CN113992842A - Method and system for detecting jitter angle and distance, electronic equipment and chip - Google Patents
Method and system for detecting jitter angle and distance, electronic equipment and chip Download PDFInfo
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- CN113992842A CN113992842A CN202111174211.3A CN202111174211A CN113992842A CN 113992842 A CN113992842 A CN 113992842A CN 202111174211 A CN202111174211 A CN 202111174211A CN 113992842 A CN113992842 A CN 113992842A
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/60—Control of cameras or camera modules
- H04N23/68—Control of cameras or camera modules for stable pick-up of the scene, e.g. compensating for camera body vibrations
- H04N23/681—Motion detection
- H04N23/6812—Motion detection based on additional sensors, e.g. acceleration sensors
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/60—Control of cameras or camera modules
- H04N23/68—Control of cameras or camera modules for stable pick-up of the scene, e.g. compensating for camera body vibrations
- H04N23/682—Vibration or motion blur correction
- H04N23/685—Vibration or motion blur correction performed by mechanical compensation
- H04N23/687—Vibration or motion blur correction performed by mechanical compensation by shifting the lens or sensor position
Abstract
The application discloses a method and a system for detecting a jitter angle and a distance, electronic equipment, a chip and a computer storage medium; the method for detecting the jitter angle comprises the following steps: acquiring the speed zero drift characteristic of a shooting element; generating a filtering parameter according to the speed null shift characteristic, wherein the filtering parameter is used for compensating the null shift effect of the initial angular speed of the shooting element in the integration process; filtering the initial angular velocity according to the filtering parameters to obtain a denoising angular velocity; and determining a jitter angle according to the denoising angular velocity. The method improves the accuracy of the obtained shaking angle, and enables the accuracy of the determined shaking distance to be higher, thereby improving the control effect of the reverse compensation motion of the corresponding shooting element.
Description
Technical Field
The application relates to the technical field of intelligent control, in particular to a method and a system for detecting a jitter angle and a distance, electronic equipment, a chip and a computer storage medium.
Background
The photographing and photographing functions are one of the most concerned functions of users in electronic equipment such as a smart phone, and user experience brought by the functions often directly affects the sales performance of the corresponding electronic equipment, so how to improve the photographing and photographing effects of the electronic equipment is a key point of constant attention of corresponding manufacturers. The anti-shake function of the electronic device is a precondition that images and videos with excellent image quality can be shot, and usually shake parameters such as a shake angle and/or a distance of the electronic device need to be detected, so that reverse compensation is performed according to the shake parameters, side effects generated by shake are counteracted, and shooting quality is guaranteed.
A gyroscope sensor, which is a measuring device for measuring the angular velocity of an object, is widely used in electronic devices such as mobile phones. In the process of collecting angular velocity by using the measuring component, low-frequency noise is easily introduced. When the angular velocity acquired by the measuring component is integrated to obtain the corresponding jitter angle, the angle obtained by integration has a certain null shift phenomenon due to the interference of low-frequency noise. According to the scheme, high-pass filtering is performed on the initial angular velocity acquired by a measuring component, and the jitter angle is determined according to a wave result, so that the interference of low-frequency noise is difficult to effectively eliminate; the scheme is characterized in that low-pass filtering is carried out on the initial angular velocity, the processing result is subtracted from the initial angular velocity to obtain a target angular velocity, a shaking angle is determined according to the target angular velocity, and the scheme is difficult to cover shaking distance detection in a low-frequency range; therefore, the angular velocity determined by the conventional scheme still has the problems of large noise and effective information loss, so that the accuracy of the shake angle determined according to the angular velocity is low, and the effect of performing the motion control of the shooting element reverse compensation according to the shake angle and/or the corresponding shake distance is easily influenced.
Disclosure of Invention
In view of this, the present application provides a method and a system for detecting a jitter angle and a distance, an electronic device, a chip, and a computer storage medium, so as to solve the technical problem that the accuracy of a jitter angle determined by the existing scheme is low.
A first aspect of the present application provides a method for detecting a jitter angle, including:
acquiring the speed zero drift characteristic of a shooting element;
generating a filtering parameter according to the speed null shift characteristic, wherein the filtering parameter is used for compensating the null shift effect of the initial angular speed of the shooting element in the integration process;
filtering the initial angular velocity according to the filtering parameters to obtain a denoising angular velocity;
and determining a jitter angle according to the denoising angular velocity.
Optionally, the determining a dither angle according to the denoising angular velocity includes:
and carrying out first integral operation on the denoising angular velocity to obtain the dithering angle.
Optionally, the acquiring the speed null shift characteristic of the shooting element includes:
taking the jitter angle of the shooting element at the last sampling moment as a reference angle;
and identifying a speed null shift characteristic represented by the reference angle.
Optionally, the identifying the speed null shift feature characterized by the reference angle comprises:
performing a second integral operation on the reference angle;
and determining the speed null shift characteristic according to the result of the second integral operation.
Optionally, the speed null shift characteristics include a null shift direction and a null shift magnitude;
said determining said speed null shift characteristic from a result of said second integration operation comprises: determining the null shift direction according to the result sign of the second integral operation; and performing proportional integral differential operation on the result of the second integral operation to obtain the zero drift size.
Optionally, the pid operation comprises:
wherein input (t) represents the result of the second integration operation, t represents a time variable, output (t) represents a null shift size, the symbol · represents a multiplication, a represents an integration parameter, b represents a differentiation parameter, and c represents a proportional parameter.
Optionally, the filtering parameter comprises an offset amount having an offset direction; the filtering the initial angular velocity according to the filtering parameter to obtain a denoising angular velocity comprises:
and superposing the offset on the initial angular velocity according to the offset direction to obtain the denoising angular velocity.
A second aspect of the present application provides a method for detecting a jitter distance, including:
determining the jitter angle by adopting any one of the above detection methods of the jitter angle;
and performing linear conversion on the jitter angle to obtain a jitter distance.
A third aspect of the present application provides a system for detecting a shake angle, including:
the acquisition module is used for acquiring the speed zero drift characteristic of the shooting element;
the generating module is used for generating a filtering parameter according to the speed null shift characteristic, and the filtering parameter is used for compensating the null shift effect of the initial angular speed of the shooting element in the integration process;
the filtering module is used for carrying out filtering processing on the initial angular velocity according to the filtering parameters to obtain a denoising angular velocity;
and the first determining module is used for determining the jitter angle according to the denoising angular velocity.
A fourth aspect of the present application provides a system for detecting a shake angle, including:
the second determining module is used for determining the jitter angle by any one of the jitter angle detecting systems;
and the linear conversion module is used for performing linear conversion on the jitter angle to obtain the jitter distance.
A fifth aspect of the present application provides an electronic device comprising a processor and a storage medium; the storage medium having program code stored thereon; the processor is configured to call the program code stored in the storage medium to execute any one of the above-mentioned methods for detecting a jitter angle or any one of the above-mentioned methods for detecting a jitter distance.
A sixth aspect of the present application provides a chip including an arithmetic circuit; the arithmetic circuit is used for executing any one of the above-mentioned methods for detecting a shake angle or any one of the above-mentioned methods for detecting a shake distance.
A seventh aspect of the present application provides a computer storage medium having a computer program stored thereon, where the computer program is executed by a processor to implement any one of the above-mentioned methods for detecting a shake angle or any one of the above-mentioned methods for detecting a shake distance.
The method and the system for detecting the jitter angle and the distance, the electronic equipment, the chip and the computer storage medium have the advantages that the speed null shift characteristic of the shooting element is obtained, the filtering parameter is generated according to the speed null shift characteristic, the initial angular velocity is filtered according to the filtering parameter, the filtering process is based on the null shift phenomenon possibly faced during the integration of the initial angular velocity, the pertinence is improved, the interference noise can be effectively eliminated, the effective data of the denoising angular velocity is kept to the maximum extent, the accuracy of the obtained denoising angular velocity and the jitter angle determined according to the denoising angular velocity is improved, the accuracy of the determined jitter distance is higher, and therefore the control effect of the reverse compensation motion of the corresponding shooting element is improved.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
FIGS. 1a and 1b are schematic diagrams of conventional processing of angular velocity signals
FIG. 2 is a flowchart illustrating a method for detecting a jitter angle according to an embodiment of the present disclosure;
FIG. 3 is a flowchart illustrating a method for detecting a jitter angle according to another embodiment of the present application;
FIG. 4 is a schematic diagram of a speed null shift feature in an embodiment of the present application;
FIGS. 5a and 5b are schematic diagrams of comparative analysis of the test results according to an embodiment of the present application;
FIG. 6 is a block diagram of a system for detecting a jitter angle according to an embodiment of the present disclosure;
fig. 7 is a schematic structural diagram of an electronic device according to an embodiment of the present application.
Detailed Description
As described in the background art, the processing schemes for the angular velocity collected by the measurement components such as the gyroscope include a first scheme shown in fig. 1a and a second scheme shown in fig. 1b, where the first scheme includes performing high-pass filtering on the angular velocity signal collected by the measurement components, and determining the jitter angle for the filtering result, and the scheme is difficult to effectively eliminate the interference of low-frequency noise; according to the scheme, low-pass filtering is carried out on the initial angular velocity, the initial angular velocity is subtracted by a processing result to obtain a target angular velocity, a shaking angle is determined according to the target angular velocity, and the scheme is difficult to cover shaking distance detection in a low-frequency range. Therefore, the angular velocity determined by the scheme still has the problems of large noise and effective information loss, and the accuracy of the jitter angle determined according to the angular velocity is low easily.
In view of the above problems, the method and system for detecting a jitter angle and a distance, an electronic device, a chip, and a computer storage medium provided by the present application generate a filtering parameter according to a speed null shift characteristic by obtaining the speed null shift characteristic of a shooting element, and perform filtering processing on an initial angular velocity according to the filtering parameter, wherein the filtering process is based on a null shift phenomenon that may be encountered during the integration of the initial angular velocity, so that the method is more targeted, and can effectively eliminate interference noise therein, retain effective data thereof to the maximum extent, improve the accuracy of the obtained de-noising angular velocity and a jitter angle determined according to the de-noising angular velocity, and improve the accuracy of a subsequently determined jitter distance, thereby improving the control effect of reverse compensation motion of the corresponding shooting element.
The technical solutions in the embodiments of the present application are clearly and completely described below with reference to the accompanying drawings, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application. The following embodiments and their technical features may be combined with each other without conflict.
In a first aspect of the present application, a method for detecting a jitter angle is provided, and as shown in fig. 2, the method includes:
and S110, acquiring the speed null shift characteristic of the shooting element.
The shooting element comprises tiny elements such as an image sensor and/or a micro lens, and the elements are arranged on the shooting module and are easy to deviate along with shaking of the electronic equipment. The speed null shift characteristic refers to a change characteristic of the initial angular speed when the initial angular speed is interfered by low-frequency noise thereof to generate null shift in the integration process, and may include characteristics such as null shift direction and null shift magnitude. The steps can directly estimate the zero drift phenomenon of the initial angular velocity in the integration process to obtain the corresponding velocity zero drift characteristic, and can also analyze the angular velocity and/or the jitter velocity of the last sampling moment to determine the velocity zero drift characteristic of the current sampling moment according to the velocity processing process of the last sampling moment.
And S120, generating a filtering parameter according to the speed null shift characteristic, wherein the filtering parameter is used for compensating the null shift effect of the initial angular speed of the shooting element in the integration process.
The measuring element measures an initial angular velocity with respect to the shooting element, and if the initial angular velocity is directly integrated, the obtained angle may have a certain degree of null shift due to interference of low-frequency noise, so that the obtained angle may have a deviation with respect to a real angle, and a side effect caused by the deviation is referred to as a null shift effect. The steps generate a filtering parameter according to the speed null shift characteristic, so as to adopt the initial angular speed of the filtering parameter to carry out filtering processing, and eliminate the null shift phenomenon of the obtained angular speed during integration.
S130, filtering the initial angular velocity according to the filtering parameters to obtain a denoising angular velocity.
The filtering parameters are determined according to the speed null shift characteristics, and the corresponding filtering process is based on the null shift phenomenon possibly encountered in the initial angular velocity integration, so that the method is more targeted, the interference noise in the filtering process can be effectively eliminated, and the effective data of the filtering process can be reserved to the maximum extent.
In one example, the filter parameter includes an offset amount having an offset direction; wherein, the offset direction is consistent with the zero drift direction, and the offset is consistent with the zero drift size. The filtering the initial angular velocity according to the filtering parameter to obtain the denoising angular velocity includes: and superposing the offset on the initial angular velocity according to the offset direction to obtain the denoising angular velocity.
Specifically, the present example superimposes the offset amount on the initial angular velocity in the direction opposite to the offset direction, for example, if the initial angular velocity is a and the offset direction is + and the offset amount is a, the process of superimposing the offset amount on the initial angular velocity is: a-a, to counteract the zero drift offset which may be generated by the initial angular velocity in the opposite direction, and ensure the accuracy of the subsequent angular velocity.
And S140, determining a jitter angle according to the denoising angular velocity.
The above steps can carry out operations such as integration and the like on the denoising angular velocity to obtain the required jitter angle. The noise in the denoising angular velocity is effectively filtered, and effective information in each frequency band range is reserved, so that the determined dithering angle is high in accuracy.
In one example, the determining a dither angle from the denoising angular velocity comprises:
and carrying out first integral operation on the denoising angular velocity to obtain the dithering angle.
The jitter angle determined by the method is high in accuracy, the accuracy of the determined jitter distance is improved, and therefore the effect of reverse compensation motion control of the corresponding shooting element can be improved.
In one embodiment, the acquiring the speed null shift characteristic of the shooting element includes:
taking the jitter angle of the shooting element at the last sampling moment as a reference angle;
and identifying a speed null shift characteristic represented by the reference angle.
The jitter of the shooting element has coherence, the jitter angles of two adjacent sampling moments are basically the same or similar, and the jitter angle of the last sampling moment is used as a reference angle for identifying the speed null shift characteristic of the current sampling moment, so that the speed null shift characteristic of the next sampling moment can be estimated while the jitter angle is detected, and the estimation process of the speed null shift characteristic can be simplified on the basis of ensuring the accuracy of the obtained speed null shift characteristic.
The present embodiment may analyze the characteristic of the reference angle, and/or perform operation processing such as integration or differentiation on the reference angle, and identify the speed null shift characteristic corresponding to the initial angular speed of the current sampling according to the operation result. In one example, the identifying the zero drift velocity characteristic of the reference angle representation includes:
performing a second integral operation on the reference angle;
and determining the speed null shift characteristic according to the result of the second integral operation.
The result of the second integral operation is used for estimating the speed null shift characteristic, the sign of the second integral operation is used for representing the null shift direction, the magnitude of the second integral operation can represent the null shift amount, and the result of the second integral operation is subjected to proportional-integral-derivative or other filtering operation to obtain the accurate null shift magnitude.
In one example, the speed null shift characteristics include a null shift direction and a null shift magnitude; said determining said speed null shift characteristic from a result of said second integration operation comprises: determining the null shift direction according to the result sign of the second integral operation; and performing proportional integral differential operation on the result of the second integral operation to obtain the zero drift size.
The sign of the zero shift direction is consistent with that of the second integration operation result, and if the zero shift direction is denoted as output' (t), the determination process can be as follows, where input (t) in the following formula represents the result of the second integration operation, and Label+Represents the positive direction, Label-Denotes the negative direction:
specifically, the pid operation includes:
wherein input (t) represents the result of the second integration operation, t represents a time variable, output (t) represents a null shift size, a symbol represents multiplication, a represents an integration parameter, b represents a differentiation parameter, and c represents a proportional parameter; wherein the integral parameter a, the differential parameter b and the proportional parameter c can be determined according to the relevant debugging process.
In an example, as shown in fig. 3, the method for detecting a jitter angle may also include obtaining an initial angular velocity measured by a measurement component at a current sampling time, performing filtering processing on the initial angular velocity by using a filtering parameter to obtain a denoising angular velocity, performing a first integration operation on the denoising angular velocity to obtain a jitter angle at the current sampling time, and performing a second integration operation on a result of the first integration operation (i.e., the jitter angle at the current sampling time) to perform null shift estimation at a next sampling time; specifically, the zero-crossing comparator may be sampled to determine a sign of the second integral operation result, the zero-crossing direction may be determined according to the sign, the proportional integral derivative operation may be performed on the second integral operation result to obtain the zero-crossing size, and the filtering parameters at the next sampling time may be sequentially determined, so as to filter the initial angular velocity at the next sampling time, to filter various types of noise in the initial angular velocity, and to retain effective information in various frequency band ranges. The zero-shift characteristic of the velocity obtained by the zero-shift estimation can be shown in fig. 4, which shows that the angular velocity is respectively shifted to positive and negative directions in the zero-shift phenomenon.
According to the method for detecting the shake angle, the speed null shift characteristic of the shooting element is obtained, the filtering parameter is generated according to the speed null shift characteristic, the initial angular velocity is filtered according to the filtering parameter, the filtering process is based on the null shift phenomenon possibly faced during the integration of the initial angular velocity, the method is more targeted, the interference noise in the initial angular velocity can be effectively eliminated, the effective data of the initial angular velocity can be kept to the maximum extent, the accuracy of the obtained de-noising angular velocity is improved, and therefore the accuracy of the shake angle determined according to the de-noising angular velocity is improved.
The present application provides, in a second aspect, a method for detecting a jitter distance, including:
determining the jitter angle by adopting the detection method of the jitter angle in any embodiment;
and performing linear conversion on the jitter angle to obtain a jitter distance.
Specifically, the above process of linearly scaling the jitter angle includes:
shakedistance＝GyroGain·input'，
where input' denotes the dither angle, GyroGainRepresenting the gain, peak, of the linear scalingdistanceIndicating the jitter distance.
In one example, the jitter distance obtained by the conventional scheme and the jitter distance detected by the present application are compared and analyzed, and the results are shown in fig. 5a and 5b, where fig. 5a is a schematic diagram of the jitter distance obtained by the conventional scheme, and the diagram indicates that there is a large offset between the detection result and the real result; fig. 5b is a schematic diagram of the jitter distance obtained by using the scheme of the present application, where the diagram shows that the detection result and the real result are substantially coincident, and the accuracy of the jitter distance obtained by the present application is high.
The method for detecting the jitter distance has high accuracy of the determined jitter distance, and can improve the effect of carrying out corresponding reverse compensation motion control according to the jitter distance.
The present application provides, in a third aspect, a system for detecting a shake angle, shown with reference to fig. 6, including:
an obtaining module 110, configured to obtain a speed null shift characteristic of the shooting element;
a generating module 120, configured to generate a filtering parameter according to the speed null shift characteristic, where the filtering parameter is used to compensate for a null shift effect of an initial angular speed of the shooting element in an integration process;
the filtering module 130 is configured to perform filtering processing on the initial angular velocity according to the filtering parameter to obtain a denoising angular velocity;
a first determining module 140, configured to determine a jitter angle according to the denoising angular velocity.
For the specific definition of the detection system of the jitter angle, reference may be made to the above definition of the detection method of the jitter angle, and details are not described here. The modules in the system for detecting the jitter angle can be wholly or partially implemented by software, hardware and a combination thereof. The modules can be embedded in a hardware form or independent of an operation module in the computer equipment, and can also be stored in a memory in the computer equipment in a software form, so that the operation module of the computer equipment can call and execute the operation corresponding to each module.
The present application provides, in a fourth aspect, a system for detecting a jitter distance, comprising:
a second determining module, configured to determine a shake angle by using the shake angle detecting system according to any of the embodiments;
and the linear conversion module is used for performing linear conversion on the jitter angle to obtain the jitter distance.
For the specific definition of the detection system of the jitter distance, reference may be made to the above definition of the detection method of the jitter distance, which is not described herein again. The modules in the system for detecting the jitter distance can be wholly or partially implemented by software, hardware and a combination thereof. The modules can be embedded in a hardware form or independent of an operation module in the computer equipment, and can also be stored in a memory in the computer equipment in a software form, so that the operation module of the computer equipment can call and execute the operation corresponding to each module.
The present application provides, in a fifth aspect, an electronic device, shown with reference to fig. 7, comprising a processor 620 and a storage medium 630; the storage medium 630 has program code stored thereon; the processor 620 is configured to call the program code stored in the storage medium 630 to execute the method for detecting a jitter angle or the method for detecting a jitter distance according to any of the above embodiments.
The electronic device may be a handheld terminal with a shooting function, and may further include a shooting element and a motor for driving the shooting element. The jitter angle is determined by adopting the detection scheme of the jitter angle provided by any embodiment, so that the jitter distance is determined, the accuracy of the determined jitter distance is high, and the effect of performing corresponding reverse compensation motion control according to the jitter distance can be improved.
A sixth aspect of the present application provides a chip including an arithmetic circuit; the arithmetic circuit is used for executing any one of the above-mentioned methods for detecting a shake angle or any one of the above-mentioned methods for detecting a shake distance.
A seventh aspect of the present application provides a computer storage medium having a computer program stored thereon, where the computer program is executed by a processor to implement any one of the above-mentioned methods for detecting a shake angle or any one of the above-mentioned methods for detecting a shake distance.
In the embodiments of the chip and the computer storage medium provided in the present application, all technical features of any method for detecting a jitter angle or any method for detecting a jitter distance may be included, and the expanding and explaining contents of the specification are substantially the same as those of the embodiments of the methods described above, and are not described herein again.
Although the application has been shown and described with respect to one or more implementations, equivalent alterations and modifications will occur to others skilled in the art based upon a reading and understanding of this specification and the annexed drawings. This application is intended to embrace all such modifications and variations and is limited only by the scope of the appended claims. In particular regard to the various functions performed by the above described components, the terms used to describe such components are intended to correspond, unless otherwise indicated, to any component which performs the specified function of the described component (e.g., that is functionally equivalent), even though not structurally equivalent to the disclosed structure which performs the function in the herein illustrated exemplary implementations of the specification.
That is, the above description is only an embodiment of the present application, and not intended to limit the scope of the present application, and all equivalent structures or equivalent flow transformations made by using the contents of the specification and the drawings, such as mutual combination of technical features between various embodiments, or direct or indirect application to other related technical fields, are included in the scope of the present application.
In addition, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more features. In the description of the present application, "a plurality" means two or more unless specifically limited otherwise.
The previous description is provided to enable any person skilled in the art to make and use the present application. In the foregoing description, various details have been set forth for the purpose of explanation. It will be apparent to one of ordinary skill in the art that the present application may be practiced without these specific details. In other instances, well-known processes have not been described in detail so as not to obscure the description of the present application with unnecessary detail. Thus, the present application is not intended to be limited to the embodiments shown, but is to be accorded the widest scope consistent with the principles and features disclosed herein.
Claims (13)
1. A method for detecting a shake angle, comprising:
acquiring the speed zero drift characteristic of a shooting element;
generating a filtering parameter according to the speed null shift characteristic, wherein the filtering parameter is used for compensating the null shift effect of the initial angular speed of the shooting element in the integration process;
filtering the initial angular velocity according to the filtering parameters to obtain a denoising angular velocity;
and determining a jitter angle according to the denoising angular velocity.
2. The method for detecting a shake angle according to claim 1, wherein the determining a shake angle according to the denoising angular velocity includes:
and carrying out first integral operation on the denoising angular velocity to obtain the dithering angle.
3. The method for detecting a shake angle according to claim 1, wherein the obtaining a speed null shift characteristic of the pickup element includes:
taking the jitter angle of the shooting element at the last sampling moment as a reference angle;
and identifying a speed null shift characteristic represented by the reference angle.
4. The method according to claim 3, wherein the identifying the speed null shift characteristic of the reference angle representation comprises:
performing a second integral operation on the reference angle;
and determining the speed null shift characteristic according to the result of the second integral operation.
5. The method according to claim 4, wherein the velocity null shift characteristics include a null shift direction and a null shift magnitude;
said determining said speed null shift characteristic from a result of said second integration operation comprises: determining the null shift direction according to the result sign of the second integral operation; and performing proportional integral differential operation on the result of the second integral operation to obtain the zero drift size.
6. The method according to claim 5, wherein the PID operation comprises:
wherein input (t) represents the result of the second integration operation, t represents a time variable, output (t) represents a null shift size, the symbol · represents a multiplication, a represents an integration parameter, b represents a differentiation parameter, and c represents a proportional parameter.
7. The method according to claim 1, wherein the filter parameter includes an offset amount having an offset direction; the filtering the initial angular velocity according to the filtering parameter to obtain a denoising angular velocity comprises:
and superposing the offset on the initial angular velocity according to the offset direction to obtain the denoising angular velocity.
8. A method for detecting a jitter distance, comprising:
determining a jitter angle by using the method for detecting a jitter angle according to any one of claims 1 to 7;
and performing linear conversion on the jitter angle to obtain a jitter distance.
9. A system for detecting a shake angle, comprising:
the acquisition module is used for acquiring the speed zero drift characteristic of the shooting element;
the generating module is used for generating a filtering parameter according to the speed null shift characteristic, and the filtering parameter is used for compensating the null shift effect of the initial angular speed of the shooting element in the integration process;
the filtering module is used for carrying out filtering processing on the initial angular velocity according to the filtering parameters to obtain a denoising angular velocity;
and the first determining module is used for determining the jitter angle according to the denoising angular velocity.
10. A system for detecting a jitter distance, comprising:
a second determining module, configured to determine a jitter angle by using the jitter angle detecting system of claim 9;
and the linear conversion module is used for performing linear conversion on the jitter angle to obtain the jitter distance.
11. An electronic device comprising a processor and a storage medium; the storage medium having program code stored thereon; the processor is configured to call the program code stored in the storage medium to execute the method for detecting a jitter angle according to any one of claims 1 to 7 or the method for detecting a jitter distance according to claim 8.
12. A chip, comprising an arithmetic circuit; the arithmetic circuit is configured to execute the method for detecting a jitter angle according to any one of claims 1 to 7 or the method for detecting a jitter distance according to claim 8.
13. A computer storage medium, characterized in that the computer storage medium has stored thereon a computer program which, when executed by a processor, implements the method of detecting a shake angle according to any one of claims 1 to 7 or the method of detecting a shake distance according to claim 8.
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