CN115793698A - Automatic attitude control system and method - Google Patents
Automatic attitude control system and method Download PDFInfo
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- CN115793698A CN115793698A CN202310075769.9A CN202310075769A CN115793698A CN 115793698 A CN115793698 A CN 115793698A CN 202310075769 A CN202310075769 A CN 202310075769A CN 115793698 A CN115793698 A CN 115793698A
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Abstract
An embodiment of the present application provides an automatic attitude control system and method, the automatic attitude control system including: the controller is provided with three serial ports, wherein the first serial port is used for connecting the aerial photography instrument, and the second serial port and the third serial port are both used for connecting the seat driving equipment; the controller receives attitude angle information provided by the aerial camera through a first serial port; and converting an angle coordinate system based on rotation matrix operation, converting attitude angle information provided by the aerial camera into preset attitude angle information, and transmitting the preset attitude angle information to the seat driver through a second serial port or a third serial port, so that the seat driver controls the attitude of the aerial camera in the rotation direction. The application can realize the accurate stable control of the seat driving device to the aerial camera.
Description
Technical Field
The embodiment of the application relates to the technical field of oblique photography, in particular to an automatic attitude control system and method.
Background
With the rapid development of oblique photography technology in recent years, users pay more attention to the aerial photography efficiency and aerial photography quality index of the oblique aerial photography instrument. The tilt aerial camera is easy to tilt and shoot due to airplane shake and the like in the shooting process, a gyro stabilizing platform (also called as a seat driver) is required to adjust the angle of the aerial camera by relying on the attitude angle information of the tilt aerial camera provided by a Positioning and Orientation System (POS) device, and the aerial camera is ensured to vertically and downwards stably shoot. At present, a domestic gyrostabilized platform does not have POS equipment, and the accuracy of the POS equipment of the domestic gyrostabilized platform is too low, so that when a digital aerial photographic camera is integrated with the gyrostabilized platform, external high-accuracy POS information needs to be introduced to realize the stable control of the aerial photographic camera.
Disclosure of Invention
To address at least one of the above technical problems, embodiments of the present application provide an automatic attitude control system and method.
In a first aspect, an embodiment of the present application provides an automatic attitude control system, including:
the controller is provided with three serial ports, wherein the first serial port is used for connecting the aerial camera, and the second serial port and the third serial port are both used for connecting the seat driving device;
the controller is configured to:
receiving attitude angle information provided by an aerial camera through a first serial port;
and converting an angle coordinate system based on rotation matrix operation, converting attitude angle information provided by the aerial camera into preset attitude angle information, and transmitting the preset attitude angle information to the seat driver through a second serial port or a third serial port, so that the seat driver controls the attitude of the aerial camera in the rotation direction.
In one possible implementation, the rotation matrix operation formula is as follows:
wherein the content of the first and second substances,
setting the posture angle as a preset posture angle; y is the value of the whirl angle yaw; p is a pitch angle; r is a roll angle; k is the rotation angle in the y direction.
In a possible implementation manner, after the converting the attitude angle information provided by the aerial camera into the preset attitude angle information, the method further includes:
and comparing the difference of the attitude angles provided by the aerial photography instrument for the previous time and the next time, if the absolute value of the difference is greater than the preset difference, outputting the attitude angle value of the previous time, otherwise, outputting the attitude angle value of the next time.
In a possible implementation manner, before the performing the angular coordinate system conversion based on the rotation matrix operation, the method further includes:
reading partial bytes of the attitude angle data, and judging whether the partial bytes meet a preset communication protocol header;
if yes, reading the bytes of the rest part, and carrying out check calculation; otherwise, reselecting part of byte reading;
judging whether the check bit is consistent with the check result;
if the two phases are consistent, performing rotation matrix operation; otherwise, the partial byte reads are reselected.
In one possible implementation, the controller may be further configured to:
and converting POS data formats of different models into preset data formats, and transmitting the preset data formats to the seat driver through the second serial port or the third serial port, so that the seat driver can control the attitude of the aerial photography instrument in the horizontal direction.
In a second aspect, an embodiment of the present application provides an automatic attitude control method, including:
acquiring attitude angle information provided by an aerial camera;
and converting an angle coordinate system based on rotation matrix operation, converting attitude angle information provided by the aerial photography instrument into preset attitude angle information, and transmitting the preset attitude angle information to the seat driver, so that the seat driver controls the attitude of the aerial photography instrument in a rotation direction.
In one possible implementation, the rotation matrix operation formula is as follows:
wherein the content of the first and second substances,
setting the posture angle as a preset posture angle; y is the value of the declination angle yaw; p is a pitch angle; r is a roll angle; k is the rotation angle in the y direction.
In a possible implementation manner, after the converting the attitude angle information provided by the aerial camera into the preset attitude angle information and transmitting the preset attitude angle information to the seat, the method further includes:
and comparing the difference of the attitude angles provided by the aerial camera twice before and after, if the absolute value of the difference is greater than the preset difference, outputting the attitude angle value of the previous time, otherwise, outputting the attitude angle value of the next time.
In a possible implementation manner, before the performing the angular coordinate system conversion based on the rotation matrix operation, the method further includes:
reading partial bytes of the attitude angle data, and judging whether the partial bytes meet a preset communication protocol header;
if yes, reading the bytes of the rest part, and carrying out check calculation; otherwise, reselecting part of byte reading;
judging whether the attitude angle data check bit is consistent with a check result or not;
if the two phases are consistent, performing rotation matrix operation; otherwise, the partial byte reads are reselected.
In one possible implementation, the method further includes:
and converting POS data formats of different models into preset data formats and transmitting the preset data formats to the seat driver, so that the seat driver can control the attitude of the aerial camera in the horizontal direction.
In summary, the present application includes at least one of the following beneficial technical effects:
1. the attitude angle information provided by the aerial photography instrument is converted into attitude angle information which can be recognized by the seat based on rotation matrix operation, so that the seat equipment can adjust the attitude of the aerial photography instrument in real time according to the high-precision angle information, the aerial photography instrument can be guaranteed to vertically shoot images all the time, and the high-precision stable control of the aerial photography instrument by the seat is realized;
2. by comparing the difference of the attitude angle values provided by the aerial photography instruments twice before and after, the attitude angle value with larger change in a short time is screened out, so that the attitude angle adjustment is more accurate, and the stability of the seat driving work is improved.
It should be understood that what is described in this summary section is not intended to limit key or critical features of the embodiments of the application, nor is it intended to limit the scope of the application. Other features of the present application will become apparent from the following description.
Drawings
The above and other features, advantages and aspects of embodiments of the present application will become more apparent upon consideration of the following detailed description, taken in conjunction with the accompanying drawings. In the drawings, the same or similar reference numerals denote the same or similar elements.
Fig. 1 shows a schematic structural diagram of an automatic attitude control system of an embodiment of the present application.
Fig. 2 shows a schematic diagram of an automatic attitude control method according to an embodiment of the present application.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application.
In order to facilitate understanding of the embodiments of the present application, some terms referred to in the embodiments of the present application are first explained.
The aerial photography instrument is a short-term aerial photography instrument, and is carried on an aircraft platform to photograph a ground target to obtain an image.
And the seat is also called a gyro stabilized platform and is used for adjusting the three-axis attitude angle of the carrier in real time and ensuring that the aerial camera shoots vertically downwards.
Attitude angle information including, but not limited to, three angle information of aircraft heading angle, pitch angle, and roll angle.
Next, an application scenario related to the embodiment of the present application will be described. It should be noted that the application scenario described in the embodiment of the present application is a scenario in which the stationary driving equipment adjusts the attitude of the aerial camera in real time according to the attitude angle information, which is only for more clearly explaining the technical scheme of the embodiment of the present application, and does not limit the technical scheme provided by the embodiment of the present application. The automatic attitude control system provided by the embodiment of the application is also applicable to other similar or analogous scenes for adjusting the attitude of the aerial photography instrument.
In an actual application scene, during the shooting of a ground target by the aerial camera, when oblique shooting is carried out due to airplane shake or air flow influence balance stability and other reasons, attitude angle information provided by the aerial camera is converted into attitude angle information which can be recognized by the seat driver based on rotation matrix operation, so that the seat driver equipment can adjust the attitude of the aerial camera in real time according to the high-precision angle information, the fact that the aerial camera shoots images vertically all the time is guaranteed, and the high-precision stable control of the seat driver on the aerial camera is achieved.
In some alternative embodiments, the attitude angle information provided by the aerial camera is converted into attitude angle information recognizable by the ride by a microcontroller disposed on the aerial camera or the ride, and in other alternative embodiments, the attitude angle information provided by the aerial camera is converted into attitude angle information recognizable by the ride by a microcontroller of the remote control device.
Fig. 1 is a schematic structural diagram of an automatic attitude control system according to an embodiment of the present application, which is applied to a microcontroller disposed on an aerial camera or a car seat or a microcontroller of a remote control device that controls the aerial camera. Referring to fig. 1, the system includes:
the controller with three serial ports, wherein the first serial port is used for connecting with the aerial photography instrument, and the second serial port and the third serial port are both used for connecting with the seat driving device.
Specifically, the seat driving equipment is domestic seat driving equipment, such as AISP seat driving and the like; foreign seat equipment such as Somag seat and the like. The second serial port and the third serial port are used for transmitting data and control commands.
Further, when the aerial camera is stably controlled by the upper driver in the turning direction, the attitude angle information provided by the aerial camera is converted into preset attitude angle information, and the preset attitude angle information is transmitted to the driver through the second serial port or the third serial port, so that the driver can control the attitude of the aerial camera in the turning direction.
Specifically, attitude angle information provided by the aerial camera is received through the first serial port.
In the embodiment of the application, the shooting attitude of the aerial photography instrument can be recorded in real time through the POS system of the aerial photography instrument, and the attitude angle information provided by the aerial photography instrument is received through the first serial port.
The Positioning and Orientation System (POS) integrates a Differential Global Positioning System (DGPS) technology and an Inertial Navigation System (INS) technology, and can acquire the spatial position and three-axis attitude information of a moving object.
Furthermore, a part of bytes of the attitude angle data is read, and whether the part of bytes meets a preset communication protocol header or not is judged.
The preset communication protocol head is a data protocol head of a POS system of the aerial camera, such as a GPFPD protocol head, and the protocol head is used for designating a used protocol. The partial bytes are the number of bytes meeting the protocol header requirement, and illustratively, 3 bytes are read to judge whether the GPFPD protocol header is met.
Further, if the byte is satisfied, reading the bytes of the rest part, and performing check calculation; otherwise, the partial byte reads are reselected.
The check calculation is performed by a parity check method, a BCC exclusive-OR check method and other check methods.
Further, whether the check bit is consistent with the check result is judged; if the two phases are consistent, performing rotation matrix operation; otherwise, the partial byte reads are reselected.
In the embodiment of the application, if the check result is consistent with the check bit, it indicates that the data is complete and accurately transmitted.
Further, angle coordinate system conversion is carried out based on rotation matrix operation, attitude angle information provided by the aerial camera is converted into preset attitude angle information, and the preset attitude angle information is transmitted to the seat driver through the second serial port or the third serial port, so that the seat driver controls the attitude of the aerial camera in the rotation direction.
The preset attitude angle information is attitude angle information which can be recognized by the seat driver, such as a three-axis attitude angle.
Specifically, firstly, the angular coordinate system conversion is performed based on a rotation matrix operation, and the operation formula of the rotation matrix is as follows:
wherein the content of the first and second substances,
setting the posture angle as a preset posture angle; y is the value of the declination angle yaw; p is the pitch angle; r is a roll angle; k is the y-direction rotation angle.
And further comparing the difference value of the preset attitude angle values of the previous time and the next time, and outputting the attitude angle value of the previous time if the absolute value of the difference value is greater than the preset difference value, otherwise, outputting the attitude angle value of the next time.
The preset difference value is a difference value which ensures that the aerial photography instrument is adjusted according to the preset posture angle values twice before and after and does not generate inclined shooting.
For example, in the embodiment of the present application, if it is specified that the preset difference between the posture angle values of the previous time and the posture angle values of the next time is 5 degrees at most, the angle value of the spin-off angle of the preset posture angle obtained at the previous time is 72 degrees, and the angle value of the spin-off angle of the preset posture angle obtained at the next time is 80 degrees, the output angle value of the spin-off angle is 72 degrees; when the angle value of the spin-off angle of the preset attitude angle acquired at the last time is 75 degrees, the angle value of the output spin-off angle is 75 degrees.
Further, when the aerial camera is stably controlled by the seat driver in the horizontal direction, POS data formats of different models are converted into preset data formats and transmitted to the seat driver through the second serial port or the third serial port, and the seat driver can control the attitude of the aerial camera in the horizontal direction.
The preset data format is a data format which can be identified by corresponding seat, and exemplarily, when the seat is a domestic seat AISP, the data is in a past1 format, and when the seat is gsm4000 of foreign seat Somag series products, the data is in a Mount Communication Protocol 2.0 format.
The POS model is divided into domestic POS equipment such as AF01 POS and the like, and the data is in a GPFPD format; and foreign POS devices such as AP POS, etc., data past2 format.
According to the embodiment of the disclosure, the following technical effects are achieved:
the attitude angle information provided by the aerial photography instrument is converted into attitude angle information which can be recognized by the seat driver based on rotation matrix operation, and the attitude angle value which changes greatly in a short time is screened out by comparing the difference values of the attitude angle values provided by the aerial photography instrument for the two times before and after, so that the seat driver can adjust the attitude of the aerial photography instrument in real time according to the high-precision angle information, the image can be always vertically shot, and the high-precision stable control of the seat driver on the aerial photography instrument is realized.
It should be noted that the foregoing system embodiments have been described as a series of acts or combinations for simplicity in explanation, but it should be understood by those skilled in the art that the present disclosure is not limited by the order of acts or acts described, as some steps may occur in other orders or concurrently with other steps in accordance with the present disclosure. Further, those skilled in the art will appreciate that the embodiments described in the specification are exemplary embodiments and that acts and modules are not necessarily required for the disclosure.
The foregoing is a description of system embodiments, and the following is a further description of the aspects of the disclosure by way of method embodiments.
Fig. 2 shows a flowchart of an automatic attitude control method according to an embodiment of the present application. Referring to fig. 2, the method comprises the steps of:
step 201, acquiring attitude angle information provided by an aerial photography instrument;
and 202, converting an angle coordinate system based on rotation matrix operation, converting attitude angle information provided by the aerial photography instrument into preset attitude angle information, and transmitting the preset attitude angle information to the seat, so that the seat controls the attitude of the aerial photography instrument in a rotation direction.
Further, the rotation matrix operation formula is as follows:
wherein the content of the first and second substances,
setting the posture angle as a preset posture angle; y is the value of the declination angle yaw; p is the pitch angle; r is a roll angle; k is the y-direction rotation angle.
Further, the attitude angle information provided by the aerial photography instrument is converted into preset attitude angle information and transmitted to the seat, the difference value of the preset attitude angle values of the previous time and the next time is compared, if the absolute value of the difference value is larger than the preset difference value, the attitude angle value of the previous time is output, and otherwise, the attitude angle value of the next time is output.
Further, reading partial bytes of the attitude angle data before the angle coordinate system is converted based on the rotation matrix operation, and judging whether the partial bytes meet a preset communication protocol header;
if yes, reading the bytes of the rest part, and carrying out check calculation; otherwise, reselecting part of byte reading;
judging whether the check bit is consistent with the check result or not;
if the two are consistent, performing rotation matrix operation; otherwise, the partial byte reads are reselected.
Further, POS data formats of different models are converted into preset data formats and transmitted to the seat driver, and the seat driver can control the attitude of the aerial photography instrument in the horizontal direction.
It should be noted that: the automatic attitude control method provided in the above embodiment is only exemplified by the division of the above method steps when controlling the attitude of the aerial camera by the seat, and in practical application, the present disclosure is not limited by the described action sequence, because some steps may be performed in other sequences or simultaneously according to the present disclosure to complete all or part of the above described functions. In addition, the automatic attitude control method provided by the above embodiment and the automatic attitude control system embodiment belong to the same concept, and the specific implementation process thereof is described in detail in the method embodiment, and is not described again here.
It is to be understood that reference herein to "at least one" means one or more and "a plurality" means two or more. In the description of the embodiments of the present application, "/" indicates an alternative meaning, for example, a/B may indicate a or B; "and/or" herein is merely an association describing an associated object, and means that there may be three relationships, e.g., a and/or B, which may mean: a exists alone, A and B exist simultaneously, and B exists alone. In addition, in order to facilitate clear description of technical solutions of the embodiments of the present application, in the embodiments of the present application, words such as "first" and "second" are used to distinguish identical items or similar items with substantially identical functions and actions. Those skilled in the art will appreciate that the terms "first," "second," etc. do not denote any order or quantity, nor do the terms "first," "second," etc. denote any order or importance.
The above-mentioned exemplary embodiments are not intended to limit the embodiments of the present application, and any modifications, equivalent substitutions, improvements, etc. made within the spirit and principle of the embodiments of the present application should be included in the protection scope of the present application.
Claims (10)
1. An automatic attitude control system, characterized by comprising:
the controller is provided with three serial ports, wherein the first serial port is used for connecting the aerial camera, and the second serial port and the third serial port are both used for connecting the seat driving device;
the controller is configured to:
receiving attitude angle information provided by an aerial camera through a first serial port;
and converting an angle coordinate system based on rotation matrix operation, converting attitude angle information provided by the aerial camera into preset attitude angle information, and transmitting the preset attitude angle information to the seat driver through a second serial port or a third serial port, so that the seat driver controls the attitude of the aerial camera in the rotation direction.
2. An automatic attitude control system according to claim 1, characterized in that said rotation matrix operation formula is as follows:
wherein the content of the first and second substances,
setting the posture angle as a preset posture angle; y is the value of the declination angle yaw; p is a pitch angle; r is a roll angle; k is the y-direction rotation angle.
3. The automatic attitude control system according to claim 1, wherein after converting the attitude angle information provided by the aerial camera into the preset attitude angle information, further comprising:
and comparing the difference value of the preset attitude angle of the previous time and the preset attitude angle of the next time, if the absolute value of the difference value is greater than the preset difference value, outputting the attitude angle value of the previous time, and otherwise, outputting the attitude angle value of the next time.
4. The automatic attitude control system according to claim 1, wherein before the angular coordinate system conversion based on the rotation matrix operation, further comprising:
reading partial bytes of the attitude angle data, and judging whether the partial bytes meet a preset communication protocol header;
if yes, reading the bytes of the rest part, and carrying out check calculation; otherwise, reselecting part of byte reading;
judging whether the check bit is consistent with the check result or not;
if the two are consistent, performing rotation matrix operation; otherwise, the partial byte reads are reselected.
5. The automatic attitude control system of claim 1, wherein the controller is further configured to:
and POS data formats of different models are converted into preset data formats and transmitted to the seat driver through the second serial port or the third serial port, so that the seat driver can control the attitude of the aerial camera in the horizontal direction.
6. An automatic attitude control method, characterized by comprising:
acquiring attitude angle information provided by an aerial camera;
and converting an angle coordinate system based on rotation matrix operation, converting attitude angle information provided by the aerial photography instrument into preset attitude angle information, and transmitting the preset attitude angle information to the seat driver, so that the seat driver controls the attitude of the aerial photography instrument in a rotation direction.
7. The method of claim 6, wherein the rotation matrix operation is formulated as follows:
wherein, the first and the second end of the pipe are connected with each other,
setting the posture angle as a preset posture angle; y is the value of the whirl angle yaw; p is a pitch angle; r is a roll angle; k is the rotation angle in the y direction.
8. The method of claim 6, wherein converting the attitude angle information provided by the aerial camera into preset attitude angle information and transmitting the preset attitude angle information to the driver seat further comprises:
and comparing the difference value of the preset attitude angle twice before and after, if the absolute value of the difference value is larger than the preset difference value, outputting the attitude angle value of the previous time, and otherwise, outputting the attitude angle value of the next time.
9. The method of claim 6, wherein before the transforming the angular coordinate system based on the rotation matrix operation, further comprising:
reading partial bytes of the attitude angle data, and judging whether the partial bytes meet a preset communication protocol header;
if yes, reading the bytes of the rest part, and performing check calculation; otherwise, reselecting part of the bytes for reading;
judging whether the check bit is consistent with the check result;
if the two phases are consistent, performing rotation matrix operation; otherwise, the partial byte reads are reselected.
10. The method of claim 6, further comprising:
and converting POS data formats of different models into preset data formats and transmitting the preset data formats to the seat driver, so that the seat driver can control the attitude of the aerial camera in the horizontal direction.
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