CN113992842B - Jitter angle and distance detection method and system, electronic equipment and chip - Google Patents
Jitter angle and distance detection method and system, electronic equipment and chip Download PDFInfo
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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
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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
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Abstract
The application discloses a method and a system for detecting a jitter angle and a jitter distance, electronic equipment, a chip and a computer storage medium; the method for detecting the jitter angle comprises the following steps: acquiring a speed null shift characteristic of a shooting element; generating a filtering parameter according to the speed zero drift characteristic, wherein the filtering parameter is used for compensating the zero drift 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 accuracy of the obtained shaking angle is improved, and the accuracy of the determined shaking distance is higher, so that the control effect of the reverse compensation motion of the corresponding shooting element is improved.
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 jitter distance, electronic equipment, a chip and a computer storage medium.
Background
The photographing and shooting functions are one of the most focused functions of users in electronic devices such as smart phones, and the sales performance of the corresponding electronic devices is often directly influenced by the user experience brought by the functions, so how to improve the photographing and shooting effects of the electronic devices is a focus of continuous focusing of corresponding manufacturers. The anti-shake function of the electronic device is a premise that the electronic device can shoot images and videos with excellent image quality, and usually needs to detect shake parameters such as shake angles and/or distances of the electronic device so as to reversely compensate according to the shake parameters, offset side effects caused by shake, and guarantee shooting quality.
The gyroscope sensor is a measurement component for measuring the angular velocity of an object, and is widely used in electronic devices such as mobile phones. In the process of collecting angular velocity using such a measurement component, low-frequency noise is easily introduced. When the angular velocity acquired by the measuring component is integrated to acquire a corresponding shaking angle, the angle obtained by integration has a certain zero drift phenomenon due to interference of low-frequency noise. The method comprises the steps that high-pass filtering is firstly carried out on initial angular velocity collected by a measurement component, a jitter angle is determined according to a wave result, and interference of low-frequency noise is difficult to effectively eliminate; the method comprises the steps that the method comprises the steps of carrying out low-pass filtering on an initial angular velocity, subtracting a processing result from the initial angular velocity to obtain a target angular velocity, and determining a jitter angle according to the target angular velocity, wherein jitter distance detection in a low-frequency range is difficult to cover by the method; the problem that the angular velocity determined by the conventional scheme still has large noise and missing effective information is easy to cause low accuracy of the shake angle determined according to the angular velocity, and the effect of performing reverse compensation motion control of the shooting element according to the shake angle and/or the corresponding shake distance is easy to be affected.
Disclosure of Invention
In view of the above, 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 the jitter angle determined by the existing solution is low.
The first aspect of the present application provides a method for detecting a shake angle, including:
acquiring a speed null shift characteristic of a shooting element;
Generating a filtering parameter according to the speed zero drift characteristic, wherein the filtering parameter is used for compensating the zero drift 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 the shake angle according to the denoising angular velocity includes:
And performing first integral operation on the denoising angular velocity to obtain the dithering angle.
Optionally, the acquiring the speed zero drift characteristic of the shooting element includes:
taking the shake angle of the shooting element at the last sampling moment as a reference angle;
and identifying the speed zero drift characteristic of the reference angle representation.
Optionally, the identifying the speed zero drift characteristic of the reference angle characterization includes:
Performing second integral operation on the reference angle;
and determining the speed zero drift characteristic according to the result of the second integral operation.
Optionally, the speed zero-drift characteristics include a zero-drift direction and a zero-drift magnitude;
the determining the speed zero drift characteristic according to the result of the second integral operation comprises: determining the zero drift direction according to the result sign of the second integral operation; and performing proportional-integral-derivative operation on the result of the second integral operation to obtain the zero drift.
Optionally, the proportional-integral-derivative operation includes:
wherein input (t) represents the result of the second integration operation, t represents a time variable, output (t) represents a zero drift size, sign-represents multiplication, a represents an integration parameter, b represents a differentiation parameter, and c represents a proportionality parameter.
Optionally, the filtering parameter includes an offset having an offset direction; the filtering processing is carried out on the initial angular velocity according to the filtering parameters, and the obtaining of the denoising angular velocity comprises the following steps:
And superposing the offset on the initial angular velocity according to the offset direction to obtain the denoising angular velocity.
The second aspect of the present application provides a method for detecting a jitter distance, including:
Determining a shake angle by adopting any shake angle detection method;
and linearly converting the shaking angle to obtain a shaking distance.
A third aspect of the present application provides a shake angle detection system, including:
the acquisition module is used for acquiring the speed zero drift characteristic of the shooting element;
the generation module is used for generating a filtering parameter according to the speed zero drift characteristic, and the filtering parameter is used for compensating the zero drift effect of the initial angular speed of the shooting element in the integration process;
the filtering module is used for carrying out filtering treatment 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 dithering angle according to the denoising angular velocity.
A fourth aspect of the present application provides a shake angle detection system, including:
the second determining module is used for determining the shake angle by any shake angle detection system;
and the linear conversion module is used for carrying out linear conversion on the dithering angle to obtain the dithering distance.
A fifth aspect of the application provides an electronic device comprising a processor and a storage medium; the storage medium has program code stored thereon; the processor is configured to invoke the program code stored in the storage medium to execute any one of the above-mentioned jitter angle detection methods or any one of the above-mentioned jitter distance detection methods.
A sixth aspect of the present application provides a chip comprising an arithmetic circuit; the arithmetic circuit is used for executing any one of the detection methods of the jitter angle or any one of the detection methods of the jitter distance.
A seventh aspect of the present application provides a computer storage medium having stored thereon a computer program which, when executed by a processor, implements any one of the above-described detection methods of a shake angle or any one of the above-described detection methods of a shake distance.
According to the shake angle and distance detection method and system, the electronic equipment, the chip and the computer storage medium, 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 subjected to filtering processing according to the filtering parameter, the filtering process is based on the null shift phenomenon possibly faced when the initial angular velocity is integrated, interference noise in the filtering process can be eliminated more pertinently, effective data of the filtering process can be reserved to the greatest extent, the accuracy of the obtained denoising angular velocity and the shake angle determined according to the denoising angular velocity is improved, the accuracy of the determined shake 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 of the embodiments of the present application, the drawings that are needed in the description of the embodiments will be briefly described below, it being obvious that the drawings in the following description are only some embodiments of the present application, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIGS. 1a and 1b are schematic views of conventional angular velocity signal processing procedures
FIG. 2 is a flow chart of a method for detecting a shake angle according to an embodiment of the application;
FIG. 3 is a flow chart of a method for detecting a shake angle according to another embodiment of the application;
FIG. 4 is a schematic representation of a velocity null shift feature in an embodiment of the application;
FIGS. 5a and 5b are schematic diagrams illustrating comparison analysis of detection results according to an embodiment of the present application;
FIG. 6 is a schematic diagram of a shake angle detection system according to an embodiment of the application;
fig. 7 is a schematic structural diagram of an electronic device according to an embodiment of the application.
Detailed Description
As described in the background art, the processing scheme of the angular velocity collected by the measurement components such as the gyroscope includes a scheme one shown in fig. 1a and a scheme two shown in fig. 1b, the scheme one includes high-pass filtering the angular velocity signal collected by the measurement components, and determining the jitter angle of the filtering result, where it is difficult to effectively eliminate the interference of low-frequency noise; and secondly, carrying out low-pass filtering on the initial angular velocity, subtracting the processing result from the initial angular velocity to obtain a target angular velocity, and determining a jitter angle according to the target angular velocity. Therefore, the angular velocity determined by the scheme still has the problems of large noise and missing effective information, and the accuracy of the shake angle determined according to the angular velocity is easy to be low.
According to the method and the system for detecting the shake angle and the distance, the electronic equipment, the chip and the computer storage medium, provided by the application, the speed zero drift characteristics of the shooting element are obtained, the filtering parameters are generated according to the speed zero drift characteristics, the initial angular velocity is subjected to filtering processing according to the filtering parameters, the filtering process is based on the possible zero drift phenomenon during the integration of the initial angular velocity, the interference noise in the filtering process can be effectively eliminated, the effective data of the filtering process can be kept to the greatest extent, the accuracy of the obtained denoising angular velocity and the shake angle determined according to the denoising angular velocity is improved, the accuracy of the shake distance determined later is higher, and the control effect of the reverse compensation motion of the corresponding shooting element is improved.
The following description of the embodiments of the present application will be made in detail and with reference to the accompanying drawings, wherein it is apparent that the embodiments described are only some, but not all embodiments of the present application. All other embodiments, which can be made by those skilled in the art based on the embodiments of the application without making any inventive effort, are intended to fall within the scope of the application. The various embodiments described below and their technical features can be combined with each other without conflict.
A first aspect of the present application provides a method for detecting a jitter angle, as shown in fig. 2, where the method includes:
s110, acquiring the speed zero drift characteristic of the shooting element.
The shooting element comprises tiny elements such as an image sensor and/or a micro-lens, and the like, and the elements are arranged on the shooting module and easily deviate along with the shake of the electronic equipment. The speed zero drift characteristic refers to the change characteristic of the initial angular speed when the initial angular speed is interfered by low-frequency noise in the integration process to generate zero drift, and can comprise the characteristics of zero drift direction, zero drift size and the like. The above steps can directly estimate the null shift phenomenon of the initial angular velocity in the integration process to obtain the corresponding velocity null shift characteristic, and can analyze the angular velocity and/or the dithering velocity of the last sampling moment, and determine the velocity null shift 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 zero drift characteristic, wherein the filtering parameter is used for compensating the zero drift effect of the initial angular speed of the shooting element in the integration process.
The measuring element measures the initial angular velocity for the photographing element, and if the initial angular velocity is directly integrated, the obtained angle has a certain degree of zero drift due to interference of low-frequency noise, so that the obtained angle has a deviation from a real angle, and a side effect caused by the deviation is called zero drift effect. The steps generate filtering parameters according to the speed zero drift characteristics, and perform filtering processing by adopting the initial angular speed of the filtering parameters, so as to eliminate the zero drift phenomenon of the obtained angular speed during integration.
And S130, carrying out filtering processing on the initial angular velocity according to the filtering parameters to obtain a denoising angular velocity.
The filtering parameters are determined according to the speed zero drift characteristics, the corresponding filtering process is based on the zero drift phenomenon possibly faced during the initial angular speed integration, the pertinence is better, the interference noise in the filtering parameters can be effectively eliminated, and the effective data of the filtering process can be reserved to the greatest extent.
In one example, the filtering parameter includes an offset having an offset direction; wherein the offset direction is consistent with the zero drift direction, and the offset is consistent with the zero drift. The filtering processing is performed on the initial angular velocity according to the filtering parameter, and obtaining 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, in this example, the offset is superimposed on the initial angular velocity in the direction opposite to the offset direction, for example, if the initial angular velocity is a, the offset direction is +, the offset is a, the process of superimposing the offset on the initial angular velocity is: a-a, offset the possible zero drift offset of initial angular velocity with the reverse, guarantee the accuracy of follow-up adoption angular velocity.
And S140, determining a jitter angle according to the denoising angular velocity.
The steps can be used for carrying out integral and other operations on the denoising angular velocity to obtain a required dithering angle. The noise in the denoising angular velocity is effectively filtered, and effective information in each frequency band range is reserved, so that the accuracy of the determined dithering angle is high.
In one example, the determining the shake angle from the denoising angular velocity includes:
And performing first integral operation on the denoising angular velocity to obtain the dithering angle.
The accuracy of the shake angle determined by the method is high, and the accuracy of the shake distance determined by the method is improved, so that the effect of reverse compensation motion control of the corresponding shooting element can be improved.
In one embodiment, the acquiring the speed zero drift characteristic of the photographing element includes:
taking the shake angle of the shooting element at the last sampling moment as a reference angle;
and identifying the speed zero drift characteristic of the reference angle representation.
Because the shake of the shooting element has consistency, shake angles of two adjacent sampling moments are basically the same or similar, and shake angles of the last sampling moment are used as reference angles for speed zero drift feature identification of the current sampling moment, so that the speed zero drift feature of the next sampling moment can be estimated while the shake angles are detected, and the estimation process of the speed zero drift feature can be simplified on the basis of ensuring the accuracy of the obtained speed zero drift feature.
The embodiment can analyze the characteristics of the reference angle, and/or perform operation processing such as integration or differentiation on the reference angle, and the like, and identify the speed zero drift characteristics corresponding to the initial angular speed according to the operation result. In one example, the identifying the speed null shift feature of the reference angle characterization includes:
Performing second integral operation on the reference angle;
and determining the speed zero drift characteristic according to the result of the second integral operation.
The result of the second integral operation is used for estimating the speed zero drift characteristic, the sign of the result is used for representing the zero drift direction, the magnitude of the result can represent the zero drift amount, and the accurate zero drift magnitude can be obtained by performing proportional integral differentiation or other filtering operation on the result of the second integral operation.
In one example, the speed zero-drift characteristics include a zero-drift direction and a zero-drift magnitude; the determining the speed zero drift characteristic according to the result of the second integral operation comprises: determining the zero drift direction according to the result sign of the second integral operation; and performing proportional-integral-derivative operation on the result of the second integral operation to obtain the zero drift.
If the null shift direction is expressed as output' (t) as the sign of the second integral result, the determination process may be expressed as follows, where input (t) represents the result of the second integral operation, label + represents the positive direction, and Label - represents the negative direction:
specifically, the pid operation includes:
Wherein input (t) represents the result of the second integral operation, t represents a time variable, output (t) represents a zero drift size, a represents multiplication, a represents an integral parameter, b represents a differential parameter, and c represents a proportional parameter; wherein the integral parameter a, the differential parameter b and the proportional parameter c may be determined in accordance with a relevant commissioning procedure.
In an example, as shown in fig. 3, the above method for detecting a jitter angle may also refer to the method for detecting a jitter angle, where an initial angular velocity measured by a measurement component is obtained at a current sampling time, a filtering parameter is used to perform filtering processing on the initial angular velocity to obtain a denoised angular velocity, a first integral operation is performed on the denoised angular velocity to obtain a jitter angle at the current sampling time, and a second integral operation is performed on a result of the first integral operation (i.e., the jitter angle at the current sampling time) to be used for performing zero drift estimation at a next sampling time; the zero-crossing comparator can be used for judging the sign of the second integral operation result, determining the zero-drift direction according to the sign, performing proportional-integral-derivative operation on the second integral operation result to obtain the zero-drift size, sequentially determining the filtering parameters of the next sampling moment, and filtering the initial angular velocity of the next sampling moment to filter various noises in the initial angular velocity and keep the effective information in each frequency range. The zero drift characteristics of the speed obtained by the zero drift estimation can be shown by referring to fig. 4, wherein in the zero drift phenomenon, the angular speed is respectively shifted to positive and negative directions.
According to the method for detecting the jitter angle, the speed zero drift characteristics of the shooting element are obtained, the filtering parameters are generated according to the speed zero drift characteristics, the initial angular velocity is filtered according to the filtering parameters, the filtering process is based on the possible zero drift phenomenon during the integration of the initial angular velocity, interference noise in the filtering process can be effectively eliminated, effective data can be reserved to the greatest extent, the accuracy of the obtained denoising angular velocity is improved, and therefore the accuracy of the jitter angle determined according to the denoising angular velocity is improved.
The present application provides in a second aspect a method for detecting a jitter distance, including:
determining a shake angle by adopting the shake angle detection method according to any embodiment;
and linearly converting the shaking angle to obtain a shaking distance.
Specifically, the process of linearly converting the jitter angle includes:
shakedistance＝GyroGain·input'，
Where input' represents a jitter angle, gyro Gain represents a gain in linear conversion, and shake distance represents a jitter distance.
In one example, the jitter distance obtained by the conventional scheme and the jitter distance detected by the method are compared and analyzed, and the result is shown in fig. 5a and 5b, and fig. 5a is a schematic diagram of the jitter distance obtained by the conventional scheme, where a large deviation exists between the detection result and the real result; fig. 5b is a schematic diagram of the jitter distance obtained by the scheme of the present application, which shows that the detection result and the real result are basically coincident, and the accuracy of the jitter distance obtained by the present application is high.
The method for detecting the jitter distance has the advantages that the accuracy of the determined jitter distance is high, and the effect of corresponding reverse compensation motion control according to the jitter distance can be improved.
In a third aspect, the present application provides a shake angle detection system, as shown in fig. 6, including:
An acquisition module 110, configured to acquire a speed null shift characteristic of the photographing element;
a generating module 120, configured to generate a filtering parameter according to the speed zero drift characteristic, where the filtering parameter is used to compensate for a zero drift effect of an initial angular speed of the capturing 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;
The first determining module 140 is configured to determine a jitter angle according to the denoising angular velocity.
For specific limitation of the detection system of the shake angle, reference may be made to the limitation of the detection method of the shake angle hereinabove, and the description thereof will not be repeated here. The respective modules in the above-described shake angle detection system may be implemented in whole or in part by software, hardware, or a combination thereof. The above modules can be embedded in or independent of the operation module in the computer device in a hardware form, or can be stored in the memory in the computer device in a software form, so that the operation module of the computer device can call and execute the operations corresponding to the above modules.
In a fourth aspect, the present application provides a jitter distance detection system, including:
the second determining module is configured to determine a shake angle according to the shake angle detection system described in any one of the foregoing embodiments;
and the linear conversion module is used for carrying out linear conversion on the dithering angle to obtain the dithering distance.
For a specific limitation of the detection system for the jitter distance, reference may be made to the limitation of the detection method for the jitter distance hereinabove, and the description thereof will not be repeated here. The respective modules in the above-described shake distance detection system may be implemented in whole or in part by software, hardware, and combinations thereof. The above modules can be embedded in or independent of the operation module in the computer device in a hardware form, or can be stored in the memory in the computer device in a software form, so that the operation module of the computer device can call and execute the operations corresponding to the above modules.
The present application provides in a fifth aspect an electronic device, as 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 invoke the program code stored in the storage medium 630 to execute the method for detecting a jitter angle provided in any of the above embodiments or the method for detecting a jitter distance provided in any of the above embodiments.
The electronic device may be a handheld terminal having a photographing function, and may further include a photographing element, a motor driving the photographing element, and the like. The jitter angle is determined by adopting the jitter angle detection scheme provided by any embodiment, so that the jitter distance is determined, the accuracy of the determined jitter distance is high, and the effect of corresponding reverse compensation motion control according to the jitter distance can be improved.
A sixth aspect of the present application provides a chip comprising an arithmetic circuit; the arithmetic circuit is used for executing any one of the detection methods of the jitter angle or any one of the detection methods of the jitter distance.
A seventh aspect of the present application provides a computer storage medium having stored thereon a computer program which, when executed by a processor, implements any one of the above-described detection methods of a shake angle or any one of the above-described detection methods of a shake distance.
In the embodiments of the chip and the computer storage medium provided by 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 expansion and explanation contents of the description are substantially the same as those of each embodiment of each method, which 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. The present application includes all such modifications and alterations and is limited only by the scope of the following 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 foregoing embodiments of the present application are merely examples, and are not intended to limit the scope of the present application, and all equivalent structures or equivalent processes using the descriptions of the present application and the accompanying drawings, such as the combination of technical features of the embodiments, or direct or indirect application in other related technical fields, are included in the scope of the present application.
In addition, the terms "first," "second," 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 defining "a first" or "a second" may explicitly or implicitly include one or more features. In the description of the present application, the meaning of "a plurality" is two or more, unless explicitly defined otherwise.
The previous description is provided to enable any person skilled in the art to make or use the present application. In the above description, various details are set forth for purposes 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 in order to avoid unnecessarily obscuring the description of the present application. 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 (11)
1. A method for detecting a shake angle, comprising:
Acquiring a speed null shift characteristic of a shooting element; the acquiring the speed zero drift characteristic of the shooting element comprises the following steps: taking the shake angle of the shooting element at the last sampling moment as a reference angle; identifying a speed zero drift characteristic of the reference angle representation; the identifying the speed zero drift characteristic of the reference angle characterization includes: performing second integral operation on the reference angle; determining the speed zero drift characteristic according to the result of the second integral operation;
Generating a filtering parameter according to the speed zero drift characteristic, wherein the filtering parameter is used for compensating the zero drift effect of the initial angular speed of the shooting element in the integration process, and the filtering parameter comprises an offset with an offset direction;
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 of detecting a shake angle according to claim 1, wherein the determining a shake angle from the denoising angular velocity includes:
And performing first integral operation on the denoising angular velocity to obtain the dithering angle.
3. The method of claim 1, wherein the speed zero-drift characteristics include a zero-drift direction and a zero-drift magnitude;
the determining the speed zero drift characteristic according to the result of the second integral operation comprises: determining the zero drift direction according to the result sign of the second integral operation; and performing proportional-integral-derivative operation on the result of the second integral operation to obtain the zero drift.
4. A method of detecting a shake angle according to claim 3, wherein the pid operation includes:
wherein input (t) represents the result of the second integration operation, t represents a time variable, output (t) represents a zero drift size, sign-represents multiplication, a represents an integration parameter, b represents a differentiation parameter, and c represents a proportionality parameter.
5. The method for detecting a jitter angle according to claim 1, wherein 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.
6. A method for detecting a jitter distance, comprising:
determining a shake angle by the shake angle detection method according to any one of claims 1 to 5;
and linearly converting the shaking angle to obtain a shaking distance.
7. 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 acquiring the speed zero drift characteristic of the shooting element comprises the following steps: taking the shake angle of the shooting element at the last sampling moment as a reference angle; identifying a speed zero drift characteristic of the reference angle representation; the identifying the speed zero drift characteristic of the reference angle characterization includes: performing second integral operation on the reference angle; determining the speed zero drift characteristic according to the result of the second integral operation;
the generation module is used for generating a filtering parameter according to the speed zero drift characteristic, wherein the filtering parameter is used for compensating the zero drift effect of the initial angular speed of the shooting element in the integration process, and the filtering parameter comprises an offset with an offset direction;
the filtering module is used for carrying out filtering treatment 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 dithering angle according to the denoising angular velocity.
8. A system for detecting a jitter distance, comprising:
a second determining module, configured to determine a shake angle using the shake angle detection system according to claim 7;
and the linear conversion module is used for carrying out linear conversion on the dithering angle to obtain the dithering distance.
9. An electronic device comprising a processor and a storage medium; the storage medium has program code stored thereon; the processor is configured to invoke the program code stored in the storage medium to perform the method for detecting a jitter angle according to any one of claims 1 to 5 or the method for detecting a jitter distance according to claim 6.
10. The chip is characterized by comprising an operation circuit; the arithmetic circuit is configured to execute the method for detecting a shake angle according to any one of claims 1 to 5 or the method for detecting a shake distance according to claim 6.
11. A computer storage medium, wherein a computer program is stored on the computer storage medium, and the computer program, when executed by a processor, implements the method for detecting a jitter angle according to any one of claims 1 to 5 or the method for detecting a jitter distance according to claim 6.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN202111174211.3A CN113992842B (en) | 2021-10-08 | 2021-10-08 | Jitter angle and distance detection method and system, electronic equipment and chip |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202111174211.3A CN113992842B (en) | 2021-10-08 | 2021-10-08 | Jitter angle and distance detection method and system, electronic equipment and chip |
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| CN113992842A CN113992842A (en) | 2022-01-28 |
| CN113992842B true CN113992842B (en) | 2024-05-31 |
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