CN208043087U - IMU calibrating installations based on holder - Google Patents
IMU calibrating installations based on holder Download PDFInfo
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- CN208043087U CN208043087U CN201820535450.4U CN201820535450U CN208043087U CN 208043087 U CN208043087 U CN 208043087U CN 201820535450 U CN201820535450 U CN 201820535450U CN 208043087 U CN208043087 U CN 208043087U
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- imu
- holder
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- imu modules
- tested surface
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Abstract
A kind of IMU calibrating installations based on holder, including：Holder, IMU modules；Holder is firm to be set up and on horizontal plane, for driving IMU modules to rotate, IMU modules is made to rotate on each tested surface；IMU modules are fixed on holder, for measuring angular speed and acceleration when IMU modules rotate on each tested surface.Since IMU modules are rotated to each tested surface to measure the angular speed and acceleration that IMU modules when each tested surface measure.After angular velocity and acceleration operation, IMU measurement results in actual use can be modified so that the load on holder keeps the gesture stability of higher precision during the motion.
Description
Technical field
This application involves the technical fields for making load keep attitude of carrier static during exercise, and in particular to one kind being based on cloud
The IMU calibrating installations of platform.
Background technology
In shooting process, camera lens can be made to shake if camera is kept in motion, the float shot is not
Clearly, it is therefore desirable to which a kind of technology offsets jolting for camera lens, makes the camera lens of camera keep posture static.Such as detect camera to
When one angle of upper tilting, camera is pulled down by a heavy corresponding angle by motor, camera lens is made to be protected relative to ground
It demonstrate,proves static.
Currently, three axis electronic stability augmentation holders gradually increase steady holder instead of traditional Si Tannikang machineries, surveyed by inertia
It measures unit (IMU) and high response brshless DC motor realizes high-precision gesture stability, to offset in camera shooting process
Most of interference, greatly enhances the degree of stability of camera.
Inertial Measurement Unit (IMU), is used for the device of detection object three axis angular rates and acceleration, and the measurement of IMU is accurate
Degree directly affects the performance of electronic platform.IMU effected by environmental factors can lead to measurement error in use
Occur, the abrasion as holder generates in use can make IMU measured deviation occur.To keep measurement accurate, it is necessary to IMU into
Row calibration.
Invention content
The application provides a kind of IMU calibrating installations based on holder, to be calibrated to IMU.
According in a first aspect, providing a kind of IMU calibrating installations based on holder in a kind of embodiment, which is characterized in that packet
It includes：Holder, IMU modules；Holder is firm to be set up and on horizontal plane, for driving IMU modules to rotate, IMU modules is made to revolve
It goes on each tested surface；IMU modules are fixed on holder, for measuring angle when IMU modules rotate on each tested surface
Speed and acceleration.
Preferably, further include loading, the load is fixed on the fixture of holder.
Preferably, the holder is three axis holders, and the IMU modules include three-axis gyroscope and three axis accelerometer.
Preferably, it is [0,0,0] to enable three axis holders, three initial mechanical angles；The tested surface is six faces, when IMU moulds
When the setting face of block rotates to six tested surfaces, the mechanical angle of the holder be respectively [0,0,0], [90,0,0], [180,0,
0], [- 90,0,0], [0,90,0], [0, -90,0] or for [0,0,0], [90,0,0], [180,0,0], [- 90,0,0], [0,0,
90], [0,0, -90] or for [0,0,0], [0,90,0], [0,180,0], [0, -90,0], [90,0,0], [- 90,0,0] or be
[0,0,0], [0,90,0], [0,180,0], [0, -90,0], [0,0,90], [0,0, -90] or for [0,0,0], [0,0,90],
[0,0,180], [0,0, -90], [90,0,0], [- 90,0,0] or for [0,0,0], [0,0,90], [0,0,180], [0,0, -
90]、[0,90,0]、[0,-90,0]。
According to above-described embodiment the IMU calibrating installations based on holder, due to by IMU modules rotate to each tested surface from
And the angular speed and acceleration that IMU modules when measuring each tested surface measure.It, can be right after angular velocity and acceleration operation
IMU measurement results are modified in actual use so that the load on holder keeps the posture of higher precision during the motion
Control.Load is fixed on holder and is calibrated, the mechanical stress that load generates is can avoid and deviation is caused to measurement result, into
One step improves the measurement accuracy of IMU modules.
Description of the drawings
Fig. 1 is the application calibrating installation structural schematic diagram.
Specific implementation mode
Below by specific implementation mode combination attached drawing, invention is further described in detail.Wherein different embodiments
Middle similar component uses associated similar element numbers.In the following embodiments, many datail descriptions be in order to
The application is better understood.However, those skilled in the art can be without lifting an eyebrow recognize, which part feature
It is dispensed, or can be substituted by other elements, material, method in varied situations.In some cases, this Shen
Please it is relevant some operation there is no in the description show or describe, this is the core in order to avoid the application by mistake
More descriptions are flooded, and to those skilled in the art, these relevant operations, which are described in detail, not to be necessary, they
It can completely understand relevant operation according to the general technology knowledge of description and this field in specification.
It is herein component institute serialization number itself, such as " first ", " second " etc., is only used for distinguishing described object,
Without any sequence or art-recognized meanings.And " connection ", " connection " described in the application, unless otherwise instructed, include directly and
It is indirectly connected with (connection).
Embodiment one：
Referring to FIG. 1, a kind of IMU calibrating installations based on holder, including：Three axis holders 1, load 2, IMU modules；Three axis
Holder 1 consolidates erection and on horizontal plane, first rotating shaft 11, the second shaft 12, third shaft 13 built in three axis holders 1,
Motor drives the rotation of IMU modules, and IMU modules is made to rotate on each tested surface；IMU modules are fixed on holder, for measuring
The angular speed and acceleration of IMU modules when IMU modules rotate to each tested surface；Load 2 is fixed on the fixture 14 of holder.It is negative
It can be the shooting units such as camera or video camera to carry.The IMU modules include three-axis gyroscope and three axis accelerometer.IMU moulds
Block can be fixed in the second shaft 12, can also be fixed in third shaft 13, may be also secured on fixture 14, can be made
IMU modules are obtained to be turned on each tested surface.Measured angular speed and acceleration are fitted operation, calculated partially
Poor parameter, so as to be used to be modified IMU measurement results in actual use.Enable three initial mechanical angles of holder be [0,0,
0]；The tested surface is six faces, when the setting face of IMU modules rotates to six tested surfaces, the mechanical angle of the holder
Respectively [0,0,0], [90,0,0], [180,0,0], [- 90,0,0], [0,90,0], [0, -90,0] or for [0,0,0], [90,
0,0], [180,0,0], [- 90,0,0], [0,0,90], [0,0, -90] or for [0,0,0], [0,90,0], [0,180,0],
[0, -90,0], [90,0,0], [- 90,0,0] or for [0,0,0], [0,90,0], [0,180,0], [0, -90,0], [0,0,
90], [0,0, -90] or for [0,0,0], [0,0,90], [0,0,180], [0,0, -90], [90,0,0], [- 90,0,0] or be
[0,0,0]、[0,0,90]、[0,0,180]、[0,0,-90]、[0,90,0]、[0,-90,0]。
Use above specific case is illustrated the present invention, is merely used to help understand the present invention, not limiting
The system present invention.For those skilled in the art, according to the thought of the present invention, can also make several simple
It deduces, deform or replaces.
Claims (4)
1. a kind of IMU calibrating installations based on holder, which is characterized in that including：Holder, IMU modules；
Holder is firm to be set up and on horizontal plane, for driving IMU modules to rotate, so that IMU modules is rotated to each to be measured
On face；
IMU modules are fixed on holder, for measuring angular speed and acceleration when IMU modules rotate on each tested surface.
2. the IMU calibrating installations based on holder as described in claim 1, which is characterized in that further include load, the load is solid
It is scheduled on the fixture of holder.
3. the IMU calibrating installations based on holder as described in claim 1, which is characterized in that the holder is three axis holders, institute
The IMU modules stated include three-axis gyroscope and three axis accelerometer.
4. the IMU calibrating installations based on holder as claimed in claim 3, which is characterized in that enable three axis holders, three initial machines
Tool angle is [0,0,0]；The tested surface is six faces, when the setting face of IMU modules rotates to six tested surfaces, the cloud
The mechanical angle of platform is respectively [0,0,0], [90,0,0], [180,0,0], [- 90,0,0], [0,90,0], [0, -90,0] or is
[0,0,0], [90,0,0], [180,0,0], [- 90,0,0], [0,0,90], [0,0, -90] or for [0,0,0], [0,90,0],
[0,180,0], [0, -90,0], [90,0,0], [- 90,0,0] or for [0,0,0], [0,90,0], [0,180,0], [0, -90,
0], [0,0,90], [0,0, -90] or for [0,0,0], [0,0,90], [0,0,180], [0,0, -90], [90,0,0], [- 90,
0,0] or it is [0,0,0], [0,0,90], [0,0,180], [0,0, -90], [0,90,0], [0, -90,0].
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820535450.4U CN208043087U (en) | 2018-04-13 | 2018-04-13 | IMU calibrating installations based on holder |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820535450.4U CN208043087U (en) | 2018-04-13 | 2018-04-13 | IMU calibrating installations based on holder |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208043087U true CN208043087U (en) | 2018-11-02 |
Family
ID=63944973
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201820535450.4U Expired - Fee Related CN208043087U (en) | 2018-04-13 | 2018-04-13 | IMU calibrating installations based on holder |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108759861A (en) * | 2018-04-13 | 2018-11-06 | 深圳市固胜智能科技有限公司 | IMU calibration methods, device and storage medium based on holder |
| WO2019196093A1 (en) * | 2018-04-13 | 2019-10-17 | 深圳市固胜智能科技有限公司 | Pan tilt head-based imu calibration method and device and storage medium |
| CN110617838A (en) * | 2019-10-30 | 2019-12-27 | 西安兆格电子信息技术有限公司 | Method for calibrating gyroscope and acceleration sensor on balance car |
| CN111750896A (en) * | 2019-03-28 | 2020-10-09 | 杭州海康机器人技术有限公司 | Holder calibration method and device, electronic equipment and storage medium |
-
2018
- 2018-04-13 CN CN201820535450.4U patent/CN208043087U/en not_active Expired - Fee Related
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108759861A (en) * | 2018-04-13 | 2018-11-06 | 深圳市固胜智能科技有限公司 | IMU calibration methods, device and storage medium based on holder |
| WO2019196093A1 (en) * | 2018-04-13 | 2019-10-17 | 深圳市固胜智能科技有限公司 | Pan tilt head-based imu calibration method and device and storage medium |
| CN111750896A (en) * | 2019-03-28 | 2020-10-09 | 杭州海康机器人技术有限公司 | Holder calibration method and device, electronic equipment and storage medium |
| CN110617838A (en) * | 2019-10-30 | 2019-12-27 | 西安兆格电子信息技术有限公司 | Method for calibrating gyroscope and acceleration sensor on balance car |
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| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20181102 |