WO2022016322A1

WO2022016322A1 - Gimbal, gimbal performance evaluation method and device, and mobile platform

Info

Publication number: WO2022016322A1
Application number: PCT/CN2020/103049
Authority: WO
Inventors: 王文杰; 庞少阳
Original assignee: 深圳市大疆创新科技有限公司
Priority date: 2020-07-20
Filing date: 2020-07-20
Publication date: 2022-01-27
Also published as: CN113795798A

Abstract

A gimbal performance evaluation method. A gimbal is mounted on a support platform; the gimbal is used for supporting a payload; the gimbal or the payload is provided with a first inertia measurement unit; and the support platform is provided with a second inertia measurement unit. The method comprises: obtaining an attitude error and a desired angular velocity of a gimbal, wherein the attitude error is determined on the basis of a measured attitude of the gimbal determined by a first inertia measurement unit and a set target attitude of the gimbal, and the desired angular velocity is determined on the basis of the target attitude and an angular velocity of a support platform determined by a second inertia measurement unit; and evaluating an anti-interference capability of the gimbal according to the attitude error and the desired angular velocity. The evaluation mode of the present application is high in precision, can provide a user with an accurate evaluation result, and has significance for improving the reliability and stability augmentation performance of a gimbal and improving gimbal use experience of a user.

Description

PTZ and its performance evaluation method and device, and movable platform

technical field

The present application relates to the field of PTZ, and in particular, to a PTZ and its performance evaluation method and device, and a movable platform.

Background technique

The working principle of the gimbal is: by detecting the actual attitude of the load and comparing the actual attitude with the set target attitude of the gimbal, the attitude deviation is determined, so as to carry out negative feedback control, output the torque to the motor, and finally reduce the attitude deviation, to ensure that the attitude deviation of the load is as small as possible.

After the control parameters of the gimbal, such as the output strength of the motor (the response of the motor to the speed), the strength (the response of the motor to the angle), the filter parameters, etc. are artificially modified and/or the load is changed, the control parameters may not match the load. In the situation where the anti-interference ability of the gimbal decreases, the reliability and stabilization performance of the gimbal are both low, and the user experience of using the gimbal is poor. However, most of the current gimbals do not have the evaluation function of anti-jamming capability, and some gimbals will evaluate the anti-interference ability of the gimbals according to the attitude error even after the control parameters of the gimbals are artificially modified and/or the load is changed. Drop, to remind the user, and only evaluating the anti-interference ability of the gimbal based on the attitude error will lead to misjudgment.

SUMMARY OF THE INVENTION

The present application provides a gimbal, a method and device for evaluating its performance, and a movable platform.

In the first aspect, an embodiment of the present application provides a method for evaluating the performance of a gimbal. The gimbal is mounted on a support platform, the gimbal is used to support a payload, and the gimbal or the payload is provided with a first Inertial measurement unit, the support platform is provided with a second inertial measurement unit, and the method includes:

Obtain the attitude error and expected angular velocity of the gimbal, where the attitude error is determined based on the measured attitude of the gimbal determined by the first inertial measurement unit and the set target attitude of the gimbal, and the expected The angular velocity is determined according to the target attitude and the angular velocity of the support platform determined based on the second inertial measurement unit;

According to the attitude error and the expected angular velocity, the anti-interference ability of the gimbal is evaluated.

In a second aspect, an embodiment of the present application provides a device for evaluating the performance of a gimbal. The gimbal is mounted on a support platform, the gimbal is used to support a payload, and the gimbal or the payload is provided with a first Inertial measurement unit, the support platform is provided with a second inertial measurement unit, and the evaluation device for the performance of the pan/tilt includes:

a storage device for storing program instructions; and

one or more processors that invoke program instructions stored in the memory device, the one or more processors, when executed, are individually or collectively configured to perform the following operations:

In a third aspect, an embodiment of the present application provides a pan/tilt, the pan/tilt is mounted on a support platform, and the pan/tilt includes:

the load-bearing part, which is used to support the payload;

a first inertial measurement unit, arranged on the bearing portion or the payload;

a second inertial measurement unit, disposed on the support platform; and

The device for evaluating the performance of the pan/tilt according to the second aspect is electrically connected to the first inertial measurement unit and the second inertial measurement unit, respectively.

In a fourth aspect, an embodiment of the present application provides a movable platform, where the movable platform includes:

body; and

The pan/tilt according to the third aspect is mounted on the body.

According to the technical solutions provided by the embodiments of the present application, the present application obtains the attitude error and the expected angular velocity of the gimbal, and evaluates the anti-interference ability of the gimbal according to the attitude error and the expected angular velocity. The inertial measurement unit and the second inertial measurement unit on the support platform ensure that in any scenario, the measured attitude of the gimbal and the angular velocity of the support platform can always be obtained, so as to ensure that the attitude error and expected angular velocity can always be obtained. The accuracy of this evaluation method It can give users more accurate evaluation results, which is of great significance for improving the reliability and stabilization performance of the gimbal and improving the user experience of using the gimbal.

Description of drawings

In order to illustrate the technical solutions in the embodiments of the present application more clearly, the following briefly introduces the drawings that are used in the description of the embodiments. Obviously, the drawings in the following description are only some embodiments of the present application. For those of ordinary skill in the art, other drawings can also be obtained from these drawings without creative labor.

FIG. 1A is a schematic diagram of a usage scenario of a gimbal in an embodiment of the present application;

FIG. 1B is a schematic diagram of a usage scenario of a PTZ in another embodiment of the present application;

2 is a schematic flowchart of a method for evaluating the performance of a gimbal in an embodiment of the present application;

Fig. 3 is a kind of realization process schematic diagram of evaluating the anti-interference ability of the pan-tilt head according to attitude error and expected angular velocity in an embodiment of the present application;

4 is a schematic structural diagram of a device for evaluating the performance of a gimbal in an embodiment of the present application;

FIG. 5 is a schematic structural diagram of a pan/tilt in an embodiment of the present application.

detailed description

After the control parameters of the gimbal, such as the output strength of the motor (the response of the motor to the speed), the strength (the response of the motor to the angle), the filter parameters, etc. are artificially modified and/or the load is changed, the control parameters may not match the load. As a result, the anti-interference ability of the gimbal (the ability to suppress disturbance, which can be reflected in such as stabilization capability) decreases. At this time, the reliability and stabilization performance of the gimbal are both low, and the user experience of using the gimbal is relatively low. Difference.

However, most of the current gimbals do not have the evaluation function of anti-jamming capability, and some gimbals will evaluate the anti-interference ability of the gimbals according to the attitude error even after the control parameters of the gimbals are artificially modified and/or the load is changed. drop to remind the user, and the inventor found that in the case of a small attitude error, the problem of decreased anti-interference ability also occurs, but in practical applications, there are many factors that affect the anti-interference ability of the gimbal, such as control The matching degree between the parameters and the load, the connection strength between the gimbal and the load, the structural stability of the gimbal, how to accurately evaluate the anti-interference ability of the gimbal is not an easy problem.

In this regard, the inventor has made various attempts to adjust the accuracy of judging the anti-interference ability of the gimbal based on the attitude error, for example, to strengthen the connection strength between the gimbal and the load, but in the case of changes in disturbance, the attitude-based The accuracy of the error judgment of the anti-interference ability of the gimbal is still poor. Later, the inventor found that the rotation angular velocity of the motor combined with the anti-interference ability of the attitude error feedback gimbal can solve the problem that the degree of disturbance change is different, but the accuracy of the anti-interference ability of the gimbal is not accurate. For example, at the first moment, the rotational angular velocity of the motor is 1 degree/second, and the attitude error corresponding to the motor is 0.1 degree; at the second moment, the rotational angular velocity of the motor is 10 degrees/second, and the attitude error corresponding to the motor is 0.2 It can be seen that the attitude error at the second moment is twice that of the first moment, and the attitude error becomes larger, but the rotational angular velocity at the second moment is 10 times the rotational angular velocity at the first moment, that is, the second moment The disturbance is much larger than the disturbance at the first moment, and the anti-interference ability at the second moment should be better than the anti-interference ability at the first moment. Therefore, this method of evaluating whether the anti-jamming capability of the gimbal is degraded only based on the attitude error will lead to misjudgment.

Based on the existing method of assessing whether the anti-interference ability of the gimbal is declining according to the attitude error, the anti-interference ability of the gimbal is evaluated by obtaining the attitude error and the expected angular velocity of the gimbal, and evaluating the anti-interference ability of the gimbal according to the attitude error and the expected angular velocity. The first inertial measurement unit on the gimbal or payload and the second inertial measurement unit on the support platform ensure that the measured attitude of the gimbal and the angular velocity of the support platform can always be obtained in any scenario, thus ensuring that the attitude error can always be obtained. and expected angular velocity, this evaluation method has high accuracy and can give users more accurate evaluation results, which is of great significance for improving the reliability and stabilization performance of the gimbal and improving the user experience of using the gimbal.

The technical solutions in the embodiments of the present application will be described below with reference to the accompanying drawings in the embodiments of the present application, obviously.

It should be noted that, in the case of no conflict, the features in the following embodiments and implementations can be combined with each other.

In this application, "at least one" means one or more, and "plurality" means two or more. "And/or", which describes the relationship of the associated objects, indicates that there can be three kinds of relationships, for example, A and/or B, it can indicate that A exists alone, A and B exist at the same time, and B exists alone, where A, B can be singular or plural. The character "/" generally indicates that the associated objects are an "or" relationship. "At least one item(s) below" or similar expressions thereof refer to any combination of these items, including any combination of single item(s) or plural items(s). For example, at least one (a) of a, b, or c may represent: a, b, c, a and b, a and c, b and c, or a and b and c, where a, b, c can be single or multiple.

The gimbal of the embodiment of the present application is mounted on a support platform, and the gimbal is used to support a payload. The gimbal may be a handheld gimbal or an airborne gimbal, or the gimbal may be used as a handheld gimbal or an airborne gimbal. The type of the supporting platform is related to the type of the pan/tilt. Exemplarily, the pan/tilt is a handheld pan/tilt, and the supporting platform is the handle (or called the base) of the hand-held pan/tilt; exemplarily, the pan/tilt is an airborne pan/tilt. For example, the gimbal can be mounted on a movable platform, the supporting platform is the body of the movable platform, and the movable platform can be a mobile car, an unmanned aerial vehicle (such as an unmanned aerial vehicle or a manned aerial vehicle) or a mobile robot. It can be understood that, The movable platform can also be other movable devices or devices. 1A , the pan/tilt 200 is mounted on the body 110 of the drone 100 , the payload 300 is mounted on the pan/tilt 200 , and the support platform is the body 110 of the drone 100 . Exemplarily, please refer to FIG. 1B , the gimbal 200 is a handheld gimbal, the payload 300 is carried on the bearing portion 220 of the gimbal 200 , and the support platform is the handle 210 .

In addition, the pan/tilt in the embodiment of the present application may be a single-axis pan/tilt, or may be a multi-axis pan/tilt, such as a two-axis pan/tilt, a three-axis pan/tilt, and the like. In the following embodiments, taking the gimbal as a multi-axis gimbal as an example, the gimbal includes multiple drive axes, such as at least two of the yaw axis, the pitch axis and the roll axis. Exemplarily, the gimbal is three. Axis gimbal, including yaw axis, pitch axis and roll axis; exemplarily, the gimbal is a two-axis gimbal including yaw axis and pitch axis, or yaw axis and roll axis, or pitch axis and yaw axis roller.

The payload refers to the payload that can change with the attitude change of the gimbal. The payload may include a camera or other objects, such as obstacle avoidance sensors. Exemplarily, the payload is a photographing device; exemplarily, the payload is an obstacle avoidance sensor; exemplarily, the payload includes a photographing device and an obstacle avoidance sensor.

In the embodiment of the present application, a first inertial measurement unit is provided on the gimbal or payload, so that the measurement attitude of the gimbal can be obtained through detection by the first inertial measurement unit. The setting position of the first inertial measurement unit can be determined according to the cooperation mode between the gimbal and the payload. Optionally, the gimbal is configured to be detachably connected to the payload, and the first inertial measurement unit is arranged on the gimbal, In this way, after replacing the payload, there is no need to reinstall the first inertial measurement unit; optionally, the gimbal is configured to be non-detachably connected to the payload, and the first inertial measurement unit is provided on the gimbal or the payload.

Further, a second inertial measurement unit is provided on the support platform, so that the angular velocity of the support platform can be obtained through detection by the second inertial measurement unit. Among them, when the gimbal is a handheld gimbal, the support platform is the handle. If the user manually rotates the handle, the angular velocity of the handle is not zero, but the gimbal is still stationary, that is, the angular velocity of the gimbal is zero. At this time, the first inertia The angular velocity of the gimbal detected by the measurement unit is not the angular velocity of the handle, that is, when the user manually rotates the handle but the gimbal is stationary, the angular velocity of the handle cannot be detected by the first inertial measurement unit; it is understandable that when the user rotates the handle When the handle and the gimbal follow the movement of the handle, the angular velocity detected by the first inertial measurement unit is the angular velocity of the gimbal and the angular velocity of the handle. A first inertial measurement unit to detect the angular velocity of the handle. For the airborne pan/tilt, the above situation is also applicable and will not be repeated here. Wherein, for the airborne pan/tilt, for example, the pan/tilt can be mounted on a movable platform, the support platform is the body of the movable platform, and the second inertial measurement unit may be an inertial measurement unit in the body, for example, for the movable platform For the unmanned aerial vehicle, an inertial measurement unit is also provided in the unmanned aerial vehicle to be able to feedback the attitude of the unmanned aerial vehicle.

It should be noted that, obtaining the measurement attitude of the pan/tilt head through detection by the first inertial measurement unit, and obtaining the angular velocity of the support platform through detection by the second inertial measurement unit are both in the prior art, which are not described in detail in this application.

In addition, the embodiments of the present application do not specifically limit the types of the first inertial measurement unit and the second inertial measurement unit. Exemplarily, both the first inertial measurement unit and the second inertial measurement unit include an accelerometer and a gyroscope.

2 is a schematic flowchart of a method for evaluating the performance of a PTZ in an embodiment of the present application; the execution subject of the method for evaluating performance of a PTZ in an embodiment of the present application may be the PTZ, or may be other, such as the control of the PTZ device, wherein the control device of the gimbal may include a remote control, a mobile phone, a tablet computer or a smart wearable device, etc.; for another example, when the gimbal is mounted on a movable platform, the execution subject of the evaluation method of the gimbal performance may be a movable Platform; of course, the execution subject of the PTZ performance evaluation method is not limited to the execution subjects listed above, and may also be other devices that can communicate with the PTZ. Referring to FIG. 2 , a method for evaluating the performance of a gimbal provided by an embodiment of the present application may include S201 to S202:

In S201, the attitude error and expected angular velocity of the gimbal are obtained, the attitude error is determined based on the measurement attitude of the gimbal determined by the first inertial measurement unit and the set target attitude of the gimbal, and the expected angular velocity is determined based on the target attitude and the set target attitude of the gimbal. 2. Determine the angular velocity of the support platform determined by the inertial measurement unit;

Wherein, in some embodiments, the target posture is the default posture size. Exemplarily, after the gimbal is powered on and the user does not hit the stick, the target posture may be (0, 0, 0) by default; in some embodiments, The target posture is set by the user. Exemplarily, the target posture is determined according to the amount of the rod that the user hits; in some embodiments, the target posture is set based on the posture of the support platform. The attitude of the target follows the attitude of the support platform, and the target attitude is set based on the attitude of the support platform.

The method for evaluating the performance of the gimbal in the embodiment of the present application can be applied when the gimbal is in the lock mode, and can also be applied when the gimbal is in the follow mode. Exemplarily, in the method for evaluating the performance of the gimbal in the embodiment of the present application, the gimbal is in a locking mode, and the locking mode is used to instruct the gimbal to maintain a target attitude. It should be noted that in the locked mode, when the gimbal is in the target attitude, each drive axis of the gimbal is used for stabilization, so that the payload is oriented in space. In this application, the target attitude is used to orient the payload in space, so as to determine the desired angular velocity of the motor corresponding to each drive shaft of the gimbal. The calculation of the desired angular velocity can be free from the interference of the target attitude, which is beneficial to simplify the calculation.

The attitude error obtained in S201 may be located in the joint angle space coordinate system; of course, the attitude error obtained in S201 may not be located in the joint angle space coordinate system, and the attitude error can be converted into the joint angle space coordinate system through coordinate transformation. , so that both the attitude error and the desired angular velocity are located in the joint angular coordinate system. Among them, the attitude error in the joint angle coordinate system can be expressed as:

In formula (1), δ ^J is the attitude error in the joint angle coordinate system, where,

is the attitude error of the drive shaft with serial number 1 in the joint angular coordinate system,

is the attitude error of the drive shaft with serial number n in the joint angular coordinate system,

is the attitude error of the drive shaft with serial number N in the joint angular coordinate system;

N is the axis number of the drive shaft of the gimbal. For example, if the gimbal is a three-axis gimbal, N is equal to 3; if the gimbal is a two-axis gimbal, N is equal to 2; if the gimbal is a single-axis gimbal, N is equal to 2. 1, and so on;

n is a positive integer, indicating the serial number of the drive shaft with serial number n, 1≤n≤N.

The attitude error is caused by the fact that when the measured attitude is controlled to approach the target attitude, the target attitude cannot be fully reached, and there is a difference between the measured attitude and the target attitude (that is, the size of the measured attitude approaching the target attitude and the target attitude are not equal) , resulting in an orientation error of the gimbal. In the joint angular coordinate system, the measured attitude can be obtained by integrating the actual angular velocity of the motor, and the target attitude can be obtained by integrating the expected angular velocity of the motor. The attitude error is due to the actual angular velocity of the motor and the expected angular velocity. The angular velocity is not equal, that is, the attitude error can also be obtained by integrating the difference between the actual angular velocity and the expected angular velocity, and the disturbance suppression capability of the gimbal can be estimated by using the attitude error and the expected angular velocity.

It can be understood that the desired angular velocity of the gimbal includes the expected angular velocity of the motor corresponding to each drive axis of the gimbal, and the desired angular velocity is located in the joint angular space coordinate system; the target attitude of the gimbal is the target attitude of the load, which can be determined by the angular velocity of the load. (or called the angular velocity of the gimbal), the target attitude of the gimbal is located in the load coordinate system (also called the body coordinate system {b}); the angular velocity of the support platform is located in the support platform coordinate system (also called the base coordinate) system {0}).

Since the main disturbance source of the gimbal is transmitted to the payload through the support platform, in order to orient the payload in space, the motors corresponding to each drive shaft of the gimbal need to output force to suppress the disturbance. When the target attitude of the payload does not change, the target attitude is caused by two parts: the expected angular velocity of the motor corresponding to each drive axis of the gimbal and the angular velocity of the support platform, and the target attitude and the expected angular velocity of the motor corresponding to each drive axis of the gimbal, support The angular velocity of the platform can be related as follows:

In formula (2), i is the serial number of the drive shaft of the gimbal, i is a positive integer and 1≤i≤N;

is the angular velocity of the gimbal on the drive shaft with serial number i in the target attitude;

T _b0 is the representation of the support platform coordinate system in the load coordinate system;

is the angular velocity of the supporting platform;

J is the Jacobian matrix;

is the expected angular velocity of the motor corresponding to the drive shaft with the gimbal serial number i.

Formula (2) converts the angular velocity of the motor corresponding to each drive shaft of the gimbal and the angular velocity of the support platform to the load coordinate system, and then converts the angular velocity of the motor corresponding to each drive shaft of the gimbal to the load coordinate system and the angular velocity of the support platform. The angular velocities are added to obtain the target attitude.

Then according to formula (2), we can also get:

Among them, after the gimbal is powered on, the gimbal is in the lock mode, and the user does not hit the stick.

It can be 0; after the gimbal is powered on, the gimbal is in follow mode, the user hits the stick,

It can be determined according to the component of the rod amount that the user hits on the drive shaft with the serial number i.

Desired angular velocity of the gimbal

It is expressed as follows:

In formula (4),

is the expected angular velocity of the motor corresponding to the drive shaft with the gimbal serial number 1,

is the expected angular velocity of the motor corresponding to the drive shaft with the gimbal serial number n,

is the expected angular velocity of the motor corresponding to the drive shaft with the gimbal serial number N.

It should be noted that the above formula for calculating the desired angular velocity of the gimbal is only exemplary, and the above formula can be deformed to calculate the desired angular velocity of the gimbal, or the desired angular velocity of the gimbal can also be calculated in other ways.

In some embodiments, within a preset evaluation period, multiple attitude errors and multiple expected angular velocities of the gimbal are acquired. It should be noted that multiple attitude errors and multiple desired angles are acquired simultaneously, that is, one desired angle is acquired while acquiring one attitude error.

The preset evaluation period in this embodiment of the present application can be updated, or the preset evaluation period is fixed. It should be noted that the fixed preset evaluation period does not mean that the sizes of multiple preset evaluation periods within a period of time (such as the period from the startup to the shutdown of the gimbal) are the same, but refers to the same period of time. In the plurality of preset evaluation periods, once the size of each preset evaluation period is set, it remains fixed, and the sizes of the multiple preset evaluation periods within a period of time may be equal or at least partially unequal. That the preset evaluation period can be updated means that in a plurality of preset evaluation periods within a certain period of time, the size of each preset evaluation period can be adjusted over time.

The size of each preset evaluation period in the multiple preset evaluation periods within a period of time can be set as required. Optionally, in the multiple preset evaluation periods within a period of time, at least two preset evaluation periods can be different. Optionally, in a plurality of preset evaluation periods within a certain period of time, the size of each preset evaluation period is equal.

The determination method of the preset evaluation period can be selected according to needs. Exemplarily, the preset evaluation period is determined according to the disturbance frequency and the preset sampling frequency, wherein the disturbance frequency is the frequency when the gimbal is disturbed.

It should be noted that when the preset evaluation period is determined according to the disturbance frequency and the preset sampling frequency, the preset evaluation period may be updateable or fixed. For example, in the evaluation process of the performance of the gimbal, if the magnitude of the disturbance frequency changes, the preset evaluation period can be updated; during the evaluation of the gimbal performance, the magnitude of the disturbance frequency is fixed, and the preset evaluation period is The size of the period is also fixed.

Optionally, the preset evaluation period is negatively correlated with the disturbance frequency, and positively correlated with the preset sampling frequency. Exemplarily, the data length of the preset evaluation period can be expressed as:

In formula (5), M is the data length of the preset evaluation period;

f _s is the preset sampling frequency;

f is the disturbance frequency.

That is, in a preset evaluation period, M attitude errors and M expected angular velocities are collected, and the M attitude errors can be expressed as

The M desired angular velocities can be expressed as

m=0,1,...,M-1.

Exemplarily, f _s = 10 Hz, f = 2 Hz, and M is 5, that is, if the attitude error and the expected angular velocity are collected once in 0.1 second, but within a preset evaluation period, 5 attitude errors and 5 expected angular velocities are collected. , then it can be determined that the preset evaluation period is 0.5 seconds.

It can be understood that when the preset evaluation period is negatively correlated with the disturbance frequency and positively correlated with the preset sampling frequency, the preset evaluation period is not limited to formula (5), and may be other. In addition, the preset evaluation period may not be determined according to the disturbance frequency and the preset sampling frequency, but may also be determined in other ways, for example, the preset evaluation period may be set by the user.

Since the main disturbance source of the gimbal is transmitted to the payload through the support platform, the disturbance frequency in the embodiment of the present application is related to the support platform. Exemplarily, in some embodiments, the disturbance frequency is positively correlated with the change speed of the angular velocity of the support platform, that is, the faster the change of the angular velocity of the support platform, the greater the disturbance frequency; the slower the change of the angular velocity of the support platform, the higher the disturbance frequency. small. Because the faster the angular velocity of the support platform changes, the greater the disturbance to the gimbal will be, and the greater the disturbance frequency will be. Setting the disturbance frequency to be positively correlated with the change of the angular velocity of the support platform can accurately reflect that the gimbal is affected by the size of the disturbance.

In some embodiments, the perturbation frequency is related to the type of support platform, wherein the support platform may include a hand-held support platform and/or an airborne support platform. Exemplarily, the support platform is a hand-held support platform, for example, the support platform is a handle of a hand-held PTZ; exemplarily, the support platform is an airborne platform, such as the PTZ mounted on a movable platform, and the support platform is the body of the movable platform. ; Exemplarily, the gimbal can be used as both a handheld gimbal and an airborne gimbal. When the gimbal is used as a handheld gimbal, the support platform is the handle of the handheld gimbal; when the gimbal is used as an airborne gimbal When the platform is in use, the supporting platform is the body of the movable platform.

Optionally, the disturbance frequencies of different types of support platforms are not the same. This is because when the gimbal is mounted on different types of support platforms, the disturbance magnitude of the gimbal may be different. Therefore, the disturbance of different types of support platforms may be different. The frequencies are also different. Exemplarily, the gimbal is mounted on different types of movable platforms, and the disturbance frequencies corresponding to different types of movable platforms are different. For example, the movable platform includes a mobile car, an unmanned aerial vehicle, and a mobile robot. When the gimbal is mounted on the trolley, the disturbance received by the gimbal is transmitted by the mobile car; when the gimbal is mounted on the unmanned aerial vehicle, the disturbance of the gimbal is transmitted by the unmanned aerial vehicle; when the gimbal is mounted on the mobile robot, the gimbal The perturbations received are delivered by the mobile robot. Due to the different power systems and/or motion modes and/or motion parameters of the mobile car, UAV and mobile robot, the magnitude of the disturbance transmitted to the gimbal by the mobile car, UAV and mobile robot will also be different. The disturbance frequency of the car, the UAV and the mobile robot is not the same. Exemplarily, the disturbance frequency corresponding to the handle of the handheld gimbal is different from the disturbance frequency corresponding to the movable platform, and the disturbance frequencies corresponding to different types of movable platforms may be different or the same.

Optionally, the gimbal is detachably connected to the support platform, and the method for evaluating the performance of the gimbal according to the embodiment of the present application may further include: when the gimbal changes the supported support platform, adjusting the disturbance frequency based on the current support platform carried by the gimbal. . Exemplarily, the gimbal is an airborne gimbal, and the gimbal is mounted on a mobile car. When evaluating the performance of the gimbal, the disturbance frequency is the disturbance frequency corresponding to the mobile car; After being installed on the unmanned aerial vehicle, when evaluating the performance of the gimbal, it is necessary to set the disturbance frequency from the disturbance frequency corresponding to the mobile car to the disturbance frequency corresponding to the unmanned aerial vehicle. Exemplarily, the gimbal can be used as a handheld gimbal or an airborne gimbal. The gimbal is mounted on a movable platform. When evaluating the performance of the gimbal, the disturbance frequency is the corresponding disturbance of the movable platform. When the gimbal is disassembled from the movable platform and used by the user to evaluate the performance of the gimbal, the disturbance frequency needs to be set from the disturbance frequency corresponding to the movable platform to the disturbance frequency corresponding to the handle.

In some embodiments, the disturbance frequency is related to the motion scene where the support platform is located, that is, the magnitude of the disturbance frequency can be adjusted based on the motion scene where the support platform is located. Exemplarily, the gimbal is a handheld gimbal. When the user uses the gimbal while walking, the disturbance transmitted to the gimbal through the handle is smaller than that when the user uses the gimbal during running. Therefore, the frequency of disturbance when the user uses the gimbal during walking is It is less than the disturbance frequency when the user uses the gimbal during running. Exemplarily, the disturbance frequency when the user uses the gimbal during walking is 2 Hz, and the disturbance frequency when the user uses the gimbal during running is 4 Hz.

The disturbance frequency can be a preset disturbance frequency, that is, the magnitude of the disturbance frequency is fixed. For example, when the type of the support platform and the scene where the support platform is located (such as a motion scene) are fixed, the magnitude of the disturbance frequency can be fixed; Of course, the disturbance frequency may also be updated in real time. For example, when the type of the support platform and/or the scene in which the support platform is located (eg, a motion scene) changes, the magnitude of the disturbance frequency changes accordingly.

It can be understood that, multiple attitude errors and multiple desired angular velocities of the gimbal may not be acquired in a periodic manner.

In S202, the anti-interference ability of the gimbal is evaluated according to the attitude error and the expected angular velocity.

Exemplarily, at the first moment, the attitude error is 1 degree, and the expected angular velocity is 1 degree/second; at the second moment, the attitude error is 2 degrees, and the expected angular velocity is 10 degrees/second, wherein the first moment and the second moment are two adjacent moments. From the first moment to the second moment, the change of attitude error is 2 times, and the ratio of attitude error to expected angular velocity is changed to 10 times. The change of attitude error and the ratio of attitude error to expected angular velocity are different. The attitude error evaluates the anti-interference ability of the gimbal, and the evaluation accuracy is low; the embodiment of the present application jointly evaluates the anti-interference ability of the gimbal according to the attitude error and the expected angular velocity, and improves the evaluation accuracy.

It should be noted that the anti-interference ability of the gimbal may include the gimbal's ability to suppress internal resistance (such as friction, coaxial line disturbance, etc.) and/or the gimbal's ability to suppress external disturbances. When the gimbal is a handheld cloud When the gimbal is used, the external interference can be the disturbance transmitted to the gimbal through the handle when the user holds the handle; when the gimbal is an airborne gimbal, the external disturbance can be transmitted to the cloud through the body of the movable platform when the movable platform moves. disturbance of the station. The anti-jamming capability of the embodiment of the present application can reflect the control performance of the gimbal. When the anti-jamming capability is weak, it indicates that the gimbal has poor control performance; when the anti-jamming capability is strong, it indicates that the gimbal has strong control performance.

Exemplarily, the gimbal is a multi-axis gimbal, and the gimbal includes multiple drive shafts. The anti-interference capability of the embodiment of the present application is used to characterize the anti-interference capability of the gimbal corresponding to each drive shaft. Exemplarily, the gimbal is a three-axis gimbal, including a yaw axis, a pitch axis, and a roll axis, and the anti-jamming capability is used to characterize the anti-jamming capability of the gimbal corresponding to the yaw axis, the pitch axis, and the roll axis. When the anti-interference ability of the gimbal corresponding to any one of the multiple drive shafts is weak, it indicates that the anti-interference ability of the gimbal is poor; when the anti-interference ability of the gimbal corresponding to each of the multiple drive shafts is strong , indicating that the gimbal has strong anti-interference ability.

FIG. 3 is a schematic diagram of an implementation process of evaluating the anti-interference ability of a pan/tilt head according to an attitude error and a desired angular velocity according to an embodiment of the present application. It can be understood that the embodiment shown in FIG. 3 is different from the above in the preset evaluation period. , which corresponds to the embodiment of acquiring multiple attitude errors of the gimbal and multiple desired angular velocities. Referring to Fig. 3, according to the attitude error and the expected angular velocity, the implementation process of evaluating the anti-interference ability of the gimbal may include S301-S302:

In S301, according to multiple attitude errors and multiple expected angular velocities obtained in the preset evaluation period, respectively determine the attitude error amplitude and the angular velocity amplitude in the preset evaluation period;

Exemplarily, according to Fourier transform, the plurality of attitude errors acquired in the preset evaluation period are converted into the frequency domain, and the attitude error amplitude in the preset evaluation period is obtained. Among them, at the disturbance frequency f, the attitude error amplitude of the gimbal corresponding to the drive shaft with serial number n can be expressed as:

In formula (6),

is the attitude error amplitude of the gimbal corresponding to the drive shaft with serial number n at the disturbance frequency f;

M is the data length of the preset evaluation period;

m is the sampling sequence number;

is the mth attitude error;

j is the unit of the imaginary number;

w ₀ is the fundamental frequency,

The attitude error magnitude is the maximum magnitude of the attitude error in the frequency domain.

Exemplarily, according to Fourier transform, a plurality of desired angular velocities obtained in a preset evaluation period are converted into the frequency domain, and the angular velocity amplitudes in the preset evaluation period are obtained. Among them, at the disturbance frequency f, the angular velocity amplitude of the gimbal corresponding to the drive shaft with serial number n can be expressed as:

In formula (6),

is the angular velocity amplitude of the gimbal corresponding to the drive shaft with serial number n at the disturbance frequency f;

M is the data length of the preset evaluation period;

m is the sampling sequence number;

is the mth expected angular velocity.

The angular velocity amplitude is the maximum amplitude value of the expected angular velocity in the frequency domain.

It should be noted that, when determining the attitude error amplitude and angular velocity amplitude in the preset evaluation period according to the multiple attitude errors and multiple expected angular velocities obtained in the preset evaluation period, other strategies can also be used, not limited to Fourier transform method.

In S302, the anti-interference ability of the gimbal is evaluated according to the attitude error amplitude and the angular velocity amplitude.

In the embodiment of the present application, the anti-interference ability of the gimbal is evaluated by evaluating the attitude error amplitude and the angular velocity amplitude in the preset evaluation period, and the accuracy is high. That is, the desired angular velocity of the motor can feed back the target attitude of the gimbal. When the desired angular velocity changes greatly, if the anti-interference ability of the gimbal is better, the actual angular velocity should also change greatly, so that the expected angular velocity and the actual angular velocity can change greatly. The deviation between them is small, and it is reflected in that the attitude error of the gimbal is small, which is further reflected in that the following disturbance suppression is relatively small, and if the attitude error change is small, but the disturbance suppression is relatively large, it means that the expected angular velocity The deviation from the actual angular velocity is large. Even if the obtained attitude error is small, the anti-interference ability of the gimbal is still poor.

Exemplarily, the anti-jamming capability of the gimbal is evaluated according to the attitude error magnitude and the disturbance rejection ratio. Among them, the disturbance suppression ratio is the ratio of the attitude error amplitude to the angular velocity amplitude.

Combining formulas (1) and (7), the formula of the disturbance rejection ratio of the gimbal corresponding to the drive shaft with the serial number n at the disturbance frequency f can be obtained:

In formula (8), R _n (f) is the disturbance rejection ratio of the gimbal corresponding to the drive shaft with serial number n at the disturbance frequency f.

Wherein, when evaluating the anti-interference ability of the gimbal according to the attitude error amplitude and the disturbance suppression ratio, optionally, when the attitude error amplitude and disturbance suppression ratio in at least one preset evaluation period meet the preset conditions, determine The anti-interference ability of the gimbal is weak, that is, in a plurality of preset evaluation periods within a certain period of time, as long as there is a preset evaluation period that satisfies the preset conditions, the anti-interference ability of the gimbal is considered to be weak.

Further optionally, when the attitude error amplitude and the disturbance suppression ratio in at least two consecutive preset evaluation periods meet the preset conditions, and the number of at least two consecutive preset evaluation periods is greater than or equal to the preset number, determine The anti-interference ability of the PTZ is weak, that is, among the multiple preset evaluation periods within a certain period of time, there are at least two consecutive preset evaluation periods that satisfy the preset conditions, and at least two consecutive preset evaluation periods that satisfy the preset conditions. When the number of evaluation cycles is greater than or equal to the preset number, it is considered that the anti-interference ability of the gimbal is weak, and this method can reduce misjudgments; in addition, it is determined that the number of consecutive preset evaluation cycles in which the anti-jamming capability of the gimbal is weak is less than the predicted number. Set the number, it can be considered that the disturbance is small, and the control error of the gimbal is also small, which meets the control requirements. It can be understood that, in this embodiment, if the attitude error amplitude and the disturbance suppression ratio do not meet the preset conditions in at least two consecutive preset evaluation periods, or if there are at least two consecutive preset evaluation periods The attitude error amplitude and the disturbance rejection ratio of the PTZ meet the preset conditions, but the number of consecutive at least two preset evaluation periods is less than the preset number, then the anti-interference ability of the gimbal is considered to meet the requirements, that is, the anti-interference ability of the gimbal is not considered. weak.

The size of the preset number can be set as required, and in an example, the preset number is 5; of course, the preset number can also be set to other numerical values, such as 10.

Exemplarily, the number of preset evaluation periods that meet the preset conditions is counted by a counter. Specifically, when the attitude error amplitude and the disturbance suppression ratio in at least one preset evaluation period meet the preset conditions, the counter is incremented by 1. , when the value of the counter is greater than or equal to 5, it is determined that the anti-interference ability of the gimbal is weak. In addition, it should be noted that the initial value of the counter is 0. In addition, if the attitude error amplitude and the disturbance suppression ratio in the current preset evaluation period do not meet the preset conditions, the value of the counter is set to the initial value, that is, the counter is reset to zero.

Optionally, the preset conditions may include: the attitude error magnitude is greater than a preset error magnitude threshold, and the disturbance suppression ratio is greater than a preset ratio threshold. Exemplarily, the preset condition is expressed as:

In formula (8),

is the preset error amplitude threshold of the gimbal corresponding to the drive shaft with serial number n at the disturbance frequency f;

R _n (f) is the disturbance suppression ratio of the gimbal corresponding to the drive shaft with the serial number n at the disturbance frequency f;

R _{n_thr} (f) is the preset ratio threshold of the gimbal corresponding to the drive shaft with serial number n at the disturbance frequency f.

As can be seen from the above, assuming that the rotational angular velocity of the motor is 1 degree/second at the first moment, the attitude error corresponding to the motor is 0.1 degree; at the second moment, the rotational angular velocity of the motor is 10 degrees/second, and the attitude corresponding to the motor The error is 0.2 degrees, the attitude error at the first moment is twice that of the attitude error at the second moment, and the disturbance suppression ratio is 5 times, so even if the change of attitude error is large, if the disturbance suppression ratio does not exceed the expected value. Setting the ratio threshold will not judge that the anti-interference ability of the gimbal is poor. Therefore, combined with the attitude error and the disturbance rejection ratio, the anti-interference ability of the gimbal can be more accurately judged, avoiding the small attitude error and the large change of the rotation angular speed of the motor, which are caused by the poor anti-interference ability of the gimbal. It also avoids the situation of using the disturbance suppression ratio alone to judge that the anti-jamming capability of the gimbal is poor when the disturbance suppression ratio is greater than the preset ratio threshold, but in fact, the attitude error is small at this time. The error meets the control and control requirements, and there is no need to output the evaluation result, so that the user can repeatedly modify the control parameters to adjust the anti-interference ability of the gimbal.

Wherein, optionally, the preset error amplitude thresholds of different disturbance frequencies are different, or the preset error amplitude thresholds of different disturbance frequencies are the same; optionally, the preset error amplitude thresholds of different drive shafts may be different, or different The preset error amplitude thresholds of the drive shafts are the same; optionally, the preset ratio thresholds of different disturbance frequencies are different, or the preset ratio thresholds of different disturbance frequencies are the same; optionally, the preset ratio thresholds of different drive shafts are different, Or the preset ratio thresholds for different drive shafts are the same.

The preset conditions in this embodiment of the present application may also be set to other preset conditions. For example, the preset conditions may be: the attitude error amplitude is greater than or equal to the preset error amplitude threshold, and the disturbance suppression ratio is greater than or equal to the preset ratio threshold.

It should be noted that when evaluating the anti-interference ability of the gimbal based on the attitude error and expected angular velocity, the anti-interference ability of the gimbal can also be directly evaluated according to the attitude error and expected angular velocity collected at the same time. For example, according to the attitude error and attitude The ratio of the error to the expected angular velocity (that is, the attitude error/desired angular velocity), to evaluate the anti-interference ability of the gimbal, that is, to replace the above-mentioned attitude error amplitude with attitude error, and replace the disturbance suppression ratio with the ratio of attitude error and expected angular velocity, The specific evaluation process is similar.

Further, in some embodiments, after evaluating the anti-interference ability of the gimbal according to the attitude error and the expected angular velocity, the evaluation result is output, so that the user can adjust the control parameters of the gimbal according to the evaluation result, thereby improving the anti-interference ability of the gimbal. Interference ability. Among them, the evaluation results are used to characterize the strength of the anti-interference ability of the gimbal. There may be various ways to output the evaluation results. Taking the PTZ as an example of the execution subject of the performance evaluation method of the PTZ, exemplarily, text/graphics etc. Output the evaluation results, you can also output the evaluation results through the indicator light of the gimbal, or output the evaluation results in other ways.

Exemplarily, the evaluation results are output through text/graphics, etc., wherein, when the gimbal has its own display screen, the evaluation results can be output through the display screen of the gimbal and/or through the display screen of the control device of the gimbal. Evaluation results; when the gimbal does not have its own display screen, the evaluation results can be output through the display screen of the control device of the gimbal.

It should be noted that, in some embodiments, after the gimbal is started, the above-mentioned evaluation procedure of gimbal performance may be performed all the time, except that the gimbal is in sleep state, that is, when the gimbal is in a dormant state, the above-mentioned gimbal performance will not be performed. That is, even after the evaluation result indicates that the anti-interference ability of the gimbal is weak, the anti-jamming performance of the gimbal will continue to be evaluated based on the above method, and the evaluation result will be output, so that after the gimbal is started, it can continue to Identify the anti-interference performance of the gimbal, so as to continuously feedback the evaluation results to the user in a timely manner, which is beneficial for the user to perform corresponding operations according to the evaluation results, thereby improving the reliability and stabilization performance of the gimbal, and improving the user experience of using the gimbal In other embodiments, when the evaluation result indicates that the anti-jamming capability of the gimbal is weak, or the gimbal is switched from a working state to a dormant state, or is switched from a working state to an off state, the evaluation of the anti-jamming performance of the gimbal is ended. The program, exemplarily, when the evaluation result indicates that the anti-jamming capability of the gimbal is weak, the evaluation procedure of the anti-jamming performance of the gimbal is ended, and the evaluation result indicates that the anti-jamming capability of the gimbal is weak, which indicates that the control parameters of the gimbal are effective and effective. The load does not match, requiring the user to adjust the control parameters and/or the payload, such as adjusting the size of the control parameters and/or the location of the payload installed on the gimbal and/or replacing the payload, etc. After the user adjusts the control parameters and/or the payload In the process of/or payload, it is of little significance to evaluate the anti-jamming performance of the gimbal. Therefore, when the evaluation result indicates that the anti-jamming capability of the gimbal is weak, the evaluation procedure of the anti-jamming performance of the gimbal is ended; exemplarily, When the gimbal is switched from the working state to the dormant state, or from the working state to the off state, the evaluation procedure of the anti-interference performance of the gimbal ends. When the gimbal is in the dormant state or the closed state, the user does not need to use the gimbal. Therefore, there is no need to evaluate the anti-jamming performance of the gimbal.

In addition, it should be noted that, in some embodiments, when the gimbal is powered on or triggered by the user (for example, by operating a button on the gimbal or the control device of the gimbal), or when the control parameters of the gimbal are modified or the payload is changed, You can enter the evaluation procedure of the performance of the gimbal mentioned above. Wherein, the modification of the control parameter means that the size of the control parameter is modified, and the change of the payload may include: change of the type of the payload and/or change of the installation position of the payload.

Corresponding to the method for evaluating the performance of the pan/tilt in the above embodiment, the embodiment of the present application further provides a device for evaluating the performance of the pan/tilt. Referring to FIG. 4 , the apparatus for evaluating the performance of the pan/tilt according to the embodiment of the present application may include a storage device and a processor, and the processor includes one or more processors.

The storage device is used for storing program instructions. The storage device stores the executable instruction computer program of the evaluation method for the performance of the PTZ, and the storage device may include at least one type of storage medium, and the storage medium includes a flash memory, a hard disk, a multimedia card, a card-type memory (for example, SD or DX memory, etc.), Random Access Memory (RAM), Static Random Access Memory (SRAM), Read Only Memory (ROM), Electrically Erasable Programmable Read Only Memory (EEPROM), Programmable Read Only Memory (PROM) ), magnetic memory, magnetic disks, optical disks, etc. Also, the device for evaluating the performance of the PTZ may cooperate with a network storage device that performs the storage function of the memory through a network connection. The memory may be an internal storage unit of the device for evaluating the performance of the PTZ, such as a hard disk or a memory of the device for evaluating the performance of the PTZ. The memory can also be an external storage device of the performance evaluation device of the PTZ, such as a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) card equipped on the performance evaluation device of the PTZ , Flash card (Flash Card) and so on. Further, the memory may also include both an internal storage unit of the apparatus for evaluating the performance of the PTZ and an external storage device. Memory is used to store computer programs and other programs and data required by the device. The memory can also be used to temporarily store data that has been or will be output.

One or more processors call program instructions stored in the storage device, and when the program instructions are executed, the one or more processors are individually or collectively configured to perform the following operations: acquiring the attitude error of the pan/tilt and the Desired angular velocity, the attitude error is determined based on the measurement attitude of the gimbal determined by the first inertial measurement unit and the set target attitude of the gimbal, and the expected angular velocity is determined according to the target attitude and the angular velocity of the support platform determined based on the second inertial measurement unit ; Evaluate the anti-interference ability of the gimbal according to the attitude error and expected angular velocity.

The processor of this embodiment can implement the pan-tilt performance evaluation method according to the embodiment shown in FIG. 2 and FIG. 3 of the present application. For details, please refer to the pan-tilt performance evaluation method of the above-mentioned embodiment for the pan-tilt performance evaluation device of this embodiment. Be explained.

The processor may be a central processing unit (Central Processing Unit, CPU), or other general-purpose processors, digital signal processors (Digital Signal Processor, DSP), application specific integrated circuits (Application Specific Integrated Circuit, ASIC), field Field-Programmable Gate Array (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.

Further, an embodiment of the present application further provides a pan/tilt head, which is mounted on a support platform. Please refer to FIG. 1A , FIG. 1B and FIG. 5 . The unit 220, the second inertial measurement unit 230, and the device for evaluating the performance of the gimbal in the above-mentioned embodiment, wherein the bearing part 210 is used to support the payload, the first inertial measurement unit 220 is arranged on the bearing part or the payload, and the second inertial The measurement unit 230 is disposed on the support platform, and the device for evaluating the performance of the gimbal is electrically connected to the first inertial measurement unit 220 and the second inertial measurement unit 230 respectively.

The gimbal in the embodiment of the present application may be a handheld gimbal or an airborne gimbal.

Further, an embodiment of the present application further provides a movable platform, and the movable platform may include a body and the pan/tilt of the above embodiment, and the pan/tilt is mounted on the body.

The movable platform in the embodiment of the present application may be a mobile car, an unmanned aerial vehicle (such as an unmanned aerial vehicle or a manned aerial vehicle) or a mobile robot, and it should be understood that the movable platform may also be other movable equipment or devices.

Illustratively, please refer to FIG. 1A , the movable platform is an unmanned aerial vehicle 100 , and the supporting platform is the body 110 of the unmanned aerial vehicle 100 .

In addition, an embodiment of the present application further provides a computer-readable storage medium on which a computer program is stored, and when the program is executed by a processor, implements the steps of the method for evaluating the performance of the pan/tilt in the foregoing embodiment.

The computer-readable storage medium may be an internal storage unit of the PTZ described in any of the foregoing embodiments, such as a hard disk or a memory. The computer-readable storage medium can also be an external storage device of the PTZ, such as a plug-in hard disk, a smart memory card (Smart Media Card, SMC), an SD card, a flash memory card (Flash Card), etc. that are equipped on the device. . Further, the computer-readable storage medium may also include both an internal storage unit of the PTZ and an external storage device. The computer-readable storage medium is used to store the computer program and other programs and data required by the PTZ, and can also be used to temporarily store data that has been output or will be output.

Those of ordinary skill in the art can understand that all or part of the processes in the methods of the above embodiments can be implemented by instructing relevant hardware through a computer program, and the program can be stored in a computer-readable storage medium. During execution, the processes of the embodiments of the above-mentioned methods may be included. The storage medium may be a magnetic disk, an optical disk, a read-only memory (Read-Only Memory, ROM), or a random access memory (Random Access Memory, RAM) or the like.

The above disclosure is only a part of the embodiments of the present application, of course, the scope of the rights of the present application cannot be limited by this, so the equivalent changes made according to the claims of the present application are still within the scope of the present application.

Claims

A method for evaluating the performance of a gimbal, characterized in that the gimbal is mounted on a support platform, the gimbal is used to support a payload, the gimbal or the payload is provided with a first inertial measurement unit, so The support platform is provided with a second inertial measurement unit, and the method includes:

Obtain the attitude error and expected angular velocity of the gimbal, where the attitude error is determined based on the measured attitude of the gimbal determined by the first inertial measurement unit and the set target attitude of the gimbal, and the expected The angular velocity is determined according to the target attitude and the angular velocity of the support platform determined based on the second inertial measurement unit;

According to the attitude error and the expected angular velocity, the anti-interference ability of the gimbal is evaluated.
The method of claim 1, wherein the pan/tilt is configured to be detachably connected to the payload, and the first inertial measurement unit is provided on the pan/tilt; and/or

The target posture is a default posture size or is set by the user or is set based on the posture of the support platform.
The method of claim 1, wherein the pan/tilt is in a lock mode, and the lock mode is used to instruct the pan/tilt to maintain the target attitude.
The method according to claim 1, wherein the acquiring the attitude error and the desired angular velocity of the gimbal comprises:

In a preset evaluation period, multiple attitude errors and multiple expected angular velocities of the gimbal are acquired.
The method of claim 4, wherein the preset evaluation period is updatable.
The method according to claim 5, wherein, in a plurality of the preset evaluation periods within a period of time, at least two of the preset evaluation periods can be different.
The method according to claim 4, wherein the preset evaluation period is determined according to the disturbance frequency and the preset sampling frequency.
The method according to claim 7, wherein the preset evaluation period is negatively correlated with the disturbance frequency and positively correlated with the preset sampling frequency.
The method according to claim 7, wherein the disturbance frequency is positively correlated with the change speed of the angular velocity of the support platform.
The method of claim 7, wherein the disturbance frequency is related to the type of the support platform, the support platform comprising a hand-held support platform and/or an airborne support platform.
The method according to claim 10, wherein the disturbance frequencies of different types of the support platforms are different.
The method according to claim 10 or 11, wherein the head and the supporting platform are detachably connected, and the method further comprises:

When the gimbal changes the mounted support platform, the disturbance frequency is adjusted based on the current support platform mounted on the gimbal.
The method according to claim 7, wherein the disturbance frequency is related to a motion scene in which the support platform is located.
The method according to claim 4, wherein the evaluating the anti-interference ability of the gimbal according to the attitude error and the desired angular velocity comprises:

According to a plurality of the attitude errors and a plurality of the expected angular velocities obtained in the preset evaluation period, the attitude error amplitude and the angular velocity amplitude in the preset evaluation period are respectively determined;

According to the attitude error amplitude and the angular velocity amplitude, the anti-interference ability of the gimbal is evaluated.
The method according to claim 14, wherein the attitude in the preset evaluation period is determined respectively according to a plurality of the attitude errors and a plurality of the expected angular velocities obtained in the preset evaluation period Error magnitude and angular velocity magnitude, including:

According to the Fourier transform, the plurality of attitude errors obtained in the preset evaluation period are converted to the frequency domain, and the attitude error amplitude in the preset evaluation period is obtained;

According to the Fourier transform, a plurality of desired angular velocities obtained in the preset evaluation period are converted into the frequency domain, and the angular velocity amplitudes in the preset evaluation period are obtained.
The method according to claim 14, wherein the evaluating the anti-interference ability of the gimbal according to the attitude error magnitude and the angular velocity magnitude comprises:

Evaluate the anti-interference ability of the gimbal according to the attitude error amplitude and the disturbance rejection ratio;

Wherein, the disturbance suppression ratio is the ratio of the attitude error amplitude to the angular velocity amplitude.
The method according to claim 16, wherein the evaluating the anti-jamming capability of the gimbal according to the attitude error magnitude and the disturbance rejection ratio comprises:

When the attitude error amplitude and the disturbance suppression ratio in at least one of the preset evaluation periods satisfy preset conditions, it is determined that the anti-interference capability of the pan/tilt head is weak.
The method according to claim 17, wherein, when the attitude error amplitude and the disturbance suppression ratio in at least one of the preset evaluation periods meet preset conditions, determining the gimbal's Weak anti-interference ability, including:

When the attitude error magnitude and the disturbance suppression ratio in at least two consecutive preset evaluation periods satisfy the preset condition, and the number of the at least two consecutive preset evaluation periods is greater than or equal to a preset number , it is determined that the anti-interference ability of the gimbal is weak.
The method according to claim 17 or 18, wherein the preset condition comprises:

The attitude error amplitude is greater than a preset error amplitude threshold, and the disturbance suppression ratio is greater than a preset ratio threshold.
The method according to claim 1, wherein after evaluating the anti-interference ability of the gimbal according to the attitude error and the desired angular velocity, the method further comprises:

output evaluation results;

Wherein, the evaluation result is used to characterize the strength of the anti-interference ability of the gimbal.
The method according to claim 1, wherein the pan/tilt is a multi-axis pan/tilt and includes a plurality of drive shafts, and the anti-interference capability is used to characterize the corresponding Anti-interference ability.
A device for evaluating the performance of a gimbal, characterized in that the gimbal is mounted on a support platform, the gimbal is used to support a payload, and a first inertial measurement unit is arranged on the gimbal or the payload, so The support platform is provided with a second inertial measurement unit, and the evaluation device for the performance of the pan-tilt includes:

a storage device for storing program instructions; and

One or more processors that invoke program instructions stored in the storage device, the one or more processors, when executed, are individually or collectively configured to perform the following operations:

Obtain the attitude error and expected angular velocity of the gimbal, where the attitude error is determined based on the measured attitude of the gimbal determined by the first inertial measurement unit and the set target attitude of the gimbal, and the expected The angular velocity is determined according to the target attitude and the angular velocity of the support platform determined based on the second inertial measurement unit;

According to the attitude error and the expected angular velocity, the anti-interference ability of the gimbal is evaluated.
The apparatus of claim 22, wherein the pan/tilt is configured to be detachably connected to the payload, and the first inertial measurement unit is provided on the pan/tilt; and/or

The target posture is a default posture size or is set by the user or is set based on the posture of the support platform.
The apparatus of claim 22, wherein the pan/tilt is in a lock mode, and the lock mode is used to instruct the pan/tilt to maintain the target attitude.
23. The apparatus of claim 22, wherein the one or more processors are further configured, individually or collectively, to perform the following operations when acquiring the attitude error and desired angular velocity of the pan/tilt head:

In a preset evaluation period, multiple attitude errors and multiple expected angular velocities of the gimbal are acquired.
The apparatus of claim 25, wherein the preset evaluation period is updatable.
The apparatus according to claim 26, wherein, in a plurality of the preset evaluation periods within a period of time, at least two of the preset evaluation periods can be different.
The device according to claim 25, wherein the preset evaluation period is determined according to a disturbance frequency and a preset sampling frequency.
The device according to claim 28, wherein the preset evaluation period is negatively correlated with the disturbance frequency and positively correlated with the preset sampling frequency.
The device according to claim 28, wherein the disturbance frequency is positively correlated with the change speed of the angular velocity of the support platform.
28. The apparatus of claim 28, wherein the disturbance frequency is related to the type of the support platform, the support platform comprising a hand-held support platform and/or an airborne support platform.
The device according to claim 31, wherein the disturbance frequencies of different types of the support platforms are different.
32. The apparatus of claim 31 or 32, wherein the pan/tilt head is detachably connected to the support platform, and the one or more processors, individually or collectively, are further configured to implement the following operate:

When the gimbal changes the mounted support platform, the disturbance frequency is adjusted based on the current support platform mounted on the gimbal.
The apparatus of claim 28, wherein the disturbance frequency is related to a motion scene in which the support platform is located.
26. The apparatus of claim 25, wherein the one or more processors are individually or collectively used when evaluating the anti-jamming capability of the gimbal based on the attitude error and the desired angular velocity. is further configured to perform the following operations:

According to a plurality of the attitude errors and a plurality of the expected angular velocities obtained in the preset evaluation period, the attitude error amplitude and the angular velocity amplitude in the preset evaluation period are respectively determined;

According to the attitude error amplitude and the angular velocity amplitude, the anti-interference ability of the gimbal is evaluated.
The device according to claim 35, wherein the one or more processors respectively determine the When the attitude error magnitude and the angular velocity magnitude within the preset evaluation period are individually or collectively further configured to perform the following operations:

According to the Fourier transform, the plurality of attitude errors obtained in the preset evaluation period are converted to the frequency domain, and the attitude error amplitude in the preset evaluation period is obtained;

According to the Fourier transform, a plurality of desired angular velocities obtained in the preset evaluation period are converted into the frequency domain, and the angular velocity amplitudes in the preset evaluation period are obtained.
The apparatus of claim 35, wherein the one or more processors, when evaluating the anti-jamming capability of the gimbal based on the attitude error magnitude and the angular velocity magnitude, individually or are collectively further configured to perform the following operations:

Evaluate the anti-interference ability of the gimbal according to the attitude error amplitude and the disturbance rejection ratio;

Wherein, the disturbance suppression ratio is the ratio of the attitude error amplitude to the angular velocity amplitude.
The apparatus of claim 37, wherein the one or more processors, when evaluating the anti-jamming capability of the gimbal based on the attitude error magnitude and the disturbance rejection ratio, individually or are collectively further configured to perform the following operations:

When the attitude error amplitude and the disturbance suppression ratio in at least one of the preset evaluation periods satisfy preset conditions, it is determined that the anti-interference capability of the pan/tilt head is weak.
The device according to claim 38, wherein the one or more processors, when the attitude error amplitude and the disturbance rejection ratio in at least one of the preset evaluation periods meet preset conditions, When it is determined that the anti-interference ability of the PTZ is weak, it is further configured to perform the following operations individually or collectively:

When the attitude error magnitude and the disturbance suppression ratio in at least two consecutive preset evaluation periods satisfy the preset condition, and the number of the at least two consecutive preset evaluation periods is greater than or equal to a preset number , it is determined that the anti-interference ability of the gimbal is weak.
The device according to claim 38 or 39, wherein the preset conditions include:

The attitude error amplitude is greater than a preset error amplitude threshold, and the disturbance suppression ratio is greater than a preset ratio threshold.
23. The apparatus of claim 22, wherein the one or more processors, individually or collectively, after evaluating the anti-jamming capability of the gimbal based on the attitude error and the desired angular velocity is configured to perform the following operations:

output evaluation results;

Wherein, the evaluation result is used to characterize the strength of the anti-interference ability of the gimbal.
The device according to claim 22, wherein the pan/tilt is a multi-axis pan/tilt and includes a plurality of drive shafts, and the anti-interference capability is used to characterize the corresponding Anti-interference ability.
A pan-tilt, characterized in that the pan-tilt is mounted on a support platform, and the pan-tilt comprises:

the load-bearing part, which is used to support the payload;

a first inertial measurement unit, arranged on the bearing portion or the payload;

a second inertial measurement unit, disposed on the support platform; and

The device for evaluating the performance of a pan/tilt head according to any one of claims 22 to 42, which is electrically connected to the first inertial measurement unit and the second inertial measurement unit, respectively.
The PTZ according to claim 43, wherein the PTZ is a handheld PTZ, and the supporting platform is a handle of the handheld PTZ; or,

The pan/tilt is an airborne pan/tilt, the pan/tilt is mounted on a movable platform, and the support platform is the body of the movable platform.
A movable platform, characterized in that the movable platform comprises:

body; and

The pan/tilt according to claim 43, which is mounted on the body.