WO2019242584A1 - 设备的角度估算方法、装置、摄像组件及飞行器 - Google Patents

设备的角度估算方法、装置、摄像组件及飞行器 Download PDF

Info

Publication number
WO2019242584A1
WO2019242584A1 PCT/CN2019/091556 CN2019091556W WO2019242584A1 WO 2019242584 A1 WO2019242584 A1 WO 2019242584A1 CN 2019091556 W CN2019091556 W CN 2019091556W WO 2019242584 A1 WO2019242584 A1 WO 2019242584A1
Authority
WO
WIPO (PCT)
Prior art keywords
angle
gyroscope
value
angular velocity
quaternion
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/CN2019/091556
Other languages
English (en)
French (fr)
Inventor
徐运扬
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Autel Robotics Co Ltd
Original Assignee
Autel Robotics Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Autel Robotics Co Ltd filed Critical Autel Robotics Co Ltd
Publication of WO2019242584A1 publication Critical patent/WO2019242584A1/zh
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

Links

Images

Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C1/00—Measuring angles

Definitions

  • Embodiments of the present invention relate to the technical field of aircraft, and in particular, to an angle estimation method for a device, an angle estimation device for the device, a camera module, and an aircraft having the camera module.
  • attitude control of various devices such as the shooting device of an aircraft
  • it is necessary to obtain the attitude parameters of the device such as the angle of the device
  • the attitude parameters of the device such as the angle of the device
  • UAV unmanned aerial vehicle
  • the gimbal used to carry a shooting device camera, camera, etc.
  • the attitude control of the shooting device will deviate, resulting in tilted shots or videos, affecting the shooting effect, and thus affecting the user's visual experience.
  • the method for determining the angle of a device is generally to measure the angular velocity information of the photographing device through a gyroscope set on the device, and calculate the angle of the device by using angular velocity integration.
  • the angle accuracy of the device obtained by the method for determining the angle of the device is low. Specifically, when measuring through a gyroscope, there will be a zero offset value. When the angle is obtained through integration, the zero offset value will also be integrated, leading to a growing cumulative angle error, which seriously affects the calculation accuracy and leads to the obtained equipment. The angular accuracy is low.
  • Embodiments of the present invention provide a method, a device, a camera component, and an aircraft for estimating the angle of an equipment, which can improve the accuracy of estimating the angle of the equipment.
  • an embodiment of the present invention provides an angle estimation method for a device, where the device is provided with a gyroscope and an accelerometer, and the method includes:
  • the acceleration information being determined by an initial acceleration measured by the accelerometer
  • An angle of the device is obtained according to the angular velocity correction value.
  • the acceleration information is a gravity measurement value
  • the gravity measurement value is used to represent a measurement value of the direction of gravity by the accelerometer.
  • the acquiring acceleration information of the device includes:
  • the estimating the zero offset value of the gyroscope according to the acceleration information to obtain an estimated zero offset value of the gyroscope includes:
  • An attitude error is calculated according to the angle quaternion and the gravity measurement value, and the angle quaternion is used to describe the angle of the device;
  • a zero offset value of the gyroscope is estimated to calculate a zero offset estimated value of the gyroscope.
  • the first calculation formula for calculating the attitude error according to the angle quaternion and the gravity measurement value is:
  • q ic (t) is the angle quaternion
  • a xyz (t) is the gravity measurement
  • e xyz (t) is the attitude error
  • ⁇ is the cross product operation.
  • the second calculation formula for calculating the zero offset estimation value of the gyroscope according to the attitude error is:
  • ⁇ (t) is the zero bias estimation value
  • e xyz (t) is the attitude error
  • k p is the preset error proportional gain
  • k i is the preset error integral gain.
  • the expressions of the preset error proportional gain and the preset error integral gain are:
  • ⁇ is a preset damping ratio
  • ⁇ is a preset cut-off frequency
  • the angle is an attitude angle
  • the obtaining the angle of the device according to the angular velocity correction value includes:
  • an embodiment of the present invention provides an angle estimation device for a device.
  • the device is provided with a gyroscope and an accelerometer, and the device includes:
  • An initial angular velocity acquisition module configured to acquire an initial angular velocity of the device measured by the gyroscope
  • An acceleration information acquisition module configured to acquire acceleration information of the device, where the acceleration information is determined by an initial acceleration measured by the accelerometer;
  • a zero offset estimation value determining module configured to estimate the zero offset value of the gyroscope according to the acceleration information to obtain the zero offset estimation value of the gyroscope;
  • An angular velocity correction value determining module configured to correct the initial angular velocity according to the zero offset estimation value to obtain an angular velocity correction value of the device
  • An angle determining module is configured to obtain an angle of the device according to the angular velocity correction value.
  • the acceleration information is a gravity measurement value
  • the gravity measurement value is used to represent a measurement value of the direction of gravity by the accelerometer.
  • the acceleration information acquisition module is specifically configured to:
  • the zero offset estimation value determination module is specifically configured to:
  • An attitude error is calculated according to the angle quaternion and the gravity measurement value, and the angle quaternion is used to describe the angle of the device;
  • a zero offset value of the gyroscope is estimated to calculate a zero offset estimated value of the gyroscope.
  • the angle is an attitude angle
  • the angle determination module is specifically configured to:
  • an embodiment of the present invention provides a camera component, including:
  • a photographing device provided with a gyroscope and an accelerometer
  • a memory connected in communication with the at least one processor; wherein,
  • the memory stores instructions executable by the at least one processor, the instructions being executed by the at least one processor to enable the at least one processor to perform the angle estimation method of the device as described above.
  • an embodiment of the present invention provides an aircraft, including: a fuselage; and the camera assembly described above, which is mounted on the fuselage.
  • the zero offset value of the gyroscope is estimated according to the acceleration information to obtain a zero offset estimated value of the gyroscope, so that the zero offset value of the gyroscope is compensated based on the zero offset estimated value to correct the The initial angular velocity of the device measured by the gyroscope, and then the angle of the device is obtained based on the corrected angular velocity, thereby compensating for the cumulative angle error caused by the angle obtained by integrating, and obtaining the angle of the device with higher accuracy.
  • FIG. 1 is a schematic flowchart of an angle estimation method for a device according to an embodiment of the present invention
  • FIG. 3 is a schematic diagram of an angle estimation device for a device according to an embodiment of the present invention.
  • FIG. 4 is a schematic diagram of a camera module according to an embodiment of the present invention.
  • FIG. 5 is a schematic diagram of the hardware structure of the gimbal in FIG. 4;
  • FIG. 6 is a schematic diagram of an aircraft provided by an embodiment of the present invention.
  • the method for estimating the angle of a device provided by the embodiment of the present invention can be used to determine the angle of various devices, such as a photographing device of an aircraft.
  • the aircraft may be: unmanned aerial vehicle (UAV), unmanned ship, and the like.
  • UAV unmanned aerial vehicle
  • the UAV is provided with a pan / tilt and a shooting device.
  • the UAV's gimbal can be equipped with a shooting device and installed on the body of the UAV.
  • the shooting angle of the shooting device is controlled by the pan / tilt for aerial photography and video recording.
  • the following equipment uses the UAV shooting device as an example for detailed description.
  • UAV includes: body and camera components.
  • the camera component is installed on the fuselage, and the camera component is used to obtain aerial images during UAV flight.
  • the fuselage includes a central casing and one or more arms connected to the central casing, and the one or more arms extend radially from the central casing.
  • the connection between the arm and the central housing may be an integral connection or a fixed connection.
  • the camera component includes a gimbal and a shooting device.
  • the photographing device is mounted on the pan / tilt head.
  • the photographing device may be an image acquisition device for acquiring images.
  • the photographing device includes, but is not limited to, a camera, a video camera, a camera, a scanner, a camera phone, and the like.
  • the pan / tilt is used to carry a photographing device, so as to fix the photographing device, or adjust the posture of the photographing device (for example, change the height, inclination, and / or direction of the photographing device), and keep the photographing device in a set posture. on.
  • the pan / tilt is mainly used to control the shooting angle of the shooting device, so that the shooting device is stably maintained at a set posture, preventing the shooting screen of the shooting device from shaking, and ensuring the stability of the shooting image.
  • Sensors such as a gyroscope and an accelerometer are provided on the photographing device to collect attitude information of the photographing device, such as measuring the initial angular velocity of the photographing device through the gyroscope.
  • the gimbal includes: base, motor, controller and ESC.
  • the motor is installed on the base
  • the controller is connected to the ESC
  • the ESC is electrically connected to the motor
  • the electricity is called to control the motor.
  • the controller is configured to execute the angle estimation method of the device to obtain the angle of the device, that is, the angle of the photographing device, generate a control instruction according to the angle of the photographing device, and send the control instruction to the ESC
  • the ESC passes the control The command controls the motor to control the shooting angle of the shooting device.
  • the controller is configured to execute the angle estimation method of the device to obtain the angle of the photographing device, and send the angle of the photographing device to the ESC.
  • the ESC generates a control instruction according to the angle of the photographing device, and controls the motor through the control instruction, thereby Controls the shooting angle of the camera.
  • the ESC is not a necessary part of the PTZ.
  • the controller is directly connected to the motor, and the motor is controlled by the control instruction.
  • the base is connected to the body of the UAV, and is used to fix the camera module on the body of the UAV.
  • the motor is respectively connected to the base and the photographing device.
  • the gimbal can be a multi-axis gimbal, with which there are multiple motors, that is, one motor is provided for each axis.
  • the motor can drive the rotation of the shooting device, so as to meet the adjustment of the horizontal rotation and tilting angle of the shooting device.
  • the motor can be controlled by manual remote control of the rotation of the motor or the program can be used to automatically rotate the motor.
  • the disturbance of the shooting device is cancelled in real time by the rotation of the motor, which prevents the shooting device from shaking and ensures the stability of the shooting picture.
  • the controller is configured to perform the angle estimation method of the device to obtain the angle of the device, that is, the angle of the photographing device, and generate a control instruction based on the angle of the photographing device, and send the control instruction to the ESC so that the ESC passes the control
  • the command controls the motor.
  • the controller is a device with certain logic processing capabilities, such as a control chip, a single-chip microcomputer, and a Microcontroller Unit (MCU).
  • MCU Microcontroller Unit
  • the ESC the full name of the electronic governor, is connected to the controller and the motor, respectively, and adjusts the motor of the UAV according to the control instructions to ensure the stability of the shooting screen of the shooting device.
  • the principle of the ESC control motor is roughly: the motor is an open-loop control component that converts electrical pulse signals into angular displacement or linear displacement. Under non-overload conditions, the speed and stop position of the motor only depend on the frequency and number of pulse signals, and are not affected by the load change.
  • the driver When the driver receives a pulse signal, it drives the motor in the set direction Rotating at a fixed angle, its rotation runs at a fixed angle.
  • the ESC can control the amount of angular displacement by controlling the number of pulses, thereby achieving the purpose of accurate positioning; at the same time, the speed and acceleration of the motor can be controlled by controlling the frequency of the pulses, thereby achieving the purpose of speed regulation.
  • the angle of the photographing device is usually obtained based on the data measured by the gyroscope. Specifically, first, the gyroscope is set on the photographing device to measure the angular velocity of the photographing device, and then the angular velocity integral is used to calculate the angle of the photographing device. .
  • the angular velocity integral is used to calculate the angle of the photographing device.
  • the zero offset value will also be integrated, leading to a growing angular cumulative error, which seriously affects the calculation accuracy and leads to the obtained equipment.
  • the angular accuracy is low.
  • the error assembly causes deviations in the attitude control of the shooting device, resulting in tilted shots or videos, affecting the shooting effect, and thus affecting the user's visual experience.
  • the output of the gyroscope is a slowly changing curve of the composite white noise signal, and the peak-to-peak value of the curve is the zero drift (drift).
  • the main purpose of the embodiments of the present invention is to provide an angle method, device, gimbal, camera module, and aircraft for the device, which can improve the accuracy of the angle of the computing device, such as the accuracy of the angle of the shooting device. , So that the aerial image of the shooting device remains stable.
  • the idea of the present invention is: first, a gyroscope and an accelerometer are provided on the device, the initial angular velocity of the device is obtained through the gyroscope, and the acceleration information of the device is obtained through the accelerometer; then, according to the acceleration information, the Estimating the zero offset value of the gyroscope to obtain an estimated zero offset value of the gyroscope; and then correcting the initial angular velocity according to the estimated zero offset value to obtain the angular velocity of the device Correction value; finally, according to the angular velocity correction value, the angle of the device is obtained.
  • the zero offset estimation value refers to an estimated value obtained by estimating a zero offset value of a gyroscope based on acceleration information.
  • FIG. 1 is a schematic flowchart of an angle estimation method for a device according to an embodiment of the present invention.
  • the angle estimation method of the device can be used to estimate the angle of various devices, such as the angle of a shooting device.
  • the device is provided with a gyroscope and an accelerometer.
  • This method can be executed by various controllers with certain logic processing capabilities, such as a PTZ controller used to carry a photographing device.
  • the following controllers are described using the PTZ controller as an example.
  • the PTZ controller can be applied to an aircraft, for example, to an unmanned aerial vehicle.
  • the angle estimation method of the device includes:
  • Obtaining the initial angular velocity of the device by the gimbal controller specifically includes: first acquiring the initial angular velocity by a gyroscope set on the device, and transmitting the initial angular velocity to the gimbal controller, so that the gimbal controller obtains the initial angular velocity.
  • the device may be a photographing device, and a pan / tilt is used to carry the photographing device.
  • the photographing device may be a camera, a video camera, a camera, a scanner, a camera phone, and the like.
  • the gyroscope can be a three-axis gyroscope to measure the initial angular velocity of the device.
  • the initial angular velocity available vector Indicates that the initial acceleration Represented as the coordinate vector of the angular velocity of the device relative to the inertial system at the time t in the device coordinate system.
  • the inertial system also known as the inertial coordinate system, inertial reference system, geodetic coordinate system, or world coordinate system. Since the device can be placed at any position, choose a reference coordinate in the environment to describe the position of the device, and use it to describe any position in the environment. The position of the object, this coordinate system is called the inertial system.
  • the acceleration information is a gravity measurement value, and the gravity measurement value is used to represent a measurement value of the accelerometer in the direction of gravity.
  • Obtaining the acceleration information of the device by the PTZ controller specifically includes: receiving the initial acceleration measured by the accelerometer; filtering the initial acceleration to obtain a three-axis gravity acceleration; and performing the three-axis gravity acceleration. Normalize to obtain the gravity measurement value.
  • the data collected by the accelerometer is normalized, that is, the triaxial gravity acceleration is normalized to convert the filtered three-dimensional vector into a unit vector.
  • the normalization process only changes the length of the vector, that is, it only changes the same multiple, and does not change its direction for subsequent calculations.
  • the zero offset value of the gyroscope needs to be compensated to improve the accuracy of the angle of the computing device.
  • the current common practice is to perform constant temperature compensation on the zero offset of the gyroscope, that is, to calibrate the zero The bias value, and then subtract the offset in the algorithm.
  • This method requires the gyroscope to be heated throughout the entire use process, so that the temperature at the gyroscope is always kept constant.
  • each gyroscope must be calibrated at a constant temperature before leaving the factory, which increases the cost of processes and man-hours; second, the hardware cost of the heater is increased; third, the actual temperature control It is difficult to keep it constant. In this way, the zero offset value compensated in the algorithm is likely to be inconsistent with the actual situation and cause "overcompensation” or "undercompensation", resulting in subsequent integration errors.
  • the zero offset value of the gyroscope is estimated by using acceleration information to obtain the zero offset estimation value of the gyroscope, so as to compensate the zero offset value of the gyroscope, so as to avoid the constant temperature compensation.
  • the disadvantages of reducing the cost and improving the accuracy of the estimated zero offset value ensure the accuracy of the angle of the subsequent computing equipment.
  • the angle obtained by the gyroscope integration has high accuracy in a short time, but poor accuracy over a long period of time, and there is a cumulative error.
  • the measurement error does not accumulate with time, but the accuracy in a short time is poor; that is,
  • the gyroscope has the characteristics of good high-frequency characteristics and poor low-frequency characteristics, while the characteristics of the accelerometer are just the opposite; therefore, the advantages of the frequency characteristics of the two can be combined, and the zero offset value of the gyroscope can be effectively estimated by the acceleration information and given. Compensation in order to obtain a more accurate angle of the device.
  • the gimbal controller estimates the zero bias value of the gyroscope according to the acceleration information to obtain the zero bias estimated value of the gyroscope, including: according to the angle quaternion and the gravity measurement value. , The attitude error is calculated, and the angle quaternion is used to describe the angle of the device; according to the attitude error, the zero offset value of the gyroscope is estimated to calculate the zero offset prediction of the gyroscope Valuation.
  • the quaternion is used to describe the angle of the device.
  • the root cause of the universal joint lock phenomenon is that the rotation matrix is sequentially performed. It is assumed that the rotation is about the x-axis, then the y-axis, and finally the z-axis. This causes the object to actually rotate around its own coordinate system.
  • the x-axis rotation is not the x-axis rotation of the inertial frame.
  • the first calculation formula of the attitude error calculated according to the angle quaternion and the gravity measurement value is:
  • q ic (t) is the angle quaternion
  • a xyz (t) is the gravity measurement
  • e xyz (t) is the attitude error
  • ⁇ is the cross product operation.
  • This attitude error e xyz (t) reflects the deviation between the angle quaternion q ic (t) and the gravity measurement a xyz (t).
  • ⁇ (t) is the zero bias estimation value
  • e xyz (t) is the attitude error
  • k p is the preset error proportional gain
  • k i is the preset error integral gain.
  • the preset error proportional gain k p is the switching frequency of the low-pass filter and the high-pass filter. It is selected according to the frequency characteristics of the output of the accelerometer and gyroscope.
  • the preset error integral gain k i is used to control the filter to eliminate errors. Convergence time.
  • the k i ⁇ ⁇ e xyz (t) in the second calculation formula for calculating the bias estimate is the difference between the attitude error and the gravity component separated from the current attitude and the gravity component of the current accelerometer vehicle. The value is integrated to eliminate the error.
  • ⁇ is a preset damping ratio
  • ⁇ is a preset cut-off frequency.
  • ⁇ is a preset cut-off frequency.
  • the calculation formula for the angular velocity correction value of the device according to the zero offset estimation value is:
  • ⁇ (t) is the estimated value of zero bias; Is the initial angular velocity, It is the angular velocity correction value.
  • the angle of the device may be an attitude angle, also called an Euler angle.
  • the gimbal controller obtains the angle of the device according to the angular velocity correction value, which specifically includes: using the angular velocity correction value as an input of a preset quaternion differential equation to obtain an angular velocity quaternion; The quaternions are integrated to obtain an angle quaternion; the angle quaternion is converted into an attitude angle of the device.
  • Is the angular velocity quaternion that is, the derivative of the angular quaternion q ic ;
  • Is the angular velocity correction value, so the angle quaternion q ic of the device at time t is:
  • ⁇ t is the sampling time interval of the gyroscope.
  • the method before converting the angle quaternion into the attitude angle of the device, the method further includes normalizing the angle quaternion, and normalizing the angle quaternion, or unit. Reduce the angle quaternion.
  • the functions of normalizing the angle quaternion include: 1.
  • the angle quaternion is used to represent rotation, so the angle quaternion needs to be a normalized quaternion.
  • the modulus of the calculated angle quaternion is no longer equal to 1, and the angle quaternion will lose its normalized characteristics. Therefore, the angle quaternion needs to be normalized. It will not stretch when rotating in space, only the rotation angle, similar to the orthogonal transformation in linear algebra.
  • the zero offset value of the gyroscope is estimated by using acceleration information to obtain the zero offset estimation value of the gyroscope, so as to compensate the zero offset value of the gyroscope, so as to avoid the constant temperature compensation.
  • the disadvantages of the method are to reduce the cost and improve the accuracy of the estimated zero offset value in order to obtain the angle of the device according to the corrected angular velocity correction value, thereby improving the accuracy of the angle of the estimated device.
  • FIG. 2 is a specific flowchart of gyroscope zero offset estimation provided by an embodiment of the present invention. The following uses FIG. 2 to estimate the zero offset value of the gyroscope by using acceleration information to obtain the zero offset estimation value of the gyroscope, so as to compensate the zero offset value of the gyroscope, thereby improving the estimation equipment.
  • the angular accuracy is specified.
  • attitude error e xyz (t) reflects the deviation between the angle quaternion q ic (t) and the gravity measurement a xyz (t), e xyz (t) ⁇ a xyz (t)-q ic (t) . That is, the formula (1) can be expressed as:
  • Equation (3) can be transformed into:
  • G 1 (s) is a low-pass filter
  • G 2 (s) is a high-pass filter
  • ⁇ H (s) and ⁇ L (s) are the Laplace transform values of the high-frequency noise observed by the accelerometer and the low-frequency cumulative error calculated by the gyroscope, respectively.
  • Equation (10) is obtained by inverse Laplace transform:
  • the zero offset value of the gyroscope can be effectively estimated by using the acceleration information to correct the angular velocity measured by the gyroscope, thereby obtaining the angle quaternion q ic (t) of the device with higher accuracy, and then accurate The angle of a more sexual device.
  • a xyz (t) determined by the accelerometer will make the device's angle quaternion solution value q ic (t) converge to the real value of the device's angle quaternion G real (t).
  • the convergence accuracy value ⁇ satisfies:
  • the convergence accuracy value ⁇ measures the closeness between the angle quaternion q ic (t) of the device and the real value G real (t) of the angle quaternion of the device.
  • the smaller the error the higher the accuracy of the zero offset value estimation and compensation of the gyroscope, and the higher the accuracy of q ic (t) obtained by the solution.
  • ⁇ 0.00136 that is, 1.36 per thousand, achieves the high-precision angle solution goal.
  • the zero offset value of the gyroscope is estimated according to the acceleration information to obtain an estimated zero offset value of the gyroscope, so as to compensate the zero offset value of the gyroscope based on the estimated zero offset value.
  • the angular cumulative error caused by the angle obtained by integration is compensated to obtain a more accurate angle of the device.
  • FIG. 3 is a schematic diagram of an angle estimation device for a device according to an embodiment of the present invention.
  • the angle estimation device 30 of the device can be used to estimate the angle of various devices, such as the angle of a photographing device.
  • the device is provided with a gyroscope and an accelerometer.
  • the angle estimation device 30 of the device can be configured in various controllers with a certain logic processing capability, such as a PTZ controller for mounting a photographing device.
  • the PTZ controller can be applied to an aircraft, for example, to an unmanned aerial vehicle.
  • the angle estimation device 30 of the device includes an initial angular velocity acquisition module 301, an acceleration information acquisition module 302, a zero offset estimation value determination module 303, an angular velocity correction value determination module 304, and an angle determination module 305.
  • the initial angular velocity acquisition module 301 is configured to acquire an initial angular velocity of the device measured by the gyroscope.
  • the acceleration information acquisition module 302 is configured to acquire acceleration information of the device, where the acceleration information is determined by an initial acceleration measured by the accelerometer.
  • the acceleration information is a gravity measurement value, and the gravity measurement value is used to represent a measurement value of the accelerometer in the direction of gravity.
  • the acceleration information acquisition module 302 is specifically configured to: receive the initial acceleration measured by the accelerometer; filter the initial acceleration to obtain a triaxial gravity acceleration; and perform normalization processing on the triaxial gravity acceleration, The gravity measurement is obtained.
  • the normalization process only changes the length of the vector, that is, it only changes the same multiple, and does not change its direction for subsequent calculations.
  • the zero offset estimation value determining module 303 is configured to estimate the zero offset value of the gyroscope according to the acceleration information to obtain the zero offset estimation value of the gyroscope.
  • the zero offset value of the gyroscope needs to be compensated to improve the accuracy of the angle of the computing device.
  • the common practice is to perform constant temperature compensation on the zero offset value of the gyroscope, but the temperature compensation has the following defects: first, each gyroscope must be calibrated at a constant temperature before leaving the factory, which increases the process and labor cost; second It increases the hardware cost of the heater. Third, the actual temperature control is difficult to keep constant. In this way, the zero offset value compensated in the algorithm is likely to be inconsistent with the actual situation and cause "overcompensation" or "undercompensation", resulting in subsequent integration errors.
  • the zero offset estimation value determination module 303 estimates the zero offset value of the gyroscope by using acceleration information to obtain the zero offset estimation value of the gyroscope, so as to estimate the zero offset of the gyroscope. Compensation to avoid the above-mentioned defects of constant temperature compensation, reduce the cost and improve the accuracy of the estimated zero offset value to ensure the accuracy of the angle of subsequent computing equipment.
  • the angle obtained by the gyroscope integration has high accuracy in a short time, but poor accuracy over a long period of time, and there is a cumulative error.
  • the measurement error does not accumulate with time, but the accuracy in a short time is poor; that is,
  • the gyroscope has the characteristics of good high-frequency characteristics and poor low-frequency characteristics, while the characteristics of the accelerometer are just the opposite; therefore, the advantages of the frequency characteristics of the two can be combined, and the zero offset value of the gyroscope can be effectively estimated by the acceleration information and given. Compensation in order to obtain a more accurate angle of the device.
  • the bias estimation value determination module 303 is specifically configured to calculate an attitude error according to the angle quaternion and the gravity measurement value, and the angle quaternion is used to describe the angle of the device; according to the attitude The error is used to estimate the zero offset value of the gyroscope to calculate the estimated zero offset value of the gyroscope.
  • the use of quaternions to describe the angle of the device can avoid the phenomenon of universal joint lock during the solution of the angle of the device.
  • the first bias calculation value determining module 303 calculates the first calculation formula of the attitude error according to the angle quaternion and the gravity measurement value as follows:
  • q ic (t) is the angle quaternion
  • a xyz (t) is the gravity measurement
  • e xyz (t) is the attitude error
  • ⁇ is the cross product operation.
  • This attitude error e xyz (t) reflects the deviation between the angle quaternion q ic (t) and the gravity measurement a xyz (t).
  • a correction value obtained from the attitude error e xyz (t) is set.
  • the correction value is used to correct the initial angular velocity.
  • This correction value is also the zero bias estimation.
  • Value ⁇ (t) a second calculation formula for the zero offset estimation value determining module 303 that calculates the zero offset estimation value of the gyroscope according to the attitude error is:
  • ⁇ (t) is the zero bias estimation value
  • e xyz (t) is the attitude error
  • k p is the preset error proportional gain
  • k i is the preset error integral gain.
  • the preset error proportional gain k p is the switching frequency of the low-pass filter and the high-pass filter. It is selected according to the frequency characteristics of the output of the accelerometer and gyroscope.
  • the preset error integral gain k i is used to control the filter to eliminate errors. Convergence time.
  • the k i ⁇ ⁇ e xyz (t) in the second calculation formula for calculating the bias estimate is the difference between the attitude error and the gravity component separated from the current attitude and the gravity component of the current accelerometer vehicle. The value is integrated to eliminate the error.
  • ⁇ is a preset damping ratio
  • ⁇ is a preset cutoff frequency.
  • ⁇ is a preset cutoff frequency.
  • the angular velocity correction value determining module 304 is configured to correct the initial angular velocity according to the zero offset estimation value to obtain an angular velocity correction value of the device.
  • the calculation formula for the angular velocity correction value determining module 304 to obtain the angular velocity correction value of the device according to the zero offset estimation value is:
  • ⁇ (t) is the estimated value of zero bias; Is the initial angular velocity, It is the angular velocity correction value.
  • the angle determining module 305 is configured to obtain the angle of the device according to the angular velocity correction value.
  • the angle of the device may be an attitude angle, also called an Euler angle.
  • the angle determining module 305 is specifically configured to: use the angular velocity correction value as an input of a preset quaternion differential equation to obtain an angular velocity quaternion; integrate the angular velocity quaternion to obtain an angular quaternion; The angle quaternion is converted into the attitude angle of the device.
  • Is the angular velocity quaternion that is, the derivative of the angular quaternion q ic ;
  • Is the angular velocity correction value, so the angle quaternion q ic of the device at time t is:
  • ⁇ t is the sampling time interval of the gyroscope.
  • the angle estimation device 30 of the device further includes a quaternion normalization processing module (not shown).
  • the quaternion normalization processing module normalizes the angle quaternion before the angle determination module 305 converts the angle quaternion to the attitude angle of the device, and normalizes the angle. Quaternions, or quaternions that normalize the angle.
  • the functions of normalizing the angle quaternion include: 1. The angle quaternion is used to represent rotation, so the angle quaternion needs to be a normalized quaternion.
  • the modulus of the calculated angle quaternion is no longer equal to 1, and the angle quaternion will lose its normalized characteristics. Therefore, the angle quaternion needs to be normalized. 2. Planning the quaternion It will not stretch when rotating in space, only the rotation angle, similar to the orthogonal transformation in linear algebra.
  • acceleration information is acquired through the acceleration information acquisition module 302, and the zero offset estimation value determination module 303 estimates the zero offset value of the gyroscope according to the acceleration information to obtain the zero offset prediction of the gyroscope.
  • a xyz (t) determined by the accelerometer will cause the angle quaternion solution value q ic (t) of the device to converge to the real value of the device's angle quaternion G real (t), at this time
  • the convergence accuracy value ⁇ satisfies:
  • the convergence accuracy value ⁇ measures the closeness between the angle quaternion q ic (t) of the device and the real value G real (t) of the angle quaternion of the device.
  • the smaller the error the higher the accuracy of the zero offset value estimation and compensation of the gyroscope, and the higher the accuracy of q ic (t) obtained by the solution.
  • ⁇ 0.00136 that is, 1.36 per thousand, achieves the high-precision angle solution goal.
  • the angle estimation device 30 of the device can execute the angle estimation method of the device provided by the method embodiment, and has function modules and beneficial effects corresponding to the execution method.
  • the angle estimation method of the device provided in the method embodiment can execute the angle estimation method of the device provided by the method embodiment, and has function modules and beneficial effects corresponding to the execution method.
  • FIG. 4 is a camera module according to an embodiment of the present invention.
  • the camera module 400 includes a photographing device 41 and a pan / tilt head 40, and the photographing device 41 is mounted on the pan / tilt head 40.
  • a gyroscope and an accelerometer are disposed on the photographing device 41.
  • the pan / tilt head 40 is used for fixing the photographing device 41 or adjusting the posture of the photographing device 41 at random (for example, changing the height, inclination and / or direction of the photographing device) and stably maintaining the photographing device 41 in a set posture.
  • the gimbal 40 obtains the angle of the shooting device 41, and controls the camera component 41 based on the angle, so that the shooting device 41 is stably maintained in a set posture, and the shooting device 41 is prevented
  • the shooting picture is tilted to ensure the stability of the shooting picture.
  • the PTZ 40 includes: one or more processors 401 and a memory 402.
  • One processor 401 is taken as an example in FIG. 5.
  • the processor 401 and the memory 402 may be connected through a bus or other manners. In FIG. 5, the connection through the bus is taken as an example.
  • the memory 402 is a non-volatile computer-readable storage medium, and may be used to store non-volatile software programs, non-volatile computer executable programs, and modules, as corresponding to the angle estimation method of the device in the embodiment of the present invention.
  • Program instructions / modules for example, the initial angular velocity acquisition module 301, the acceleration information acquisition module 302, the zero offset estimation value determination module 303, the angular velocity correction value determination module 304, and the angle determination module 305 shown in FIG. 3).
  • the processor 401 executes various functional applications and data processing of the PTZ by running non-volatile software programs, instructions, and modules stored in the memory 402, that is, an angle estimation method of a device that implements the method embodiment.
  • the memory 402 may include a storage program area and a storage data area, where the storage program area may store an operating system and applications required for at least one function; the storage data area may store data created according to the use of the PTZ, and the like.
  • the memory 402 may include a high-speed random access memory, and may further include a non-volatile memory, such as at least one magnetic disk storage device, a flash memory device, or other non-volatile solid-state storage device.
  • the memory 402 may optionally include a memory remotely set relative to the processor 401, and these remote memories may be connected to the PTZ through a network. Examples of the network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.
  • the one or more modules are stored in the memory 402, and when executed by the one or more processors 401, the angle estimation method of the device in the method embodiment is executed, for example, the graph described above is executed.
  • the method steps 101 to 105 in 1 realize the functions of the modules 301-305 in FIG. 3.
  • the pan / tilt head may further include a communication interface, which is used to implement communication with other devices, such as a flight control system of an aircraft.
  • a communication interface which is used to implement communication with other devices, such as a flight control system of an aircraft.
  • Other devices included in the gimbal are not limited here.
  • the gimbal can execute the angle estimation method of the device provided by the method embodiment, and has corresponding function modules and beneficial effects of the execution method.
  • the gimbal embodiment can execute the angle estimation method of the device provided by the method embodiment, and has corresponding function modules and beneficial effects of the execution method.
  • An embodiment of the present invention provides a computer program product.
  • the computer program product includes a computer program stored on a non-volatile computer-readable storage medium.
  • the computer program includes program instructions.
  • the program instructions are executed by a computer, At that time, the computer is caused to execute the angle estimation method of the device as described above. For example, the method steps 101 to 105 in FIG. 1 described above are performed to implement the functions of the modules 301-305 in FIG. 3.
  • An embodiment of the present invention provides a non-volatile computer-readable storage medium, where the computer-readable storage medium stores computer-executable instructions, and the computer-executable instructions are used to cause a computer to execute a device perspective as described above.
  • Estimate method For example, the method steps 101 to 105 in FIG. 1 described above are performed to implement the functions of the modules 301-305 in FIG. 3.
  • FIG. 6 is an aircraft provided by an embodiment of the present invention.
  • the aircraft 600 includes a fuselage 61 and a camera assembly 400 as described above.
  • the camera module 400 is mounted on the fuselage 61 to perform aerial photography, video recording, and the like.
  • the device embodiments described above are only schematic, and the modules described as separate components may or may not be physically separated, and the components displayed as modules may or may not be physical Modules can be located in one place or distributed to multiple network modules. Some or all of the modules may be selected according to actual needs to achieve the objective of the solution of this embodiment.
  • the embodiments can be implemented by means of software plus a general hardware platform, and of course, also by hardware.
  • the program can be stored in a computer-readable storage medium, and the program is being executed. In this case, the process of the embodiment of each method may be included.
  • the storage medium may be a magnetic disk, an optical disc, a read-only memory (Read-Only Memory, ROM), or a random access memory (Random, Access Memory, RAM).

Landscapes

  • Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • General Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Gyroscopes (AREA)
  • Length Measuring Devices With Unspecified Measuring Means (AREA)

Abstract

一种设备的角度估算方法、装置（30）、拍摄组件及飞行器。其中，设备设置有陀螺仪和加速度计。方法包括：获取陀螺仪测量的设备的初始角速度（101）；获取设备的加速度信息，加速度信息由加速度计测量的初始加速度所确定（102）；根据加速度信息，对陀螺仪的零偏值进行估计，以得到陀螺仪的零偏预估值（103）；根据零偏预估值，对初始角速度进行修正，以得到设备的角速度修正值（104）；根据角速度修正值，得到设备的角度（105）。通过设备的角度估算方法，可以提高估算设备的角度的准确性。

Description

设备的角度估算方法、装置、摄像组件及飞行器
相关申请的交叉引用
本申请要求申请号为201810628978.0，申请日为2018年6月19日申请的中国专利申请的优先权，其全部内容通过引用结合于本文。
技术领域
本发明实施例涉及飞行器技术领域，尤其涉及一种设备的角度估算方法、设备的角度估算装置、摄像组件，及具有该摄像组件的飞行器。
背景技术
通常对于各种设备如飞行器的拍摄装置等的姿态控制来说，需要实时获取设备的姿态参数，如设备的角度。以飞行器中的无人机(Unmanned Aerial Vehicle，UAV)为例，在无人机进行拍摄的过程，用于搭载拍摄装置(相机、摄影机等)的云台必须实时准确测定拍摄装置的姿态参数，如拍摄装置的角度，否则会使拍摄装置的姿态控制发生偏差，导致拍摄的画面或拍摄视频倾斜，影响拍摄效果，从而影响用户的视觉体验。
目前，通常确定设备(如拍摄装置)的角度的方法为：通过设置于设备上的陀螺仪测量拍摄装置的角速度信息，利用角速度积分计算得到设备的角度。
在实现本发明过程中，发明人发现相关技术中至少存在如下问题：上述确定设备的角度的方法得到的设备的角度准确性低。具体的，通过陀螺仪进行测量时，会存在零偏值，当通过积分求取角度时，该零偏值也会被积分，导致不断增长的角度累积误差，严重影响计算精度，导致得到的设备的角度准确性低。
发明内容
本发明实施例提供一种设备的角度估算方法、装置、摄像组件及飞行器，可以提高估算设备的角度的准确性。
本发明实施例公开了如下技术方案：
第一方面，本发明实施例提供了一种设备的角度估算方法，所述设备设置有陀螺仪和加速度计，所述方法包括：
获取所述陀螺仪测量的所述设备的初始角速度；
获取所述设备的加速度信息，所述加速度信息由所述加速度计测量的初始加速度所确定；
根据所述加速度信息，对所述陀螺仪的零偏值进行估计，以得到所述陀螺仪的零偏预估值；
根据所述零偏预估值，对所述初始角速度进行修正，以得到所述设备的角速度修正值；
根据所述角速度修正值，得到所述设备的角度。
在一些实施例中，所述加速度信息为重力测量值，所述重力测量值用于表示所述加速度计对重力方向的测量值。
在一些实施例中，所述获取所述设备的加速度信息，包括：
接收通过所述加速度计测量得到的所述初始加速度；
对所述初始加速度进行滤波，得到三轴重力加速度；
对所述三轴重力加速度进行归一化处理，得到所述重力测量值。
在一些实施例中，所述根据所述加速度信息，对所述陀螺仪的零偏值进行估计，以得到所述陀螺仪的零偏预估值，包括：
根据角度四元数及所述重力测量值，计算得到姿态误差，所述角度四元数用于描述所述设备的角度；
根据所述姿态误差，对所述陀螺仪的零偏值进行估计，以计算得到所述陀螺仪的零偏预估值。
在一些实施例中，根据角度四元数及所述重力测量值计算得到姿态 误差的第一计算公式为：
e xyz(t)＝q ic(t)×a xyz(t)
其中，q ic(t)为角度四元数；a xyz(t)为重力测量值；e xyz(t)为姿态误差；×表示为叉乘运算。
在一些实施例中，根据所述姿态误差计算得到所述陀螺仪的零偏预估值的第二计算公式为：
δ(t)＝k p·e xyz(t)+k i·∫e xyz(t)
其中，δ(t)为零偏预估值；e xyz(t)为姿态误差；k p为预设的误差比例增益；k i为预设的误差积分增益。
在一些实施例中，预设的误差比例增益及预设的误差积分增益的表达式为：
Figure PCTCN2019091556-appb-000001
其中，ξ为预设的阻尼比；ω为预设的截止频率。
在一些实施例中，所述角度为姿态角；
所述根据所述角速度修正值，得到所述设备的角度，包括：
将所述角速度修正值作为预设的四元数微分方程的输入，得到角速度四元数；
对所述角速度四元数进行积分，得到角度四元数；
将所述角度四元数转换为所述设备的姿态角。
第二方面，本发明实施例提供了一种设备的角度估算装置，所述设备设置有陀螺仪和加速度计，所述装置包括：
初始角速度获取模块，用于获取所述陀螺仪测量的所述设备的初始角速度；
加速度信息获取模块，用于获取所述设备的加速度信息，所述加速度信息由所述加速度计测量的初始加速度所确定；
零偏预估值确定模块，用于根据所述加速度信息，对所述陀螺仪的 零偏值进行估计，以得到所述陀螺仪的零偏预估值；
角速度修正值确定模块，用于根据所述零偏预估值，对所述初始角速度进行修正，以得到所述设备的角速度修正值；
角度确定模块，用于根据所述角速度修正值，得到所述设备的角度。
在一些实施例中，所述加速度信息为重力测量值，所述重力测量值用于表示所述加速度计对重力方向的测量值。
在一些实施例中，所述加速度信息获取模块具体用于：
接收通过所述加速度计测量得到的所述初始加速度；
对所述初始加速度进行滤波，得到三轴重力加速度；
对所述三轴重力加速度进行归一化处理，得到所述重力测量值。
在一些实施例中，所述零偏预估值确定模块具体用于：
根据角度四元数及所述重力测量值，计算得到姿态误差，所述角度四元数用于描述所述设备的角度；
根据所述姿态误差，对所述陀螺仪的零偏值进行估计，以计算得到所述陀螺仪的零偏预估值。
在一些实施例中，所述角度为姿态角；
所述角度确定模块具体用于：
将所述角速度修正值作为预设的四元数微分方程的输入，得到角速度四元数；
对所述角速度四元数进行积分，得到角度四元数；
将所述角度四元数转换为所述设备的姿态角。
第三方面，本发明实施例提供了一种摄像组件，包括：
拍摄装置，所述拍摄装置上设置有陀螺仪和加速度计；
云台，所述拍摄装置搭载于所述云台上，所述云台包括：至少一个处理器；以及，
与所述至少一个处理器通信连接的存储器；其中，
所述存储器存储有可被所述至少一个处理器执行的指令，所述指令 被所述至少一个处理器执行，以使所述至少一个处理器能够执行如上所述的设备的角度估算方法。
第四方面，本发明实施例提供了一种飞行器，包括：机身；以及如上所述的摄像组件，安装于所述机身。
本发明实施例根据所述加速度信息对陀螺仪的零偏值进行估计，以得到陀螺仪的零偏预估值，以便基于该零偏预估值对陀螺仪的零偏值进行补偿，以修正陀螺仪测量的设备的初始角速度，再基于经过修正的角速度得到设备的角度，从而对通过积分求取角度引起的角度累积误差进行补偿，得到准确性更高的设备的角度。
附图说明
一个或多个实施例通过与之对应的附图中的图片进行示例性说明，这些示例性说明并不构成对实施例的限定，附图中具有相同参考数字标号的元件表示为类似的元件，除非有特别申明，附图中的图不构成比例限制。
图1是本发明实施例提供的一种设备的角度估算方法的流程示意图；
图2是本发明实施例提供的陀螺仪零偏值估算的具体流程图；
图3是本发明实施例提供的设备的角度估算装置的示意图；
图4是本发明实施例提供的摄像组件的示意图；
图5是图4中的云台硬件结构示意图；
图6是本发明实施例提供的飞行器的示意图。
具体实施方式
下面将结合本发明实施例中的附图，对本发明实施例中的技术方案进行描述，显然，所描述的实施例是本发明一部分实施例，而不是全部的实施例。基于本发明中的实施例，本领域普通技术人员在没有作出创 造性劳动前提下所获得的所有其他实施例，都属于本发明保护的范围。
此外，下面所描述的本发明各个实施方式中所涉及到的技术特征只要彼此之间未构成冲突就可以相互组合。
本发明实施例提供的设备的角度估算方法可用于确定各种设备的角度，如飞行器的拍摄装置等。其中，飞行器可以为：无人机(unmanned aerial vehicle，UAV)、无人船等等。以UAV为例，UAV设置有云台及拍摄装置，UAV的云台可搭载拍摄装置，并安装于UAV的机身上，通过云台控制拍摄装置的拍摄角度，以进行航拍、录像等工作。
以下设备以UAV的拍摄装置为例进行具体描述。
UAV包括：机身及摄像组件。其中，摄像组件安装于机身上，摄像组件用于在UAV进行飞行的过程中获取航拍图像。
机身包括中心壳体以及与中心壳体连接的一个或多个机臂，一个或多个机臂呈辐射状从中心壳体延伸出。机臂与中心壳体的连接可以是一体连接或者固定连接。
摄像组件包括云台及拍摄装置。其中，拍摄装置搭载于所述云台上，拍摄装置可以为图像采集装置，用于采集图像，该拍摄装置包括但不限于：相机、摄影机、摄像头、扫描仪、拍照手机等。云台用于搭载拍摄装置，以实现拍摄装置的固定、或随意调节拍摄装置的姿态(例如，改变拍摄装置的高度、倾角和/或方向)以及使所述拍摄装置稳定保持在设定的姿态上。例如，当UAV进行航拍时，云台主要用于控制拍摄装置的拍摄角度，使所述拍摄装置稳定保持在设定的姿态上，防止拍摄装置拍摄画面抖动，保证拍摄画面的稳定。
拍摄装置上设置陀螺仪和加速度计等传感器，以便采集拍摄装置的姿态信息，如通过该陀螺仪测量拍摄装置的初始角速度等。
云台包括：基座、电机、控制器及电调。其中，电机安装于基座，控制器与电调连接，电调与电机电连接，电调用于控制电机。具体的，控制器用于执行上述设备的角度估算方法以得到设备的角度，也即拍摄 装置的角度，根据拍摄装置的角度生成控制指令，并将该控制指令发送给电调，电调通过该控制指令控制电机，从而控制拍摄装置的拍摄角度。或者，控制器用于执行上述设备的角度估算方法以得到拍摄装置的角度，并将拍摄装置的角度发送至电调，电调根据拍摄装置的角度生成控制指令，并通过该控制指令控制电机，从而控制拍摄装置的拍摄角度。
需要说明的是，在一些实施例中，电调不是云台的必要部件，当云台不包括电调时，控制器直接与电机连接，通过控制指令控制电机。
基座与UAV的机身连接，用于将摄像组件固定安装于UAV的机身上。
电机分别与基座及拍摄装置连接。该云台可以为多轴云台，与之适应的，电机为多个，也即每个轴设置有一个电机。电机一方面可带动拍摄装置的转动，从而满足拍摄装置的水平旋转和俯仰角度的调节，通过手动远程控制电机旋转或利用程序让电机自动旋转，从而达到全方位扫描监控的作用；另一方面，在UAV进行航拍的过程中，通过电机的转动实时抵消拍摄装置受到的扰动，防止拍摄装置抖动，保证拍摄画面的稳定。
控制器用于执行上述设备的角度估算方法以得到设备的角度，也即拍摄装置的角度，并可基于拍摄装置的角度生成控制指令，并将该控制指令发送给电调，以便电调通过该控制指令控制电机。控制器为具有一定逻辑处理能力的器件，如控制芯片、单片机、微控制单元(Microcontroller Unit，MCU)等。
电调，全称电子调速器，分别与控制器及电机连接，根据控制指令调节UAV的电机，以保证拍摄装置的拍摄画面的稳定。电调控制电机的原理大致为：电机是将电脉冲信号转变为角位移或线位移的开环控制元器件。在非超载的情况下，电机的转速、停止的位置只取决于脉冲信号的频率和脉冲数，而不受负载变化的影响，当驱动器接收到一个脉冲信号，它就驱动电机按设定的方向转动一个固定的角度，它的旋转是以固定的角度运行的。因此，电调可以通过控制脉冲个数来控制角位移量， 从而达到准确定位的目的；同时可以通过控制脉冲频率来控制电机转动的速度和加速度，从而达到调速的目的。
在控制拍摄装置的拍摄角度的过程中，通常需要实时获取拍摄装置的角度，为保证拍摄装置拍摄图像的稳定性提供必要依据。
而目前通常是基于陀螺仪所测量的数据来获取拍摄装置的角度，具体的，首先，陀螺仪设置于拍摄装置上，以测量得到拍摄装置的角速度，然后再利用角速度积分计算得到拍摄装置的角度。但是，由于通过陀螺仪进行测量时，会存在零偏值，当通过积分求取角度时，该零偏值也会被积分，导致不断增长的角度累积误差，严重影响计算精度，导致得到的设备的角度准确性低。误差大会使拍摄装置的姿态控制发生偏差，导致拍摄的画面或拍摄视频倾斜，影响拍摄效果，从而影响用户的视觉体验。其中，在角速度输入为零时陀螺仪的输出是一条复合白噪声信号缓慢变化的曲线，曲线的峰-峰值就是零偏值(drift)。
因此，基于上述问题，本发明实施例主要目的在于提供一种设备的角度方法、装置、云台、摄像组件及飞行器，可以提高计算设备的角度的准确性，如计算拍摄装置的角度的准确性，使得拍摄装置航拍图像保持稳定。其中，本发明的思路是：首先，在设备设置有陀螺仪和加速度计，通过陀螺仪获取得到设备的初始角速度，并通过加速度计获取得到设备的加速度信息；然后，根据所述加速度信息，对所述陀螺仪的零偏值进行估计，以得到所述陀螺仪的零偏预估值；接着，根据所述零偏预估值，对所述初始角速度进行修正，以得到所述设备的角速度修正值；最后，根据所述角速度修正值，得到所述设备的角度。其中，零偏预估值是指基于加速度信息以对陀螺仪的零偏值进行估计而得到的估算值。
下面结合附图，对本发明实施例作进一步阐述。
实施例1：
图1为本发明实施例提供的一种设备的角度估算方法的流程示意图。 其中，该设备的角度估算方法可用于估算各种设备的角度，如拍摄装置的角度，其中，该设备设置有陀螺仪和加速度计。该方法可由各种具有一定逻辑处理能力的控制器执行，如用于搭载拍摄装置的云台控制器等，以下控制器以云台控制器为例进行说明。所述云台控制器可以应用于飞行器上，例如，应用于无人机。
请参照图1，所述设备的角度估算方法包括：
101：获取所述陀螺仪测量的所述设备的初始角速度。
云台控制器获取设备的初始角速度具体包括：首先由设置于设备上的陀螺仪采集得到初始角速度，并将该初始角速度传输至云台控制器，以使云台控制器获取得到该初始角速度。其中，该设备可以为拍摄装置，云台用于搭载该拍摄装置，该拍摄装置可为相机、摄影机、摄像头、扫描仪、拍照手机等。
其中，该陀螺仪可以为三轴陀螺仪，以测量设备的初始角速度。该初始角速度可用向量
Figure PCTCN2019091556-appb-000002
表示，该初始加速度
Figure PCTCN2019091556-appb-000003
表示为t时刻设备相对于惯性系的角速度在设备坐标系下的坐标向量。其中，惯性系，又称惯性坐标系、惯性参照系、大地坐标系或世界坐标系，由于设备可安放在任意位置,在环境中选择一个基准坐标来描述设备的位置,并用它描述环境中任何物体的位置,该坐标系称为惯性系。
102：获取所述设备的加速度信息，所述加速度信息由所述加速度计测量的初始加速度所确定。
其中，该加速度信息为重力测量值，所述重力测量值用于表示所述加速度计对重力方向的测量值。
云台控制器获取所述设备的加速度信息具体包括：接收通过所述加速度计测量得到的所述初始加速度；对所述初始加速度进行滤波，得到三轴重力加速度；对所述三轴重力加速度进行归一化处理，得到所述重力测量值。其中，对初始加速度进行滤波，以实现对加速度计所采集的初始加速度的去噪处理，得到三轴重力加速度a x′(t)、a y′(t)、a z′(t)，然后 再基于以下方式对所述三轴重力加速度a x′(t)、a y′(t)、a z′(t)进行归一化处理，得到所述重力测量值a xyz(t)＝[a x(t) a y(t) a z(t)]：
Figure PCTCN2019091556-appb-000004
Figure PCTCN2019091556-appb-000005
Figure PCTCN2019091556-appb-000006
由于是单位矢量到参考系的投影，因此把加速度计所采集的数据单位化，也即对所述三轴重力加速度进行归一化处理，以将经过滤波处理的三维向量转化单位向量。归一化处理改变的只是向量的长度也就是只改变相同的倍数，并不会改变其方向，以便后续计算。
103：根据所述加速度信息，对所述陀螺仪的零偏值进行估计，以得到所述陀螺仪的零偏预估值。
通过陀螺仪进行测量时，会存在零偏值，当通过陀螺仪采集到设备的初始角速度后，若直接利用角速度积分计算设备的角度，会导致零偏值也会被积分，从而形成不断增长的角度累积误差，严重影响计算精度，导致得到的设备的角度准确性低。因此，需要对陀螺仪的零偏值进行补偿，以提高计算设备的角度的准确性。
在各种因素中，由于温度对陀螺仪零偏值的影响是最主要的，因此目前通用的做法是对陀螺仪的零偏值进行恒温补偿，即在常见工作温度下，标定陀螺仪的零偏值，然后在算法中减去该偏移量，该方法需要在整个使用过程中对陀螺仪一直加热，使陀螺仪处的温度始终保持恒定。
温度补偿主要存在以下缺陷：第一、每个陀螺仪都要在出厂前做恒温标定，这增大了工序和工时成本；第二、增加了加热器这一硬件成本；第三、实际温度控制难以保持恒定，这样算法中补偿的零偏值很可能不符合实际而造成“过补偿”或者“欠补偿”，导致后续积分误差。
在本实施例中，通过加速度信息，对所述陀螺仪的零偏值进行估计，以得到所述陀螺仪的零偏预估值，以对陀螺仪的零偏值进行补偿，避免上述恒温补偿的缺陷，降低成本的同时提高估算零偏值准确性，确保后 续计算设备的角度准确性。陀螺仪积分得到的角度，短时间内精度高，但长时间精度差，存在累计误差；加速度计用于运动载体姿态估计时，测量误差不随时间累积，但短时间内的精度差；也就是说，陀螺仪具有高频特性好，低频特性差的特点，而加速度计的特性刚好与之相反；因此可以结合二者在频率特性上的优点，通过加速度信息可有效估算陀螺仪零偏值并予以补偿，以便获得准确性较高的设备的角度。
其中，云台控制器根据所述加速度信息，对所述陀螺仪的零偏值进行估计，以得到所述陀螺仪的零偏预估值，包括：根据角度四元数及所述重力测量值，计算得到姿态误差，所述角度四元数用于描述所述设备的角度；根据所述姿态误差，对所述陀螺仪的零偏值进行估计，以计算得到所述陀螺仪的零偏预估值。
为了避免设备的角度求解过程中出现万向节锁现象，采用四元数描述设备的角度。其中，产生万向节锁现象的根本原因是，旋转矩阵是依次进行的，假设先围绕x轴旋转，再围绕y轴旋转，最后围绕z轴旋转，这就导致物体其实是围绕自己的坐标系的x轴旋转，而不是惯性系的x轴旋转。概括起来可以这么说，绕着物体坐标系中某一个轴，比如y轴的+(-)90度的某次旋转，使得这次旋转的前一次绕物体坐标系x轴的旋转和这次旋转的后一次绕物体坐标系z轴的旋转的两个旋转轴是一样(一样的意思是指在惯性系中，两次旋转轴是共轴的但方向相反),从而造成一个旋转自由度丢失，也就是万向节锁现象。使用三个量来表示三维空间的朝向的系统都会出现万向节锁现象这个问题，因此，通过四元数进行描述可以有效的避免万向节锁现象。
具体的，根据角度四元数及所述重力测量值计算得到姿态误差的第一计算公式为：
e xyz(t)＝q ic(t)×a xyz(t)
其中，q ic(t)为角度四元数；a xyz(t)为重力测量值；e xyz(t)为姿态误差；×表示为叉乘运算。该姿态误差e xyz(t)反映角度四元数q ic(t)与重力测量值a xyz(t)之间的偏差。
基于姿态误差e xyz(t)对预测环节得到的姿态进行校正，设由该姿态误差e xyz(t)得到的修正值，该修正值用于修正初始角速度，该修正值也即零偏预估值δ(t)。具体的，根据所述姿态误差计算得到所述陀螺仪的零偏预估值的第二计算公式为：
δ(t)＝k p·e xyz(t)+k i·∫e xyz(t)
其中，δ(t)为零偏预估值；e xyz(t)为姿态误差；k p为预设的误差比例增益；k i为预设的误差积分增益。预设的误差比例增益k p是低通滤波器和高通滤波器的转接频率，根据加速度计和陀螺仪的输出的频率特性选取，预设的误差积分增益k i用于控制滤波器消除误差的收敛时间。
对于计算零偏预估值的第二计算公式中的k i·∫e xyz(t)是指对姿态误差进行积分，以便将当前姿态分离出的重力分量与当前加速度计车辆的重力分量的差值进行积分消除误差。
其中，预设的误差比例增益及预设的误差积分增益的表达式为：
Figure PCTCN2019091556-appb-000007
其中，ξ为预设的阻尼比；ω为预设的截止频率。截止频率ω较高时，依赖于加速度计；截止频率ω较低时，依赖于陀螺仪。通常设计ξ＝0.707，ω的选取不能太高也不能太低，太低会导致姿态收敛精度低，太高会导致加速度计中的高频噪声污染角度估计的结果。根据陀螺仪与加速度计的噪声特点，选取ω＝5rad/s，得到k p＝7.707，k i＝25。
104：根据所述零偏预估值，对所述初始角速度进行修正，以得到所述设备的角速度修正值。
根据所述零偏预估值得到所述设备的角速度修正值的计算公式为：
Figure PCTCN2019091556-appb-000008
其中，δ(t)为零偏预估值；
Figure PCTCN2019091556-appb-000009
为初始角速度，
Figure PCTCN2019091556-appb-000010
为角速度修正值。
105：根据所述角速度修正值，得到所述设备的角度。
其中，所述设备的角度可以为姿态角，也称欧拉角。云台控制器根 据所述角速度修正值，得到所述设备的角度，具体包括：将所述角速度修正值作为预设的四元数微分方程的输入，得到角速度四元数；对所述角速度四元数进行积分，得到角度四元数；将所述角度四元数转换为所述设备的姿态角。
其中，角速度四元数
Figure PCTCN2019091556-appb-000011
满足如下四元数微分方程：
Figure PCTCN2019091556-appb-000012
其中，
Figure PCTCN2019091556-appb-000013
为角速度四元数，也即角度四元数q ic的导数；
Figure PCTCN2019091556-appb-000014
为相对于当前t时刻的上一个采样周期的角度四元数q ic的估计值；
Figure PCTCN2019091556-appb-000015
为角速度修正值，于是t时刻的设备的角度四元数q ic为：
Figure PCTCN2019091556-appb-000016
其中，Δt是陀螺仪的采样时间间隔。
在本实施例中，在将所述角度四元数转换为所述设备的姿态角之前，还包括，对所述角度四元数进行归一化处理，规范化该角度四元数，或称单位化该角度四元数。其中，对所述角度四元数进行归一化处理的作用包括：1、角度四元数用于表征旋转，因此该角度四元数需要是规范化的四元数，但由于在计算过程中，如由于误差的引入，使得计算的角度四元数的模不再等于1，角度四元数会失去规范化的特征，因此需要对角度四元数进行归一化处理；2、规划化四元数在空间旋转时是不会拉伸的，仅有旋转角度，类似于线性代数中的正交变换。
在本实施例中，通过加速度信息，对所述陀螺仪的零偏值进行估计，以得到所述陀螺仪的零偏预估值，以对陀螺仪的零偏值进行补偿，避免上述恒温补偿的缺陷，降低成本的同时提高估算零偏值准确性，以便根据修正后的角速度修正值得到设备的角度，提高估算设备的角度准确性。
图2为本发明实施例提供的陀螺仪零偏值估算的具体流程图。下面 结合图2，对通过加速度信息，对所述陀螺仪的零偏值进行估计，以得到所述陀螺仪的零偏预估值，以对陀螺仪的零偏值进行补偿，从而提高估算设备的角度准确性进行具体说明。
由图2可得：
Figure PCTCN2019091556-appb-000017
由于姿态误差e xyz(t)反映角度四元数q ic(t)与重力测量值a xyz(t)之间的偏差，因此e xyz(t)≈a xyz(t)-q ic(t)。也即式(1)化可为：
Figure PCTCN2019091556-appb-000018
将式(2)在频域内取拉普拉斯变换，得到：
Figure PCTCN2019091556-appb-000019
式(3)可化为：
Figure PCTCN2019091556-appb-000020
其中：
Figure PCTCN2019091556-appb-000021
是由陀螺仪所采集的初始角度积分得到的设备的角度。
令：
Figure PCTCN2019091556-appb-000022
从而得到：
Figure PCTCN2019091556-appb-000023
Figure PCTCN2019091556-appb-000024
其中，G 1(s)为低通滤波器；G 2(s)为高通滤波器。
假设设备的角度四元数的真实值为G real(s)，则：
a xyz(s)＝G real(s)+μ H(s)(8)
Figure PCTCN2019091556-appb-000025
其中，μ H(s)和μ L(s)分别是加速度计观测到的高频噪声以及陀螺仪计算得到的低频累积误差的拉普拉斯变换值。
将式(8)和式(9)代入式(4)中，得到：
Figure PCTCN2019091556-appb-000026
其中，
Figure PCTCN2019091556-appb-000027
对式(10)取拉普拉斯反变换得到：
L -1(q ic(s))≈L -1(G real(s))   (11)
即：
q ic(t)≈G real(t)   (12)
通过上述描述，可以证明利用加速度信息可以有效的估算陀螺仪的零偏值，以修正陀螺仪测量的角速度，从而得到准确性更高的设备的角度四元数q ic(t)，进而得到准确性更高的设备的角度。此时由加速度计所确定的a xyz(t)将使得设备的角度四元数求解值q ic(t)收敛至设备的角度四元数的真实值G real(t)，此时|e xyz(t)|＝|q ic(t)×a xyz(t)|≤ε，ε是收敛的精度值，此时陀螺仪的零偏预估值收敛于δ(t)＝k p·e xyz(t)+k i·∫e xyz(t)。
其中，收敛的精度值ε满足：
Figure PCTCN2019091556-appb-000028
收敛的精度值ε衡量了设备的角度四元数q ic(t)与设备的角度四元数的真实值G real(t)之间的接近程度。误差越小，说明陀螺仪的零偏值的估计与补偿的准确度越高，求解得到的q ic(t)其精度也就越高。当k p＝7.707，k i＝25时，t时刻姿态估计的误差|e xyz(t)|≤0.00136，即千分之1.36，达到了高精度的角度求解目标。
在本发明实施例中，根据所述加速度信息对陀螺仪的零偏值进行估计，以得到陀螺仪的零偏预估值，以便基于该零偏预估值对陀螺仪的零偏值进行补偿，以修正陀螺仪测量的设备的初始角速度，再基于经过修正的角速度得到设备的角度，从而对通过积分求取角度引起的角度累积误差进行补偿，得到准确性更高的设备的角度。
实施例2：
图3为本发明实施例提供的一种设备的角度估算装置示意图。其中，所述设备的角度估算装置30可用于估算各种设备的角度，如拍摄装置的角度，其中，该设备设置有陀螺仪和加速度计。该设备的角度估算装置30可配置于各种具有一定逻辑处理能力的控制器中，如用于搭载拍摄装置的云台控制器等。所述云台控制器可以应用于飞行器上，例如，应用于无人机。
请参照图3，所述设备的角度估算装置30包括：初始角速度获取模块301、加速度信息获取模块302、零偏预估值确定模块303、角速度修正值确定模块304以及角度确定模块305。
具体的，该初始角速度获取模块301用于获取所述陀螺仪测量的所述设备的初始角速度。
具体的，该加速度信息获取模块302用于获取所述设备的加速度信息，所述加速度信息由所述加速度计测量的初始加速度所确定。其中，该加速度信息为重力测量值，所述重力测量值用于表示所述加速度计对重力方向的测量值。
加速度信息获取模块302具体用于：接收通过所述加速度计测量得到的所述初始加速度；对所述初始加速度进行滤波，得到三轴重力加速度；对所述三轴重力加速度进行归一化处理，得到所述重力测量值。其中，对初始加速度进行滤波，以实现对加速度计所采集的初始加速度的去噪处理，得到三轴重力加速度a x′(t)、a y′(t)、a z′(t)，然后再基于以下方式对所述三轴重力加速度a x′(t)、a y′(t)、a z′(t)进行归一化处理，得到所述重力测量值a xyz(t)＝[a x(t) a y(t) a z(t)]：
Figure PCTCN2019091556-appb-000029
Figure PCTCN2019091556-appb-000030
Figure PCTCN2019091556-appb-000031
其中，归一化处理改变的只是向量的长度也就是只改变相同的倍数，并不会改变其方向，以便后续计算。
具体的，该零偏预估值确定模块303用于根据所述加速度信息，对所述陀螺仪的零偏值进行估计，以得到所述陀螺仪的零偏预估值。
由于通过陀螺仪进行测量时，会存在零偏值，当通过陀螺仪采集到设备的初始角速度后，若直接利用角速度积分计算设备的角度，会导致零偏值也会被积分，从而形成不断增长的角度累积误差，严重影响计算精度，导致得到的设备的角度准确性低。因此，需要对陀螺仪的零偏值进行补偿，以提高计算设备的角度的准确性。
目前通用的做法是对陀螺仪的零偏值进行恒温补偿，但温度补偿存在以下缺陷：第一、每个陀螺仪都要在出厂前做恒温标定，这增大了工序和工时成本；第二、增加了加热器这一硬件成本；第三、实际温度控制难以保持恒定，这样算法中补偿的零偏值很可能不符合实际而造成“过补偿”或者“欠补偿”，导致后续积分误差。
在本实施例中，零偏预估值确定模块303通过加速度信息，对所述陀螺仪的零偏值进行估计，以得到所述陀螺仪的零偏预估值，以对陀螺仪的零偏值进行补偿，避免上述恒温补偿的缺陷，降低成本的同时提高估算零偏值准确性，确保后续计算设备的角度准确性。陀螺仪积分得到的角度，短时间内精度高，但长时间精度差，存在累计误差；加速度计用于运动载体姿态估计时，测量误差不随时间累积，但短时间内的精度差；也就是说，陀螺仪具有高频特性好，低频特性差的特点，而加速度计的特性刚好与之相反；因此可以结合二者在频率特性上的优点，通过加速度信息可有效估算陀螺仪零偏值并予以补偿，以便获得准确性较高的设备的角度。
其中，零偏预估值确定模块303具体用于：根据角度四元数及所述重力测量值，计算得到姿态误差，所述角度四元数用于描述所述设备的角度；根据所述姿态误差，对所述陀螺仪的零偏值进行估计，以计算得 到所述陀螺仪的零偏预估值。其中，采用四元数描述设备的角度可避免设备的角度求解过程中出现万向节锁现象。
具体的，零偏预估值确定模块303根据角度四元数及所述重力测量值计算得到姿态误差的第一计算公式为：
e xyz(t)＝q ic(t)×a xyz(t)
其中，q ic(t)为角度四元数；a xyz(t)为重力测量值；e xyz(t)为姿态误差；×表示为叉乘运算。该姿态误差e xyz(t)反映角度四元数q ic(t)与重力测量值a xyz(t)之间的偏差。
基于姿态误差e xyz(t)对预测环节得到的姿态进行校正，设由该姿态误差e xyz(t)得到的修正值，该修正值用于修正初始角速度，该修正值也即零偏预估值δ(t)。具体的，零偏预估值确定模块303根据所述姿态误差计算得到所述陀螺仪的零偏预估值的第二计算公式为：
δ(t)＝k p·e xyz(t)+k i·∫e xyz(t)
其中，δ(t)为零偏预估值；e xyz(t)为姿态误差；k p为预设的误差比例增益；k i为预设的误差积分增益。预设的误差比例增益k p是低通滤波器和高通滤波器的转接频率，根据加速度计和陀螺仪的输出的频率特性选取，预设的误差积分增益k i用于控制滤波器消除误差的收敛时间。
对于计算零偏预估值的第二计算公式中的k i·∫e xyz(t)是指对姿态误差进行积分，以便将当前姿态分离出的重力分量与当前加速度计车辆的重力分量的差值进行积分消除误差。
其中，预设的误差比例增益及预设的误差积分增益的表达式为：
Figure PCTCN2019091556-appb-000032
其中，ξ为预设的阻尼比；ω为预设的截止频率。截止频率ω较高时，依赖于加速度计；截止频率ω较低时，依赖于陀螺仪。通常设计ξ＝0.707，ω的选取不能太高也不能太低，太低会导致姿态收敛精度低，太高会导致加速度计中的高频噪声污染角度估计的结果。根据陀螺仪与加速度计的噪声特点，选取ω＝5rad/s，得到k p＝7.707，k i＝25。
具体的，该角速度修正值确定模块304用于根据所述零偏预估值，对所述初始角速度进行修正，以得到所述设备的角速度修正值。
角速度修正值确定模块304根据所述零偏预估值得到所述设备的角速度修正值的计算公式为：
Figure PCTCN2019091556-appb-000033
其中，δ(t)为零偏预估值；
Figure PCTCN2019091556-appb-000034
为初始角速度，
Figure PCTCN2019091556-appb-000035
为角速度修正值。
具体的，角度确定模块305用于根据所述角速度修正值，得到所述设备的角度。
其中，所述设备的角度可以为姿态角，也称欧拉角。角度确定模块305具体用于：将所述角速度修正值作为预设的四元数微分方程的输入，得到角速度四元数；对所述角速度四元数进行积分，得到角度四元数；将所述角度四元数转换为所述设备的姿态角。
其中，角速度四元数
Figure PCTCN2019091556-appb-000036
满足如下四元数微分方程：
Figure PCTCN2019091556-appb-000037
其中，
Figure PCTCN2019091556-appb-000038
为角速度四元数，也即角度四元数q ic的导数；
Figure PCTCN2019091556-appb-000039
为相对于当前t时刻的上一个采样周期的角度四元数q ic的估计值；
Figure PCTCN2019091556-appb-000040
为角速度修正值，于是t时刻的设备的角度四元数q ic为：
Figure PCTCN2019091556-appb-000041
其中，Δt是陀螺仪的采样时间间隔。
进一步的，在一些实施例中，该设备的角度估算装置30还包括四元数归一化处理模块(图未示)。其中，该四元数归一化处理模块由于在角度确定模块305将所述角度四元数转换为所述设备的姿态角之前，对所述角度四元数进行归一化处理，规范化该角度四元数，或称单位化该角度四元数。其中，对所述角度四元数进行归一化处理的作用包括： 1、角度四元数用于表征旋转，因此该角度四元数需要是规范化的四元数，但由于在计算过程中，如由于误差的引入，使得计算的角度四元数的模不再等于1，角度四元数会失去规范化的特征，因此需要对角度四元数进行归一化处理；2、规划化四元数在空间旋转时是不会拉伸的，仅有旋转角度，类似于线性代数中的正交变换。
在本实施例中，通过加速度信息获取模块302获取加速度信息，零偏预估值确定模块303根据该加速度信息对所述陀螺仪的零偏值进行估计，以得到所述陀螺仪的零偏预估值，以对陀螺仪的零偏值进行补偿，避免上述恒温补偿的缺陷，降低成本的同时提高估算零偏值准确性，以便角速度修正值确定模块305根据修正后的角速度修正值得到设备的角度，提高估算设备的角度准确性。
其中，由加速度计所确定的a xyz(t)将使得设备的角度四元数求解值q ic(t)收敛至设备的角度四元数的真实值G real(t)，此时|e xyz(t)|＝|q ic(t)×a xyz(t)|≤ε，ε是收敛的精度值，此时陀螺仪的零偏预估值收敛于δ(t)＝k p·e xyz(t)+k i·∫e xyz(t)。
其中，收敛的精度值ε满足：
Figure PCTCN2019091556-appb-000042
收敛的精度值ε衡量了设备的角度四元数q ic(t)与设备的角度四元数的真实值G real(t)之间的接近程度。误差越小，说明陀螺仪的零偏值的估计与补偿的准确度越高，求解得到的q ic(t)其精度也就越高。当k p＝7.707，k i＝25时，t时刻姿态估计的误差|e xyz(t)|≤0.00136，即千分之1.36，达到了高精度的角度求解目标。
需要说明的是，在本发明实施例中，所述设备的角度估算装置30可执行方法实施例所提供的设备的角度估算方法，具备执行方法相应的功能模块和有益效果。未在设备的角度估算装置30的实施例中详尽描述的技术细节，可参见方法实施例所提供的设备的角度估算方法。
实施例3：
图4为本发明实施例提供的一种摄像组件。其中，所述摄像组件400包括：拍摄装置41及云台40，所述拍摄装置41搭载于所述云台40上。所述拍摄装置41上设置有陀螺仪和加速度计。云台40为实现拍摄装置41的固定、或随意调节拍摄装置41的姿态(例如，改变拍摄装置的高度、倾角和/或方向)以及使所述拍摄装置41稳定保持在设定的姿态上。例如，当摄像组件41进行航拍时，云台40获取得到拍摄装41的角度，并基于该角度控制摄像组件41，以使所述拍摄装置41稳定保持在设定的姿态上，防止拍摄装置41拍摄画面倾斜，保证拍摄画面的稳定。
以下具体对云台进行描述：
如图5所示，所述云台40包括：一个或多个处理器401以及存储器402，图5中以一个处理器401为例。
处理器401和存储器402可以通过总线或者其他方式连接，图5中以通过总线连接为例。
存储器402作为一种非易失性计算机可读存储介质，可用于存储非易失性软件程序、非易失性计算机可执行程序以及模块，如本发明实施例中的设备的角度估算方法对应的程序指令/模块(例如，附图3所示的初始角速度获取模块301、加速度信息获取模块302、零偏预估值确定模块303、角速度修正值确定模块304以及角度确定模块305)。处理器401通过运行存储在存储器402中的非易失性软件程序、指令以及模块，从而执行云台的各种功能应用以及数据处理，即实现所述方法实施例的设备的角度估算方法。
存储器402可以包括存储程序区和存储数据区，其中，存储程序区可存储操作系统、至少一个功能所需要的应用程序；存储数据区可存储根据云台使用所创建的数据等。此外，存储器402可以包括高速随机存取存储器，还可以包括非易失性存储器，例如至少一个磁盘存储器件、闪存器件、或其他非易失性固态存储器件。在一些实施例中，存储器402 可选包括相对于处理器401远程设置的存储器，这些远程存储器可以通过网络连接至云台。所述网络的实施例包括但不限于互联网、企业内部网、局域网、移动通信网及其组合。
所述一个或者多个模块存储在所述存储器402中，当被所述一个或者多个处理器401执行时，执行所述方法实施例中的设备的角度估算方法，例如，执行以上描述的图1中的方法步骤101至步骤105，实现图3中的301-305模块的功能。
示例性地，该云台还可以包括通信接口，该通信接口用以实现与其它设备，如飞行器的飞行控制系统等，进行通信。云台包括的其他装置在此不予限定。
所述云台可执行方法实施例所提供的设备的角度估算方法，具备执行方法相应的功能模块和有益效果。未在云台实施例中详尽描述的技术细节，可参见方法实施例所提供的设备的角度估算方法。
本发明实施例提供了一种计算机程序产品，所述计算机程序产品包括存储在非易失性计算机可读存储介质上的计算机程序，所述计算机程序包括程序指令，当所述程序指令被计算机执行时，使计算机执行如上所述的设备的角度估算方法。例如，执行以上描述的图1中的方法步骤101至步骤105，实现图3中的301-305模块的功能。
本发明实施例提供了一种非易失性计算机可读存储介质，所述计算机可读存储介质存储有计算机可执行指令，所述计算机可执行指令用于使计算机执行如上所述的设备的角度估算方法。例如，执行以上描述的图1中的方法步骤101至步骤105，实现图3中的301-305模块的功能。
实施例4：
图6为本发明实施例提供的飞行器，所述飞行器600包括：机身61及如上所述的摄像组件400。摄像组件400安装于所述机身61，以进行航拍、录像等工作。
需要说明的是，以上所描述的装置实施例仅仅是示意性的，其中所述作为分离部件说明的模块可以是或者也可以不是物理上分开的，作为模块显示的部件可以是或者也可以不是物理模块，即可以位于一个地方，或者也可以分布到多个网络模块上。可以根据实际的需要选择其中的部分或者全部模块来实现本实施例方案的目的。
通过以上的实施例的描述，本领域普通技术人员可以清楚地了解到各实施例可借助软件加通用硬件平台的方式来实现，当然也可以通过硬件。本领域普通技术人员可以理解实现所述实施例方法中的全部或部分流程是可以通过计算机程序指令相关的硬件来完成，所述的程序可存储于计算机可读取存储介质中，该程序在执行时，可包括如所述各方法的实施例的流程。其中，所述的存储介质可为磁碟、光盘、只读存储记忆体(Read-Only Memory,ROM)或随机存储记忆体(Random Access Memory,RAM)等。
最后应说明的是：以上实施例仅用以说明本发明的技术方案，而非对其限制；在本发明的思路下，以上实施例或者不同实施例中的技术特征之间也可以进行组合，步骤可以以任意顺序实现，并存在如上所述的本发明的不同方面的许多其它变化，为了简明，它们没有在细节中提供；尽管参照前述实施例对本发明进行了详细的说明，本领域的普通技术人员应当理解：其依然可以对前述各实施例所记载的技术方案进行修改，或者对其中部分技术特征进行等同替换；而这些修改或者替换，并不使相应技术方案的本质脱离本发明各实施例技术方案的范围。

Claims (15)

  1. 一种设备的角度估算方法，所述设备设置有陀螺仪和加速度计，其特征在于，所述方法包括：
    获取所述陀螺仪测量的所述设备的初始角速度；
    获取所述设备的加速度信息，所述加速度信息由所述加速度计测量的初始加速度所确定；
    根据所述加速度信息，对所述陀螺仪的零偏值进行估计，以得到所述陀螺仪的零偏预估值；
    根据所述零偏预估值，对所述初始角速度进行修正，以得到所述设备的角速度修正值；
    根据所述角速度修正值，得到所述设备的角度。
  2. 根据权利要求1所述的方法，其特征在于，所述加速度信息为重力测量值，所述重力测量值用于表示所述加速度计对重力方向的测量值。
  3. 根据权利要求2所述的方法，其特征在于，所述获取所述设备的加速度信息，包括：
    接收通过所述加速度计测量得到的所述初始加速度；
    对所述初始加速度进行滤波，得到三轴重力加速度；
    对所述三轴重力加速度进行归一化处理，得到所述重力测量值。
  4. 根据权利要求3所述的方法，其特征在于，所述根据所述加速度信息，对所述陀螺仪的零偏值进行估计，以得到所述陀螺仪的零偏预估值，包括：
    根据角度四元数及所述重力测量值，计算得到姿态误差，所述角度 四元数用于描述所述设备的角度；
    根据所述姿态误差，对所述陀螺仪的零偏值进行估计，以计算得到所述陀螺仪的零偏预估值。
  5. 根据权利要求4所述的方法，其特征在于，根据角度四元数及所述重力测量值计算得到姿态误差的第一计算公式为：
    e xyz(t)＝q ic(t)×a xyz(t)
    其中，q ic(t)为角度四元数；a xyz(t)为重力测量值；e xyz(t)为姿态误差；×表示为叉乘运算。
  6. 根据权利要求5所述的方法，其特征在于，根据所述姿态误差计算得到所述陀螺仪的零偏预估值的第二计算公式为：
    δ(t)＝k p·e xyz(t)+k i·∫e xyz(t)
    其中，δ(t)为零偏预估值；e xyz(t)为姿态误差；k p为预设的误差比例增益；k i为预设的误差积分增益。
  7. 根据权利要求6所述的方法，其特征在于，预设的误差比例增益及预设的误差积分增益的表达式为：
    Figure PCTCN2019091556-appb-100001
    其中，ξ为预设的阻尼比；ω为预设的截止频率。
  8. 根据权利要求1-7任一项所述的方法，其特征在于，所述角度为姿态角；
    所述根据所述角速度修正值，得到所述设备的角度，包括：
    将所述角速度修正值作为预设的四元数微分方程的输入，得到角速度四元数；
    对所述角速度四元数进行积分，得到角度四元数；
    将所述角度四元数转换为所述设备的姿态角。
  9. 一种设备的角度估算装置，所述设备设置有陀螺仪和加速度计，其特征在于，所述装置包括：
    初始角速度获取模块，用于获取所述陀螺仪测量的所述设备的初始角速度；
    加速度信息获取模块，用于获取所述设备的加速度信息，所述加速度信息由所述加速度计测量的初始加速度所确定；
    零偏预估值确定模块，用于根据所述加速度信息，对所述陀螺仪的零偏值进行估计，以得到所述陀螺仪的零偏预估值；
    角速度修正值确定模块，用于根据所述零偏预估值，对所述初始角速度进行修正，以得到所述设备的角速度修正值；
    角度确定模块，用于根据所述角速度修正值，得到所述设备的角度。
  10. 根据权利要求9所述的装置，其特征在于，所述加速度信息为重力测量值，所述重力测量值用于表示所述加速度计对重力方向的测量值。
  11. 根据权利要求10所述的装置，其特征在于，所述加速度信息获取模块具体用于：
    接收通过所述加速度计测量得到的所述初始加速度；
    对所述初始加速度进行滤波，得到三轴重力加速度；
    对所述三轴重力加速度进行归一化处理，得到所述重力测量值。
  12. 根据权利要求11所述的装置，其特征在于，所述零偏预估值确定模块具体用于：
    根据角度四元数及所述重力测量值，计算得到姿态误差，所述角度 四元数用于描述所述设备的角度；
    根据所述姿态误差，对所述陀螺仪的零偏值进行估计，以计算得到所述陀螺仪的零偏预估值。
  13. 根据权利要求9-12任一项所述的装置，其特征在于，所述角度为姿态角；
    所述角度确定模块具体用于：
    将所述角速度修正值作为预设的四元数微分方程的输入，得到角速度四元数；
    对所述角速度四元数进行积分，得到角度四元数；
    将所述角度四元数转换为所述设备的姿态角。
  14. 一种摄像组件，其特征在于，包括：
    拍摄装置，所述拍摄装置上设置有陀螺仪和加速度计；
    云台，所述拍摄装置搭载于所述云台上，所述云台包括：
    至少一个处理器；以及
    与所述至少一个处理器通信连接的存储器；
    所述存储器存储有可被所述至少一个处理器执行的指令，所述指令被所述至少一个处理器执行，以使所述至少一个处理器能够执行权利要求1-8任一项所述的方法。
  15. 一种飞行器，其特征在于，包括：
    机身；以及
    权利要求14所述的摄像组件，安装于所述机身。
PCT/CN2019/091556 2018-06-19 2019-06-17 设备的角度估算方法、装置、摄像组件及飞行器 Ceased WO2019242584A1 (zh)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CN201810628978.0 2018-06-19
CN201810628978.0A CN109000612B (zh) 2018-06-19 2018-06-19 设备的角度估算方法、装置、摄像组件及飞行器

Publications (1)

Publication Number Publication Date
WO2019242584A1 true WO2019242584A1 (zh) 2019-12-26

Family

ID=64600186

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/CN2019/091556 Ceased WO2019242584A1 (zh) 2018-06-19 2019-06-17 设备的角度估算方法、装置、摄像组件及飞行器

Country Status (2)

Country Link
CN (1) CN109000612B (zh)
WO (1) WO2019242584A1 (zh)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN116337073A (zh) * 2023-03-24 2023-06-27 维沃移动通信有限公司 姿态参数确定方法和电子设备
CN121187364A (zh) * 2025-11-24 2025-12-23 深圳市博坦智能有限公司 传感器参数调整方法、装置、设备及介质

Families Citing this family (21)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109000612B (zh) * 2018-06-19 2020-11-27 深圳市道通智能航空技术有限公司 设备的角度估算方法、装置、摄像组件及飞行器
CN109631947A (zh) * 2018-12-28 2019-04-16 Tcl移动通信科技（宁波）有限公司 一种移动终端的旋转修正方法、存储介质及移动终端
WO2020186406A1 (zh) * 2019-03-15 2020-09-24 深圳市大疆创新科技有限公司 传感器的安装角度自校正方法、传感器及移动设备
CN111928571A (zh) * 2019-05-13 2020-11-13 青岛海尔智能技术研发有限公司 冷藏设备中图像采集的系统、方法、装置及存储介质
WO2021007697A1 (zh) * 2019-07-12 2021-01-21 深圳市大疆创新科技有限公司 云台及其控制方法、外置控制装置
CN112784656A (zh) * 2019-11-11 2021-05-11 北汽福田汽车股份有限公司 图像获取系统、方法、存储介质以及车辆
CN110879066A (zh) * 2019-12-26 2020-03-13 河北美泰电子科技有限公司 一种姿态解算算法、装置及车载惯性导航系统
CN113124859B (zh) * 2019-12-30 2023-03-21 北京极智嘉科技股份有限公司 机器人、角速度校正方法及计算机可读存储介质
CN111221420B (zh) * 2020-01-13 2021-07-30 深圳大学 一种基于智能手表的2d移动轨迹识别方法和系统
CN111372028B (zh) * 2020-02-13 2021-08-20 广州视源电子科技股份有限公司 画面旋转控制方法、装置、画面旋转控制终端及存储介质
CN111923040B (zh) * 2020-07-14 2022-01-11 浙江工业大学 一种集成陀螺仪的机械手末端空间姿态感知球及方法
CN112781535B (zh) * 2021-02-04 2022-07-12 浙江陀曼云计算有限公司 仪表盘的显示方法及装置
CN113063417A (zh) * 2021-03-12 2021-07-02 东莞市攀星智能运动科技有限公司 基于脚部姿态交互的控制方法
CN115597549A (zh) * 2021-06-28 2023-01-13 上海飞机制造有限公司（Cn） 飞机舵面偏转角度的确定方法、装置、设备及介质
CN113568438B (zh) * 2021-07-02 2024-08-23 杭州海康威视数字技术股份有限公司 一种姿态角的恢复方法、装置及设备
US12234014B2 (en) 2021-08-16 2025-02-25 Shenzhen Reolink Technology Co., Ltd. UAV navigation calibration method, non-transitory computer-readable storage medium and UAV implementing the same
CN113758515B (zh) * 2021-08-16 2023-04-07 深圳市睿联技术股份有限公司 零点校准方法、装置、电子设备及计算机可读存储介质
CN113992842B (zh) * 2021-10-08 2024-05-31 上海艾为电子技术股份有限公司 抖动角度、距离的检测方法和系统、电子设备、芯片
CN114923455A (zh) * 2022-05-23 2022-08-19 厦门攸信信息技术有限公司 一种计算陀螺仪姿态角的方法、装置以及陀螺仪
CN116170689B (zh) * 2022-12-29 2026-01-20 影石创新科技股份有限公司 视频生成方法、装置、计算机设备和存储介质
CN120928853A (zh) * 2025-10-14 2025-11-11 天津云圣智能科技有限责任公司 无人机的云台角度调整方法、装置、电子设备和存储介质

Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20080249732A1 (en) * 2007-04-04 2008-10-09 Samsung Electronics Co., Ltd. System, method and medium calibrating gyrosensors of mobile robots
CN103336506A (zh) * 2013-06-25 2013-10-02 中国商用飞机有限责任公司 飞机飞控系统角度测量装置
CN105509740A (zh) * 2015-12-31 2016-04-20 广州中海达卫星导航技术股份有限公司 一种农业机械车辆姿态测量方法及测量模块
CN105651242A (zh) * 2016-04-05 2016-06-08 清华大学深圳研究生院 一种基于互补卡尔曼滤波算法计算融合姿态角度的方法
CN106403945A (zh) * 2016-10-20 2017-02-15 北京航空航天大学 一种低成本的物体姿态监测系统及方法
CN106959110A (zh) * 2017-04-06 2017-07-18 亿航智能设备（广州）有限公司 一种云台姿态检测方法及装置
CN109000612A (zh) * 2018-06-19 2018-12-14 深圳市道通智能航空技术有限公司 设备的角度估算方法、装置、摄像组件及飞行器

Family Cites Families (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN107368087A (zh) * 2016-05-13 2017-11-21 威海明达创新科技有限公司 微型四轴飞行器及其控制方法
CN105910606B (zh) * 2016-06-20 2019-01-29 天津大学 一种基于角速度差值的方向修正方法
JP6667407B2 (ja) * 2016-09-12 2020-03-18 ルネサスエレクトロニクス株式会社 制御装置

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20080249732A1 (en) * 2007-04-04 2008-10-09 Samsung Electronics Co., Ltd. System, method and medium calibrating gyrosensors of mobile robots
CN103336506A (zh) * 2013-06-25 2013-10-02 中国商用飞机有限责任公司 飞机飞控系统角度测量装置
CN105509740A (zh) * 2015-12-31 2016-04-20 广州中海达卫星导航技术股份有限公司 一种农业机械车辆姿态测量方法及测量模块
CN105651242A (zh) * 2016-04-05 2016-06-08 清华大学深圳研究生院 一种基于互补卡尔曼滤波算法计算融合姿态角度的方法
CN106403945A (zh) * 2016-10-20 2017-02-15 北京航空航天大学 一种低成本的物体姿态监测系统及方法
CN106959110A (zh) * 2017-04-06 2017-07-18 亿航智能设备（广州）有限公司 一种云台姿态检测方法及装置
CN109000612A (zh) * 2018-06-19 2018-12-14 深圳市道通智能航空技术有限公司 设备的角度估算方法、装置、摄像组件及飞行器

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN116337073A (zh) * 2023-03-24 2023-06-27 维沃移动通信有限公司 姿态参数确定方法和电子设备
CN121187364A (zh) * 2025-11-24 2025-12-23 深圳市博坦智能有限公司 传感器参数调整方法、装置、设备及介质

Also Published As

Publication number Publication date
CN109000612A (zh) 2018-12-14
CN109000612B (zh) 2020-11-27

Similar Documents

Publication Publication Date Title
WO2019242584A1 (zh) 设备的角度估算方法、装置、摄像组件及飞行器
WO2019223270A1 (zh) 云台电机角度和角速度估算方法、装置、云台及飞行器
WO2019223271A1 (zh) 飞行器偏航角修正方法、装置及飞行器
CN110440805B (zh) 一种偏航角的融合方法、装置及飞行器
CN107077146B (zh) 用于云台的控制方法、控制系统、云台和无人飞行器
WO2022042184A1 (zh) 一种跟踪目标的位置估计方法、装置及无人飞行器
WO2021052334A1 (zh) 一种无人飞行器的返航方法、装置及无人飞行器
CN110377058B (zh) 一种飞行器的偏航角修正方法、装置及飞行器
CN111380514A (zh) 机器人位姿估计方法、装置、终端及计算机存储介质
US11669109B2 (en) Method and apparatus for yaw fusion and aircraft
CN107807680B (zh) 一种云台漂移补偿方法
CN106525074A (zh) 一种云台漂移的补偿方法、装置、云台和无人机
CN112179342B (zh) 一种估计无人机姿态的方法及系统
CN109725652B (zh) 用于无人机云台航向解算与控制的方法
CN110873563B (zh) 一种云台姿态估计方法及装置
CN112720476A (zh) 机械臂控制方法、装置、介质及电子设备
WO2018191964A1 (zh) 云台的控制方法以及云台
WO2020042159A1 (zh) 一种云台的转动控制方法、装置及控制设备、移动平台
CN111932637A (zh) 一种车身相机外参自适应标定方法和装置
WO2023010318A1 (zh) 云台控制方法、装置、云台和存储介质
WO2019205152A1 (zh) 云台的控制方法和云台
WO2020062089A1 (zh) 磁传感器校准方法以及可移动平台
CN108279708B (zh) 一种云台自动校准方法、装置以及云台
WO2020168519A1 (zh) 拍摄参数的调整方法、拍摄设备以及可移动平台
CN117348609A (zh) 一种云台载荷的视轴稳定方法及云台

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 19822223

Country of ref document: EP

Kind code of ref document: A1

NENP Non-entry into the national phase

Ref country code: DE

122 Ep: pct application non-entry in european phase

Ref document number: 19822223

Country of ref document: EP

Kind code of ref document: A1