CN108253928A - Attitude angle acquisition methods, device and movable equipment - Google Patents
Attitude angle acquisition methods, device and movable equipment Download PDFInfo
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- CN108253928A CN108253928A CN201611236108.6A CN201611236108A CN108253928A CN 108253928 A CN108253928 A CN 108253928A CN 201611236108 A CN201611236108 A CN 201611236108A CN 108253928 A CN108253928 A CN 108253928A
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- fuselage
- camera lens
- attitude
- relative
- cosine matrix
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C1/00—Measuring angles
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- Engineering & Computer Science (AREA)
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- Radar, Positioning & Navigation (AREA)
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- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
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Abstract
The present invention relates to Motor Control Fields, specifically provide a kind of attitude angle acquisition methods, device and movable equipment.The attitude angle acquisition methods include：Calculate the direction cosine matrix of fuselage and the respective relative attitude over the ground of camera lens, and then fuselage is calculated relative to the direction cosine matrix or camera lens of camera lens relative to the direction cosine matrix of fuselage, eventually by fuselage attitude angle of the fuselage relative to camera lens is obtained relative to the direction cosine matrix of fuselage relative to the direction cosine matrix or camera lens of camera lens.Calculate easy, accuracy height.Movable equipment on each motor without installing additional element, it is not required that improves the making precision of motor, the accuracy of calculating is ensure that while reducing motor occupied space.
Description
Technical field
The present invention relates to Motor Control Fields, in particular to a kind of attitude angle acquisition methods, device and move
Equipment.
Background technology
Unmanned plane or hand-held photographing device are equipped with holder, and for installing and supporting camera lens, camera lens can be in holder upper edge
Pitch axis, roll axis or course angle rotation are to change shooting angle, and the rotation of camera lens is generally by adjusting pitching motor, roll
The torque of motor etc. realizes that motor driver needs to know the electrical angle of motor, the electric angle of motor in the torque for adjusting each motor
Degree can be obtained by measuring the data of rotor, can also be obtained by converting the relative angle of holder and camera lens.Existing
Mode to motor electrical angle generally comprises：Measured using magnetic coder plus magnet or measured using potentiometer/encoder or
Measured using multiple linear hall elements insertion rotor etc..But since magnetic coder plus magnet need to be mounted on motor
On, magnet needs rotated coaxially with rotor, magnetic coder need vertically be placed on magnet top or side put, occupied space compared with
Greatly.And potentiometer welding on circuit boards and rotor axis of electric is needed across potentiometer and is rotated synchronously, occupied space is big, there is resistance
Power influences control effect.Being measured using multiple linear hall elements insertion rotor will to installation accuracy and motor machining accuracy
Ask higher.
Invention content
In view of this, the embodiment of the present invention is designed to provide a kind of attitude angle acquisition methods, device and removable
Equipment, it is opposite to obtain fuselage and camera lens by calculating the direction cosine matrix of the relative attitude of fuselage and camera lens respectively over the ground
Attitude angle.It can obtain the electrical angle of motor after the attitude angle conversion opposite to fuselage and camera lens, do not need to increase electricity
Machine is installed and makes precision, while reduce occupied space.
To achieve the above object, technical solution used in the embodiment of the present invention is as described below：
In a first aspect, an embodiment of the present invention provides a kind of attitude angle acquisition methods, it is described removable applied to movable equipment
Dynamic equipment includes fuselage and camera lens, the method includes：
Calculate the direction cosine matrix of the relative attitude of the fuselage over the ground；
Calculate the direction cosine matrix of the relative attitude of the camera lens over the ground；
More than the direction of the relative attitude of the direction cosine matrix and the camera lens of the relative attitude of the fuselage over the ground over the ground
The fuselage is calculated relative to the direction cosine matrix or the camera lens of the camera lens relative to the fuselage in string matrix
Direction cosine matrix；
By the fuselage relative to the camera lens direction cosine matrix or the camera lens relative to the fuselage direction more than
String matrix obtains the fuselage attitude angle opposite with the camera lens.
Second aspect, it is described applied to movable equipment an embodiment of the present invention provides a kind of attitude angle acquisition device
Movable equipment includes fuselage and camera lens, and the attitude angle acquisition device includes：
Fuselage attitude information computing module, for calculating the direction cosine matrix of the relative attitude of the fuselage over the ground；
Camera lens attitude information computing module, for calculating the direction cosine matrix of the relative attitude of the camera lens over the ground；
Relative attitude information computational module, for passing through the direction cosine matrix of the relative attitude of the fuselage over the ground and the mirror
The fuselage is calculated relative to the direction cosine matrix of camera lens or described in the direction cosine matrix of head relative attitude over the ground
Camera lens relative to the fuselage direction cosine matrix；
Attitude angle computing module, for passing through direction cosine matrix of the fuselage relative to the camera lens or the camera lens phase
The fuselage attitude angle opposite with the camera lens is obtained for the direction cosine matrix of the fuselage.
The third aspect, an embodiment of the present invention provides a kind of movable equipments, including fuselage and camera lens, the fuselage and institute
It states camera lens and is both provided with Inertial Measurement Unit, the Inertial Measurement Unit of the fuselage is used to measure acceleration and the angle of the fuselage
Speed；The Inertial Measurement Unit of the camera lens is used to measure the acceleration and angular speed of the camera lens；The movable equipment is also
Including holder, the camera lens is mounted on by the holder on the fuselage, pitching motor of the holder including interconnection,
Roll motor and course motor, the movable equipment further include：
Memory；
Controller；And attitude angle acquisition device, the attitude angle acquisition device be installed in the memory and including
The software function module that one or more is performed by the controller, the attitude angle acquisition device include：
Fuselage attitude information computing module, for calculating the phase of the fuselage over the ground by the acceleration and angular speed of the fuselage
To the direction cosine matrix of posture；
Camera lens attitude information computing module, for calculating the phase of the camera lens over the ground by the acceleration and angular speed of the camera lens
To the direction cosine matrix of posture；
Relative attitude information computational module, for passing through the direction cosine matrix of the relative attitude of the fuselage over the ground and the mirror
The fuselage is calculated relative to the direction cosine matrix of camera lens or described in the direction cosine matrix of head relative attitude over the ground
Camera lens relative to the fuselage direction cosine matrix；
Attitude angle computing module, for passing through direction cosine matrix of the fuselage relative to the camera lens or the camera lens phase
The holder attitude angle opposite with the camera lens, the attitude angle packet are obtained for the direction cosine matrix of the fuselage
Include roll angle and pitch angle；
The pitching angle information for the roll angle information to be sent to the roll motor, is sent to institute by sending module
Pitching motor is stated, in order to which the roll motor and pitching motor is driven to rotate.
Attitude angle acquisition methods and device provided by the invention are by calculating fuselage and respective over the ground opposite of camera lens
The direction cosine matrix of posture, and then fuselage is calculated relative to the direction cosine matrix or camera lens of camera lens relative to fuselage
Direction cosine matrix, eventually by fuselage relative to camera lens direction cosine matrix or camera lens relative to fuselage direction cosines square
Battle array obtains attitude angle of the fuselage relative to camera lens, calculates easy, accuracy height.
Movable equipment provided by the invention measures fuselage and camera lens respectively by the Inertial Measurement Unit of fuselage and camera lens
Acceleration and angular speed, attitude angle acquisition device according to fuselage and the respective acceleration and angular speed of camera lens calculate fuselage and
The direction cosine matrix of the respective relative attitude over the ground of camera lens, and then direction cosines square of the fuselage relative to camera lens is calculated
Battle array or camera lens relative to fuselage direction cosine matrix, eventually by fuselage relative to the direction cosine matrix of camera lens or camera lens phase
The fuselage attitude angle opposite with camera lens is obtained for the direction cosine matrix of fuselage, attitude angle includes roll angle and pitching
Angle, will obtain roll angle information and is sent to roll motor, and pitching angle information is sent to pitching motor, in order to drive roll electric
Machine and pitching motor rotation.Without installing additional element on motor, it is not required that improve the making precision of motor, reduce motor
It ensure that the accuracy of calculating while occupied space.
For the above objects, features and advantages of the present invention is enable to be clearer and more comprehensible, preferred embodiment cited below particularly, and coordinate
Appended attached drawing, is described in detail below.
Description of the drawings
It in order to illustrate the technical solution of the embodiments of the present invention more clearly, below will be to needed in the embodiment attached
Figure is briefly described, it should be understood that the following drawings illustrates only certain embodiments of the present invention, therefore is not construed as
Restriction to range, for those of ordinary skill in the art, without creative efforts, can also basis
These attached drawings obtain other relevant attached drawings.
Fig. 1 is the holder of movable equipment and the attachment structure schematic diagram of camera lens that present pre-ferred embodiments provide.
Fig. 2 is the block diagram for the movable equipment that present pre-ferred embodiments provide.
Fig. 3 is the high-level schematic functional block diagram for the attitude angle acquisition device that present pre-ferred embodiments provide.
Fig. 4 is the flow chart for the attitude angle acquisition methods that present pre-ferred embodiments provide.
Icon：10- movable equipments；100- holders；101- courses motor；11- carriers；12- camera lenses；13- pitching motors；
14- roll motors；15- Inertial Measurement Units；16- memories；17- controllers；18- storage controls；19- attitude angles obtain
Device；191- acquisition modules；192- receiving modules；193- fuselage attitude information computing modules；194- camera lenses attitude information calculates
Module；195- relative attitude information computational modules；196- attitude angle computing modules；197- sending modules；20- Peripheral Interfaces.
Specific embodiment
Purpose, technical scheme and advantage to make the embodiment of the present invention are clearer, below in conjunction with the embodiment of the present invention
In attached drawing, the technical solution in the embodiment of the present invention is clearly and completely described, it is clear that described embodiment is
Part of the embodiment of the present invention, instead of all the embodiments.The present invention being usually described and illustrated herein in the accompanying drawings is implemented
The component of example can be configured to arrange and design with a variety of different.
Therefore, below the detailed description of the embodiment of the present invention to providing in the accompanying drawings be not intended to limit it is claimed
The scope of the present invention, but be merely representative of the present invention selected embodiment.Based on the embodiments of the present invention, this field is common
Technical staff's all other embodiments obtained without creative efforts belong to the model that the present invention protects
It encloses.
It should be noted that：Similar label and letter represents similar terms in following attached drawing, therefore, once a certain Xiang Yi
It is defined in a attached drawing, does not then need to that it is further defined and explained in subsequent attached drawing.
Attitude angle acquisition methods and device provided in this embodiment are applied to movable equipment, which can be with
For unmanned plane or hand-held photographing device, holder is provided on movable equipment, which is used to carry camera lens and connection can
The fuselage of mobile equipment.The fuselage of movable equipment is provided with Inertial Measurement Unit（IMU, Inertial Measurement
Unit）, to acquire the acceleration and angular speed of fuselage, the fuselage for holding photographing device is handle.
Fig. 1 is please referred to, is that the holder 100 of movable equipment provided in an embodiment of the present invention and the connection structure of camera lens 12 are shown
It is intended to.Holder 100 includes carrier 11, course motor 101, pitching motor 13 and roll motor 14.Carrier 11 is used for moving
The fuselage of equipment is fixedly connected, and the acceleration and angular speed for the fuselage that Inertial Measurement Unit measurement obtains also is the acceleration of carrier 11
Degree and angular speed.Course motor 101, pitching motor 13 and roll motor 14 are connected with each other, and pass through course motor 101, pitching electricity
The rotation of machine 13 and roll motor 14 changes the shooting angle of camera lens 12 so that camera lens 12 can be in three shaft space coordinate systems（X
Axis, Y-axis, Z axis）Middle to be rotated along three reference axis, it is course angle to define the attitude angle that camera lens 12 turns about the Z axis（yaw）, around X-axis
The attitude angle of rotation is pitch angle（pitch）, the attitude angle around Y-axis rotation is roll angle（roll）.Pass through course motor 101
Rotation can change the course angle of camera lens 12, can change the pitch angle of camera lens 12 by the rotation of pitching motor 13, pass through horizontal stroke
The rotation of rolling motor 14 can change the roll angle of camera lens 12.Inertial Measurement Unit is provided on camera lens 12 to acquire camera lens 12
Acceleration and angular speed.
Please refer to Fig. 2, movable equipment 10 provided in an embodiment of the present invention further include memory 16, storage control 18,
Controller 17, Peripheral Interface 20 and attitude angle acquisition device 19.
Memory 16, controller 17, storage control 18,20 each element of Peripheral Interface are directly or indirectly electric between each other
Property connection, to realize the transmission of data or interaction.For example, these elements between each other can by one or more communication bus or
Signal wire, which is realized, to be electrically connected.Attitude angle acquisition device 19 include it is at least one can be with software or firmware（firmware）Shape
Formula is stored in memory 16 or is solidificated in the operating system of unmanned plane 10（Operating system, OS）In software function
Module.Attitude angle acquisition device 19 is installed in memory 16, and controller 17 is used to perform holding of storing in memory 16
Row module, such as software function module included by attitude angle acquisition device 19 and computer program etc..
Wherein, memory 16 may be, but not limited to, random access memory（Random Access Memory,
RAM）, read-only memory（Read Only Memory, ROM）, programmable read only memory（Programmable Read-Only
Memory, PROM）, erasable read-only memory（Erasable Programmable Read-Only Memory, EPROM）,
Electricallyerasable ROM (EEROM)（Electric Erasable Programmable Read-Only Memory, EEPROM）Deng.
Wherein, for memory 16 for storing program, controller 17 performs described program after execute instruction is received.Controller 17 with
And other possible components can carry out the access of memory 16 under the control of storage control 18.
Controller 17 may be a kind of IC chip, have the processing capacity of signal.Above-mentioned controller can be
General processor, including central processing unit (Central Processing Unit, CPU), network processing unit (Network
Processor, NP) etc.；It can also be digital signal processor（DSP)）, application-specific integrated circuit（ASIC）, ready-made programmable gate
Array（FPGA）Either other programmable logic device, discrete gate or transistor logic, discrete hardware components.It can be real
Now or perform the embodiment of the present invention in disclosed each method, step and logic diagram.General processor can be microprocessor
Device or the processor can also be any conventional processors etc..Peripheral Interface 20 is by various input/output devices（It is such as used
Property measuring unit 15）Coupled to controller 17 and memory 16.In some embodiments, Peripheral Interface 20, controller 17 with
And storage control 18 can be realized in one single chip.In some other example, they can be respectively by independent chip
It realizes.
In the present embodiment, the fuselage that attitude angle acquisition device 19 is measured by Inertial Measurement Unit 15（Carrier 11）With
The acceleration and angular speed of camera lens 12 calculates the relative attitude angle of camera lens 12 and fuselage, which is pitch angle and roll
Angle.The pitch angle of acquisition is sent to pitching motor 13, roll angle is sent to roll motor 14, in order to 13 He of pitching motor
Roll motor 14 adjusts torque according to the angle received.
As a kind of embodiment, when movable equipment 10 is unmanned plane, Fig. 3, attitude angle acquisition device are please referred to
19 include acquisition module 191, receiving module 192, fuselage attitude information computing module 193, camera lens attitude information computing module
194th, relative attitude information computational module 195 and attitude angle computing module 196.
Wherein, for acquisition module 191 for obtaining the Eulerian angles of fuselage from the winged control of unmanned plane, which is unmanned plane
The acceleration and angular speed of fuselage that is measured by Inertial Measurement Unit 15 of winged control be calculated.
Fuselage attitude information computing module 193 is used to that the relative attitude of fuselage over the ground to be calculated according to the Eulerian angles of fuselage
Direction cosine matrix.
The acceleration of camera lens 12 that the Inertial Measurement Unit 15 that receiving module 192 is arranged on for reception on camera lens 12 is sent
And angular speed.
Camera lens attitude information computing module 194 is used to calculate the direction cosine matrix of the relative attitude of camera lens 12 over the ground.
Relative attitude information computational module 195 is used for direction cosine matrix and camera lens by the relative attitude of fuselage over the ground
Fuselage is calculated relative to the direction cosine matrix of camera lens 12 or camera lens 12 in the direction cosine matrix of 12 relative attitude over the ground
Relative to the direction cosine matrix of fuselage.
Then attitude angle computing module 196 is opposite relative to the direction cosine matrix or camera lens 12 of camera lens 12 by fuselage
Obtain the fuselage attitude angle opposite with camera lens 12 in the direction cosine matrix of fuselage, i.e., fuselage relative to camera lens 12 attitude angle
Degree or camera lens 12 relative to fuselage attitude angle.The attitude angle includes pitch angle and roll angle, fuselage and 12 phase of camera lens
To attitude angle represent the angle that camera lens 12 rotates around pitching motor axis and roll motor shaft.
After obtaining the fuselage attitude angle opposite with camera lens 12, roll angle information is sent to roll electricity by sending module 197
Pitching angle information is sent to pitching motor 13 by machine 14, and roll motor 14 and pitching motor 13 obtain pitching by equivalency transform
The electrical angle of motor 13 and roll motor 14 in order to carry out vector controlled to roll motor 14 and pitching motor 13, changes electricity
The torque of machine is to change the rotation angle of camera lens 12.
As another embodiment, when movable equipment 10 is hand-held photographing device, receiving module 192 is additionally operable to
The acceleration and angular speed of fuselage that the Inertial Measurement Unit 15 being set on fuselage is sent is received, so as to holder attitude information meter
Calculate the direction cosine matrix that module 193 calculates the relative attitude of fuselage over the ground by the acceleration and angular speed of fuselage, Ran Houjin
The subsequent calculating of row.
Movable equipment 10 provided by the invention measures fuselage and mirror by the Inertial Measurement Unit 15 of fuselage and camera lens 12
First 12 respective acceleration and angular speed, attitude angle acquisition device 19 is according to fuselage and 12 respective acceleration of camera lens and angle speed
Degree calculates the direction cosine matrix of fuselage and the respective relative attitude over the ground of camera lens 12, and then fuselage is calculated relative to mirror
First 12 direction cosine matrix or camera lens 12 relative to fuselage direction cosine matrix, eventually by fuselage relative to camera lens 12
Direction cosine matrix or camera lens 12 obtain the fuselage attitude angle opposite with camera lens 12 relative to the direction cosine matrix of fuselage.Nothing
Additional element need to be installed on motor, it is not required that improve the making precision of motor, ensure while reducing motor occupied space
The accuracy calculated.
The embodiment of the present invention additionally provides a kind of attitude angle acquisition methods, applied to above-mentioned movable equipment, please join
According to Fig. 4, which includes the following steps：
Step S1 calculates the direction cosine matrix of the relative attitude of fuselage over the ground.
In the present embodiment, step S1 can be performed by fuselage attitude information computing module.Pass through Inertial Measurement Unit
The acceleration and angular speed of the fuselage of transmission calculates the direction cosine matrix of the relative attitude of fuselage over the ground or is set from removable
The Eulerian angles of holder are obtained in standby winged control, wherein Eulerian angles are to fly control to be calculated by the acceleration and angular speed of fuselage,
Then Eulerian angles are converted to the direction cosine matrix of the relative attitude of fuselage over the ground.
Step S2 calculates the direction cosine matrix of the relative attitude of camera lens over the ground.
In the present embodiment, step S2 can be performed by camera lens attitude information computing module.Pass through Inertial Measurement Unit
The acceleration and angular speed of the camera lens of transmission calculates the direction cosine matrix of the relative attitude of camera lens over the ground.
Step S3 passes through the direction of the relative attitude of the direction cosine matrix and camera lens of the relative attitude of fuselage over the ground over the ground
Cosine matrix be calculated fuselage relative to the camera lens direction cosine matrix or camera lens relative to the fuselage direction more than
String matrix.
In the present embodiment, step S3 can be performed by relative attitude information computational module.
Step S4, by fuselage relative to camera lens direction cosine matrix or camera lens relative to fuselage direction cosine matrix
Obtain the fuselage attitude angle opposite with camera lens.
In the present embodiment, step S4 can be performed by attitude angle computing module.
Step S5, roll motor is sent to by roll angle information, pitching angle information is sent to pitching motor, so as to drive
The roll motor and pitching motor rotation.
In the present embodiment, step S5 can be performed by sending module.
Above-mentioned step S1 and the execution sequencing of step S2 do not limit, such as can side by side perform or according to phase
Anti- sequence performs.
In conclusion an embodiment of the present invention provides a kind of attitude angle acquisition methods, device and movable equipments.The appearance
State angle acquisition methods include：The direction cosine matrix of fuselage and the respective relative attitude over the ground of camera lens is calculated, and then is calculated
Obtain fuselage relative to camera lens direction cosine matrix or camera lens relative to fuselage direction cosine matrix, eventually by fuselage phase
Direction cosine matrix or camera lens for camera lens obtain posture of the fuselage relative to camera lens relative to the direction cosine matrix of fuselage
Angle.Calculate easy, accuracy height.Movable equipment on each motor without installing additional element, it is not required that improves electricity
The making precision of machine ensure that the accuracy of calculating while reducing motor occupied space.
In embodiment provided herein, it should be understood that disclosed device and method, it can also be by other
Mode realize.The apparatus embodiments described above are merely exemplary, for example, the flow chart and block diagram in attached drawing are shown
Architectural framework in the cards, function and the behaviour of devices in accordance with embodiments of the present invention, method and computer program product
Make.In this regard, each box in flow chart or block diagram can represent a part for a module, program segment or code, institute
The part for stating module, program segment or code includes the executable instruction that one or more is used to implement defined logic function.
It should also be noted that at some as in the realization method replaced, the function that is marked in box can also be to be different from attached drawing
The sequence marked occurs.For example, two continuous boxes can essentially perform substantially in parallel, they sometimes can also be by
Opposite sequence performs, this is depended on the functions involved.It is also noted that each box in block diagram and/or flow chart,
And the combination of the box in block diagram and/or flow chart, function as defined in performing or the dedicated of action can be used to be based on hardware
System realize or can be realized with the combination of specialized hardware and computer instruction.
In addition, each function module in each embodiment of the present invention can integrate to form an independent portion
Point or modules individualism, can also two or more modules be integrated to form an independent part.
If the function is realized in the form of software function module and is independent product sale or in use, can be with
It is stored in a computer read/write memory medium.Based on such understanding, technical scheme of the present invention is substantially in other words
The part contribute to the prior art or the part of the technical solution can be embodied in the form of software product, the meter
Calculation machine software product is stored in a storage medium, is used including some instructions so that a computer equipment（Can be
People's computer, server or network equipment etc.）Perform all or part of the steps of the method according to each embodiment of the present invention.
And aforementioned storage medium includes：USB flash disk, mobile hard disk, read-only memory（ROM, Read-Only Memory）, arbitrary access deposits
Reservoir（RAM, Random Access Memory）, the various media that can store program code such as magnetic disc or CD.It needs
Illustrate, herein, relational terms such as first and second and the like be used merely to by an entity or operation with
Another entity or operation distinguish, and without necessarily requiring or implying between these entities or operation, there are any this realities
The relationship or sequence on border.Moreover, term " comprising ", "comprising" or its any other variant are intended to the packet of nonexcludability
Contain so that process, method, article or equipment including a series of elements not only include those elements, but also including
It other elements that are not explicitly listed or further includes as elements inherent to such a process, method, article, or device.
In the absence of more restrictions, the element limited by sentence "including a ...", it is not excluded that including the element
Process, method, also there are other identical elements in article or equipment.
The foregoing is only a preferred embodiment of the present invention, is not intended to restrict the invention, for the skill of this field
For art personnel, the invention may be variously modified and varied.All within the spirits and principles of the present invention, that is made any repaiies
Change, equivalent replacement, improvement etc., should all be included in the protection scope of the present invention.It should be noted that：Similar label and letter exists
Similar terms are represented in following attached drawing, therefore, once being defined in a certain Xiang Yi attached drawing, are then not required in subsequent attached drawing
It is further defined and is explained.
Claims (14)
1. a kind of attitude angle acquisition methods, applied to movable equipment, the movable equipment includes fuselage and camera lens, special
Sign is, the method includes：
Calculate the direction cosine matrix of the relative attitude of the fuselage over the ground；
Calculate the direction cosine matrix of the relative attitude of the camera lens over the ground；
More than the direction of the relative attitude of the direction cosine matrix and the camera lens of the relative attitude of the fuselage over the ground over the ground
The fuselage is calculated relative to the direction cosine matrix or the camera lens of the camera lens relative to the fuselage in string matrix
Direction cosine matrix；
By the fuselage relative to the camera lens direction cosine matrix or the camera lens relative to the fuselage direction more than
String matrix obtains the fuselage attitude angle opposite with the camera lens.
2. attitude angle acquisition methods according to claim 1, which is characterized in that the movable equipment further includes cloud
Platform, the camera lens are mounted on by the holder on the fuselage, and the holder includes the pitching motor being connected with each other, roll electricity
Machine and course motor, the attitude angle include roll angle and pitch angle, and the attitude angle acquisition methods further include：
The roll angle information is sent to the roll motor, the pitching angle information is sent to the pitching motor, from
And the roll motor and pitching motor is driven to rotate.
3. attitude angle acquisition methods according to claim 1, which is characterized in that described to calculate the phase of the fuselage over the ground
The step of direction cosine matrix of posture, is included：
Receive the acceleration and angular speed for the fuselage that Inertial Measurement Unit is sent；
The direction cosine matrix of the relative attitude of the fuselage over the ground is calculated by the acceleration and angular speed of the fuselage.
4. attitude angle acquisition methods according to claim 1, which is characterized in that described to calculate the phase of the fuselage over the ground
The step of direction cosine matrix of posture, is included：
The Eulerian angles of the fuselage are obtained from the winged control of movable equipment, wherein the Eulerian angles pass through the machine for the winged control
The acceleration and angular speed of body is calculated；
The Eulerian angles are converted to the direction cosine matrix of the relative attitude of the fuselage over the ground.
5. attitude angle acquisition methods according to claim 1, which is characterized in that described to calculate the phase of the camera lens over the ground
The step of direction cosine matrix of posture, is included：
Receive the acceleration and angular speed for the camera lens that Inertial Measurement Unit is sent；
The direction cosine matrix of the relative attitude of the camera lens over the ground is calculated by the acceleration and angular speed of the camera lens.
6. a kind of attitude angle acquisition device, applied to movable equipment, the mobile equipment includes fuselage and camera lens, feature
It is, the attitude angle acquisition device includes：
Fuselage attitude information computing module, for calculating the direction cosine matrix of the relative attitude of the fuselage over the ground；
Camera lens attitude information computing module, for calculating the direction cosine matrix of the relative attitude of the camera lens over the ground；
Relative attitude information computational module, for passing through the direction cosine matrix of the relative attitude of the fuselage over the ground and the mirror
The fuselage is calculated relative to the direction cosine matrix of camera lens or described in the direction cosine matrix of head relative attitude over the ground
Camera lens relative to the fuselage direction cosine matrix；
Attitude angle computing module, for passing through direction cosine matrix of the fuselage relative to the camera lens or the camera lens phase
The fuselage attitude angle opposite with the camera lens is obtained for the direction cosine matrix of the fuselage.
7. attitude angle acquisition device according to claim 6, which is characterized in that the movable equipment further includes cloud
Platform, the camera lens are mounted on by the holder on the fuselage, and the holder includes the pitching motor being connected with each other, roll electricity
Machine and course motor, the attitude angle include roll angle and pitch angle, and the attitude angle acquisition device further includes：
The pitching angle information for the roll angle information to be sent to the roll motor, is sent to institute by sending module
Pitching motor is stated, in order to which the roll motor and pitching motor is driven to rotate.
8. attitude angle acquisition device according to claim 6, which is characterized in that the attitude angle acquisition device also wraps
Receiving module is included, for receiving the acceleration and angular speed of the fuselage of Inertial Measurement Unit transmission；
The fuselage attitude information computing module is used to calculate the fuselage over the ground by the acceleration and angular speed of the fuselage
Relative attitude direction cosine matrix.
9. attitude angle acquisition device according to claim 6, which is characterized in that the attitude angle acquisition device also wraps
Acquisition module is included, for obtaining the Eulerian angles of fuselage from the winged control of unmanned plane, wherein the Eulerian angles pass through institute by the winged control
The acceleration and angular speed for stating fuselage is calculated；
The fuselage attitude information computing module is used to be converted to the Eulerian angles side of the relative attitude of the fuselage over the ground
To cosine matrix.
10. attitude angle acquisition device according to claim 6, which is characterized in that the attitude angle acquisition device is also
Including receiving module, for receiving the acceleration and angular speed of the camera lens of Inertial Measurement Unit transmission；
The camera lens attitude information computing module is used to calculate the camera lens over the ground by the acceleration and angular speed of the camera lens
Relative attitude direction cosine matrix.
11. a kind of movable equipment, including fuselage and camera lens, which is characterized in that the fuselage and the camera lens are both provided with used
Property measuring unit, the Inertial Measurement Unit of the fuselage is used to measure the acceleration and angular speed of the fuselage；The camera lens
Inertial Measurement Unit is used to measure the acceleration and angular speed of the camera lens；The movable equipment further includes holder, the mirror
Head is mounted on by the holder on the fuselage, and the holder includes the pitching motor, roll motor and the course that are connected with each other
Motor, the movable equipment further include：
Memory；
Controller；And attitude angle acquisition device, the attitude angle acquisition device be installed in the memory and including
The software function module that one or more is performed by the controller, the attitude angle acquisition device include：
Fuselage attitude information computing module, for calculating the phase of the fuselage over the ground by the acceleration and angular speed of the fuselage
To the direction cosine matrix of posture；
Camera lens attitude information computing module, for calculating the phase of the camera lens over the ground by the acceleration and angular speed of the camera lens
To the direction cosine matrix of posture；
Relative attitude information computational module, for passing through the direction cosine matrix of the relative attitude of the fuselage over the ground and the mirror
The fuselage is calculated relative to the direction cosine matrix of camera lens or described in the direction cosine matrix of head relative attitude over the ground
Camera lens relative to the fuselage direction cosine matrix；
Attitude angle computing module, for passing through direction cosine matrix of the fuselage relative to the camera lens or the camera lens phase
The fuselage attitude angle opposite with the camera lens, the attitude angle packet are obtained for the direction cosine matrix of the fuselage
Include roll angle and pitch angle；
The pitching angle information for the roll angle information to be sent to the roll motor, is sent to institute by sending module
Pitching motor is stated, in order to which the roll motor and pitching motor is driven to rotate.
12. movable equipment according to claim 11, which is characterized in that the movable equipment further includes winged control, institute
It states and flies control for calculating the Eulerian angles of the fuselage according to the acceleration and angular speed of the fuselage, the attitude angle obtains dress
It puts and further includes acquisition module, for obtaining the Eulerian angles of fuselage from the winged control, the fuselage attitude information computing module is used for
The direction cosine matrix of the relative attitude of the fuselage over the ground is obtained according to the Eulerian angles of the fuselage.
13. movable equipment according to claim 11, which is characterized in that the attitude angle acquisition device, which further includes, to be connect
Module is received, for receiving the acceleration and angular speed of the fuselage of Inertial Measurement Unit transmission, so that the fuselage posture is believed
Cease the direction cosines square that computing module calculates the relative attitude of the fuselage over the ground by the acceleration and angular speed of the fuselage
Battle array.
14. movable equipment according to claim 11, which is characterized in that the attitude angle acquisition device, which further includes, to be connect
Module is received, for receiving the acceleration and angular speed of the camera lens of Inertial Measurement Unit transmission, so that the camera lens posture is believed
Computing module is ceased to be used for more than the direction of relative attitude by the acceleration and angular speed of the camera lens calculating camera lens over the ground
String matrix.
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