CN108762324A - Horizontal stage electric machine angle and angular speed evaluation method, device, holder and aircraft - Google Patents
Horizontal stage electric machine angle and angular speed evaluation method, device, holder and aircraft Download PDFInfo
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- CN108762324A CN108762324A CN201810502724.4A CN201810502724A CN108762324A CN 108762324 A CN108762324 A CN 108762324A CN 201810502724 A CN201810502724 A CN 201810502724A CN 108762324 A CN108762324 A CN 108762324A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D13/00—Control of linear speed; Control of angular speed; Control of acceleration or deceleration, e.g. of a prime mover
- G05D13/62—Control of linear speed; Control of angular speed; Control of acceleration or deceleration, e.g. of a prime mover characterised by the use of electric means, e.g. use of a tachometric dynamo, use of a transducer converting an electric value into a displacement
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Abstract
The present embodiments relate to vehicle technology field, a kind of horizontal stage electric machine angle and angular speed evaluation method, device, holder, picture shooting assembly and aircraft are disclosed.Wherein, holder is for carrying filming apparatus, and holder includes pedestal and motor, and filming apparatus is attached with pedestal by motor, and filming apparatus is provided with the first Inertial Measurement Unit, and pedestal is provided with the second Inertial Measurement Unit.This method includes：The first angular velocity measurement value of the first Inertial Measurement Unit acquisition is obtained, and obtains the second angular velocity measurement value of the second Inertial Measurement Unit acquisition；According to the first angular velocity measurement value and the second angular velocity measurement value, the angle of motor is determined；According to the angle of motor, the first angular velocity measurement value and the second angular velocity measurement value, the angular speed of motor is determined.It by the horizontal stage electric machine angle and angular speed evaluation method, can reduce to obtain horizontal stage electric machine angle and the cost of angular speed, the effective accuracy for improving estimation horizontal stage electric machine angle and angular speed estimation.
Description
Technical field
The present embodiments relate to vehicle technology field more particularly to a kind of horizontal stage electric machine angle and angular speed estimation sides
Method, horizontal stage electric machine angle and angular speed estimation device, holder, and the camera assembly with the holder, and there is the camera shooting group
The aircraft of part.
Background technology
Aircraft at present, for example, unmanned vehicle (Unmanned Aerial Vehicle, UAV), also referred to as unmanned plane obtains
To being more and more widely used.Unmanned plane is a kind of new concept equipment being in rapidly developing, with small, weight
Gently, maneuverability, rapid reaction, unmanned, operation require low advantage.Unmanned plane carries multiclass shooting dress by holder
It sets, such as camera, video camera, image real-time Transmission, high-risk areas detecting function may be implemented, be satellite remote sensing and traditional aviation
The strong supplement of remote sensing.In recent years, unmanned plane in Investigating and rescue, aerial monitoring, polling transmission line, take photo by plane, aerial survey
And military field has a wide range of applications.
Wherein, holder is to realize that shooting picture increases steady core devices in unmanned plane, is turned using the active of motor
The dynamic disturbance offset filming apparatus in real time and be subject to, prevents the shake of filming apparatus, ensures the stabilization of shooting picture.At present on the market
Holder is provided with angular transducer, such as potentiometer, magnetic are compiled, and main function is the real-time metrical information for obtaining acquisition, so as to
The controller of holder obtains the angle of motor by metrical information, and the angle letter of necessary motor is provided for the augmentation control of holder
Breath.
In realizing process of the present invention, inventor has found that at least there are the following problems in the related technology：1, it is passed using angle
There are apparent cost disadvantages for sensor.Since the holder of usual unmanned plane is multiaxis holder, and for multiple in multiaxis holder
Motor needs to configure multiple angular transducers to obtain the angle and angular speed of corresponding motor, increases the metrical information of acquisition
Cost.2, the data type provided using angular transducer is single, and the data provided based on angular transducer can not obtain standard
The angular speed of true motor：Angular transducer can only provide the angle-data of motor, can not directly provide accurate motor angle speed
Degrees of data, and accurately the angular velocity data of motor is of great significance to the augmentation control effect for improving holder, base
The angular speed of accurate motor can not be obtained in the data that angular transducer provides, and then the stability of shooting picture can be influenced,
Influence the visual experience of user.
Invention content
The embodiment of the present invention provide a kind of horizontal stage electric machine angle and angular speed evaluation method, device, holder, camera assembly and
Aircraft can reduce to obtain horizontal stage electric machine angle and the cost of angular speed, and effectively improve estimation horizontal stage electric machine angle
With the accuracy of angular speed estimation.
The embodiment of the invention discloses following technical solutions：
In a first aspect, an embodiment of the present invention provides a kind of horizontal stage electric machine angle and angular speed evaluation method, the holder
For carrying filming apparatus, the holder includes pedestal and motor, the filming apparatus and the pedestal by the motor into
Row connection, the filming apparatus are provided with the first Inertial Measurement Unit, the method includes：
The first angular velocity measurement value of the first Inertial Measurement Unit acquisition is obtained, and obtains second inertia measurement
Second angular velocity measurement value of unit acquisition；
According to the first angular velocity measurement value and the second angular velocity measurement value, the angle of the motor is determined；
According to the angle of the motor, the first angular velocity measurement value and the second angular velocity measurement value, institute is determined
State the angular speed of motor.
In some embodiments, according to the angle of the motor, the first angular velocity measurement value and second jiao of speed
Measured value is spent, determines the angular speed of the motor, including：
According to the angle of motor, determine that the first rotational transformation matrix and the second rotational transformation matrix, first rotation become
It is spin matrix of the base coordinate system to filming apparatus coordinate system to change matrix, and second rotational transformation matrix is base coordinate system
To the spin matrix of motor coordinate system；
According to first rotational transformation matrix, second rotational transformation matrix, the first angular velocity measurement value and
The second angular velocity measurement value, is calculated the angular speed of the motor.
In some embodiments, according to first rotational transformation matrix, second rotational transformation matrix, described first
The calculation formula for the angular speed that the motor is calculated in angular velocity measurement value and the second angular velocity measurement value is：
Wherein, Rzxy(φ, θ, ψ) is expressed as the first rotational transformation matrix；D is expressed as the second rotational transformation matrix；D-1It indicates
For the inverse matrix of the second rotational transformation matrix；It is expressed as the first angular velocity measurement value；It is expressed as the second angular velocity measurement
Value；ω is expressed as the angular speed of the motor.
In some embodiments, it is according to the calculation formula of the first rotational transformation matrix of the angle-determining of motor：
Wherein, Rzxy(φ, θ, ψ) is expressed as the first rotational transformation matrix；(φ, θ, ψ) is expressed as the angle of the motor,
φ is expressed as the rotational angle of the roll axis of the motor, and θ is expressed as the rotational angle of the pitch axis of the motor, and ψ is expressed as
The rotational angle of the yaw axis of the motor.
In some embodiments, it is according to the calculation formula of the second rotational transformation matrix of the angle-determining of motor：
Wherein, D is expressed as the second rotational transformation matrix；(φ, θ, ψ) is expressed as the angle of the motor, and φ is expressed as institute
The rotational angle of the roll axis of motor is stated, θ is expressed as the rotational angle of the pitch axis of the motor, and ψ is expressed as the motor
The rotational angle of yaw axis.
In some embodiments, described according to the first angular velocity measurement value and the second angular velocity measurement value, really
The angle of the fixed motor, including：
It is worth to the first attitude quaternion according to first angular velocity measurement, and according to the second angular velocity measurement value
Obtain the second attitude quaternion, wherein first attitude quaternion is for indicating the filming apparatus relative to inertial system
Attitude angle, second attitude quaternion are used to indicate the attitude angle of the relatively described inertial system of the pedestal；
According to first attitude quaternion and second attitude quaternion, third attitude quaternion is obtained, described
Three attitude quaternions are used to indicate the rotation attitude angle of the motor；
According to the third attitude quaternion, the angle of the motor is obtained.
In some embodiments, described that first attitude quaternion is worth to according to first angular velocity measurement, and according to
Second angular velocity measurement is worth to the second attitude quaternion, including：
Using the first angular velocity measurement value as input, by quaternion differential equation, the first posture four is calculated
First number；
Using the second angular velocity measurement value as input, by quaternion differential equation, the second posture four is calculated
First number.
In some embodiments, third posture is obtained according to first attitude quaternion and second attitude quaternion
The calculation formula of quaternary number is：
Wherein, qicIt is expressed as the first attitude quaternion；qibIt is expressed as the second attitude quaternion；It is expressed as qibInverse square
Battle array；qbcIt is expressed as third attitude quaternion；Indicate quaternary number multiplication.
In some embodiments, described that the angle of the motor is obtained according to the third attitude quaternion, including：
According to the third attitude quaternion, third rotational transformation matrix is obtained, the third rotational transformation matrix is used for
Indicate the rotation transformation of the posture of the pedestal to the posture of the filming apparatus；
According to the third rotational transformation matrix, the angle of the motor is obtained.
In some embodiments, the expression formula of the third rotational transformation matrix is obtained according to the third attitude quaternion
For：
Wherein, qbc=[qbc0 qbc1 qbc2 qbc3]TIt is expressed as third attitude quaternion；R indicates third rotation transformation square
Battle array；
The angle of the motor is the Eulerian angles of the motor, and the motor is obtained according to the third rotational transformation matrix
The expression formula of angle be：
Wherein, (φ, θ, ψ) is expressed as the angle of the motor, and φ is expressed as the rotational angle of the roll axis of the motor,
θ is expressed as the rotational angle of the pitch axis of the motor, and ψ is expressed as the rotational angle of the yaw axis of the motor.
Second aspect, an embodiment of the present invention provides a kind of horizontal stage electric machine angles and angular speed to estimate device, the holder
For carrying filming apparatus, the holder includes pedestal and motor, the filming apparatus and the pedestal by the motor into
Row connection, the filming apparatus are provided with the first Inertial Measurement Unit, and the pedestal is provided with the second Inertial Measurement Unit, described
Device includes：
Measured value acquisition module, the first angular velocity measurement value for obtaining the first Inertial Measurement Unit acquisition, and
Obtain the second angular velocity measurement value of the second Inertial Measurement Unit acquisition；
Angle-determining module, for according to the first angular velocity measurement value and the second angular velocity measurement value, determining
The angle of the motor；
Angular speed determining module, for angle, the first angular velocity measurement value and described second according to the motor
Angular velocity measurement value determines the angular speed of the motor.
In some embodiments, the angular speed determining module includes：
Rotational transformation matrix determining module determines the first rotational transformation matrix and the second rotation for the angle according to motor
Turning transformation matrix, first rotational transformation matrix is spin matrix of the base coordinate system to filming apparatus coordinate system, described the
Two rotational transformation matrix are spin matrix of the base coordinate system to motor coordinate system；
Angular speed computing module, for according to first rotational transformation matrix, second rotational transformation matrix, described
First angular velocity measurement value and the second angular velocity measurement value, are calculated the angular speed of the motor.
In some embodiments, the angle-determining module is specifically used for：
It is worth to the first attitude quaternion according to first angular velocity measurement, and according to the second angular velocity measurement value
Obtain the second attitude quaternion, wherein first attitude quaternion is for indicating the filming apparatus relative to inertial system
Attitude angle, second attitude quaternion are used to indicate the attitude angle of the relatively described inertial system of the pedestal；
According to first attitude quaternion and second attitude quaternion, third attitude quaternion is obtained, described
Three attitude quaternions are used to indicate the rotation attitude angle of the motor；
According to the third attitude quaternion, the angle of the motor is obtained.
In some embodiments, the angle-determining module is worth to the first posture four according to first angular velocity measurement
First number, and the second attitude quaternion is worth to according to second angular velocity measurement, including：
Using the first angular velocity measurement value as input, by quaternion differential equation, the first posture four is calculated
First number；
Using the second angular velocity measurement value as input, by quaternion differential equation, the second posture four is calculated
First number.
In some embodiments, the angle-determining module obtains the motor according to the third attitude quaternion
Angle, including：
According to the third attitude quaternion, third rotational transformation matrix is obtained, the third rotational transformation matrix is used for
Indicate the rotation transformation of the posture of the pedestal to the posture of the filming apparatus；
According to the third rotational transformation matrix, the angle of the motor is obtained.
The third aspect, an embodiment of the present invention provides a kind of holder, the holder is for carrying filming apparatus, the holder
Including pedestal and motor, the filming apparatus is attached with the pedestal by the motor, and the filming apparatus is provided with
First Inertial Measurement Unit, the pedestal are provided with the second Inertial Measurement Unit, and the holder further includes：At least one processing
Device；And
The memory being connect at least one processor communication；Wherein,
The memory is stored with the instruction that can be executed by least one processor, and described instruction is by described at least one
A processor executes, so that at least one processor is able to carry out horizontal stage electric machine angle as described above and angular speed estimation
Method.
Fourth aspect, an embodiment of the present invention provides a kind of camera assemblies, including：Filming apparatus, on the filming apparatus
It is provided with the first Inertial Measurement Unit；And holder as described above, the filming apparatus are equipped on the holder.
5th aspect, an embodiment of the present invention provides a kind of aircraft, including：Fuselage；And camera shooting group as described above
Part is installed on the fuselage.
6th aspect, an embodiment of the present invention provides a kind of computer program product, the computer program product includes
The computer program being stored on non-volatile computer readable storage medium storing program for executing, the computer program include program instruction, when
When described program instruction is computer-executed, computer is made to execute horizontal stage electric machine angle as described above and angular speed estimation side
Method.
7th aspect, the embodiment of the present invention additionally provide a kind of non-volatile computer readable storage medium storing program for executing, the calculating
Machine readable storage medium storing program for executing is stored with computer executable instructions, and the computer executable instructions are as above for making computer execute
The horizontal stage electric machine angle and angular speed evaluation method.
The first angular velocity measurement that the embodiment of the present invention is acquired by being set to the first Inertial Measurement Unit of filming apparatus
The second Inertial Measurement Unit for being worth and being set to holder pedestal acquires the second angular velocity measurement value to determine the angle of motor, and base
The angular speed of motor is determined in the angle, the first angular velocity measurement value and the second angular velocity measurement value of motor, on the one hand, is used
The Inertial Measurement Unit of low cost replaces high-cost angular transducer to acquire measurement data, especially to the more of multiaxis holder
For the angle information of a motor, cost is effectively reduced；On the other hand, since the angle of obtained motor is estimated value,
No matter which kind of mode to estimate that the angle of motor can pass through base between the angle of actual motor there are certain error by
The angular speed of motor is determined in the angle, the first angular velocity measurement value and the second angular velocity measurement value of the motor of estimation, relatively
The angular speed of motor is obtained in the angle progress differential for the motor for being directly based upon estimation leads to cumulative errors, has higher calculating
Precision obtains the angular speed of the higher motor of accuracy.
Description of the drawings
One or more embodiments are illustrated by the picture in corresponding attached drawing, these exemplary theorys
The bright restriction not constituted to embodiment, the element with same reference numbers label is expressed as similar element in attached drawing, removes
Non- to have special statement, composition does not limit the figure in attached drawing.
Fig. 1 is the flow diagram of a kind of horizontal stage electric machine angle and angular speed evaluation method provided in an embodiment of the present invention；
Fig. 2 is that the position setting of the first Inertial Measurement Unit and the second Inertial Measurement Unit provided in an embodiment of the present invention is shown
It is intended to；
Fig. 3 is the particular flow sheet of the angle of determining motor provided in an embodiment of the present invention；
Fig. 4 is the particular flow sheet of the angular speed of determining motor provided in an embodiment of the present invention；
Fig. 5 is the schematic diagram of horizontal stage electric machine angle provided in an embodiment of the present invention and angular speed estimation device；
Fig. 6 is the connection block diagram of holder provided in an embodiment of the present invention；
Fig. 7 is the connection relationship diagram of the processor and memory in Fig. 6；
Fig. 8 is the schematic diagram of camera assembly provided in an embodiment of the present invention；
Fig. 9 is the schematic diagram of aircraft provided in an embodiment of the present invention.
Specific implementation mode
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention is described, and shows
So, described embodiments are some of the embodiments of the present invention, instead of all the embodiments.Based on the implementation in the present invention
Example, the every other embodiment that those of ordinary skill in the art are obtained without creative efforts belong to
The scope of protection of the invention.
In addition, as long as technical characteristic involved in the various embodiments of the present invention described below is each other not
Conflict is constituted to can be combined with each other.
Horizontal stage electric machine angle provided in an embodiment of the present invention and angular speed evaluation method can be applied to it is various utilize holder
On capture apparatus as the auxiliary device of shooting, such as hand-held capture apparatus, aircraft, unmanned boat or unmanned vehicle equipment
In.For example, aircraft, as unmanned plane (unmanned aerial vehicle, UAV) is provided with holder and filming apparatus, UAV
Holder can carry filming apparatus, and be installed on the fuselage of UAV, to carry out work of taking photo by plane.Alternatively, hand-held capture apparatus setting
There are holder and filming apparatus, the holder of hand-held capture apparatus can also carry filming apparatus and be installed on one handle so that hand-held racket
Equipment is taken the photograph the work such as to be taken pictures, recorded a video.
It is specifically described by taking UAV as an example below.
UAV includes：Fuselage and camera assembly.Wherein, camera assembly is installed on fuselage, camera assembly be used for UAV into
Aerial Images are obtained during row flight.
One or more horns that fuselage includes center housing and connect with center housing, one or more horns are in spoke
Shape is penetrated from center housing to extend.Horn can be integrally connected with the connection of center housing or be fixedly connected.
Camera assembly includes holder and filming apparatus.Wherein, filming apparatus is equipped on the holder, and filming apparatus can be with
For image collecting device, for acquiring image, which includes but not limited to：Camera, video camera, camera, scanner,
Shooting mobile phone etc..Holder is for carrying filming apparatus, to realize the fixation of filming apparatus or arbitrarily adjust the posture of filming apparatus
Height, inclination angle and/or the direction of filming apparatus (for example, change) and the filming apparatus is made to be stably held in the posture of setting
On.For example, when UAV is taken photo by plane, holder is mainly used for that the filming apparatus is made to be stably held in the posture of setting, prevents
Filming apparatus shooting picture is shaken, and ensures the stabilization of shooting picture.
The first Inertial Measurement Unit is provided on filming apparatus, to acquire the posture information of filming apparatus, such as by this
First Inertial Measurement Unit acquires the angular speed etc. of filming apparatus.
Holder includes：Pedestal, motor, controller and electricity are adjusted.Wherein, motor is installed on pedestal, and controller is adjusted with electricity and connected,
Electricity is adjusted and is electrically connected with motor, and electricity is called in control motor.Specifically, controller is for executing above-mentioned horizontal stage electric machine angle and angle speed
It spends evaluation method to obtain motor angle and angular speed, control instruction is generated according to motor angle and angular speed, and by the control
Instruction is sent to electric tune, and electricity is adjusted controls motor by the control instruction.Alternatively, controller is for executing above-mentioned horizontal stage electric machine angle
It is estimated with angular speed to obtain motor angle and angular speed, and motor angle and angular speed is sent to electric tune, electricity is adjusted according to electricity
Machine angle and angular speed generate control instruction, and control motor by the control instruction.
It should be noted that in some embodiments, electricity tune is not the necessary parts of holder, when holder does not include that electricity is adjusted
When, controller is directly connect with motor, and motor is controlled by control instruction.
The fuselage of pedestal and UAV connect, the fuselage for camera assembly to be fixedly installed in UAV.
Motor is connect with pedestal and filming apparatus respectively.The holder can be multiaxis holder, adapt to therewith, motor is more
It is a, namely there are one motors for each axis setting.On the one hand motor can drive the rotation of filming apparatus, to meet shooting shaft
The adjusting with pitch angle is rotated horizontally, motor rotation is controlled by manual-remote or allows motor to rotate automatically using program, from
And has the function that comprehensive scanning and monitor；On the other hand, real-time by the rotation of motor during UAV is taken photo by plane
The disturbance that filming apparatus is subject to is offset, prevents filming apparatus from shaking, ensures the stabilization of shooting picture.
Controller is used to execute above-mentioned horizontal stage electric machine angle and angular speed estimation to obtain motor angle and angular speed, and can
Control instruction is generated based on motor angle and angular speed, and the control instruction is sent to electric tune, is adjusted so as to electricity and passes through the control
Instruction control motor.Controller is the device with certain logic processing capability, such as controls chip, microcontroller, micro-control unit
(Microcontroller Unit, MCU) etc..
Electricity is adjusted, and full name electron speed regulator is connect with controller and motor respectively, and the motor of UAV is adjusted according to control instruction,
To ensure the stabilization of the shooting picture of filming apparatus.Electricity regulates and controls the principle of motor processed substantially：Motor is to turn electric impulse signal
Become the opened loop control component of angular displacement or displacement of the lines.In the case of non-overload, the rotating speed of motor, the position of stopping only taking
Certainly in the frequency of pulse signal and umber of pulse, without being influenced by load variation, when driver receives a pulse signal, it
One fixed angle is rotated by the direction of setting with regard to driving motor, its rotation is run with fixed angle.Therefore, electric
Angular displacement can be controlled by controlling pulse number by adjusting, to achieve the purpose that accurate positionin；It can pass through control simultaneously
Pulse frequency come control motor rotation speed and acceleration, to achieve the purpose that speed governing.
During controlling motor, it usually needs the angle information based on motor, such as the angular speed of motor and motor
Angle, to control motor.By obtaining the angle information of motor in real time, necessary motor angle is provided for the augmentation control of holder
Information.
And it is typically at present the angle that motor is obtained using angular transducer, specifically, angular transducer acquisition measures
Information, and metrical information is sent to the controller of holder, the metrical information that the controller of holder is acquired based on angular transducer
The angle of motor is calculated.Wherein, common angular transducer has potentiometer, magnetic coder etc., but due to each motor
It is required for angled sensor, multiple angular transducers are then needed to configure for the control of multiple motors in multiaxis holder, one
Aspect can increase the cost of the metrical information of acquisition, and then increase the cost of motor control；Another aspect angular transducer is more
Control program is more complicated.Also, the data type that angular transducer provides is single：The angle-data that motor can only be provided, can not
Accurate motor angular velocity data are directly provided, and accurately the angular velocity data of motor surely controls the increasing for further increasing holder
Effect processed is of great significance to, because when introducing angular speed feedback, may make up angle-angular speed serials control system
System, this only has stronger anti-interference ability than traditional using the controller of angle.
Therefore, based on the above issues, main purpose of the embodiment of the present invention is to provide a kind of horizontal stage electric machine angle and angle speed
Evaluation method, device, holder, camera assembly and aircraft are spent, can be lowered to acquire horizontal stage electric machine angle and angular speed
Cost, and effectively improve calculate horizontal stage electric machine angle and angular speed accuracy, provided more for the augmentation control of holder
Add accurate horizontal stage electric machine angle and angular speed.It, can structure due to the acquisition and introducing of accurate horizontal stage electric machine angle and angular speed
Angled-angular speed cascade control system greatly improves the anti-dry of holder compared to traditional control system for being based only on angle
Disturb ability and increase steady effect, it is ensured that filming apparatus take photo by plane picture remain it is clear with stablize.
Wherein, thinking of the invention is：First, upper first Inertial Measurement Unit (Inertial is set in filming apparatus
Measurement unit, IMU), and upper second Inertial Measurement Unit is set in the pedestal of holder；Then, the first inertia measurement
Unit collects the first angular velocity measurement value, and the first angular velocity measurement value is sent to the controller of holder, the second inertia
Measuring unit collects the second angular velocity measurement value, and the second angular velocity measurement value is sent to the controller of holder；Then,
The controller of holder is according to the first angular velocity measurement value acquired and acquires the second angular velocity measurement value, determines
The angle of the motor, and according to the angle of motor, the first angular velocity measurement value and the second angular velocity measurement value, determine the electricity
The angular speed of machine.
The first angular velocity measurement that the embodiment of the present invention is acquired by being set to the first Inertial Measurement Unit of filming apparatus
The second Inertial Measurement Unit for being worth and being set to holder pedestal acquires the second angular velocity measurement value to determine the angle of motor, and base
The angular speed of motor is determined in the angle, the first angular velocity measurement value and the second angular velocity measurement value of motor, on the one hand, is used
The Inertial Measurement Unit of low cost replaces high-cost angular transducer to acquire measurement data, especially to the more of multiaxis holder
For the angle information of a motor, cost is effectively reduced；On the other hand, pass through the first angular velocity measurement value and second jiao of speed
Measured value is spent to determine that the angle of motor can improve the accuracy of calculating motor angle, also, can also pass through the angle of motor
Degree, the first angular velocity measurement value and the second angular velocity measurement value obtain the angular speed of the higher motor of accuracy.Due to accurate
The angle of higher motor and the estimation of angular speed and introducing are spent, and then may make up angle-angular speed cascade control system, is compared
Traditional control system for being based only on angle greatly improves the anti-interference ability of holder and increases steady effect, it is ensured that filming apparatus
Picture of taking photo by plane remains clear and stablizes, and improves the visual experience of user.
Below in conjunction with the accompanying drawings, the embodiment of the present invention is further elaborated.
Embodiment 1：
Fig. 1 is a kind of flow diagram of horizontal stage electric machine angle and angular speed evaluation method provided in an embodiment of the present invention.
Wherein, the horizontal stage electric machine angle and angular speed evaluation method can be executed by the various controllers with certain logic processing capability,
Such as cradle head controllor.The cradle head controllor can be applied on aircraft, for example, being applied to unmanned plane.Cloud performed below
The controller of platform motor angle and angular speed evaluation method is by taking cradle head controllor as an example, aircraft is said by taking unmanned plane as an example
It is bright.Wherein, unmanned plane includes camera assembly, and camera assembly includes holder and the filming apparatus that is equipped on holder, and holder includes
Pedestal, motor, cradle head controllor and electricity are adjusted, and cradle head controllor is adjusted with electricity and connected, and electricity is adjusted and is electrically connected with motor, and electricity is called in control
Motor.Also, filming apparatus is attached with pedestal by motor, and filming apparatus is provided with the first Inertial Measurement Unit, pedestal
It is provided with the second Inertial Measurement Unit.Wherein, holder can be multiaxis holder, such as two axle The Cloud Terraces, three axis holders, three axis cloud below
It is illustrated for platform.
Fig. 1 is please referred to, the horizontal stage electric machine angle and angular speed evaluation method include：
101：The first angular velocity measurement value of the first Inertial Measurement Unit acquisition is obtained, and obtains second inertia
Second angular velocity measurement value of measuring unit acquisition.
Cradle head controllor obtains the first angular velocity measurement value and the second angular velocity measurement value specifically includes：First by being set to
The first Inertial Measurement Unit on filming apparatus collects the first angular velocity measurement value, and the first angular velocity measurement value is sent out
It send to cradle head controllor, so that cradle head controllor acquires the first angular velocity measurement value；Similar, by being set to holder
The second Inertial Measurement Unit on pedestal collects the second angular velocity measurement value, and the second angular velocity measurement value is sent to
Cradle head controllor, so that cradle head controllor acquires the second angular velocity measurement value.Wherein, filming apparatus can be camera, take the photograph
Shadow machine, camera, scanner, shooting mobile phone etc..Wherein, the first Inertial Measurement Unit and the specific of the second Inertial Measurement Unit set
Seated position can refer to shown in Fig. 2.Wherein, in Fig. 2 include 3 coordinate systems：Filming apparatus coordinate system, motor coordinate system and pedestal
Coordinate system.In fig. 2, in the top be holder pedestal, the lowermost is filming apparatus, passes through Z-X-Y between them
Three spindle motors of Eulerian angles axis sequence are connected, i.e., are yaw axis Yaw (Z axis), roll axis Roll (X-axis), pitching successively from top to bottom
Three motor shafts of axis Pitch (Y-axis).
Wherein, Inertial Measurement Unit (Inertial measurement unit, IMU) is a kind of three axis appearance of measurement object
The device of state angle (or angular speed) and acceleration.Common, IMU has the IMU of the IMU and nine axis of six axis.Wherein, six axis
In IMU, an IMU contains three uniaxial accelerometers and three uniaxial gyroscopes, and accelerometer detection object is carrying
The acceleration signal of independent three axis of body coordinate system, and angular velocity signal of the gyroscope detection carrier relative to navigational coordinate system,
The angular speed and acceleration of object in three dimensions are measured, and calculates the posture of object with this.In the IMU of nine axis, one
IMU contains three uniaxial accelerometers, three uniaxial gyroscopes and three uniaxial magnetometers, and the IMU's of nine axis adds
Speedometer is similar with gyroscope, and the magnetometer of the IMU of nine axis, should for detecting component of the earth's magnetic field in inertial system on horizontal plane
Always it is directed toward the arctic in the direction of component.
It can be detected from the posture information in inertial system by the IMU of six axis or the IMU of nine axis, specifically, setting
The first angular velocity measurement value is collected in the first Inertial Measurement Unit on filming apparatus, the first angular velocity measurement value is available
VectorExpression namely the first angular velocity measurement valueThe angular speed that filming apparatus is expressed as relative to inertial system is being shot
Coordinate vector under device coordinate system；The second Inertial Measurement Unit being set on the pedestal of holder collects the second angular speed
Measured value, the second angular velocity measurement value availability vectorExpression namely the second angular velocity measurement valueIt is expressed as pedestal
Coordinate vector of the angular speed under base coordinate system relative to inertial system.Wherein, inertial system, also known as inertial coodinate system, inertia
Reference system, earth coordinates or world coordinate system select a benchmark in the environment since unmanned plane can be placed at an arbitrary position
Coordinate describes the position of all parts of unmanned plane and unmanned plane, is used in combination it to describe the position of any object in environment, the seat
Mark system is known as inertial system.
102：According to the first angular velocity measurement value and the second angular velocity measurement value, the angle of the motor is determined
Degree.
In order to avoid there is gimbal lock phenomenon in motor angle solution procedure, using quaternion representation unmanned plane and its respectively
The posture of a component.Wherein, the basic reason for generating gimbal lock phenomenon is that spin matrix carries out successively, it is assumed that first encloses
It rotates around x-axis, then is rotated around y-axis, finally surround z-axis and rotate, it is the x for surrounding the coordinate system of oneself that this, which results in object in fact,
Axis rotates, rather than the x-axis of inertial system rotates.Performance is exactly under an Eulerian angles (x1, y1, z1), to change the value of x1, object
The x-axis for knowing from experience the coordinate system around object oneself is rotated, rather than the x-axis of world's inertial system is rotated, and finally, works as handle
The x-axis of object rotates to when being overlapped with the z-axis of inertial system, x1 with the z1 rotation results of Ou Lajiao just all as, also just lose
One dimension, this is gimbal lock phenomenon.Sum up it may be said that in object coordinates system some axis, than
As y-axis+certain rotation of 90 degree of (-) so that is specifically rotated is preceding once around the rotation of object coordinates system x-axis and current rotation
It is rear be once that the same (the same is meant that in inertial system, twice around two rotary shafts of the rotation of object coordinates system z-axis
Rotary shaft is coaxial but direction is opposite), to cause a rotary freedom to lose, that is, gimbal lock phenomenon.
Gimbal lock phenomenon this problem can all occur the system that indicates the direction of three dimensions using three amounts, and lead to
Gimbal lock phenomenon can effectively be avoided by crossing quaternary number and being described.Specifically, described according to first angular velocity measurement
Value and the second angular velocity measurement value, determine the angle of the motor, including：It is worth to according to first angular velocity measurement
First attitude quaternion, and the second attitude quaternion is worth to according to second angular velocity measurement, wherein first posture
Quaternary number is for indicating attitude angle of the filming apparatus relative to inertial system, and second attitude quaternion is for indicating described
The attitude angle of the relatively described inertial system of pedestal；According to first attitude quaternion and second attitude quaternion, is obtained
Three attitude quaternions, the third attitude quaternion are used to indicate the rotation attitude angle of the motor；According to the third posture
Quaternary number obtains the angle of the motor.
Wherein, Fig. 3 is the particular flow sheet for the angle for determining motor.With reference to Fig. 3 to according to the first angular velocity measurement
Value and the second angular velocity measurement value determine that the angle of motor is specifically described.
First, by the first angular velocity measurement valueBe converted to the first attitude quaternion qic, and by the second angular velocity measurement valueBe converted to the second attitude quaternion qib。
Specifically, described according to the first angular velocity measurement valueObtain the first attitude quaternion qic, and according to institute
State the second angular velocity measurement valueObtain the second attitude quaternion qib, including：With the first angular velocity measurement valueAs
Input, by quaternion differential equation, is calculated the first attitude quaternion qic；With the second angular velocity measurement valueMake
For input, by quaternion differential equation, the second attitude quaternion q is calculatedib。
Wherein, the first attitude quaternion qicDerivative meet following quaternion differential equation：
Wherein,It is the first attitude quaternion qicDerivative；It is relative to current t moment
A upper sampling period the first attitude quaternion qicEstimated value；It is current t moment
It is set to the first angular velocity measurement value of the gyroscope of the first Inertial Measurement Unit on filming apparatus, the then shooting of t moment
First attitude quaternion q of deviceicFor：
Wherein, Δ t is disposed on the sampling time interval of the first Inertial Measurement Unit on filming apparatus.
Similar, the second attitude quaternion qibDerivative meet following quaternion differential equation：
Wherein,It is the second attitude quaternion qibDerivative；It is relative to current t moment
A upper sampling period the second attitude quaternion qibEstimated value；It is current t moment
It is set to the second angular velocity measurement value of the gyroscope of the second Inertial Measurement Unit on the pedestal of holder, then the cloud of t moment
Second attitude quaternion q of the pedestal of platformibFor：
Wherein, Δ t is disposed on the sampling time interval of the second Inertial Measurement Unit on pedestal.
Then, according to the first attitude quaternion and the second attitude quaternion, and the meter for calculating third attitude quaternion is combined
Formula is calculated, third attitude quaternion is obtained.Specifically, the third attitude quaternion illustrates the rotation attitude of the motor
Angle, the result of rotation make the posture of the pedestal of holder differ a rotation transformation, therefore, the first appearance to the posture of filming apparatus
State quaternary number and the second attitude quaternion meet following quaternary number multiplication relationship：
Based on above-mentioned formula, third posture four is obtained according to first attitude quaternion and second attitude quaternion
The calculation formula of first number is：
Wherein, qicIt is expressed as the first attitude quaternion；qibIt is expressed as the second attitude quaternion；It is expressed as qibInverse square
Battle array；qbcIt is expressed as third attitude quaternion；Indicate quaternary number multiplication.
Finally, according to the third attitude quaternion qbcObtain the angle of the motorSpecifically, according to institute
State third attitude quaternion qbc, third rotational transformation matrix R, the third rotational transformation matrix R are obtained for indicating the base
Rotation transformation of the posture of seat to the posture of the filming apparatus；According to the third rotational transformation matrix R, the motor is obtained
Angle (φ, θ, ψ).The angle of the motor is indicated with Eulerian angles, namely describes electricity by the Eulerian angles (φ, θ, ψ) of motor
The angle of machine.
Wherein, the expression formula for the third rotational transformation matrix being obtained according to the third attitude quaternion is：
Wherein, qbc=[qbc0 qbc1 qbc2 qbc3]TIt is expressed as third attitude quaternion；R indicates third rotation transformation square
Battle array.
The expression formula for the angle for obtaining the motor according to the third rotational transformation matrix is：
Wherein, (φ, θ, ψ) is expressed as the angle of the motor, the specially Eulerian angles of motor, and φ is expressed as the motor
Roll axis rotational angle, θ is expressed as the rotational angle of the pitch axis of the motor, and ψ is expressed as the yaw axis of the motor
Rotational angle.Also, the codomain of angle is：φ ∈ [- pi/2, pi/2], θ ∈ [- π, π], ψ ∈ [- π, π].
103：According to the angle of the motor, the first angular velocity measurement value and the second angular velocity measurement value, really
The angular speed of the fixed motor.
Cradle head controllor is according to the angle, the first angular velocity measurement value and second angular velocity measurement of the motor
Value, determines the angular speed of the motor, specifically includes：According to the angle of motor, the first rotational transformation matrix and the second rotation are determined
Turning transformation matrix, first rotational transformation matrix is spin matrix of the base coordinate system to filming apparatus coordinate system, described the
Two rotational transformation matrix are spin matrix of the base coordinate system to motor coordinate system；According to first rotational transformation matrix, institute
The second rotational transformation matrix, the first angular velocity measurement value and the second angular velocity measurement value are stated, the electricity is calculated
The angular speed of machine.
Wherein, Fig. 4 is the particular flow sheet for the angular speed for determining motor.With reference to Fig. 4 to the angle according to the motor
Degree, the first angular velocity measurement value and the second angular velocity measurement value determine that the angular speed of the motor is specifically retouched
It states.
First, according to the angle of motor (φ, θ, ψ), the first rotational transformation matrix R is determinedzxy(φ, θ, ψ) and the second rotation
Transformation matrix D.Specifically, setting ic、jc、kcUnit vector respectively in filming apparatus coordinate system X, Y, Z axis, ib、jb、kbRespectively
For the unit vector in base coordinate system X, Y, Z axis, Rz(ψ)、Rx(φ)、Ry(θ) is the unit rotation rotated around Z, X, Y-axis respectively
Turn battle array, according to inertial navigation basic principle, Rz(ψ)、Rx(φ)、RyThe value difference of (θ) is as follows：
Based on above-mentioned expression formula, the calculation formula according to the first rotational transformation matrix of angle-determining of motor is：
Wherein, Rzxy(φ, θ, ψ) is expressed as the first rotational transformation matrix；(φ, θ, ψ) is expressed as the angle of the motor.
Contacting between the angular speed three of the pedestal of the angular speed of filming apparatus, the angular speed of motor and holder can be used such as
Lower attitude dynamic equations description：
Based on above-mentioned equation, obtain be according to the calculation formula of the second rotational transformation matrix of angle-determining D of motor：
Wherein, D is expressed as the second rotational transformation matrix；(φ, θ, ψ) is expressed as the angle of the motor.
Then, according to the first rotational transformation matrix Rzxy(φ, θ, ψ), the second rotational transformation matrix D, described
One angular velocity measurement valueAnd the second angular velocity measurement valueThe angular velocity omega of the motor is calculated.Specifically
, the calculation formula that the angular speed of the motor is calculated is：
Wherein, Rzxy(φ, θ, ψ) is expressed as the first rotational transformation matrix；D is expressed as the second rotational transformation matrix；D-1It indicates
For the inverse matrix of the second rotational transformation matrix；It is expressed as the first angular velocity measurement value；It is expressed as the second angular velocity measurement
Value；ω is expressed as the angular speed of the motor.
In embodiments of the present invention, the first angular speed acquired by being set to the first Inertial Measurement Unit of filming apparatus
Measured value and the second Inertial Measurement Unit for being set to holder pedestal acquire the second angular velocity measurement value and determine the angle of motor,
And the angular speed of motor is determined based on the angle of motor, the first angular velocity measurement value and the second angular velocity measurement value, on the one hand,
Replace high-cost angular transducer to acquire measurement data using the Inertial Measurement Unit of low cost, especially to multiaxis holder
Multiple motors angle information for, effectively reduce cost；On the other hand, since the angle of obtained motor is estimation
Value, no matter by which kind of mode estimate the angle of motor can between the angle of actual motor there are certain errors, lead to
It crosses and the angular speed of motor is determined based on the angle of the motor of estimation, the first angular velocity measurement value and the second angular velocity measurement value,
The angular speed that angle progress differential relative to the motor for being directly based upon estimation obtains motor leads to cumulative errors, has higher
Computational accuracy obtains the angular speed of the higher motor of accuracy.
Embodiment 2：
Fig. 5 is that a kind of horizontal stage electric machine angle provided in an embodiment of the present invention and angular speed estimate schematic device.Wherein, institute
It states horizontal stage electric machine angle and angular speed estimation device 50 is configured in the various controllers with certain logic processing capability, such as
Cradle head controllor etc..The cradle head controllor can be applied on aircraft, for example, being applied to unmanned plane.Below with holder electricity
Machine angle and angular speed estimation device 50 be configured at cradle head controllor for, aircraft illustrates by taking unmanned plane as an example.Wherein,
Unmanned plane includes camera assembly, and camera assembly includes holder and the filming apparatus that is equipped on holder, and holder includes pedestal, electricity
Machine, cradle head controllor and electricity are adjusted, and cradle head controllor is adjusted with electricity and connected, and electricity is adjusted and is electrically connected with motor, and electricity is called in control motor.And
And filming apparatus is attached with pedestal by motor, filming apparatus is provided with the first Inertial Measurement Unit, and pedestal is provided with
Two Inertial Measurement Units.Wherein, holder can be multiaxis holder, such as two axle The Cloud Terraces, three axis holders, below for three axis holders into
Row explanation.
Fig. 5 is please referred to, the horizontal stage electric machine angle and angular speed estimation device 50 include：
Measured value acquisition module 501, the first angular velocity measurement value for obtaining the first Inertial Measurement Unit acquisition,
And obtain the second angular velocity measurement value of the second Inertial Measurement Unit acquisition.
Angle-determining module 502 is used for according to the first angular velocity measurement value and the second angular velocity measurement value, really
The angle of the fixed motor.
In order to avoid there is gimbal lock phenomenon in motor angle solution procedure, using quaternion representation unmanned plane and its respectively
The posture of a component.Specifically, angle-determining module 502 is specifically used for：It is worth to first according to first angular velocity measurement
Attitude quaternion, and the second attitude quaternion is worth to according to second angular velocity measurement, wherein the first posture quaternary
Number is for indicating attitude angle of the filming apparatus relative to inertial system, and second attitude quaternion is for indicating the pedestal
The attitude angle of the relatively described inertial system；According to first attitude quaternion and second attitude quaternion, third appearance is obtained
State quaternary number, the third attitude quaternion are used to indicate the rotation attitude angle of the motor；According to the third posture quaternary
Number, obtains the angle of the motor.
First, angle-determining module 502 is by the first angular velocity measurement valueBe converted to the first attitude quaternion qic, and will
Second angular velocity measurement valueBe converted to the second attitude quaternion qib。
Specifically, angle-determining module 502 is according to the first angular velocity measurement valueObtain the first attitude quaternion
qic, and according to the second angular velocity measurement valueObtain the second attitude quaternion qib, including：It is surveyed with first angular speed
MagnitudeThe first attitude quaternion q is calculated by quaternion differential equation as inputic；With second angular speed
Measured valueThe second attitude quaternion q is calculated by quaternion differential equation as inputib。
Wherein, the first attitude quaternion qicDerivative meet following quaternion differential equation：
Wherein,It is the first attitude quaternion qicDerivative；It is relative to current t moment
A upper sampling period the first attitude quaternion qicEstimated value；It is that current t moment is set
It is placed in the first angular velocity measurement value of the gyroscope of the first Inertial Measurement Unit on filming apparatus, then the shooting dress of t moment
The the first attitude quaternion q seticFor：
Wherein, Δ t is disposed on the sampling time interval of the first Inertial Measurement Unit on filming apparatus.
Similar, the second attitude quaternion qibDerivative meet following quaternion differential equation：
Wherein,It is the second attitude quaternion qibDerivative；It is relative to current t moment
A upper sampling period the second attitude quaternion qibEstimated value；It is current t moment
It is set to the second angular velocity measurement value of the gyroscope of the second Inertial Measurement Unit on the pedestal of holder, then the cloud of t moment
Second attitude quaternion q of the pedestal of platformibFor：
Wherein, Δ t is disposed on the sampling time interval of the second Inertial Measurement Unit on pedestal.
Then, angle-determining module 502 is according to the first attitude quaternion and the second attitude quaternion, and combines and calculate third
The calculation formula of attitude quaternion obtains third attitude quaternion.Specifically, the third attitude quaternion illustrates the electricity
The rotation attitude angle of machine, the result of rotation make the posture of the pedestal of holder become to the primary rotation of posture difference of filming apparatus
It changes, therefore, the first attitude quaternion and the second attitude quaternion meet following quaternary number multiplication relationship：
Based on above-mentioned formula, angle-determining module 502 is according to first attitude quaternion and the second posture quaternary
Number obtains the calculation formula of third attitude quaternion：
Wherein, qicIt is expressed as the first attitude quaternion；qibIt is expressed as the second attitude quaternion；It is expressed as qibInverse square
Battle array；qbcIt is expressed as third attitude quaternion；Indicate quaternary number multiplication.
Finally, angle-determining module 502 is according to the third attitude quaternion qbcObtain the motor angle (φ, θ,
ψ).Specifically, angle-determining module 502 is according to the third attitude quaternion qbc, third rotational transformation matrix R is obtained, it is described
Third rotational transformation matrix R is used to indicate the rotation transformation of the posture of the pedestal to the posture of the filming apparatus；According to institute
Third rotational transformation matrix R is stated, the angle (φ, θ, ψ) of the motor is obtained.The angle of the motor indicates with Eulerian angles,
The angle of motor is described by the Eulerian angles of motor (φ, θ, ψ).
Wherein, angle-determining module 502 obtains the third rotational transformation matrix according to the third attitude quaternion
Expression formula is：
Wherein, qbc=[qbc0 qbc1 qbc2 qbc3]TIt is expressed as third attitude quaternion；R indicates third rotation transformation square
Battle array.
The expression formula for the angle that angle-determining module 502 obtains the motor according to the third rotational transformation matrix is：
Wherein, (φ, θ, ψ) is expressed as the angle of the motor, the specially Eulerian angles of motor, and φ is expressed as the motor
Roll axis rotational angle, θ is expressed as the rotational angle of the pitch axis of the motor, and ψ is expressed as the yaw axis of the motor
Rotational angle.Also, the codomain of angle is：φ ∈ [- pi/2, pi/2], θ ∈ [- π, π], ψ ∈ [- π, π].
Angular speed determining module 503, for according to the angle of the motor, the first angular velocity measurement value and described the
Two angular velocity measurement values, determine the angular speed of the motor.
Wherein, angular speed determining module 503 includes：Rotational transformation matrix determining module 5031, for the angle according to motor
Degree, determines that the first rotational transformation matrix and the second rotational transformation matrix, first rotational transformation matrix arrive for base coordinate system
The spin matrix of filming apparatus coordinate system, second rotational transformation matrix are spin moment of the base coordinate system to motor coordinate system
Battle array；Angular speed computing module 5032, for according to first rotational transformation matrix, second rotational transformation matrix, described
First angular velocity measurement value and the second angular velocity measurement value, are calculated the angular speed of the motor.
First, rotational transformation matrix determining module 5031 determines the first rotation transformation according to the angle (φ, θ, ψ) of motor
Matrix Rzxy(φ, θ, ψ) and the second rotational transformation matrix D.Specifically, setting ic、jc、kcRespectively filming apparatus coordinate system X, Y, Z
Unit vector on axis, ib、jb、kbUnit vector respectively in base coordinate system X, Y, Z axis, Rz(ψ)、Rx(φ)、Ry(θ) point
It is not that the unit rotated around Z, X, Y-axis rotates battle array, according to inertial navigation basic principle, Rz(ψ)、Rx(φ)、RyThe value of (θ) point
It is not as follows：
Based on above-mentioned expression formula, rotational transformation matrix determining module 5031 is according to the first rotation transformation of angle-determining of motor
The calculation formula of matrix is：
Wherein, Rzxy(φ, θ, ψ) is expressed as the first rotational transformation matrix；(φ, θ, ψ) is expressed as the angle of the motor.
Contacting between the angular speed three of the pedestal of the angular speed of filming apparatus, the angular speed of motor and holder can be used such as
Lower attitude dynamic equations description：
Based on above-mentioned equation, rotational transformation matrix determining module 5031, which obtains being rotated according to the angle-determining second of motor, to be become
The calculation formula for changing matrix D is：
Wherein, D is expressed as the second rotational transformation matrix；(φ, θ, ψ) is expressed as the angle of the motor.
Then, angular speed computing module 5032 is according to the first rotational transformation matrix Rzxy(φ, θ, ψ), second rotation
Matrix D, the first angular velocity measurement value are changed in transformationAnd the second angular velocity measurement valueThe motor is calculated
Angular velocity omega.Specifically, the calculation formula that the angular speed of the motor is calculated in angular speed computing module 5032 is：
Wherein, Rzxy(φ, θ, ψ) is expressed as the first rotational transformation matrix；D is expressed as the second rotational transformation matrix；D-1It indicates
For the inverse matrix of the second rotational transformation matrix；It is expressed as the first angular velocity measurement value；It is expressed as the second angular velocity measurement
Value；ω is expressed as the angular speed of the motor.
It should be noted that in embodiments of the present invention, the horizontal stage electric machine angle and angular speed estimation device 50 can be held
The horizontal stage electric machine angle and angular speed evaluation method that the row embodiment of the present invention 1 is provided have the corresponding function mould of execution method
Block and advantageous effect.The technical detail of detailed description not in the embodiment that horizontal stage electric machine angle and angular speed estimate device 50,
Reference can be made to horizontal stage electric machine angle and angular speed evaluation method that the embodiment of the present invention 1 is provided.
Embodiment 3：
Fig. 6 is a kind of holder provided in an embodiment of the present invention.The holder 60 is for carrying filming apparatus, the holder 60
Including：Pedestal 601 and motor 602, the filming apparatus are attached with the pedestal 601 by the motor 602, the bat
It takes the photograph device and is provided with the first Inertial Measurement Unit, the pedestal 601 is provided with the second Inertial Measurement Unit.
The holder 60 further includes：At least one processor 603 and at least one processor 603 communicate to connect
Memory 604.Wherein, at least one processor 603 is connect with motor 602.In Fig. 7 by taking a processor 603 as an example.
Processor 603 can be connected with memory 604 by bus or other modes, to be connected by bus in Fig. 7
For.
Memory 604 is used as a kind of non-volatile computer readable storage medium storing program for executing, can be used for storing non-volatile software journey
Sequence, non-volatile computer executable program and module, as in the embodiment of the present invention horizontal stage electric machine angle and angular speed estimate
Corresponding program instruction/the module of calculation method (for example, attached measured value acquisition module 501 shown in fig. 5, angle-determining module 502 with
And angular speed determining module 503).Processor 603 is by running storage non-volatile software program in the memory 604, referring to
It enables and unit realizes the holder of the method embodiment to execute various function application and the data processing of holder
Motor angle and angular speed evaluation method.
Memory 604 may include storing program area and storage data field, wherein storing program area can store operation system
System, the required application program of at least one function；Storage data field, which can be stored, uses created data etc. according to holder.This
Outside, memory 604 may include high-speed random access memory, can also include nonvolatile memory, for example, at least one
Disk memory, flush memory device or other non-volatile solid state memory parts.In some embodiments, memory 604 is optional
Include the memory remotely located relative to processor 603, these remote memories can pass through network connection to holder.It is described
The embodiment of network includes but not limited to internet, intranet, LAN, mobile radio communication and combinations thereof.
One or more of units are stored in the memory 604, when by one or more of processors
When 603 execution, the horizontal stage electric machine angle and angular speed evaluation method in the method embodiment are executed, for example, executing above retouch
Method and step 101 in the Fig. 1 stated realizes the function of the 501-503 modules in Fig. 5 to step 103.
The holder 60 can perform the horizontal stage electric machine angle and angular speed evaluation method that the embodiment of the present invention 1 is provided, tool
For the corresponding function module of execution method and advantageous effect.The technical detail of detailed description not in holder embodiment, reference can be made to
The horizontal stage electric machine angle and angular speed evaluation method that the embodiment of the present invention 1 is provided.
An embodiment of the present invention provides a kind of computer program product, the computer program product is non-easy including being stored in
Computer program on the property lost computer readable storage medium, the computer program includes program instruction, when described program refers to
When order is computer-executed, computer is made to execute horizontal stage electric machine angle as described above and angular speed evaluation method.For example, executing
Method and step 101 in Fig. 1 described above realizes the function of the 501-503 modules in Fig. 5 to step 103.
An embodiment of the present invention provides a kind of non-volatile computer readable storage medium storing program for executing, the computer-readable storage mediums
Matter is stored with computer executable instructions, and the computer executable instructions are for making computer execute holder electricity as described above
Machine angle and angular speed evaluation method.For example, executing method and step 101 in Fig. 1 described above to step 103, Fig. 5 is realized
In 501-503 modules function.
Embodiment 4：
Fig. 8 is a kind of camera assembly provided in an embodiment of the present invention.Wherein, the camera assembly 80 includes：Filming apparatus
801 and holder 60 as described above, the filming apparatus 801 be equipped on the holder 60.It is arranged on the filming apparatus 801
There is the first Inertial Measurement Unit.Holder 60 is the fixation for realizing filming apparatus 801 or the posture for arbitrarily adjusting filming apparatus 801
(for example, changing height, inclination angle and/or the direction of filming apparatus) and the filming apparatus 801 is made to be stably held in setting
In posture.For example, when camera assembly 80 is taken photo by plane, holder 60 is mainly used for that the filming apparatus 801 is made to be stably held in
In the posture of setting, prevents 801 shooting picture of filming apparatus from shaking, ensure the stabilization of shooting picture.
Embodiment 5：
Fig. 9 is aircraft provided in an embodiment of the present invention, and the aircraft 90 includes：It fuselage 901 and takes the photograph as described above
As component 80.Camera assembly 80 is installed on the fuselage 901, with the work such as taken photo by plane, recorded a video.
It should be noted that the apparatus embodiments described above are merely exemplary, wherein described be used as separation unit
The module that part illustrates may or may not be physically separated, and the component shown as module can be or also may be used
Not to be physical module, you can be located at a place, or may be distributed on multiple network modules.It can be according to reality
Need select some or all of module therein to achieve the purpose of the solution of this embodiment.
By the description of above embodiment, those of ordinary skill in the art can be understood that each embodiment can borrow
Help software that the mode of general hardware platform is added to realize, naturally it is also possible to pass through hardware.Those of ordinary skill in the art can manage
All or part of flow in the solution realization embodiment method is can be by the relevant hardware of computer program instructions come complete
At the program can be stored in computer read/write memory medium, and the program is when being executed, it may include such as each method
Embodiment flow.Wherein, the storage medium can be magnetic disc, CD, read-only memory (Read-Only
Memory, ROM) or random access memory (RandomAccessMemory, RAM) etc..
Finally it should be noted that：The above embodiments are merely illustrative of the technical solutions of the present invention, rather than its limitations；At this
It under the thinking of invention, can also be combined between the technical characteristic in above example or different embodiment, step can be with
It is realized with random order, and there are many other variations of different aspect present invention as described above, for simplicity, they do not have
Have and is provided in details；Although the present invention is described in detail referring to the foregoing embodiments, the ordinary skill people of this field
Member should understand that：It still can be with technical scheme described in the above embodiments is modified, or to which part skill
Art feature carries out equivalent replacement；And these modifications or replacements, each reality of the present invention that it does not separate the essence of the corresponding technical solution
Apply the range of a technical solution.
Claims (18)
1. a kind of horizontal stage electric machine angle and angular speed evaluation method, which is characterized in that the holder is for carrying filming apparatus, institute
It includes pedestal and motor to state holder, and the filming apparatus is attached with the pedestal by the motor, the filming apparatus
It is provided with the first Inertial Measurement Unit, the pedestal is provided with the second Inertial Measurement Unit, the method includes：
The first angular velocity measurement value of the first Inertial Measurement Unit acquisition is obtained, and obtains second Inertial Measurement Unit
Second angular velocity measurement value of acquisition；
According to the first angular velocity measurement value and the second angular velocity measurement value, the angle of the motor is determined；
According to the angle of the motor, the first angular velocity measurement value and the second angular velocity measurement value, the electricity is determined
The angular speed of machine.
2. according to the method described in claim 1, it is characterized in that, angle, the first jiao of speed according to the motor
Measured value and the second angular velocity measurement value are spent, determines the angular speed of the motor, including：
According to the angle of motor, the first rotational transformation matrix and the second rotational transformation matrix, the first rotation transformation square are determined
Battle array is spin matrix of the base coordinate system to filming apparatus coordinate system, and second rotational transformation matrix is base coordinate system to electricity
The spin matrix of machine coordinate system；
According to first rotational transformation matrix, second rotational transformation matrix, the first angular velocity measurement value and described
Second angular velocity measurement value, is calculated the angular speed of the motor.
3. according to the method described in claim 2, it is characterized in that, according to first rotational transformation matrix, second rotation
Turn the angular speed that the motor is calculated in transformation matrix, the first angular velocity measurement value and the second angular velocity measurement value
Calculation formula be：
Wherein, Rzxy(φ, θ, ψ) is expressed as the first rotational transformation matrix；D is expressed as the second rotational transformation matrix；D-1It is expressed as
The inverse matrix of two rotational transformation matrix；It is expressed as the first angular velocity measurement value；It is expressed as the second angular velocity measurement value；
ω is expressed as the angular speed of the motor.
4. according to the method described in claim 3, it is characterized in that, according to the first rotational transformation matrix of angle-determining of motor
Calculation formula is：
Wherein, Rzxy(φ, θ, ψ) is expressed as the first rotational transformation matrix；(φ, θ, ψ) is expressed as the angle of the motor, φ tables
It is shown as the rotational angle of the roll axis of the motor, θ is expressed as the rotational angle of the pitch axis of the motor, and ψ is expressed as described
The rotational angle of the yaw axis of motor.
5. according to the method described in claim 3, it is characterized in that, according to the second rotational transformation matrix of angle-determining of motor
Calculation formula is：
Wherein, D is expressed as the second rotational transformation matrix；(φ, θ, ψ) is expressed as the angle of the motor, and φ is expressed as the electricity
The rotational angle of the roll axis of machine, θ are expressed as the rotational angle of the pitch axis of the motor, and ψ is expressed as the yaw of the motor
The rotational angle of axis.
6. according to claim 1-5 any one of them methods, which is characterized in that described according to the first angular velocity measurement value
And the second angular velocity measurement value, determine the angle of the motor, including：
It is worth to the first attitude quaternion according to first angular velocity measurement, and is worth to according to second angular velocity measurement
Second attitude quaternion, wherein first attitude quaternion is for indicating posture of the filming apparatus relative to inertial system
Angle, second attitude quaternion are used to indicate the attitude angle of the relatively described inertial system of the pedestal；
According to first attitude quaternion and second attitude quaternion, third attitude quaternion, the third appearance are obtained
State quaternary number is used to indicate the rotation attitude angle of the motor；
According to the third attitude quaternion, the angle of the motor is obtained.
7. according to the method described in claim 6, it is characterized in that, described be worth to first according to first angular velocity measurement
Attitude quaternion, and the second attitude quaternion is worth to according to second angular velocity measurement, including：
Using the first angular velocity measurement value as input, by quaternion differential equation, the first attitude quaternion is calculated；
Using the second angular velocity measurement value as input, by quaternion differential equation, the second attitude quaternion is calculated.
8. according to the method described in claim 6, it is characterized in that, according to first attitude quaternion and second posture
The calculation formula that quaternary number obtains third attitude quaternion is：
Wherein, qicIt is expressed as the first attitude quaternion；qibIt is expressed as the second attitude quaternion；It is expressed as qibInverse matrix；
qbcIt is expressed as third attitude quaternion；Indicate quaternary number multiplication.
9. according to the method described in claim 6, it is characterized in that, described according to the third attitude quaternion, obtain described
The angle of motor, including：
According to the third attitude quaternion, third rotational transformation matrix is obtained, the third rotational transformation matrix is for indicating
Rotation transformation of the posture of the pedestal to the posture of the filming apparatus；
According to the third rotational transformation matrix, the angle of the motor is obtained.
10. according to the method described in claim 9, it is characterized in that, obtaining the third according to the third attitude quaternion
The expression formula of rotational transformation matrix is：
Wherein, qbc=[qbc0 qbc1 qbc2 qbc3]TIt is expressed as third attitude quaternion；R indicates third rotational transformation matrix；
The angle of the motor is the Eulerian angles of the motor, and the angle of the motor is obtained according to the third rotational transformation matrix
The expression formula of degree is：
Wherein, (φ, θ, ψ) is expressed as the angle of the motor, and φ is expressed as the rotational angle of the roll axis of the motor, θ tables
It is shown as the rotational angle of the pitch axis of the motor, ψ is expressed as the rotational angle of the yaw axis of the motor.
11. a kind of horizontal stage electric machine angle and angular speed estimate device, which is characterized in that the holder is used to carry filming apparatus,
The holder includes pedestal and motor, and the filming apparatus is attached with the pedestal by the motor, the shooting dress
It installs and is equipped with the first Inertial Measurement Unit, the pedestal is provided with the second Inertial Measurement Unit, and described device includes：
Measured value acquisition module, the first angular velocity measurement value for obtaining the first Inertial Measurement Unit acquisition, and obtain
Second angular velocity measurement value of the second Inertial Measurement Unit acquisition；
Angle-determining module, described according to the first angular velocity measurement value and the second angular velocity measurement value, determining
The angle of motor；
Angular speed determining module, for according to the angle of the motor, the first angular velocity measurement value and second jiao of speed
Measured value is spent, determines the angular speed of the motor.
12. according to the devices described in claim 11, which is characterized in that the angular speed determining module includes：
Rotational transformation matrix determining module determines that the first rotational transformation matrix and the second rotation become for the angle according to motor
Matrix is changed, first rotational transformation matrix is spin matrix of the base coordinate system to filming apparatus coordinate system, second rotation
It is spin matrix of the base coordinate system to motor coordinate system to turn transformation matrix；
Angular speed computing module, for according to first rotational transformation matrix, second rotational transformation matrix, described first
Angular velocity measurement value and the second angular velocity measurement value, are calculated the angular speed of the motor.
13. device according to claim 11 or 12, which is characterized in that the angle-determining module is specifically used for：
It is worth to the first attitude quaternion according to first angular velocity measurement, and is worth to according to second angular velocity measurement
Second attitude quaternion, wherein first attitude quaternion is for indicating posture of the filming apparatus relative to inertial system
Angle, second attitude quaternion are used to indicate the attitude angle of the relatively described inertial system of the pedestal；
According to first attitude quaternion and second attitude quaternion, third attitude quaternion, the third appearance are obtained
State quaternary number is used to indicate the rotation attitude angle of the motor；
According to the third attitude quaternion, the angle of the motor is obtained.
14. device according to claim 13, which is characterized in that the angle-determining module is according to first angular speed
Measurement is worth to the first attitude quaternion, and is worth to the second attitude quaternion according to second angular velocity measurement, including：
Using the first angular velocity measurement value as input, by quaternion differential equation, the first attitude quaternion is calculated；
Using the second angular velocity measurement value as input, by quaternion differential equation, the second attitude quaternion is calculated.
15. device according to claim 13, which is characterized in that the angle-determining module is according to the third posture four
First number obtains the angle of the motor, including：
According to the third attitude quaternion, third rotational transformation matrix is obtained, the third rotational transformation matrix is for indicating
Rotation transformation of the posture of the pedestal to the posture of the filming apparatus；
According to the third rotational transformation matrix, the angle of the motor is obtained.
16. a kind of holder, which is characterized in that for the holder for carrying filming apparatus, the holder includes pedestal and motor, institute
Filming apparatus to be stated to be attached by the motor with the pedestal, the filming apparatus is provided with the first Inertial Measurement Unit,
The pedestal is provided with the second Inertial Measurement Unit, and the holder further includes：At least one processor；And
The memory being connect at least one processor communication；
The memory is stored with the instruction that can be executed by least one processor, and described instruction is by least one place
It manages device to execute, so that at least one processor is able to carry out claim 1-10 any one of them methods.
17. a kind of camera assembly, which is characterized in that including：
Filming apparatus is provided with the first Inertial Measurement Unit on the filming apparatus；And
Holder described in claim 16, the filming apparatus are equipped on the holder.
18. a kind of aircraft, which is characterized in that including：
Fuselage；And
Camera assembly described in claim 17 is installed on the fuselage.
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| CN201810502724.4A CN108762324A (en) | 2018-05-23 | 2018-05-23 | Horizontal stage electric machine angle and angular speed evaluation method, device, holder and aircraft |
| PCT/CN2018/116716 WO2019223270A1 (en) | 2018-05-23 | 2018-11-21 | Method and apparatus for estimating angle and angular velocity of electric motor of gimbal, and gimbal and aerial vehicle |
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| CN201810502724.4A CN108762324A (en) | 2018-05-23 | 2018-05-23 | Horizontal stage electric machine angle and angular speed evaluation method, device, holder and aircraft |
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