace, comprising:
Rtcn determination module, the carrier that the The Cloud Terrace for determining in outer carrier carries target rotation matrix Rtcn over the ground;
Rcn acquisition module, for obtaining described carrier current rotation matrix Rcn over the ground;
Rcv acquisition module, for obtaining the current rotation matrix Rcv of described carrier to outer carrier;
Rtcv computing module, for according to described carrier target rotation matrix Rtcn over the ground, carrier current rotation matrix Rcn over the ground, carrier to the current rotation matrix Rcv of outer carrier, calculate the target rotation matrix Rtcv of described carrier to outer carrier;
Compensatory control module, for according to the target rotation matrix Rtcv of described carrier to outer carrier, calculates the compensation rate obtaining drive unit on described The Cloud Terrace, and acts on described carrier.
Preferably, described Rtcv computing module, also for according to described carrier current rotation matrix Rcn over the ground, described carrier to the current rotation matrix Rcv of outer carrier, calculate outer carrier current rotation matrix Rvn over the ground; According to described carrier target rotation matrix Rtcn over the ground and described outer carrier current rotation matrix Rvn over the ground, calculate the target rotation matrix Rtcv of described carrier to outer carrier.
Preferably, described Rtcv computing module, also for obtaining the transposed matrix Rvc of described carrier to the current rotation matrix Rcv of outer carrier; According to described carrier to the transposed matrix Rvc of the current rotation matrix Rcv of outer carrier and described carrier current rotation matrix Rcn over the ground, calculate outer carrier current rotation matrix Rvn over the ground; Obtain the transposed matrix Rnv of described outer carrier current rotation matrix Rvn over the ground; According to transposed matrix Rnv and the carrier target rotation matrix Rtcn over the ground of described outer carrier current rotation matrix Rvn over the ground, calculate the target rotation matrix Rtcv of described carrier to outer carrier.
The embodiment of the present invention also proposes a kind of outer carrier control method, comprising:
Obtain carrier current rotation matrix Rcn over the ground;
Obtain the current rotation matrix Rcv of described carrier to outer carrier;
According to described carrier current rotation matrix Rcn over the ground, carrier to the current rotation matrix Rcv of outer carrier, calculate described outer carrier current rotation matrix Rvn over the ground.
Preferably, described according to described carrier current rotation matrix Rcn over the ground, carrier to the current rotation matrix Rcv of outer carrier, the step calculating described outer carrier current rotation matrix Rvn over the ground comprises:
Obtain the transposed matrix Rvc of described carrier to the current rotation matrix Rcv of outer carrier;
According to described carrier to the transposed matrix Rvc of the current rotation matrix Rcv of outer carrier and described carrier current rotation matrix Rcn over the ground, calculate outer carrier current rotation matrix Rvn over the ground.
A kind of cloud platform control method that the present invention proposes, outer carrier control method and The Cloud Terrace, the carrier carried by the The Cloud Terrace determined in outer carrier target rotation matrix Rtcn over the ground; Obtain carrier current rotation matrix Rcn over the ground; Obtain carrier to the current rotation matrix Rcv of outer carrier; According to carrier target rotation matrix Rtcn over the ground, carrier current rotation matrix Rcn over the ground, carrier to the current rotation matrix Rcv of outer carrier, calculate the target rotation matrix Rtcv of carrier to outer carrier; According to the target rotation matrix Rtcv of carrier to outer carrier, calculate the compensation rate obtaining drive unit on holder for aerial photographing, the offset angle that such as motor rotates, and the drive unit this compensation rate being transferred to The Cloud Terrace runs, thus pose compensation can be carried out real-time, avoid the shake that external environment condition causes, keep the flattening effect of the carrier be mounted on The Cloud Terrace.In addition, take outer carrier as aircraft be example, IMU Attitude Measuring Unit can be located on The Cloud Terrace by the present invention, independent with carry-on IMU Attitude Measuring Unit, The Cloud Terrace does not communicate with aircraft, makes this The Cloud Terrace can the body such as compatible any aircraft, also can be used in hand-held The Cloud Terrace.
Accompanying drawing explanation
Fig. 1 is the schematic flow sheet of cloud platform control method preferred embodiment of the present invention;
Fig. 2 is the high-level schematic functional block diagram of The Cloud Terrace preferred embodiment of the present invention;
Fig. 3 is the schematic flow sheet of outer carrier control method of the present invention preferred embodiment;
Fig. 4 is the high-level schematic functional block diagram of flight carrier preferred embodiment of the present invention.
The realization of the object of the invention, functional characteristics and advantage will in conjunction with the embodiments, are described further with reference to accompanying drawing.
Embodiment
Should be appreciated that specific embodiment described herein only in order to explain the present invention, be not intended to limit the present invention.
The primary solutions of the embodiment of the present invention is: carrier (such as camera, illuminating lamp, attack weapon etc.) the target rotation matrix Rtcn over the ground carried by the The Cloud Terrace determined in outer carrier; Obtain carrier current rotation matrix Rcn over the ground; Obtain carrier to the current rotation matrix Rcv of outer carrier; According to carrier target rotation matrix Rtcn over the ground, carrier current rotation matrix Rcn over the ground, carrier to the current rotation matrix Rcv of outer carrier, calculate the target rotation matrix Rtcv of carrier to outer carrier; According to the target rotation matrix Rtcv of carrier to outer carrier, calculate the compensation rate obtaining drive unit on The Cloud Terrace, the offset angle that such as motor rotates, and this offset angle is transferred to the operation of The Cloud Terrace drive motor, thus can the pose compensation carrying out carrier real-time, avoid the shake that external environment condition causes, keep carrier steady.
Particularly, as shown in Figure 1, first embodiment of the invention proposes a kind of cloud platform control method, comprising:
Step S101, determines the carrier target rotation matrix Rtcn over the ground that the The Cloud Terrace in outer carrier carries;
Wherein, the carrier that The Cloud Terrace carries includes but not limited to camera, illuminating lamp, transmitting or grenade instrumentation, and the embodiment of the present invention is illustrated with camera.
Wherein, The Cloud Terrace can be the The Cloud Terraces such as an axle, two axles or three axles.Camera for taking is mounted in outer carrier, and this outer carrier can be aircraft, hull, car body or human body (namely this The Cloud Terrace is hand-held The Cloud Terrace).The present embodiment is illustrated with three axle holder for aerial photographings, can carry out Aerial photography.
For keeping flight shooting picture stable effect, requirement can make The Cloud Terrace institute carry the certain attitude over the ground of camera maintenance towards camera site constantly, and eliminates the float that aircraft flight and external environment condition cause.Therefore, require that three axle holder for aerial photographings can compensate the change of the attitude that flying platform and external environment condition cause in real time rapidly.
The present embodiment is provided with the performance element such as MCU Main Processing Unit and IMU Inertial Measurement Unit on three axle holder for aerial photographings.Compensate rapidly outside to enable three axle holder for aerial photographings and shake the attitudes vibration brought, use the MCU Main Processing Unit that computing power is stronger in the embodiment of the present invention, on the performance element of three axle holder for aerial photographings, motor preferably uses the PMSM motor being applicable to accurate positioning control.Due to three axle holder for aerial photographing carries in aircraft exterior directly and external contact, therefore ensure that the steady operation (main relevant to external temperature) of IMU Inertial Measurement Unit at any time also needs solution.
For this reason, the present embodiment adopts following scheme:
First, determine the camera targeted attitude over the ground that The Cloud Terrace carries, and determine the target rotation matrix Rtcn that targeted attitude is corresponding.
The purpose of design of The Cloud Terrace attitude can be kept to take target location in order to make to carry camera, and this attitude is called the targeted attitude of camera.Such as, aloft, need the moment to keep camera lens relative to ground level 45 degree of downward shootings, then corresponding attitude angle is angle of pitch pitch45 degree to aircraft, and roll angle roll and crab angle yaw is 0 degree.This attitude can be exchanged into the rotation matrix of 3X3 through Quaternion method, is called objective matrix, called after Rtcn.
Wherein, R represents rotation matrix, and c means camera (camera), and n means navigation (navigation), and v means vehicle (being interpreted as The Cloud Terrace carrier aircraft herein), and t means target targeted attitude.The meaning of Rcn is namely: camera camera is to the rotation matrix of navigation navigational coordinate system (also namely over the ground).The rotation matrix (hereafter herewith) of all corresponding 3X3 of each different attitude vectors (roll, pitch, yaw).
Step S102, obtains described carrier current rotation matrix Rcn over the ground;
Then, obtain the camera current pose over the ground that The Cloud Terrace carries, and determine the current rotation matrix Rcn corresponding to camera current pose over the ground.
As previously mentioned, the present embodiment is loaded with IMU Inertial Measurement Unit on The Cloud Terrace MCU master control borad, MCU Main Processing Unit is by reading IMU Inertial Measurement Unit data, the attitude to navigational coordinate system (namely over the ground) of Current camera reality can be obtained by Attitude Algorithm, with attitude vectors (roll, pitch, yaw) represent.This attitude Quaternion algebra can obtain the rotation matrix of a 3X3 equally, is called Rcn.
Because the camera moment is subject to external disturbance, therefore this attitude/rotation matrix is variation in real time.For ensureing that this attitude stabilization is level and smooth, Kalman filtering process can be carried out before this attitude of use, namely Kalman filtering process being carried out to (roll, pitch, yaw).
Step S103, obtains the current rotation matrix Rcv of described carrier to outer carrier;
Afterwards, the current rotation matrix Rcv to aircraft carrier of camera (camera is to the rotation matrix of body axis system) is obtained.
Due to camera by The Cloud Terrace together with aircraft carry, period changes position by the motor movement on three axle The Cloud Terraces.Therefore, the attitude of camera relative flight device carrier is in fact exactly the anglec of rotation of motor relative starting position (over the ground) on three axle The Cloud Terraces.These three angles can be learnt by the MCU communication of MCU Main Processing Unit and drive motor.It may correspond to 3X3 rotation matrix equally, is called Rcv.
Step S104, according to described carrier target rotation matrix Rtcn over the ground, carrier current rotation matrix Rcn over the ground, carrier to the current rotation matrix Rcv of outer carrier, calculates the target rotation matrix Rtcv of described carrier to outer carrier;
Then, according to the above-mentioned camera got target rotation matrix Rtcn over the ground, camera current rotation matrix Rcn over the ground, camera to the current rotation matrix Rcv of aircraft carrier, calculate the target rotation matrix Rtcv of camera to aircraft carrier, to carry out motion compensation to camera attitude.
First, according to camera current rotation matrix Rcn over the ground, camera to the current rotation matrix Rcv of outer carrier, calculate outer carrier current rotation matrix Rvn over the ground;
Then, according to camera target rotation matrix Rtcn over the ground and described outer carrier current rotation matrix Rvn over the ground, the target rotation matrix Rtcv of camera to outer carrier is calculated.
Specific algorithm principle is as follows:
First, two fundamental propertys of rotation matrix are introduced:
<1>Rab=T (Rba): represent that the rotation matrix from A to B equals the transposition of B to A rotation matrix;
<2>Rac=Rab*Rbc: represent that the rotation matrix rotation matrix equaled from A to B from A to C is multiplied by the rotation matrix of B to C.
According to above two character, this motion uses following four step algorithms:
Rvc＝T(Rcv)；
Rvn＝Rvc*Rcn；
Rnv＝T(Rvn)；
Rtcv＝Rtcn*Rnv。
Wherein, Rcv is the current rotation matrix of camera to body axis system, by the contrast in the relative original position of the current location of the motor of The Cloud Terrace, and obtains through the process of controller;
Rvc is the transposed matrix of camera to the current rotation matrix of body axis system;
Can know from above-mentioned formula:
After acquisition Rcv, by the formula Rvc=T (Rcv) that is inverted of matrix, Rvc can be obtained.
Rcn is the current rotation matrix of camera (i.e. navigational coordinate system) over the ground, is recorded and process through controller obtains by the IMU Inertial Measurement Unit be located on The Cloud Terrace;
Can know from above-mentioned formula:
After acquisition Rvc and Rcn, by the product formula Rvn=Rvc*Rcn of matrix, the Rvn current rotation matrix of (navigational coordinate system) (the aircraft carrier over the ground) can be obtained; Also namely this motion can obtain the current rotation matrix Rvn of aircraft relative to earth axes (navigational coordinate system) by IMU Inertial Measurement Unit, controller and the motor position measuring unit be located on The Cloud Terrace.
Rnv is the transposed matrix of aircraft carrier relative to the current rotation matrix of earth axes (navigational coordinate system).
Can know from above-mentioned formula:
After acquisition Rvn, by the formula Rnv=T (Rvn) that is inverted of matrix, Rnv can be obtained.
Rtcn is the target rotation matrix of camera (i.e. navigational coordinate system) over the ground;
Namely Rtcv is the target rotation matrix of camera to aircraft (body axis system), and also camera should the angle that rotates of relative flight device;
Can know from above-mentioned formula:
After acquisition Rnv and Rtcn, by the product formula Rtcv=Rtcn*Rnv of matrix, Rtcv can be obtained.
Preferably, the attitude vectors (roll, pitch, yaw) that the attitude vectors (roll, pitch, yaw) corresponding to Rtcn is corresponding with initial position is identical.
To above-mentioned algorithm, it should be noted that at this:
Rtcn as mentioned before, is the target rotation matrix that camera targeted attitude is over the ground corresponding.In fact three axle The Cloud Terraces of taking photo by plane are exactly constant in order to ensure this attitude.Therefore, when targeted attitude is determined by user, then this matrix is fixed matrix.
The rotation matrix of Rnv navigation system to aircraft.Namely aircraft is the transposed matrix of rotation matrix to navigation.The present embodiment is attitude by above-mentioned algorithm aircraft of retrodicting out to navigation, but not obtain from aircraft.Adopt this kind of implementation can keep the independence of The Cloud Terrace, can the The Cloud Terrace carry of this motion of use algorithm use on any aircraft.Because aircraft is in reasons such as continuous motion and external wind, this matrix is moment change.
Step S105, according to the target rotation matrix Rtcv of described carrier to outer carrier, calculates the compensation rate obtaining drive unit on described The Cloud Terrace, and acts on described drive unit.
Wherein, drive unit can be motor on The Cloud Terrace or other devices, and the present embodiment is illustrated with motor.If drive unit is motor, then the compensation rate of drive unit can be the offset angle of motor rotation.
Rtcv is the target rotation matrix of camera to aircraft.Because The Cloud Terrace is together with aircraft carry, therefore in fact the rotation of camera to aircraft is exactly the anglec of rotation of The Cloud Terrace three spindle motor.Because Rtcn is fixed amount, Rnv is variations per hour, and therefore Rtcv=Rtcn*Rnv is also variations per hour.
According to above-mentioned four step algorithms, just by Rnv time become calculate Rcv time become, then calculate by the relation of Rtcv rotation matrix and angle the anglec of rotation that this moment three axle horizontal stage electric machine needs to forward to, send to PMSM motor performance element to run.Therefore, just can ensure what external disturbance no matter camera run into, correction that can be real-time keeps camera attitude over the ground, then ensures that shooting is stable.
It should be noted that, when specifically performing, above-mentioned steps S101, step S102 and step S103 can in no particular order sequentially.
Compared to existing technology, in embodiment of the present invention scheme, abandon the way (external disturbance can cause speed follower instability) of the normally used IMU of following Attitude Measuring Unit velocity compensation attitude, then adopt strict mathematical derivation and filtering algorithm calculating pose compensation angle to be transferred to three axle The Cloud Terrace performance element drive motor operations.Wherein, IMU main control unit uses common performance equipment, and performance element preferably uses high-precision PMSM motor to carry out the control of FOC software algorithm.Tested by reality, can to take photo by plane pose compensation by carrying out real-time, shooting effect picture is steady, substantially can the float that causes of completely isolated external disturbance.
In addition, in embodiment of the present invention scheme, modular design can be adopted, namely IMU Inertial Measurement Unit (being also Attitude Measuring Unit) is located on The Cloud Terrace, independent with carry-on IMU Attitude Measuring Unit, The Cloud Terrace does not communicate with aircraft, makes this The Cloud Terrace can the body such as compatible any aircraft, also can be used in hand-held The Cloud Terrace.
As shown in Figure 2, present pre-ferred embodiments proposes a kind of The Cloud Terrace, comprising: Rtcn determination module 201, Rcn acquisition module 202, Rcv acquisition module 203, Rtcv computing module 204 and compensatory control module 205, wherein:
Rtcn determination module 201, the carrier that the The Cloud Terrace for determining in outer carrier carries target rotation matrix Rtcn over the ground;
Rcn acquisition module 202, for obtaining described carrier current rotation matrix Rcn over the ground;
Rcv acquisition module 203, for obtaining the current rotation matrix Rcv of described carrier to outer carrier;
Rtcv computing module 204, for according to described carrier target rotation matrix Rtcn over the ground, carrier current rotation matrix Rcn over the ground, carrier to the current rotation matrix Rcv of outer carrier, calculate the target rotation matrix Rtcv of described carrier to outer carrier;
Compensatory control module 205, for according to the target rotation matrix Rtcv of described carrier to outer carrier, calculates the compensation rate obtaining drive unit on described The Cloud Terrace, and acts on described drive unit.Wherein, drive unit can be motor on The Cloud Terrace or other devices, and the present embodiment is illustrated with motor.If drive unit is motor, then the compensation rate of drive unit can be the offset angle of motor rotation.
Preferably, described Rtcv computing module 204, also for obtaining the transposed matrix Rvc of described carrier to the current rotation matrix Rcv of outer carrier; According to described carrier to the transposed matrix Rvc of the current rotation matrix Rcv of outer carrier and described carrier current rotation matrix Rcn over the ground, calculate outer carrier current rotation matrix Rvn over the ground; Obtain the transposed matrix Rnv of described outer carrier current rotation matrix Rvn over the ground; According to transposed matrix Rnv and the carrier target rotation matrix Rtcn over the ground of described outer carrier current rotation matrix Rvn over the ground, calculate the target rotation matrix Rtcv of described carrier to outer carrier.
Particularly, in the present embodiment, the carrier that The Cloud Terrace carries includes but not limited to camera, illuminating lamp, transmitting or grenade instrumentation, and the embodiment of the present invention is illustrated with camera.Wherein, The Cloud Terrace can be the The Cloud Terraces such as an axle, two axles or three axles.Camera for taking is mounted in outer carrier, and this outer carrier can be aircraft, hull, car body or human body (namely this The Cloud Terrace is hand-held The Cloud Terrace).The present embodiment is illustrated with three axle holder for aerial photographings, can carry out Aerial photography.
For keeping flight shooting picture stable effect, requirement can make The Cloud Terrace institute carry the certain attitude over the ground of camera maintenance towards camera site constantly, and eliminates the float that aircraft flight and external environment condition cause.Therefore, require that three axle holder for aerial photographings can compensate the change of the attitude that flying platform and external environment condition cause in real time rapidly.
The present embodiment is provided with the performance element such as MCU Main Processing Unit and IMU Inertial Measurement Unit on three axle holder for aerial photographings.Compensate rapidly outside to enable three axle holder for aerial photographings and shake the attitudes vibration brought, use the MCU Main Processing Unit that computing power is stronger in the embodiment of the present invention, on the performance element of three axle holder for aerial photographings, motor preferably uses the PMSM motor being applicable to accurate positioning control.Due to three axle holder for aerial photographing carries in aircraft exterior directly and external contact, therefore ensure that the steady operation (main relevant to external temperature) of IMU Inertial Measurement Unit at any time also needs solution.
For this reason, the present embodiment adopts following scheme:
First, determine the camera targeted attitude over the ground that The Cloud Terrace carries, and determine the target rotation matrix Rtcn that targeted attitude is corresponding.
The purpose of design of The Cloud Terrace attitude can be kept to take target location in order to make to carry camera, and this attitude is called the targeted attitude of camera.Such as, aloft, need the moment to keep camera lens relative to ground level 45 degree of downward shootings, then corresponding attitude angle is angle of pitch pitch45 degree to aircraft, and roll angle roll and crab angle yaw is 0 degree.This attitude can be exchanged into the rotation matrix of 3X3 through Quaternion method, is called objective matrix, called after Rtcn.
Wherein, R represents rotation matrix, and c means camera (camera), and n means navigation (navigation), and v means vehicle (being interpreted as The Cloud Terrace carrier aircraft herein), and t means target targeted attitude.The meaning of Rcn is namely: camera camera is to the rotation matrix of navigation navigational coordinate system (also namely over the ground).The rotation matrix (hereafter herewith) of all corresponding 3X3 of each different attitude vectors (roll, pitch, yaw).
Then, obtain the camera current pose over the ground that The Cloud Terrace carries, and determine the current rotation matrix Rcn corresponding to camera current pose over the ground.
As previously mentioned, the present embodiment is loaded with IMU Inertial Measurement Unit on The Cloud Terrace MCU master control borad, MCU Main Processing Unit is by reading IMU Inertial Measurement Unit data, the attitude to navigational coordinate system (namely over the ground) of Current camera reality can be obtained by Attitude Algorithm, with attitude vectors (roll, pitch, yaw) represent.This attitude Quaternion algebra can obtain the rotation matrix of a 3X3 equally, is called Rcn.
Because the camera moment is subject to external disturbance, therefore this attitude/rotation matrix is variation in real time.For ensureing that this attitude stabilization is level and smooth, Kalman filtering process can be carried out before this attitude of use, namely Kalman filtering process being carried out to (roll, pitch, yaw).
Afterwards, the current rotation matrix Rcv to aircraft carrier of camera (camera is to the rotation matrix of body axis system) is obtained.
Due to camera by The Cloud Terrace together with aircraft carry, period changes position by the motor movement on three axle The Cloud Terraces.Therefore, the attitude of camera relative flight device carrier is in fact exactly the anglec of rotation of motor relative starting position (over the ground) on three axle The Cloud Terraces.These three angles can be learnt by the MCU communication of MCU Main Processing Unit and drive motor.It may correspond to 3X3 rotation matrix equally, is called Rcv.
Then, according to the above-mentioned camera got target rotation matrix Rtcn over the ground, camera current rotation matrix Rcn over the ground, camera to the current rotation matrix Rcv of aircraft carrier, calculate the target rotation matrix Rtcv of camera to aircraft carrier, to carry out motion compensation to camera attitude.
First, according to camera current rotation matrix Rcn over the ground, camera to the current rotation matrix Rcv of outer carrier, calculate outer carrier current rotation matrix Rvn over the ground;
Then, according to camera target rotation matrix Rtcn over the ground and described outer carrier current rotation matrix Rvn over the ground, the target rotation matrix Rtcv of camera to outer carrier is calculated.
Specific algorithm principle is as follows:
First, two fundamental propertys of rotation matrix are introduced:
<1>Rab=T (Rba): represent that the rotation matrix from A to B equals the transposition of B to A rotation matrix;
<2>Rac=Rab*Rbc: represent that the rotation matrix rotation matrix equaled from A to B from A to C is multiplied by the rotation matrix of B to C.
According to above two character, this motion uses following four step algorithms:
Rvc＝T(Rcv)；
Rvn＝Rvc*Rcn；
Rnv＝T(Rvn)；
Rtcv＝Rtcn*Rnv。
Wherein, Rcv is the current rotation matrix of camera to body axis system, by the contrast in the relative original position of the current location of the motor of The Cloud Terrace, and obtains through the process of controller;
Rvc is the transposed matrix of camera to the current rotation matrix of body axis system;
Can know from above-mentioned formula:
After acquisition Rcv, by the formula Rvc=T (Rcv) that is inverted of matrix, Rvc can be obtained.
Rcn is the current rotation matrix of camera (i.e. navigational coordinate system) over the ground, is recorded and process through controller obtains by the IMU Inertial Measurement Unit be located on The Cloud Terrace;
Can know from above-mentioned formula:
After acquisition Rvc and Rcn, by the product formula Rvn=Rvc*Rcn of matrix, the Rvn current rotation matrix of (navigational coordinate system) (the aircraft carrier over the ground) can be obtained; Also namely this motion can obtain the current rotation matrix Rvn of aircraft relative to earth axes (navigational coordinate system) by IMU Inertial Measurement Unit, controller and the motor position measuring unit be located on The Cloud Terrace.
Rnv is the transposed matrix of aircraft carrier relative to the current rotation matrix of earth axes (navigational coordinate system).
Can know from above-mentioned formula:
After acquisition Rvn, by the formula Rnv=T (Rvn) that is inverted of matrix, Rnv can be obtained.
Rtcn is the target rotation matrix of camera (i.e. navigational coordinate system) over the ground;
Namely Rtcv is the target rotation matrix of camera to aircraft (body axis system), and also camera should the angle that rotates of relative flight device;
Can know from above-mentioned formula:
After acquisition Rnv and Rtcn, by the product formula Rtcv=Rtcn*Rnv of matrix, Rtcv can be obtained.
Preferably, the attitude vectors (roll, pitch, yaw) that the attitude vectors (roll, pitch, yaw) corresponding to Rtcn is corresponding with initial position is identical.
To above-mentioned algorithm, it should be noted that at this:
Rtcn as mentioned before, is the target rotation matrix that camera targeted attitude is over the ground corresponding.In fact three axle The Cloud Terraces of taking photo by plane are exactly constant in order to ensure this attitude.Therefore, when targeted attitude is determined by user, then this matrix is fixed matrix.
The rotation matrix of Rnv navigation system to aircraft.Namely aircraft is the transposed matrix of rotation matrix to navigation.The present embodiment is attitude by above-mentioned algorithm aircraft of retrodicting out to navigation, but not obtain from aircraft.Adopt this kind of implementation can keep the independence of The Cloud Terrace, can the The Cloud Terrace carry of this motion of use algorithm use on any aircraft.Because aircraft is in reasons such as continuous motion and external wind, this matrix is moment change.
Rtcv is the target rotation matrix of camera to aircraft.Because The Cloud Terrace is together with aircraft carry, therefore in fact the rotation of camera to aircraft is exactly the anglec of rotation of The Cloud Terrace three spindle motor.Because Rtcn is fixed amount, Rnv is variations per hour, and therefore Rtcv=Rtcn*Rnv is also variations per hour.
According to above-mentioned four step algorithms, just by Rnv time become calculate Rcv time become, then calculate by the relation of Rtcv rotation matrix and angle the anglec of rotation that this moment three axle horizontal stage electric machine needs to forward to, send to PMSM motor performance element to run.Therefore, just can ensure what external disturbance no matter camera run into, correction that can be real-time keeps camera attitude over the ground, then ensures that shooting is stable.
Compared to existing technology, in embodiment of the present invention scheme, abandon the way (external disturbance can cause speed follower instability) of the normally used IMU of following Attitude Measuring Unit velocity compensation attitude, then adopt strict mathematical derivation and filtering algorithm calculating pose compensation angle to be transferred to three axle The Cloud Terrace performance element drive motor operations.Wherein, IMU main control unit uses common performance equipment, and performance element preferably uses high-precision PMSM motor to carry out the control of FOC software algorithm.Tested by reality, can to take photo by plane pose compensation by carrying out real-time, shooting effect picture is steady, substantially can the float that causes of completely isolated external disturbance.
In addition, in embodiment of the present invention scheme, modular design can be adopted, namely IMU Inertial Measurement Unit (being also Attitude Measuring Unit) is located on The Cloud Terrace, independent with carry-on IMU Attitude Measuring Unit, The Cloud Terrace does not communicate with aircraft, makes this The Cloud Terrace can the body such as compatible any aircraft, also can be used in hand-held The Cloud Terrace.
As shown in Figure 3, the present invention's preferred embodiment proposes a kind of outer carrier control method, comprising:
Step S301, obtains carrier current rotation matrix Rcn over the ground;
Step S302, obtains the current rotation matrix Rcv of described carrier to outer carrier;
Step S303, according to described carrier current rotation matrix Rcn over the ground, carrier to the current rotation matrix Rcv of outer carrier, calculates described outer carrier current rotation matrix Rvn over the ground;
In the present embodiment, carrier includes but not limited to camera, illuminating lamp, transmitting or grenade instrumentation, and the embodiment of the present invention is illustrated with camera.Outer carrier can be other model plane of four-axle aircraft, unmanned plane during flying device, hand-held shooting tripod head or lift-launch camera.The present embodiment is illustrated on board the aircraft with three axle holder for aerial photographing carries.The camera that The Cloud Terrace carries is driven to carry out Aerial photography by aircraft.
In the present embodiment scheme, without the need to arranging IMU Attitude Measuring Unit on board the aircraft, but by detection camera current rotation matrix Rcn over the ground, camera to the current rotation matrix Rcv of aircraft, and calculate aircraft current rotation matrix Rvn over the ground in conjunction with corresponding algorithm, the attitude angle of aircraft can be obtained.
Particularly, first, camera current rotation matrix Rcn is over the ground obtained;
Then, camera is obtained to the current rotation matrix Rcv of aircraft;
Afterwards, camera is obtained to the transposed matrix Rvc of the current rotation matrix Rcv of aircraft;
Finally, according to camera to the transposed matrix Rvc of the current rotation matrix Rcv of outer carrier and camera current rotation matrix Rcn over the ground, calculate aircraft current rotation matrix Rvn over the ground, the attitude angle of aircraft can be obtained.
The present embodiment scheme, due to without the need to arranging IMU Attitude Measuring Unit on board the aircraft, but by detection camera current rotation matrix Rcn over the ground, camera to the current rotation matrix Rcv of aircraft, and calculate aircraft current rotation matrix Rvn over the ground in conjunction with corresponding algorithm, the attitude angle of aircraft can be obtained, thereby reduce structure and the design complexities of aircraft, and improve the accuracy of aircraft attitude measurement.
As shown in Figure 4, present pre-ferred embodiments proposes a kind of flight carrier, comprising: Rcn acquisition module 401, Rcv acquisition module 402 and Rvn computing module 403, wherein:
Rcn acquisition module 401, for obtaining carrier current rotation matrix Rcn over the ground;
Rcv acquisition module 402, for obtaining the current rotation matrix Rcv of described carrier to outer carrier;
Rvn computing module 403, for according to described carrier current rotation matrix Rcn over the ground, carrier to the current rotation matrix Rcv of outer carrier, calculate described outer carrier current rotation matrix Rvn over the ground.
Wherein, carrier includes but not limited to camera, illuminating lamp, transmitting or grenade instrumentation, and the embodiment of the present invention is illustrated with camera.Flight carrier can be other model plane of four-axle aircraft, unmanned plane during flying device, hand-held capture apparatus or lift-launch camera.The present embodiment is illustrated with aircraft, and illustrates on board the aircraft with three axle holder for aerial photographing carries.The camera that The Cloud Terrace carries is driven to carry out Aerial photography by aircraft.
In the present embodiment scheme, without the need to arranging IMU Attitude Measuring Unit on board the aircraft, but by detection camera current rotation matrix Rcn over the ground, camera to the current rotation matrix Rcv of aircraft, and calculate aircraft current rotation matrix Rvn over the ground in conjunction with corresponding algorithm, the attitude angle of aircraft can be obtained.
Particularly, first, camera current rotation matrix Rcn is over the ground obtained;
Then, camera is obtained to the current rotation matrix Rcv of aircraft;
Afterwards, camera is obtained to the transposed matrix Rvc of the current rotation matrix Rcv of aircraft;
Finally, according to camera to the transposed matrix Rvc of the current rotation matrix Rcv of outer carrier and camera current rotation matrix Rcn over the ground, calculate aircraft current rotation matrix Rvn over the ground, the attitude angle of aircraft can be obtained.
The present embodiment scheme, due to without the need to arranging IMU Attitude Measuring Unit on board the aircraft, but by detection camera current rotation matrix Rcn over the ground, camera to the current rotation matrix Rcv of aircraft, and calculate aircraft current rotation matrix Rvn over the ground in conjunction with corresponding algorithm, the attitude angle of aircraft can be obtained, thereby reduce structure and the design complexities of aircraft, and improve the accuracy of aircraft attitude measurement.
Embodiment of the present invention cloud platform control method, outer carrier control method and The Cloud Terrace, the carrier carried by the The Cloud Terrace determined in outer carrier target rotation matrix Rtcn over the ground; Obtain carrier current rotation matrix Rcn over the ground; Obtain carrier to the current rotation matrix Rcv of outer carrier; According to carrier target rotation matrix Rtcn over the ground, carrier current rotation matrix Rcn over the ground, carrier to the current rotation matrix Rcv of outer carrier, calculate the target rotation matrix Rtcv of carrier to outer carrier; According to the target rotation matrix Rtcv of carrier to outer carrier, calculate the compensation rate obtaining drive unit on The Cloud Terrace, the offset angle that such as motor rotates, and the drive unit this compensation rate being transferred to The Cloud Terrace runs, thus pose compensation can be carried out real-time, avoid the shake that external environment condition causes, keep the flattening effect of the carrier be mounted on The Cloud Terrace.In addition, take outer carrier as aircraft be example, IMU Attitude Measuring Unit can be located on The Cloud Terrace by the present invention, independent with carry-on IMU Attitude Measuring Unit, The Cloud Terrace does not communicate with aircraft, makes this The Cloud Terrace can the body such as compatible any aircraft, also can be used in hand-held The Cloud Terrace.
It should be noted that, in this article, term " comprises ", " comprising " or its any other variant are intended to contain comprising of nonexcludability, thus make to comprise the process of a series of key element, method, article or device and not only comprise those key elements, but also comprise other key elements clearly do not listed, or also comprise by the intrinsic key element of this process, method, article or device.When not more restrictions, the key element limited by statement " comprising ... ", and be not precluded within process, method, article or the device comprising this key element and also there is other identical element.
The invention described above embodiment sequence number, just to describing, does not represent the quality of embodiment.
Through the above description of the embodiments, those skilled in the art can be well understood to the mode that above-described embodiment method can add required general hardware platform by software and realize, hardware can certainly be passed through, but in a lot of situation, the former is better embodiment.Based on such understanding, technical scheme of the present invention can embody with the form of software product the part that prior art contributes in essence in other words, this computer software product is stored in a storage medium (as ROM/RAM, magnetic disc, CD), comprising some instructions in order to make a station terminal equipment (can be mobile phone, computing machine, server, air conditioner, or the network equipment etc.) perform method described in each embodiment of the present invention.
These are only the preferred embodiments of the present invention; not thereby the scope of the claims of the present invention is limited; every utilize instructions of the present invention and accompanying drawing content to do equivalent structure or equivalent flow process conversion; or be directly or indirectly used in other relevant technical fields, be all in like manner included in scope of patent protection of the present invention.
Claims (10)
1. a cloud platform control method, is characterized in that, comprising:
Determine the carrier target rotation matrix Rtcn over the ground that the The Cloud Terrace in outer carrier carries;
Obtain described carrier current rotation matrix Rcn over the ground;
Obtain the current rotation matrix Rcv of described carrier to outer carrier;
According to described carrier target rotation matrix Rtcn over the ground, carrier current rotation matrix Rcn over the ground, carrier to the current rotation matrix Rcv of outer carrier, calculate the target rotation matrix Rtcv of described carrier to outer carrier;
According to the target rotation matrix Rtcv of described carrier to outer carrier, calculate the compensation rate obtaining drive unit on described The Cloud Terrace, and act on described carrier.
2. method according to claim 1, it is characterized in that, described according to described carrier target rotation matrix Rtcn over the ground, carrier current rotation matrix Rcn over the ground, carrier to the current rotation matrix Rcv of outer carrier, calculate the step of described carrier to the target rotation matrix Rtcv of outer carrier and comprise:
According to described carrier current rotation matrix Rcn over the ground, described carrier to the current rotation matrix Rcv of outer carrier, calculate outer carrier current rotation matrix Rvn over the ground;
According to described carrier target rotation matrix Rtcn over the ground and described outer carrier current rotation matrix Rvn over the ground, calculate the target rotation matrix Rtcv of described carrier to outer carrier.
3. method according to claim 2, is characterized in that,
Described according to described carrier current rotation matrix Rcn over the ground, described carrier to the current rotation matrix Rcv of outer carrier, the step calculating outer carrier current rotation matrix Rvn over the ground comprises:
Obtain the transposed matrix Rvc of described carrier to the current rotation matrix Rcv of outer carrier;
According to described carrier to the transposed matrix Rvc of the current rotation matrix Rcv of outer carrier and described carrier current rotation matrix Rcn over the ground, calculate outer carrier current rotation matrix Rvn over the ground;
Described according to described carrier target rotation matrix Rtcn over the ground and described outer carrier current rotation matrix Rvn over the ground, calculate the step of described carrier to the target rotation matrix Rtcv of outer carrier and comprise:
Obtain the transposed matrix Rnv of described outer carrier current rotation matrix Rvn over the ground;
According to transposed matrix Rnv and the carrier target rotation matrix Rtcn over the ground of described outer carrier current rotation matrix Rvn over the ground, calculate the target rotation matrix Rtcv of described carrier to outer carrier.
4. the method according to claim 1,2 or 3, is characterized in that, described drive unit is PMSM motor; Described outer carrier is at least aircraft.
5. the method according to claim 1,2 or 3, is characterized in that, the step of the described carrier of described acquisition to the current rotation matrix Rcv of outer carrier comprises:
By the contrast in the relative original position of the current location of described carrier, and obtain the current rotation matrix Rcv of described carrier to outer carrier through the process of controller.
6. a The Cloud Terrace, is characterized in that, comprising:
Rtcn determination module, the carrier that the The Cloud Terrace for determining in outer carrier carries target rotation matrix Rtcn over the ground;
Rcn acquisition module, for obtaining described carrier current rotation matrix Rcn over the ground;
Rcv acquisition module, for obtaining the current rotation matrix Rcv of described carrier to outer carrier;
Rtcv computing module, for according to described carrier target rotation matrix Rtcn over the ground, carrier current rotation matrix Rcn over the ground, carrier to the current rotation matrix Rcv of outer carrier, calculate the target rotation matrix Rtcv of described carrier to outer carrier;
Compensatory control module, for according to the target rotation matrix Rtcv of described carrier to outer carrier, calculates the compensation rate obtaining drive unit on described The Cloud Terrace, and acts on described carrier.
7. The Cloud Terrace according to claim 6, is characterized in that,
Described Rtcv computing module, also for according to described carrier current rotation matrix Rcn over the ground, described carrier to the current rotation matrix Rcv of outer carrier, calculate outer carrier current rotation matrix Rvn over the ground; According to described carrier target rotation matrix Rtcn over the ground and described outer carrier current rotation matrix Rvn over the ground, calculate the target rotation matrix Rtcv of described carrier to outer carrier.
8. The Cloud Terrace according to claim 7, is characterized in that,
Described Rtcv computing module, also for obtaining the transposed matrix Rvc of described carrier to the current rotation matrix Rcv of outer carrier; According to described carrier to the transposed matrix Rvc of the current rotation matrix Rcv of outer carrier and described carrier current rotation matrix Rcn over the ground, calculate outer carrier current rotation matrix Rvn over the ground; Obtain the transposed matrix Rnv of described outer carrier current rotation matrix Rvn over the ground; According to transposed matrix Rnv and the carrier target rotation matrix Rtcn over the ground of described outer carrier current rotation matrix Rvn over the ground, calculate the target rotation matrix Rtcv of described carrier to outer carrier.
9. an outer carrier control method, is characterized in that, comprising:
Obtain carrier current rotation matrix Rcn over the ground;
Obtain the current rotation matrix Rcv of described carrier to outer carrier;
According to described carrier current rotation matrix Rcn over the ground, carrier to the current rotation matrix Rcv of outer carrier, calculate described outer carrier current rotation matrix Rvn over the ground.
10. method according to claim 9, it is characterized in that, described according to described carrier current rotation matrix Rcn over the ground, carrier to the current rotation matrix Rcv of outer carrier, the step calculating described outer carrier current rotation matrix Rvn over the ground comprises:
Obtain the transposed matrix Rvc of described carrier to the current rotation matrix Rcv of outer carrier;
According to described carrier to the transposed matrix Rvc of the current rotation matrix Rcv of outer carrier and described carrier current rotation matrix Rcn over the ground, calculate outer carrier current rotation matrix Rvn over the ground.
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