CN114624993A - Method and device for optimizing accelerometer for dynamically adjusting posture of holder and storage medium - Google Patents

Method and device for optimizing accelerometer for dynamically adjusting posture of holder and storage medium Download PDF

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CN114624993A
CN114624993A CN202210283088.7A CN202210283088A CN114624993A CN 114624993 A CN114624993 A CN 114624993A CN 202210283088 A CN202210283088 A CN 202210283088A CN 114624993 A CN114624993 A CN 114624993A
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roll
accelerometer
gyro
acc
attitude
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黄立
张佳
李攀
郭桥
唐金龙
薛源
刘华斌
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Puzhou Technology Shenzhen Co ltd
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    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
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    • G05B11/01—Automatic controllers electric
    • G05B11/36—Automatic controllers electric with provision for obtaining particular characteristics, e.g. proportional, integral, differential
    • G05B11/42—Automatic controllers electric with provision for obtaining particular characteristics, e.g. proportional, integral, differential for obtaining a characteristic which is both proportional and time-dependent, e.g. P. I., P. I. D.

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Abstract

The invention discloses a method and a device for optimizing an accelerometer by dynamically adjusting the posture of a holder, and a storage medium, which relate to the technical field of unmanned aerial vehicles and comprise the following steps: step S1, acquiring accelerometer data Acc _ Roll in real time; step S2, judging whether the accelerometer data Acc _ Roll exceeds a preset first threshold value W0(ii) a Step S3, if Acc _ Roll > W0Then the current state is maintained and step S4 is executed; step S4, judging whether the accelerometer data Acc _ Roll exceeds a second threshold value W1(ii) a Step S5, if Acc _ Roll < W is satisfied1Correcting the Gyro angular velocity value Gyro _ Roll; step S6, judging whether the accelerometer data Acc _ Roll exceeds a set third threshold value W2And whether the correction time T is satisfied to exceed a certain time T1(ii) a If Acc _ Roll < W is satisfied2And T > T1Then, the acceleration limit value and the accelerometer scale factor K in the attitude calculation are restored in step S3pAnd finishing the optimization. The invention can realize the faster convergence of the horizontal rolling attitude of the pan-tilt, so that the pan-tilt is horizontalThe roller returns to the horizontal zero position of the structure relatively quickly.

Description

Optimization method, device and storage medium for accelerometer dynamically adjusting posture of holder
Technical Field
The invention relates to the technical field of unmanned aerial vehicles, in particular to a method and a device for optimizing an accelerometer for dynamically adjusting the attitude of a holder, and a storage medium.
Background
At present, the triaxial cloud platform that unmanned aerial vehicle carried on in the market is when the operation, and flying speed is fast, especially at unmanned aerial vehicle turn in-process, and the cloud platform roll axis direction of stowage can produce great angle, when recovering to the horizontal direction motion after unmanned aerial vehicle turns and accomplishes, cloud platform roll direction needs the longer time just can recover the horizontal zero-bit of structure, and image roll direction can have long-time crooked phenomenon in the vision.
Trade unmanned aerial vehicle carries on at present and is the stable cloud platform of triaxial, and unmanned aerial vehicle is at the operation in-process, and when unmanned aerial vehicle was in hovering or slow flight state, triaxial cloud platform position, roll and every single move axle all were in structure zero-bit department. At the moment, the state of the three-axis pan-tilt is shown in figure 1, and the image viewed by the display end is not skewed;
but when unmanned aerial vehicle when fast flight, especially in the turn in-process, owing to receive the influence of unmanned aerial vehicle organism roll direction, the triaxial cloud platform roll direction that leads to the carry can produce great angle theta, and the state at this moment is as shown in figure 2, and crooked phenomenon will appear in the image that the display end was watched, influences use experience effect and operating efficiency.
The cradle head roll direction is inclined for a long time, mainly in the turning process of the unmanned aerial vehicle, the acceleration of the cradle head roll is increased instantly, but when the unmanned aerial vehicle returns to the horizontal direction after turning is finished, the convergence of the acceleration of the cradle head roll is too slow, so that the horizontal zero position can be restored for a long time, and as shown in fig. 2, the phenomenon of inclination is presented.
In view of this, the present application provides a method, an apparatus, and a storage medium for dynamically adjusting an accelerometer of a pan-tilt attitude.
Disclosure of Invention
The invention aims to provide a method, a device and a storage medium for optimizing an accelerometer for dynamically adjusting a tripod head attitude, so as to solve the problem that when an unmanned aerial vehicle returns to a horizontal direction after turning is finished, the horizontal roll direction of the tripod head can be restored to a structural horizontal zero position for a long time, and the phenomenon of long-time skew of the horizontal roll direction of an image in vision is caused.
The invention solves the technical problems through the following technical means:
a cloud deck attitude dynamic adjustment accelerometer optimization method comprises the following steps:
step S1, acquiring accelerometer data Acc _ Roll in real time;
step S2, judging whether the accelerometer data Acc _ Roll exceeds a preset first threshold value W0；
Step S3, if Acc _ Roll > W0Then the current state is maintained and step S4 is executed; if not, continuing to execute the step S1;
step S4, judging whether the accelerometer data Acc _ Roll exceeds a second threshold value W1；
Step S5, if Acc _ Roll < W is satisfied1If yes, correcting the Gyro angular velocity value Gyro _ Roll, and if not, continuing to execute the step S4;
step S6, judging whether the accelerometer data Acc _ Roll exceeds a third threshold value W2And whether the correction time T is satisfied to exceed a certain time T1；
If Acc _ Roll < W is satisfied2And T > T1Then, the acceleration limit value and the accelerometer scale factor K in the attitude calculation are restored in step S3pAnd finishing the optimization; if not, the process continues to step S5.
The method compares the accelerometer data Acc _ Roll with a plurality of preset threshold values, maintains the existing state parameters when the accelerometer data Acc _ Roll is larger than a first threshold value Acc _ Roll, and judges the existing state parameters and a second threshold value W1If it is larger than the second threshold value W1Correcting the Gyro angular velocity value Gyro _ Roll, and finally, if Acc _ Roll < W is satisfied2And T > T1When the current state parameter is over, the original state parameter is recovered. Therefore, the fast convergence of the horizontal rolling attitude of the cradle head is realized, and the horizontal rolling shaft of the cradle head returns to the horizontal zero position of the structure fast.
Preferably, the maintaining of the current state parameter includes maintaining the existing acceleration amplitude limit value and maintaining the proportional coefficient K of the angular velocity of the accelerometer correction gyroscope in the attitude calculationp。
Preferably, the step of correcting the Gyro angular velocity value Gyro _ Roll includes the steps of:
s51, increasing the amplitude limiting interval of the acceleration and simultaneously increasing the proportionality coefficient K of the accelerometer in attitude calculationpCorrecting a Gyro angular velocity value Gyro _ Roll;
and S52, acquiring the tripod head posture Angle _ Roll based on the corrected Gyro angular velocity value Gyro _ Roll, thereby dynamically adjusting the convergence velocity of the Roll posture.
Preferably, step S51 includes:
increasing the accelerometer scaling factor K using equation (1)pI.e. KpThe value is linearly changed according to the acceleration change value;
Kp＝K*Acc_Roll (1)
and the Gyro angular velocity value Gyro _ Roll is corrected by using a formula (2);
Gyro_Roll＝Gyro_Roll+Kp*EAcc_Roll (2)；
wherein K is a constant, and EAcc _ Roll represents the unit acceleration error value after the coordinate system is converted.
Preferably, step S52 includes:
the posture Angle _ Roll of the pan/tilt head is obtained by using the formula (3) to dynamically adjust the convergence speed of the Roll posture,
Figure BDA0003558791700000031
preferably, the accelerometer data Acc _ Roll is an acceleration of the pan-tilt gyroscope chip.
A cloud deck attitude dynamic adjustment accelerometer optimization device, includes:
the acquisition module is used for acquiring accelerometer data Acc _ Roll in real time;
a first judging module, configured to judge whether the accelerometer data Acc _ Roll exceeds a preset first threshold W0；
A first execution module for executing when Acc _ Roll > W0Then the current state is maintained and step S4 is executed; otherwise, the acquisition module is continuously executed;
a second judging module, configured to judge whether the accelerometer data Acc _ Roll exceeds a second threshold W1；
A second execution module for executing the first execution module if Acc _ Roll < W is satisfied1If the Gyro angular velocity value is not satisfied, the second judgment module is continuously executed;
a third judging module, configured to judge whether the accelerometer data Acc _ Roll exceeds a third threshold W2And whether the correction time T is satisfied to exceed a certain time T1；
If Acc _ Roll < W is satisfied2And T > T1Then, the acceleration limit value and the accelerometer scale factor K in the attitude calculation are restored in step S3pAnd finishing the optimization; if not, the second execution module is continuously executed.
Preferably, the maintaining of the current state comprises maintaining the existing acceleration amplitude limit value and maintaining the proportional coefficient K of the angular velocity of the accelerometer correction gyroscope in the attitude calculationp。
Preferably, the step of correcting the Gyro angular velocity value Gyro _ Roll includes the steps of:
the amplitude limiting interval of the acceleration is increased, and the proportionality coefficient K of the accelerometer in attitude calculation is increasedpCorrecting a Gyro angular velocity value Gyro _ Roll;
and acquiring the tripod head posture Angle _ Roll based on the corrected Gyro angular velocity value Gyro _ Roll, thereby dynamically adjusting the convergence speed of the Roll posture.
A readable storage medium having stored thereon computer instructions which, when executed by a processor, implement the method of any one of the preceding claims.
The invention has the advantages that:
1. the invention compares the accelerometer data Acc _ Roll with a plurality of preset threshold values, maintains the existing state parameters when the accelerometer data Acc _ Roll is larger than the first threshold value Acc _ Roll, and judges the existing state parameters and the second threshold value W1If it is larger than the second threshold value W1Correcting the Gyro angular velocity value Gyro _ Roll, and finally, if Acc _ Roll < W is satisfied2And T > T1When the current state parameter is over, the original state parameter is recovered. Therefore, the fast convergence of the horizontal rolling attitude of the cradle head is realized, and the horizontal rolling shaft of the cradle head returns to the horizontal zero position of the structure fast.
2. According to the invention, the horizontal zero position of the structure is quickly returned by the horizontal rolling shaft of the holder, so that the image is ensured to be free of deflection, and the experience effect and the operation efficiency are improved.
Drawings
Fig. 1 is a front view of the pan/tilt head with the pan/tilt head roll in a horizontal zero position of the structure.
Fig. 2 is a front view of the head with the head skew in lateral roll.
Fig. 3 is a schematic flow chart of a method for optimizing a cloud deck attitude dynamic adjustment accelerometer according to an embodiment of the present application.
Fig. 4 is a schematic structural diagram of an accelerometer optimization device for dynamically adjusting a pan-tilt attitude according to an embodiment of the present application.
Fig. 5 is a schematic view of a determination flow of an accelerometer optimization method for dynamically adjusting a pan-tilt attitude according to an embodiment of the present application.
FIG. 6 is a graph of attitude convergence before optimization.
FIG. 7 is a graph of attitude convergence after optimization.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the embodiments of the present invention, and it is obvious that the described embodiments are some embodiments of the present invention, but not all 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 invention.
The applicant finds that when the unmanned aerial vehicle carries out three-axis pan-tilt operation, the unmanned aerial vehicle returns to the horizontal direction after turning, and the image rolling direction can be skewed for a long time in vision.
Implementation mode one
Referring to fig. 3 and 5, a method for optimizing an accelerometer for dynamically adjusting a posture of a pan/tilt/zoom includes the following steps:
step S1, acquiring accelerometer data Acc _ Roll in real time;
the accelerometer data Acc _ Roll is the acceleration of the holder gyro chip, namely the acceleration in the direction of the transverse rolling shaft of the three-shaft holder.
Step S2, judging whether the accelerometer data Acc _ Roll exceeds a preset first threshold value W0；
It will be appreciated that the speed is different when the drone is performing different jobs. So here said first threshold value W0It should be preset according to actual conditions.
Step S3, if Acc _ Roll > W0If yes, the current state parameters are maintained and step S4 is executed; if not, continue to execute step S1;
maintaining the current state parameters comprises maintaining the existing acceleration amplitude limit value and maintaining the proportional coefficient K of the angular velocity of the correction gyroscope of the accelerometer in attitude calculationp。
In fact lie inIn the flight process of the unmanned aerial vehicle, in order to ensure that the transverse rolling shaft of the three-shaft holder quickly returns to the horizontal zero position of the structure, only attention needs to be paid to an acceleration amplitude limit value and an accelerometer correction gyro angular velocity proportionality coefficient K in attitude calculation is keptpAnd (4) finishing.
Step S4, judging whether the accelerometer data Acc _ Roll exceeds a second threshold value W1；
It will be appreciated that the speed is different when the drone is performing different jobs. So here said second threshold W1It should be preset according to actual conditions.
Step S5, if Acc _ Roll < W is satisfied1If yes, correcting the Gyro angular velocity value Gyro _ Roll, otherwise, continuing to execute the step S4
Wherein, the correcting Gyro angular velocity value Gyro _ Roll includes the following steps:
s51, increasing the amplitude limiting interval of the acceleration and increasing the proportionality coefficient K of the accelerometer in attitude calculationpCorrecting a Gyro angular velocity value Gyro _ Roll;
specifically, in the step, the accelerometer proportionality coefficient K is increased by using a formula (1)pI.e. KpThe value is linearly changed according to the acceleration change value;
Kp＝K*Acc_Roll (1)
and is used for correcting Gyro angular velocity value Gyro _ Roll by using formula (2),
Gyro_Roll＝Gyro_Roll+Kp*EAcc_Roll (2)
k is a constant, specific numerical values can be selected according to actual debugging conditions, and EAcc _ Roll represents a unit acceleration error value after the coordinate system is converted.
S52, obtaining the posture Angle _ Roll of the pan/tilt head by using the formula (3) so as to dynamically adjust the convergence speed of the rolling posture,
Figure BDA0003558791700000051
increase the amplitude limiting interval of the acceleration and simultaneously increase the acceleration meter in attitude calculationCoefficient of proportionality KpThe adjustment speed that is favorable to unmanned aerial vehicle triaxial cloud platform suits with unmanned aerial vehicle's speed.
Step S6, judging whether the accelerometer data Acc _ Roll exceeds a set third threshold value W2And whether the correction time T exceeds a preset time threshold T or not1；
If Acc _ Roll < W is satisfied2And T > T1Then, the acceleration limit value and the accelerometer scale factor K in the attitude calculation are restored in step S3pAnd finishing the optimization; if not, the process continues to step S5.
It will be appreciated that the speed is different when the drone is performing different jobs. So here said third threshold value W2It should be preset according to actual conditions.
To verify the effect of the present application, refer to fig. 6 and 7;
it can be seen from the attitude convergence graph 6 before optimization that the maximum feedback value of the roll attitude angle is slowly reduced to a steady state, and the maximum feedback value of the roll attitude angle is rapidly reduced to a steady state in the attitude convergence graph 7 after optimization. Therefore, by the method, when the unmanned aerial vehicle roll attitude changes greatly and the cradle head roll generates a large angle instantly, the cradle head roll attitude can converge quickly, so that the cradle head roll shaft returns to the horizontal zero position of the structure quickly, the image is ensured to be free of deflection, and the experience effect and the operation efficiency are improved.
For convenience in understanding the application, the method is set to be integrated in a control end of a server (which may also be a controller built in an unmanned aerial vehicle) for remote operation. The following describes the steps of the present application with specific examples:
1) when the unmanned aerial vehicle carries out a shooting task, the unmanned aerial vehicle turns rapidly and recovers the horizontal direction to move;
2) the control end acquires accelerometer data Acc _ Roll in real time and judges whether the accelerometer data Acc _ Roll exceeds a preset first threshold value W or not0If Acc _ Roll > W0If so, maintaining the current state of the unmanned aerial vehicle;
3) then the control end judges whether the accelerometer data Acc _ Roll exceeds a second threshold value W1(ii) a If Acc _ Roll < W is satisfied1Correcting the Gyro angular velocity value Gyro _ Roll;
5) finally, the control end judges whether the accelerometer data Acc _ Roll exceeds a set third threshold value W2And whether the correction time T is more than the preset time T or not1；
If Acc _ Roll < W is satisfied2And T > T1Then, the acceleration limit value and the accelerometer scale factor K in the attitude calculation are restored in step S3pOtherwise, continuing to increase the amplitude limiting interval and simultaneously increasing the proportional coefficient K of the accelerometer in attitude calculationp。
Through the process, when the unmanned aerial vehicle executes the task, the accelerometer data Acc _ Roll can meet the requirements that the accelerometer data Acc _ Roll are larger than a first threshold value, smaller than a second threshold value and a third threshold value, and the rapid convergence of the horizontal rolling attitude of the holder can be finally realized.
In the present application, the first threshold value W0May be less than a second threshold value W1(ii) a Meanwhile, the values of the first threshold, the second threshold and the third threshold can be [ -1, 1 [ ]]In between.
Second embodiment
Referring to fig. 4, the application provides a cloud deck attitude dynamic adjustment accelerometer optimizing apparatus, includes:
the acquisition module 301 is configured to acquire accelerometer data Acc _ Roll in real time;
the accelerometer data Acc _ Roll is the acceleration of the holder gyro chip, namely the acceleration in the direction of the transverse rolling shaft of the three-shaft holder.
A first determining module 302, configured to determine whether the accelerometer data Acc _ Roll exceeds a preset first threshold W0；
A first executing module 303, configured to execute the first execution if Acc _ Roll > W0If yes, the current state parameters are maintained and step S4 is executed; otherwise, the acquisition module is continuously executed;
wherein, the maintaining of the current state parameters comprises maintaining the existing acceleration amplitude limit value and maintaining the acceleration correction in the attitude calculationPositive gyro angular velocity proportionality coefficient Kp。
A second determining module 304, configured to determine whether the accelerometer data Acc _ Roll exceeds a second threshold value W1；
A second executing module 305 for executing the second program if Acc _ Roll < W is satisfied1If the Gyro angular velocity value is not satisfied, the second judgment module is continuously executed;
wherein, the correcting Gyro angular velocity value Gyro _ Roll includes the following steps:
the amplitude limiting interval of the acceleration is increased, and the proportionality coefficient K of the accelerometer in attitude calculation is increasedpCorrecting a Gyro angular velocity value Gyro _ Roll;
specifically, in the step, the accelerometer proportionality coefficient K is increased by using a formula (1)pI.e. KpThe value is linearly changed according to the acceleration change value;
Kp＝K*Acc_Roll (1)
and is used to correct Gyro _ Roll of the Gyro angular velocity value by using the formula (2),
Gyro_Roll＝Gyro_Roll+Kp*EAcc_Roll (2)
the cradle head attitude Angle _ Roll is obtained by using a formula (3), so that the convergence speed of the Roll attitude is dynamically adjusted,
Figure BDA0003558791700000081
wherein EAcc _ Roll represents a unit acceleration error value after the coordinate system is converted.
A third determining module 306, configured to determine whether the accelerometer data Acc _ Roll exceeds a third threshold W2And whether the correction time T is satisfied to exceed a certain time T1；
If Acc _ Roll < W is satisfied2And T > T1Then, the acceleration limit value and the accelerometer scale factor K in the attitude calculation are restored in step S3pAnd finishing the optimization; if not, the second execution module is continuously executed.
Third embodiment
The embodiment of the present application further provides a computer-readable storage medium, which stores a computer program, and when the computer program is executed by a processor, the method for optimizing the accelerometer for dynamically adjusting the posture of the pan/tilt/zoom apparatus according to the first embodiment of the present application can be implemented.
Note that the computer-readable storage medium may be the computer-readable storage medium included in the above-described embodiments; or it may be a separate computer readable storage medium not incorporated into the device. The computer readable storage medium stores one or more programs for use by one or more processors in performing the methods described in the first embodiment of the present invention.
According to embodiments of the present application, a readable storage medium may be a computer readable signal medium or a computer readable storage medium or any combination of the two. A computer readable storage medium may be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the foregoing. More specific examples of the computer readable storage medium may include, but are not limited to: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.
It should also be noted that the flowchart and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to various embodiments of the present application. In this regard, each block in the flowcharts or block diagrams may represent a module, a program segment, or a portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.

Claims (10)

1. A cloud deck attitude dynamic adjustment accelerometer optimization method is characterized by comprising the following steps:
step S1, acquiring accelerometer data Acc _ Roll in real time;
step S2, judging whether the accelerometer data Acc _ Roll exceeds a preset first threshold value W0；
Step S3, if Acc _ Roll > W0Then the current state is maintained and step S4 is executed; if not, continuing to execute the step S1;
step S4, judging whether the accelerometer data Acc _ Roll exceeds a second threshold value W1；
Step S5, if Acc _ Roll < W is satisfied1If the Gyro angular velocity value Gyro _ Roll is not satisfied, continuing to execute the step S4;
step S6, judging whether the accelerometer data Acc _ Roll exceeds a third threshold value W2And whether the correction time T satisfies the excess time T1；
If Acc _ Roll < W is satisfied2And T > T1If yes, the current state parameters in the step S3 are restored, and the optimization is finished; if not, the process continues to step S5.
2. The method of claim 1, wherein the accelerometer is dynamically adjusted according to the attitude of the pan/tilt/zoom (PTZ) unit, and wherein the method comprisesThe current state parameter maintaining comprises maintaining the existing acceleration amplitude limit value and maintaining the proportional coefficient K of the angular velocity of the correction gyroscope of the accelerometer in attitude calculationp。
3. The method for optimizing a cradle head attitude dynamic adjustment accelerometer according to claim 1, wherein the step of correcting the Gyro angular velocity value Gyro _ Roll comprises the steps of:
s51, increasing the amplitude limiting interval of the acceleration and simultaneously increasing the proportionality coefficient K of the accelerometer in attitude calculationpAnd correcting a Gyro angular velocity value Gyro _ Roll;
and S52, acquiring the tripod head posture Angle _ Roll based on the corrected Gyro angular velocity value Gyro _ Roll, thereby dynamically adjusting the convergence velocity of the Roll posture.
4. The method for optimizing a pan-tilt-attitude dynamic adjustment accelerometer according to claim 3, wherein the step S51 includes:
increasing the accelerometer scaling factor K using equation (1)pI.e. KpThe value is linearly changed according to the acceleration change value;
Kp＝K*Acc_Roll (1)
and is used for correcting Gyro angular velocity value Gyro _ Roll by using formula (2),
Gyro_Roll＝Gyro_Roll+Kp*EAcc_Roll (2)；
wherein K is a constant, and EAcc _ Roll represents the unit acceleration error value after the coordinate system is converted.
5. The method for optimizing a pan-tilt-attitude dynamic adjustment accelerometer according to claim 3, wherein the step S52 includes:
the posture Angle _ Roll of the pan/tilt head is obtained by using the formula (3) to dynamically adjust the convergence speed of the Roll posture,
Figure FDA0003558791690000021
6. the method for optimizing the holder attitude dynamic adjustment accelerometer according to claim 1, wherein the accelerometer data Acc _ Roll is an acceleration of a holder gyro chip.
7. The utility model provides a cloud platform gesture dynamic adjustment accelerometer optimizing device which characterized in that includes:
the acquisition module is used for acquiring accelerometer data Acc _ Roll in real time;
a first judging module, configured to judge whether the accelerometer data Acc _ Roll exceeds a preset first threshold W0；
A first execution module for executing when Acc _ Roll > W0Then the current state is maintained and step S4 is executed; otherwise, the acquisition module is continuously executed;
a second judging module, configured to judge whether the accelerometer data Acc _ Roll exceeds a second threshold W1；
A second execution module for executing the first execution module if Acc _ Roll < W is satisfied1If the Gyro angular velocity value is not satisfied, the second judgment module is continuously executed;
a third judging module, configured to judge whether the accelerometer data Acc _ Roll exceeds a third threshold W2And whether the correction time T is satisfied to exceed a certain time T1；
If Acc _ Roll < W is satisfied2And T > T1Then, the acceleration limit value and the accelerometer scale factor K in the attitude calculation are restored in step S3pAnd finishing the optimization; if not, the second execution module is continuously executed.
8. The device of claim 7, wherein the maintaining of the current state parameters comprises maintaining an existing acceleration limit value, maintaining an accelerometer correction gyroscope angular velocity scaling factor K in attitude solutionp。
9. The device of claim 7, wherein the modified Gyro angular velocity value Gyro _ Roll comprises the following steps:
the amplitude limiting interval of the acceleration is increased, and the proportionality coefficient K of the accelerometer in attitude calculation is increasedpCorrecting a Gyro angular velocity value Gyro _ Roll;
and acquiring the tripod head attitude Angle _ Roll based on the corrected Gyro angular velocity value Gyro _ Roll, thereby dynamically adjusting the convergence velocity of the Roll attitude.
10. A readable storage medium having stored thereon computer instructions which, when executed by a processor, implement the method of any one of claims 1-6.
CN202210283088.7A 2021-12-01 2022-03-22 Method and device for optimizing accelerometer for dynamically adjusting posture of holder and storage medium Pending CN114624993A (en)

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