WO2019205002A1 - Procédé de solution d'attitude d'un stabilisateur de caméra portatif et système de stabilisateur de caméra - Google Patents

Procédé de solution d'attitude d'un stabilisateur de caméra portatif et système de stabilisateur de caméra Download PDF

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Publication number
WO2019205002A1
WO2019205002A1 PCT/CN2018/084363 CN2018084363W WO2019205002A1 WO 2019205002 A1 WO2019205002 A1 WO 2019205002A1 CN 2018084363 W CN2018084363 W CN 2018084363W WO 2019205002 A1 WO2019205002 A1 WO 2019205002A1
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WO
WIPO (PCT)
Prior art keywords
pan
posture
tilt
information
attitude
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PCT/CN2018/084363
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English (en)
Chinese (zh)
Inventor
张翔
李兵
刘帅
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深圳市大疆创新科技有限公司
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Application filed by 深圳市大疆创新科技有限公司 filed Critical 深圳市大疆创新科技有限公司
Priority to PCT/CN2018/084363 priority Critical patent/WO2019205002A1/fr
Priority to CN201880012526.8A priority patent/CN110352331A/zh
Publication of WO2019205002A1 publication Critical patent/WO2019205002A1/fr

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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
    • G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
    • G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
    • G01C21/165—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
    • G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
    • G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
    • G01C21/183—Compensation of inertial measurements, e.g. for temperature effects
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
    • B64D47/00—Equipment not otherwise provided for
    • B64D47/08—Arrangements of cameras
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
    • G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
    • G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
    • G01C21/18—Stabilised platforms, e.g. by gyroscope
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C25/00—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C25/00—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass
    • G01C25/005—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass initial alignment, calibration or starting-up of inertial devices
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D3/00—Control of position or direction
    • G05D3/12—Control of position or direction using feedback

Definitions

  • the present invention relates to the field of pan/tilt, and more particularly to a method for attitude solution of a handheld pan/tilt head and a pan/tilt system.
  • the pan/tilt achieves stabilization control of the camera by the rotation of three axes, that is, the rotation of the yaw axis, the roll axis, and the pitch axis.
  • attitude calculation of the gimbal is a key issue in the stability control.
  • the basic idea of attitude calculation is to use the gyroscope's short-term dependence on attitude estimation, the long-term dependence of accelerometer and geomagnetic sensor on attitude estimation, and the fusion of different sensor attitude information through data fusion method.
  • Attitude estimation results for dynamic performance and long-term stability.
  • the accelerometer is used to obtain the attitude calculation method of the reference attitude, and the attitude error will increase with the motion acceleration, which affects the accuracy of the attitude calculation of the gimbal.
  • the embodiment of the invention provides a method for calculating the attitude of the handheld pan/tilt and a pan/tilt system, which can improve the accuracy of the attitude calculation of the gimbal.
  • a method for calculating a posture of a handheld pan/tilt head includes: acquiring first posture information measured by an inertial measurement unit in the cloud platform; and acquiring a visual odometer in the mounting component of the pan/tilt Measuring the second posture information obtained by the data, wherein the mounting component is configured to mount the pan/tilt; and correcting the first posture information according to the second posture information to obtain a posture of the pan/tilt.
  • a pan/tilt head system including: a pan/tilt head, wherein the pan/tilt head is provided with an inertial measurement unit; a mounting component, the mounting component is used for mounting the pan/tilt head, and the mounting component Providing a visual odometer; the first processor is configured to acquire first posture information measured by the inertial measurement unit in the cloud platform, and obtain the measurement data obtained by the visual odometer in the mounting component of the cloud platform And second correcting the first posture information according to the second posture information to obtain a posture of the pan/tilt.
  • a system comprising: a memory for storing computer executable instructions; a processor for accessing the memory and executing the computer executable instructions to perform the method of the first aspect above Operation.
  • a computer storage medium having stored therein program code, the program code being operative to indicate a method of performing the first aspect described above.
  • the attitude information obtained by the measurement data of the visual odometer in the mounting component of the pan/tilt is used to correct the attitude information of the pan/tilt measured by the inertial measurement unit in the pan/tilt, thereby reducing the attitude error. , thereby improving the accuracy of the attitude calculation of the gimbal.
  • FIG. 1a and 1b are schematic diagrams of a cloud platform to which the technical solution of the embodiment of the present invention is applied.
  • FIG. 2 is a schematic structural diagram of a PTZ system according to an embodiment of the present invention.
  • FIG. 3 is a schematic flowchart of a method for calculating a posture of a handheld pan/tilt according to an embodiment of the present invention.
  • FIG. 4 is a processing architecture diagram of a pan-tilt attitude solution according to an embodiment of the present invention.
  • FIG. 5 is a schematic block diagram of a pan/tilt head system according to an embodiment of the present invention.
  • Figure 6 is a schematic block diagram of a system in accordance with an embodiment of the present invention.
  • the size of the sequence numbers of the processes does not imply a sequence of executions, and the order of execution of the processes should be determined by its function and internal logic, and should not be construed as an embodiment of the present invention.
  • the implementation process constitutes any limitation.
  • a component when a component is “fixedly connected” or “connected” to another component, or when one component is “fixed” to another component, it may be directly on another component, or There can be a centered component.
  • the technical solution of the embodiment of the present invention can be applied to various cloud platforms, for example, a handheld cloud platform, but the embodiment of the present invention is not limited thereto.
  • FIG. 1a is a schematic diagram of a cloud platform to which the technical solution of the embodiment of the present invention is applied.
  • the pan/tilt head may include a translating shaft arm 101, a translating shaft motor 102, a roll axis arm 103, a roll axis motor 104, a pitch axis arm 105, and a pitch axis motor 106.
  • each motor can be controlled by a corresponding electric control
  • the translational shaft arm 101 and the translational axis motor 102 constitute a translational shaft rotation mechanism for rotating the translational shaft
  • the roll axis arm 103 The roll axis motor 104 constitutes a roll axis rotating mechanism for rotating the roll axis
  • the pitch axis arm 105 and the pitch axis motor 106 constitute a pitch axis rotating shaft mechanism for rotating the pitch axis.
  • the pan/tilt may further include a base 107 and a camera fixing mechanism 108.
  • the camera fixing mechanism 108 is used to fix the camera 109. It should be understood that the pedestal 107 may not be part of the pan/tilt, but together with the gimbal, constitute a pan-tilt system.
  • an inertial measurement unit is provided in the camera fixing mechanism 108 for measuring the attitude of the gimbal.
  • an IMU can include a gyroscope and an accelerometer.
  • the processor of the gimbal can fuse the attitude information obtained by the gyroscope and the accelerometer respectively to obtain the attitude solution result.
  • the accelerometer is used to obtain the reference attitude for the attitude calculation, and the attitude error will increase with the motion acceleration, which affects the accuracy of the attitude calculation of the gimbal.
  • the accelerometer in the static state, can measure the component of gravity in the body coordinate system, and the roll angle can be obtained according to the geometric relationship of the force projection. And pitch angle
  • the accelerometer since the accelerometer is sensitive to the specific force, ⁇ and ⁇ obtained by the above equation when the moving body has motion acceleration will produce an error.
  • the attitude calculation is performed by using the measurement data of the visual odometer in the mount component of the pan-tilt, and the posture obtained by the measurement data of the visual odometer in the mount component of the pan-tilt is used as a reference.
  • the attitude corrects the attitude of the gimbal, thereby reducing the attitude error and improving the accuracy of the attitude calculation of the gimbal.
  • the mount component of the pan/tilt is used to mount the pan/tilt.
  • the mounting member may be the base 107 of FIG. 1a, or the mounting member may be the fourth shaft structure 110 of the four-axis pan/tilt system shown in FIG. 1b, but this embodiment of the invention Not limited.
  • a visual odometer 112 is disposed in the fourth shaft structure 110.
  • the three-axis head 120 is mounted on the shaft end of the fourth shaft 111.
  • the visual odometer 112 may be disposed at one end of the fourth shaft structure 110, as shown in FIG. 1b, but the embodiment of the present invention is not limited thereto.
  • a pan/tilt (such as a three-axis pan/tilt) and a mounted component may be referred to as a pan/tilt system, which may also be referred to as a pan/tilt.
  • FIG. 1b may be referred to as a four-axis pan/tilt system or a four-axis pan/tilt head as a whole.
  • FIG. 2 is a schematic diagram showing the architecture of a pan/tilt system according to an embodiment of the present invention.
  • an IMU 221 and a Visual Odometry (VO) 222 are disposed in the mount component of the pan/tilt.
  • the IMU 211 is installed in the gimbal.
  • the processor 223 in the mount component obtains the pose information of the mount component from the measurement data of the IMU 221 and the VO 222 in the mount component.
  • the measurement data of the IMU 221 and the VO 222 in the mounting component can be data-fused by the inertial-VO combined navigation filter to obtain the posture of the mounting component.
  • the processor 212 in the pan/tilt uses the posture of the mounting component as the reference posture of the pan/tilt, and corrects the attitude information of the pan/tilt measured by the IMU 211 in the pan/tilt to obtain the posture of the gimbal. Since the attitude of the mounting component is obtained by the inertial-VO combined navigation filter, the attitude error caused by the motion acceleration has been compensated. Therefore, the attitude of the mounting component is used as the reference attitude of the gimbal, and the attitude measurement using the accelerometer is avoided. The resulting motion acceleration error.
  • the attitude information may be obtained only by the measurement data of the VO 222, and the posture information of the pan/tilt measured by the IMU 211 in the pan/tilt is corrected as a reference posture of the pan/tilt, and the posture of the gimbal is obtained. .
  • FIG. 3 is a schematic flow chart of a method 300 for gesture resolution of a handheld pan/tilt in accordance with an embodiment of the present invention.
  • the inertial measurement unit in the gimbal can measure the attitude information (first posture information) of the gimbal. After the posture information is corrected, the posture estimation result that satisfies the requirement can be obtained.
  • the posture calculation is performed using the second posture information (the posture information of the mounting member) obtained from the measurement data of the visual odometer in the mounting member of the pan/tilt. That is to say, when the attitude information measured by the inertial measurement unit in the pan/tilt is corrected, the attitude information of the mount component of the pan/tilt is used.
  • the mounting member of the gimbal may be, for example, a fourth-axis structure or a pedestal, but the embodiment of the present invention is not limited thereto.
  • the second pose information may be derived only from the measurement data of the visual odometer.
  • an inertial measurement unit and a visual odometer are disposed in the mounting component of the pan/tilt, and the second posture information is determined by the inertial measurement unit and the vision in the mounting component.
  • the measurement data of the odometer is obtained. That is, in the present embodiment, the second posture information is obtained from the measurement data of the inertial measurement unit and the visual odometer in the mounting member.
  • the second posture information may be a posture of the mounting component, wherein the posture of the mounting component may be a posture in a body coordinate system of the mounting component, or may be other
  • the coordinate system for example, the attitude in the navigation coordinate system (NED coordinate system), is not limited in this embodiment of the present invention.
  • NED coordinate system the attitude in the navigation coordinate system
  • the posture of the mounting member in the body coordinate system of the mounting member will be described as an example.
  • the corresponding coordinate system transformation may be used, and no longer one by one. Narration.
  • the measurement data of the inertial measurement unit and the visual odometer in the mounting component may be data fusion by using a combined navigation filter to obtain a body coordinate system of the mounting component.
  • the posture of the mounting member may be data fusion by using a combined navigation filter to obtain a body coordinate system of the mounting component.
  • the above-mentioned combined navigation filter may specifically adopt a Kalman filter to realize data fusion of the measurement data of the inertial measurement unit and the measurement data of the visual odometer, and obtain the body coordinate system of the mounted component.
  • the posture of the mounting part may specifically adopt a Kalman filter to realize data fusion of the measurement data of the inertial measurement unit and the measurement data of the visual odometer, and obtain the body coordinate system of the mounted component.
  • the attitude of the mounted component is obtained by the inertial-VO combined navigation filter, which can compensate the attitude error caused by the motion acceleration.
  • using the attitude of the mounting component as the reference attitude of the pan-tilt can avoid the use of the accelerometer for attitude measurement.
  • Motion acceleration error is different from the method of directly calculating the attitude of the gimbal by using the inertial-VO integrated navigation filter, that is, directly using the measurement data of the VO to correct the measurement data of the inertial measurement unit in the gimbal, and the calculation amount is low. Can improve the efficiency of the attitude calculation of the gimbal.
  • the posture information measured by the inertial measurement unit in the pan/tilt is corrected according to the posture information obtained from the measurement data of the visual odometer in the mounting component of the pan-tilt, and the posture of the pan-tilt is obtained. .
  • the acceleration error caused by the accelerometer for attitude measurement can be avoided, thereby improving the accuracy of the attitude calculation of the gimbal.
  • the posture of the mounting component in the body coordinate system of the mounting component may be converted into the mounting component of the pan-tilt body coordinate system. a posture; correcting the first posture information by using a posture of the mounting member in the body coordinate system of the pan head as a reference posture to obtain a posture of the pan/tilt.
  • the posture information output by the mounting member is the posture of the mounting member in the body coordinate system of the mounting member.
  • the IMU measured by Yuntai is the attitude information of the gimbal in the body coordinate system of the PTZ. Converting the posture of the mounting component in the body coordinate system of the mounting component to the posture of the mounting component in the body coordinate system of the pan/tilt, and then using it as the reference attitude, the pan/tilt measured by the IMU of the pan/tilt The posture information is corrected to obtain the posture of the pan/tilt.
  • data fusion may be performed according to the first posture information and the reference posture by using a Kalman filter to obtain correction information; and the first posture is performed according to the correction information.
  • the information is corrected to obtain the posture of the gimbal.
  • the posture information of the pan/tilt may be corrected by using a Kalman filter, and data fusion between the first posture information and the reference posture is implemented by a Kalman filter to obtain correction information.
  • the attitude error may be determined according to the first posture information and the reference posture; and the data fusion is performed according to the attitude error, the attitude error state equation, and the attitude observation equation to obtain the correction information.
  • the first posture information is corrected according to the correction information to obtain the posture of the pan/tilt.
  • the gyro zero offset in the inertial measurement unit of the pan/tilt may be corrected according to the correction information to obtain a corrected gyro bias.
  • the attitude error estimate is obtained by the Kalman filter, and the gyro bias error.
  • the attitude correction can be performed to obtain the corrected attitude; the gyro zero offset can be used to correct the gyro zero offset, and the corrected gyro zero offset can be obtained, and the gyro measurement value can be further obtained. Make corrections.
  • the attitude information obtained by the measurement data of the visual odometer in the mounting component of the pan/tilt is used to correct the attitude information of the pan/tilt measured by the inertial measurement unit in the pan/tilt, thereby reducing the attitude error. , thereby improving the accuracy of the attitude calculation of the gimbal.
  • the second posture information when the second posture information cannot be acquired, acquiring measurement data of an accelerometer in the inertial measurement unit of the pan/tilt; according to the measurement data of the accelerometer The first posture information is corrected to obtain the posture of the pan/tilt.
  • the posture information of the pan/tilt is corrected by using the second posture information.
  • the second posture information cannot be acquired, for example, due to communication interruption or other reasons, the pan/tilt does not receive the posture information of the mounting component, and in this case, the attitude of the measurement data of the accelerometer to the pan/tilt may be employed. The information is corrected.
  • data fusion may be performed according to the measurement data of the accelerometer and the first posture information by using a Kalman filter to obtain correction information.
  • the attitude error may be determined according to the measurement data of the accelerometer and the first attitude information; and the data fusion is performed according to the attitude error, the attitude error state equation, and the attitude observation equation to obtain the correction information.
  • the first posture information is corrected according to the correction information to obtain the posture of the pan/tilt.
  • the gyro zero offset in the inertial measurement unit of the pan/tilt may be corrected according to the correction information to obtain a corrected gyro bias.
  • the attitude error estimate is obtained by the Kalman filter, and the gyro bias error.
  • the attitude correction can be performed to obtain the corrected attitude; the gyro zero offset can be used to correct the gyro zero offset, and the corrected gyro zero offset can be obtained, and the gyro measurement value can be further obtained. Make corrections.
  • the attitude information of the pan/tilt is corrected by using the measurement data of the accelerometer, and can be used as a supplementary method for correcting the attitude information of the pan/tilt using the posture information of the mounting component.
  • the method of automatically using the measurement data of the accelerometer can be automatically switched.
  • the body coordinate system of the gimbal is a coordinate system with the point on the gimbal as the origin.
  • the body coordinate system ⁇ b ⁇ -O b x b y b z b of the gimbal can be defined as follows: the coordinate system origin O b is the center of the pan-tilt IMU; the x b- axis is in the vertical symmetry plane of the gimbal and parallel to the camera The optical axis of the lens points to the front; the y b axis is perpendicular to the vertical symmetry plane of the gimbal pointing to the right; the z b axis is in the vertical symmetry plane of the gimbal, perpendicular to the x b axis and pointing downward.
  • the body coordinate system ⁇ p ⁇ -O p x p y p z p of the mount component is the coordinate system with the point on the mount component as the origin.
  • the ideal output of the gyroscope in the PTZ IMU is the projection of the angular velocity of the cloud-body coordinate system ⁇ b ⁇ relative to the inertial system ⁇ i ⁇ in the ⁇ b ⁇ system.
  • the actual output of the gyroscope is recorded as
  • the ideal output of the accelerometer in the PTZ IMU is the projection of the specific force in the ⁇ b ⁇ system, denoted as f b , and the actual output of the accelerometer is recorded as
  • Attitude angular rate Determined by:
  • the determined actual body coordinate system is denoted as ⁇ b' ⁇ .
  • the quaternion update algorithm is obtained by discretizing the quaternion differential equation and taking the first-order approximation.
  • the attitude quaternion is updated to obtain the attitude matrix.
  • n r is the gyro measurement noise, and assumes that n r is Gaussian white noise; b is the gyro bias, and is false A form of random walk, where n w is Gaussian white noise.
  • the embodiment of the present invention adopts a mounting component to combine the ⁇ p ⁇ -system attitude of the navigation Kalman filter output.
  • the joint angle will be Convert to the cloud platform coordinate system ⁇ b ⁇ , get To
  • the conversion formula is as shown in equation (17):
  • the attitude observation equation is:
  • the observation matrix is:
  • n ⁇ [n ⁇ x n ⁇ y n ⁇ z ] T (22)
  • the reference pose of the ⁇ b ⁇ system is obtained.
  • the observation of the posture correction is obtained according to the equation (19).
  • the attitude error the attitude observation equation shown in equation (20) and the attitude error state equation shown in equation (15) can obtain correction information, that is, attitude error estimation value, through the Kalman filter. And gyro zero offset error ⁇ .
  • the equation (15) can be discretized and a first-order approximation can be obtained, and the discretized error state equation is obtained as the state equation of the attitude solving Kalman filter, and the equation (20) is used as the attitude observation equation, passing through the Kalman Filter output: attitude error estimate And gyro zero offset error ⁇ .
  • the latest posture can be corrected to obtain the corrected posture; the gyro zero offset is corrected to obtain the corrected gyro bias.
  • FIG. 4 is a block diagram showing the processing of a pan-tilt attitude solution according to an embodiment of the present invention.
  • the angular velocity measurement of the cloud platform coordinate system ⁇ b ⁇ is obtained by the pan-tilt IMU. Then perform the posture update, for example, according to the formula (4), and obtain the current latest posture quaternion estimation value.
  • Mounting component combined navigation filter output ⁇ p ⁇ system attitude Convert to ⁇ b ⁇ , for example, according to equation (17) to get the reference pose of ⁇ b ⁇ by with
  • the observation of attitude correction is obtained according to equation (19).
  • the correction information is obtained by the attitude solving Kalman filter: the attitude error estimate And gyro zero offset error ⁇ .
  • Equation (15) can be discretized and a first-order approximation can be obtained to obtain a discretized error state equation as the state equation of the attitude solving Kalman filter.
  • Equation (20) is used as the attitude observation equation and passes through the Kalman filter. Output And ⁇ . Then, according to the output of the Kalman filter, the posture after the posture update is corrected to obtain the corrected posture; and the gyro zero offset is corrected to obtain the corrected gyro bias.
  • an accelerometer can be used to correct the attitude when the gimbal communicates with the mounting component or other causes cause the gimbal to not receive the attitude of the mounting component.
  • the unit of gravity of the actual gravity in the ⁇ b ⁇ system is:
  • the attitude error is:
  • the accelerometer is used to correct the attitude, and the observation equation is the same as (20).
  • the attitude error obtained according to equation (25), the attitude observation equation shown in equation (20), and the attitude error state equation shown in equation (15) can be corrected by the Kalman filter, that is, the attitude error estimate. And gyro zero offset error ⁇ .
  • the algorithm used for the Kalman filter is not limited.
  • the Kalman filter can employ the following algorithm.
  • the technical solution of the embodiment of the invention corrects the attitude information of the pan/tilt measured by the inertial measurement unit in the pan/tilt by using the attitude information of the mounting component of the pan-tilt, because the attitude of the mounting component is an inertial-VO combined navigation filter
  • the obtained attitude error caused by the motion acceleration has been compensated, so that the motion acceleration error caused by the accelerometer for attitude measurement can be avoided, thereby improving the accuracy of the attitude calculation of the gimbal.
  • pan/tilt system of the embodiment of the present invention may perform the foregoing various methods of the embodiments of the present invention, that is, the specific working processes of the following various products, and may refer to the corresponding processes in the foregoing method embodiments.
  • FIG. 5 shows a schematic block diagram of a pan/tilt head system 500 in accordance with an embodiment of the present invention.
  • the pan/tilt system 500 can include:
  • a cloud platform 510 wherein the cloud platform 510 is provided with an inertial measurement unit;
  • a first processor 530 configured to acquire first posture information measured by the inertial measurement unit in the pan/tilt, acquire second posture information obtained by measurement data of a visual odometer in the mounting component of the pan/tilt, and And correcting the first posture information according to the second posture information to obtain a posture of the pan/tilt.
  • the first processor 530 may be disposed in the cloud platform 510.
  • the mounting component 520 is provided with an inertial measurement unit and a visual odometer; the pan/tilt system 500 further includes:
  • the second processor 540 is configured to obtain the second posture information by measurement data of an inertial measurement unit and a visual odometer in the mounting component.
  • the second posture information includes a posture of the mounting component in a body coordinate system of the mounting component
  • the second processor 540 is configured to perform data fusion on the measurement data of the inertial measurement unit and the visual odometer in the mounting component by using a combined navigation filter to obtain the hanging in the body coordinate system of the mounting component. The posture of the loaded component.
  • the second processor 540 is disposed in the mounting component.
  • the first processor 530 is configured to:
  • the posture of the mounting member in the body coordinate system of the pan/tilt is used as a reference posture, and the first posture information is corrected to obtain a posture of the pan/tilt.
  • the first processor 530 is configured to:
  • the first processor 530 is configured to:
  • Data fusion is performed according to the attitude error, the attitude error state equation, and the attitude observation equation to obtain the correction information.
  • the first processor 530 is configured to:
  • the first processor 530 is configured to:
  • the first processor 530 is configured to:
  • Data fusion is performed according to the attitude error, the attitude error state equation, and the attitude observation equation to obtain the correction information.
  • the first processor 530 is configured to:
  • the mounting component 520 is a fourth shaft structure or a base.
  • first processor 530 and the second processor 540 are not limited in the embodiment of the present invention, for example, they may be a microprocessor or other processor.
  • first processor 530 and the second processor 540 may also be combined, that is, their functions may be implemented by one processor.
  • FIG. 6 shows a schematic block diagram of a system 600 in accordance with one embodiment of the present invention.
  • the system 600 can include a processor 610 and a memory 620.
  • system 600 may also include components that are generally included in other computer systems, such as a communication interface, etc., which is not limited by the embodiment of the present invention.
  • Memory 620 is used to store computer executable instructions.
  • the memory 620 may be various types of memory, for example, may include a high speed random access memory (RAM), and may also include a non-volatile memory, such as at least one disk memory, which is implemented by the present invention. This example is not limited to this.
  • RAM high speed random access memory
  • non-volatile memory such as at least one disk memory
  • the processor 610 is configured to access the memory 620 and execute the computer executable instructions to perform the operations in the methods of the various embodiments of the present invention described above.
  • the processor 610 is configured to perform the following operations:
  • the second attitude information is obtained by measurement data of an inertial measurement unit and a visual odometer in the mounting component.
  • the second posture information includes a posture of the mounting component in a body coordinate system of the mounting component
  • the posture of the mounting component in the body coordinate system of the mounting component is obtained by data fusion of the measurement data of the inertial measurement unit and the visual odometer in the mounting component by the combined navigation filter.
  • processor 610 is specifically configured to perform the following operations:
  • the posture of the mounting member in the body coordinate system of the pan/tilt is used as a reference posture, and the first posture information is corrected to obtain a posture of the pan/tilt.
  • processor 610 is specifically configured to perform the following operations:
  • processor 610 is specifically configured to perform the following operations:
  • Data fusion is performed according to the attitude error, the attitude error state equation, and the attitude observation equation to obtain the correction information.
  • processor 610 is further configured to:
  • processor 610 is specifically configured to perform the following operations:
  • processor 610 is specifically configured to perform the following operations:
  • Data fusion is performed according to the attitude error, the attitude error state equation, and the attitude observation equation to obtain the correction information.
  • processor 610 is further configured to:
  • the processor 610 may include a microprocessor, a field-programmable gate array (FPGA), a central processing unit (CPU), a graphics processing unit (GPU), etc., and is implemented by the present invention. This example is not limited to this.
  • the pan/tilt system and system of the embodiments of the present invention may correspond to the execution subject of the pan/tilt attitude solution method of the embodiment of the present invention, and the above-mentioned and other operations and/or functions of the respective modules in the pan-tilt system and the system are respectively.
  • the corresponding processes of the foregoing various methods are implemented, and are not described herein for brevity.
  • the embodiment of the invention further provides a computer storage medium, wherein the computer storage medium stores program code, and the program code can be used to indicate a method for performing the pan/tilt attitude solution of the embodiment of the invention.
  • the term "and/or” is merely an association relationship describing an associated object, indicating that there may be three relationships.
  • a and/or B may indicate that A exists separately, and A and B exist simultaneously, and B cases exist alone.
  • the character "/" in this article generally indicates that the contextual object is an "or" relationship.
  • the disclosed systems, devices, and methods may be implemented in other manners.
  • the device embodiments described above are merely illustrative.
  • the division of the unit is only a logical function division.
  • there may be another division manner for example, multiple units or components may be combined or Can be integrated into another system, or some features can be ignored or not executed.
  • the mutual coupling or direct coupling or communication connection shown or discussed may be an indirect coupling or communication connection through some interface, device or unit, or an electrical, mechanical or other form of connection.
  • the units described as separate components may or may not be physically separate, and the components displayed as units may or may not be physical units, that is, may be located in one place, or may be distributed to multiple network units. Some or all of the units may be selected according to actual needs to achieve the objectives of the embodiments of the present invention.
  • each functional unit in each embodiment of the present invention may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit.
  • the above integrated unit can be implemented in the form of hardware or in the form of a software functional unit.
  • the integrated unit if implemented in the form of a software functional unit and sold or used as a standalone product, may be stored in a computer readable storage medium.
  • the technical solution of the present invention contributes in essence or to the prior art, or all or part of the technical solution may be embodied in the form of a software product stored in a storage medium.
  • a number of instructions are included to cause a computer device (which may be a personal computer, server, or network device, etc.) to perform all or part of the steps of the methods described in various embodiments of the present invention.
  • the foregoing storage medium includes: a U disk, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disk, and the like, which can store program codes. .

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  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Manufacturing & Machinery (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Length Measuring Devices With Unspecified Measuring Means (AREA)
  • Navigation (AREA)
  • Length Measuring Devices By Optical Means (AREA)
  • Gyroscopes (AREA)

Abstract

L'invention porte sur un procédé (300) de solution d'attitude d'un stabilisateur de caméra portatif et système de stabilisateur de caméra (500). Le procédé consiste à : acquérir des premières informations d'attitude telles que mesurées par une unité de mesure inertielle d'un stabilisateur de caméra (510) ; acquérir des secondes informations d'attitude à partir de données de mesure d'un odomètre visuel (112) dans un composant de montage (520) du stabilisateur de caméra, le composant de montage (520) étant utilisé pour monter le stabilisateur de caméra (510) ; exécuter une correction sur les premières informations d'attitude selon les secondes informations d'attitude pour obtenir une attitude du stabilisateur de caméra (510). La solution technique améliore la précision d'une solution d'attitude de stabilisateur de caméra.
PCT/CN2018/084363 2018-04-25 2018-04-25 Procédé de solution d'attitude d'un stabilisateur de caméra portatif et système de stabilisateur de caméra WO2019205002A1 (fr)

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PCT/CN2018/084363 WO2019205002A1 (fr) 2018-04-25 2018-04-25 Procédé de solution d'attitude d'un stabilisateur de caméra portatif et système de stabilisateur de caméra
CN201880012526.8A CN110352331A (zh) 2018-04-25 2018-04-25 手持云台的姿态解算的方法和云台系统

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