WO2019183845A1 - 云台的控制方法、装置、***、计算机存储介质及无人机 - Google Patents
云台的控制方法、装置、***、计算机存储介质及无人机 Download PDFInfo
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- G05D3/12—Control of position or direction using feedback
Definitions
- the invention relates to the technical field of drones, in particular to a control method, device, system, computer storage medium and drone of a cloud platform.
- drones are in the fields of aerial photography, agriculture, plant protection, micro-self-timer, express delivery, disaster relief, observation of wildlife, surveillance of infectious diseases, mapping, news reporting, power inspection, disaster relief, film and television shooting, manufacturing romance, etc. Applied, it mainly uses the shooting tracking function of the drone.
- the existing implementation of UAV tracking can be divided into two types: one is speed tracking, which is a way to calculate tracking in real time according to the coordinates of the target on the screen. This method can be used in general because of the closed loop.
- angle tracking that is, when starting tracking, calculate the angle that the gimbal needs to move according to the coordinates of the target on the screen, and the way that the gimbal moves in one place.
- the zoom pan/tilt head the purpose of the zoom function is to zoom and zoom the target object in the picture while zooming in. If the speed tracking method is used, the image of the target changes greatly during the zooming process, giving the image Identification brings great difficulties and does not meet the needs of the use of the scene. Therefore, the pointing zoom uses the angle tracking method, and the pan/tilt is in place and the experience is good.
- the pan/tilt can be installed under the fuselage.
- the camera on the pan/tilt is also located below the fuselage, in order to prevent the shooting.
- the angle of the pitch axis (pitch axis) of the gimbal is limited, so the basic field of view is the target in front of the entire aircraft.
- the direction of the world coordinate system is not much different from the body coordinate system; however, when the gap between the world coordinate system and the body coordinate system is relatively large, for example, using a drone for mapping operations (for example, detecting bridge cracks, etc.)
- the pan/tilt can be installed above the fuselage.
- the camera on the pan/tilt is also located above the fuselage.
- the Z ⁇ gap is relatively large.
- the pitch axis of the gimbal can reach at least 90 degrees (pitch angle).
- the invention provides a method, a device, a system, a computer storage medium and a drone for controlling a cloud platform.
- the control of the pan/tilt is accurate. The degree is low, and even the target being tracked is not in the picture, which affects the output effect of the picture.
- a first aspect of the present invention is to provide a method for controlling a pan/tilt, comprising:
- the pan/tilt is controlled according to the first attitude compensation angle, the second attitude compensation angle, and the stabilization angle, so that the image captured by the pan-tilt is located in the picture.
- a second aspect of the present invention is to provide a control device for a pan/tilt head, comprising:
- a memory for storing a computer program
- a processor configured to: execute a computer program stored in the memory to: determine a stabilization angle corresponding to rotation of a pan-tilt axis of the pan-tilt in a preset body coordinate system relative to a world coordinate system; acquire the cloud a first attitude compensation angle and a second attitude compensation angle generated by the table rotating in the body coordinate system with respect to the world coordinate system; according to the first attitude compensation angle, the second attitude compensation angle, and the increasing
- the pan/tilt is controlled at a steady angle so that the image captured by the pan-tilt is located in the picture.
- a third aspect of the present invention is to provide a control system for a pan/tilt head comprising: one or more processors operating separately or in concert, the processor for:
- the pan/tilt is controlled according to the first attitude compensation angle, the second attitude compensation angle, and the stabilization angle, so that the image captured by the pan-tilt is located at a central position of the screen.
- a fourth aspect of the present invention is to provide a computer storage medium having stored therein program instructions for implementing:
- the pan/tilt is zoom-controlled according to the first attitude compensation angle, the second attitude compensation angle, and the stabilization angle, so that the image captured by the pan-tilt is located in the picture.
- a fifth aspect of the present invention is to provide a drone, comprising:
- a controller configured to be in communication with the cloud platform, configured to: determine a stabilization angle corresponding to rotation of the stabilization axis of the gimbal relative to the world coordinate system in a preset body coordinate system; and acquire the cloud platform in the a first attitude compensation angle and a second attitude compensation angle generated by rotating in the body coordinate system with respect to the world coordinate system; according to the first attitude compensation angle, the second attitude compensation angle, and the stabilization angle pair
- the pan/tilt performs zoom control so that the pan/tilt tracking captured image is located in the screen.
- the control method, device, system, computer storage medium and unmanned aerial vehicle provided by the invention provide stability stabilization by determining the rotation axis of the gimbal in the preset body coordinate system relative to the world coordinate system Angle, and acquiring a first attitude compensation angle and a second attitude compensation angle generated by the pan/tilt rotating relative to the world coordinate system in the body coordinate system, by the first attitude compensation angle, the second attitude compensation angle, and the stabilization
- the angle control of the gimbal can effectively ensure that the image captured by the gimbal is located in the picture, improve the output effect of the picture, and is convenient for the user to observe and process, thereby ensuring the practicability of the method and facilitating the promotion and application of the market.
- FIG. 1 is a schematic diagram of coordinates of a world coordinate system and a body coordinate system according to an embodiment of the present invention
- FIG. 2 is a schematic flowchart of a method for controlling a cloud platform according to an embodiment of the present invention
- FIG. 3 is a schematic flowchart of acquiring a first attitude compensation angle and a second attitude compensation angle generated by rotating the pan-tilt in a body coordinate system relative to the world coordinate system according to an embodiment of the present disclosure
- FIG. 4 is a schematic flowchart of obtaining a final quaternion corresponding to a posture of a gimbal after the pan/tilt is rotated in the body coordinate system according to an embodiment of the present invention
- FIG. 5 is a schematic diagram of a screen coordinate system according to an embodiment of the present invention.
- FIG. 6 is a schematic diagram of an x-axis projection based on a picture coordinate system according to an embodiment of the present invention.
- FIG. 7 is a schematic diagram of a y-axis projection based on a picture coordinate system according to an embodiment of the present invention.
- FIG. 8 is a schematic diagram showing representation of vector information of an X-axis in the world coordinate system in a body coordinate system according to an embodiment of the present invention
- FIG. 9 is a schematic structural diagram of a control device for a cloud platform according to an embodiment of the present invention.
- connection may be a fixed connection, a detachable connection, or an integral connection.
- connection may be a fixed connection, a detachable connection, or an integral connection.
- first and second are used merely to facilitate the description of different components, and are not to be construed as indicating or implying a sequence relationship, relative importance or implicit indication.
- features defining “first” or “second” may include at least one of the features, either explicitly or implicitly.
- the embodiment provides a control method for a cloud platform, where the control method is used to control a cloud platform. (including normal control and zoom control) such that the image captured by the pan/tilt is located in the display screen, preferably such that the image captured by the pan/tilt is located at a central position of the display screen.
- the execution body of the method may be a control device of the pan/tilt.
- the control method includes:
- the stabilization axis can be any one of the roll stability axis (X axis), the pitch stabilization axis (Y axis) or the yaw stabilization axis (Z axis) of the gimbal, correspondingly,
- the stabilization angle corresponding to the stabilization axis may be any one of a roll angle, a pitch angle, and a yaw angle; specifically, the body coordinate system defined in the embodiment is: a pan-tilt camera (including: a camera, a belt)
- the smart terminal with shooting function, etc.) has the lens facing the X axis, the lens facing the Y axis, and the lens facing down the Z axis.
- the roll angle is the angle formed by the rotation around the X axis
- the pitch angle is around.
- the angle formed by the Y-axis rotation, the yaw angle is the angle formed by the rotation around the Z-axis.
- the stabilization angle is preferably 0°; for example, when the stabilization angle is the elevation angle, then at this time, the gimbal is at the world coordinate When rotating in the system and the body coordinate system, the angle of rotation around the Y axis is 0°, which can effectively ensure the stabilization effect of the gimbal on the pitch axis; similarly, when the stabilization angle is the yaw angle, At this time, when the pan/tilt rotates in the world coordinate system and the body coordinate system, the angle of rotation around the Z axis is 0, which can effectively ensure the stabilization effect of the gimbal on the yaw axis; when the stabilization angle is horizontal When the angle is rolled, then at this time, when the pan/tilt is rotated in the world coordinate system and the body coordinate system, the angle of rotation around the X axis is 0, which can effectively ensure the stabilization effect of the g
- the pan-tilt is rotated in the body coordinate system, there is a gap because the X-axis in the world coordinate system and the body coordinate system do not coincide.
- the angle of rotation in the body coordinate system will cause a value of the roll angle in the Euler angle of the gimbal; at this time, if the angle of the pan-tilt is continuously controlled to the specified position according to the angle acquired in the body coordinate system, then The image taken by Yuntai is still in the center of the screen. However, it will tilt the roll axis of the gimbal, thus reducing the stability of the gimbal. Therefore, in order to ensure the stability of the gimbal, the roll axis is guaranteed. You can set the stabilization angle corresponding to the roll axis to 0°.
- the PTZ when the PTZ rotates in the body coordinate system and the world coordinate system, because the body coordinate system and the world coordinate system do not overlap, it is easy to make the image captured by the gimbal not in the center of the screen.
- the first attitude compensation angle and the second attitude compensation angle are any combination of the other two angles of the pitch angle, the yaw angle and the roll angle excluding the stabilization angle; that is, when the stabilization angle is the elevation angle,
- the first attitude compensation angle may be a yaw angle or a roll angle.
- the second attitude compensation angle is a roll angle; or, the first attitude compensation angle is a horizontal
- the second attitude compensation angle is a yaw angle and the like.
- the stabilization angle corresponding to the stabilization axis is 0°.
- the world Euler angle obtained by the analysis to control the gimbal for movement makes it easy for the image captured by the gimbal to be in the center of the screen, and even the image of the gimbal tracking is not in the picture, which is inconvenient for the user to observe;
- the rotation of the gimbal in the body coordinate system may deviate from the world coordinate system, and the first attitude compensation angle and the second attitude compensation angle may be determined by the above deviation, so that the pan/tilt can be controlled to compensate for the cause
- the image caused by the above situation deviates from the central position.
- case one common control of the pan/tilt, that is, the process of tracking and shooting on the gimbal
- the image captured by the pan-tilt track is off-screen
- the pan-tilt can be adjusted and controlled by using the first attitude compensation angle, the second attitude compensation angle, and the stabilization angle, so that the image captured by the pan-tilt is located in the picture, preferably, The image captured by the gimbal is located at the center of the display screen;
- the second case during the zoom control of the pan/tilt, that is, during the tracking and shooting of the gimbal, the user can zoom the image according to the requirements so that the user can be clear
- the image is seen, in the process of the above zooming process, the image of the pan-tilt-tracking and zoomed-out image is off-screen, and the first attitude compensation angle, the second attitude
- the control method of the pan/tilt determines the stabilization angle corresponding to the rotation of the pan-tilt axis in the preset body coordinate system relative to the world coordinate system, and obtains the gimbal in the body coordinate system.
- the first attitude compensation angle and the second attitude compensation angle generated by rotating relative to the world coordinate system can control the pan/tilt by the first attitude compensation angle, the second attitude compensation angle, and the stabilization angle, which can effectively ensure
- the image captured by the pan-tilt is located in the picture to improve the output of the picture, which is convenient for the user to observe and process, thus ensuring the practicability of the method and facilitating the promotion and application of the market.
- FIG. 3 is a schematic flowchart of acquiring a first attitude compensation angle and a second attitude compensation angle generated by a pan-tilt in a preset body coordinate system relative to a world coordinate system according to an embodiment of the present invention
- the specific types of the stabilization angle, the first attitude compensation angle, and the second attitude compensation angle are not limited, and those skilled in the art may set according to different pan/tilt structures.
- the stabilization angle may be a pitch angle, An attitude compensation angle is a yaw angle, and a second attitude compensation angle is a roll angle; or, the stabilization angle may be a yaw angle, the first attitude compensation angle is a roll angle, and the second attitude compensation angle is a pitch angle; Alternatively, the stabilization angle may be a roll angle, the first attitude compensation angle is a yaw angle, the second attitude compensation angle is a pitch angle, and the like.
- the specific acquisition manners of the first attitude compensation angle and the second attitude compensation angle regardless of the specific type combination of the two compensation angles, the specific acquisition manner is similar, and the first attitude compensation angle is The yaw angle and the second attitude compensation angle are examples of the pitch angle.
- the stabilization angle is the roll angle
- the applicable pan/tilt type is the PTZ of the ZXY structure; specifically, the pan/tilt is preset.
- the first attitude compensation angle and the second attitude compensation angle generated by rotating in the body coordinate system relative to the world coordinate system include:
- the final quaternion corresponding to the attitude of the gimbal after the pan/tilt is rotated in the body coordinate system may include:
- the rotation angle includes the Y axis of the PTZ coordinate system.
- the following Y-axis rotation angle; at this time, the rotation angle after the pan-tilt is rotated in the body coordinate system may include:
- determining the Y-axis rotation angle according to the Y-direction position information and the vertical angle of view may include:
- Body_Y_angle arctan(2*(y-0.5)*tan(fov_v/2));
- Body_Y_angle is the Y-axis rotation angle
- y is the Y-direction position information
- fov_v is the vertical angle of view.
- the rotation angle includes the Z-axis rotation angle after the rotation of the Z-axis in the pan-tilt coordinate system; at this time, after the pan-tilt is rotated in the body coordinate system
- the rotation angle can include:
- determining the Z-axis rotation angle according to the X-direction position information and the horizontal angle of view may include:
- Body_Z_angle arctan(2*(x-0.5)*tan(fov_h/2));
- Body_Z_angle is the Z-axis rotation angle
- x is the X-direction position information
- fov_h is the horizontal angle of view.
- the rotation angle can be converted into the corresponding rotation quaternion by using the conversion relationship between the shaft angle and the quaternion in "3D Mathematical Foundation".
- the quaternion is the concept in "3D Mathematical Foundation", which is a representation of azimuth.
- any angular displacement in "3D Mathematical Basis” can be expressed as a single rotation around a single axis, the axial angle
- the form is also a representation of the orientation, and the quaternion can also be interpreted as the axis-angle pair of angular displacements, so angular rotation about any axis can be expressed as a quaternion.
- the quaternion means that there is a rotation axis passing through the origin [0, 0, 0], and the point of the unit length on the axis is [w1, w2, w3].
- the axial angle represents a representation that can be converted to a quaternion by the above formula.
- the product of the initial posture angle and the rotation quaternion may be determined as the final quaternion.
- the vector information of the X-axis in the world coordinate system in the body coordinate system after the rotation may be obtained according to the final quaternion, specifically:
- the final quaternion is converted into a corresponding rotation matrix; the vector information of the X-axis in the world coordinate system in the body coordinate system after the rotation is obtained according to the rotation matrix.
- the implementation process of converting the final quaternion into the corresponding rotation matrix can be realized by referring to the conversion relationship between the quaternion and the rotation matrix in "3D Mathematical Foundation"; after the rotation matrix is obtained, the rotation matrix can be analyzed and processed. Specifically, the vector information of the X-axis in the world coordinate system in the body coordinate system after the rotation may be obtained according to the rotation matrix, including:
- O'X' dcm(camera after ) ⁇ [1;0;0];
- O'X' is vector information of the X-axis in the body coordinate system after rotation in the world coordinate system
- dcm camera after
- S23 Determine a first posture compensation angle and a second posture compensation angle according to the vector information.
- determining the first attitude compensation angle according to the vector information may include:
- the first attitude compensation angle is determined based on the vector information and using the following formula:
- yaw is the first pose compensation angle
- y_x' is the second component in the vector information
- x_x' is the first component in the vector information
- determining the second attitude compensation angle according to the vector information may include:
- the second attitude compensation angle is determined based on the vector information and using the following formula:
- the pitch is the second attitude compensation angle
- z_x' is the third component in the vector information.
- the first attitude compensation angle and the second attitude compensation angle are obtained by the above process, which effectively ensures the accurate reliability of the first attitude compensation angle and the second attitude compensation angle determination, thereby improving the precision of the pan/tilt control and further ensuring The stability of the image captured by the pan-tilt is located at the center of the screen.
- the ZXY-type pan/tilt structure is taken as an example, and the camera on the pan/tilt is assumed to be a camera.
- the camera's field of view, focal length, and target are first acquired.
- the coordinates on the screen, and according to the camera's field of view angle, focal length and the coordinates of the target on the screen, calculate how many angles the pan/tilt needs to rotate around the body coordinate system (body coordinate system) if the camera is required to be aimed at the target.
- the upper left corner of the setting screen is the coordinate origin (0, 0). It is known that the pixel position of the target object photographed by the camera on the application (app) is (x) , y), the effective value of the display screen is 0.00 to 1.00.
- the purpose of the pan-tilt tracking shooting is to place the target object in the center of the screen. Therefore, the position of the target point is (0.5, 0.5), and the focal length of the camera can be obtained in advance.
- Focal_length, the vertical field of view angle is fov_v
- the horizontal field of view angle is fov_h; according to the above parameters, the angle at which the gimbal needs to rotate around the body coordinate system can be calculated.
- a and B respectively correspond to the projection points of the horizontal picture.
- the position is adjusted to point D, which is also the angle at which the target object needs to be rotated, that is, the value of ⁇ DCE;
- the camera lens is facing the X axis
- the camera lens is the Y axis to the right
- the camera lens is facing the Z axis.
- the X axis in the display corresponds to the left and right of the lens, that is, the body coordinate system.
- the Y axis in the display screen corresponds to the top and bottom of the lens, that is, the Z axis of the body coordinate system.
- Rotating around the body coordinate system ensures that the target image is in the center of the screen.
- the roll axis skew will be caused.
- the problem that the target reaches the center of the screen can be converted into the problem that the X-axis of the gimbal body coordinate system is aimed at the target.
- the angle obtained by rotating the pan-tilt around the body coordinate system in the previous step, together with the measurement posture at the beginning of the gimbal can be calculated as a vector representation of the X-axis in the rotated body coordinate system in the world coordinate system, specifically:
- the initial attitude angle of the gimbal (before tracking) can be represented by the Euler angle as q_camera_init, wherein the acquisition of the initial attitude angle can be obtained by fusion measurement of the inertial measurement unit IMU and the accelerometer.
- a rotation quaternion corresponding to the rotation angle is obtained. Specifically, the above-obtained Body_Z_angle and Body_Y_angle are converted, and a corresponding rotation quaternion is obtained: q (Body_Z_angle), q (Body_Y_angle).
- the attitude angle of the pan/tilt satisfies the central axis of the camera against the target image, but since the rotation around the axis in the body coordinate system is decomposed in the world coordinate system, there will be a component of the rotation around the X-axis on the world coordinate system.
- the target image still has a deviation in the picture, and the target image can be understood as the center point of the camera, and a target line is on the line, that is, as long as the target coordinate of the gimbal is satisfied.
- q_camera_after can be obtained according to the previous formula, and finally the quaternion representation can be converted into a rotation matrix dcm (camera_after) according to the formula (here, the dcm abbreviation is used to represent the rotation matrix).
- Euler angle definition from the world coordinate system, first rotate the yaw angle around the Z axis, then rotate the roll angle around the X axis, and then rotate the pitch angle around the Y axis to coincide with the object coordinate system (the ZXY rotation order is used here) .
- ⁇ XOX" arctan(y_x'/x_x');
- the first attitude compensation angle is arctan(y_x'/x_x'), and the second attitude compensation angle is arcsin(z_x'), where we will fix the first attitude compensation angle, the second attitude compensation angle, and stabilize
- the angle is defined as the target Euler angle.
- the first attitude compensation angle and the second attitude compensation angle are obtained by the above process, and the pan/tilt is controlled by the acquired first attitude compensation angle, the second attitude compensation angle, and the stabilization angle, and is applicable to an arbitrary attitude of the pan/tilt in the initial attitude.
- the following tracking shooting can meet the target position of the pan-tilt camera in the center of the screen, and can also ensure the stability of the roll axis, ensure the quality and efficiency of the work of the gimbal, and further improve the practicability of the method. Conducive to the promotion and application of the market.
- FIG. 9 is a schematic structural diagram of a control device for a cloud platform according to an embodiment of the present invention. and as shown in FIG. 9, the embodiment provides a control device for a cloud platform, which can perform the above-mentioned control of the pan/tilt Method, specifically, the device comprises:
- a memory 1 for storing a computer program
- the processor 2 is configured to run a computer program stored in the memory to implement:
- the stabilization angle may be any one of a pitch angle, a yaw angle, and a roll angle
- the stabilization angle is 0°
- first attitude compensation angle and a second attitude compensation angle generated by the pan/tilt rotating relative to the world coordinate system in a preset body coordinate system; wherein, the first attitude compensation angle and the second attitude compensation angle are pitch angles, Any combination of the other two angles of the yaw angle and the roll angle that remove the stabilization angle;
- the pan/tilt is controlled according to the first attitude compensation angle, the second attitude compensation angle, and the stabilization angle, so that the image captured by the gimbal is located in the picture, preferably, the image captured by the gimbal is located at the center of the display screen. .
- the control device of the pan/tilt determines the stabilization angle of the pan-tilt axis of the pan-tilt in the preset body coordinate system relative to the world coordinate system, and obtains the pan-tilt body coordinate
- the first attitude compensation angle and the second attitude compensation angle generated by rotating in the system relative to the world coordinate system, and controlling the pan/tilt by the first attitude compensation angle, the second attitude compensation angle, and the stabilization angle can effectively
- the image of the PTZ tracking image is located in the picture, which improves the output effect of the picture and is convenient for the user to observe and process, thus ensuring the practicability of the device and facilitating the promotion and application of the market.
- the first attitude compensation angle is the yaw angle and the second attitude compensation angle is the elevation angle.
- the processor 2 acquires the pan-tilt in the preset body coordinate system relative to the world.
- the processor 2 is configured to perform the following steps when the coordinate system is rotated to generate a first attitude compensation angle and a second attitude compensation angle:
- the processor 2 is specifically configured to perform the following steps when the processor 2 obtains the final quaternion corresponding to the attitude of the gimbal after the pan/tilt is rotated in the body coordinate system:
- the processor 2 is configured to: acquire the Y-direction position information of the image captured by the gimbal in the Y-axis direction, and the gimbal The vertical field of view of the upper camera; the Y-axis rotation angle is determined based on the Y-direction position information and the vertical field of view.
- the processor 2 is configured to: determine the Y-axis rotation angle according to the Y-direction position information and the vertical angle of view, and using the following formula;
- Body_Y_angle arctan(2*(y-0.5)*tan(fov_v/2));
- Body_Y_angle is the Y-axis rotation angle
- y is the Y-direction position information
- fov_v is the vertical angle of view.
- the processor 2 is configured to: acquire the X-direction position information of the image captured by the gimbal in the X-axis direction, and the gimbal The horizontal angle of view of the upper camera; the Z-axis rotation angle is determined based on the X-direction position information and the horizontal field of view.
- the processor 2 is configured to: determine a Z-axis rotation angle according to the X-direction position information and the horizontal angle of view, and using the following formula;
- Body_Z_angle arctan(2*(x-0.5)*tan(fov_h/2));
- Body_Z_angle is the Z-axis rotation angle
- x is the X-direction position information
- fov_h is the horizontal angle of view.
- the initial attitude angle and the rotation quaternion need to be analyzed to determine the final quaternion, specifically, the processor 2 according to the initial attitude angle and rotation.
- the processor 2 is configured to determine the product of the initial pose angle and the rotational quaternion as the final quaternion.
- the processor 2 when the processor 2 obtains the vector information of the X-axis in the world coordinate system in the body coordinate system after the rotation according to the final quaternion, the processor 2 is specifically configured to:
- the final quaternion is converted into a corresponding rotation matrix; the vector information of the X-axis in the world coordinate system in the body coordinate system after the rotation is obtained according to the rotation matrix.
- the processor 2 is configured to: obtain the vector information of the X-axis in the world coordinate system in the body coordinate system after the rotation according to the rotation matrix and using the following formula:
- O'X' dcm(camera after ) ⁇ [1;0;0];
- O'X' is vector information of the X-axis in the body coordinate system after rotation in the world coordinate system
- dcm camera after
- the processor 2 is further configured to: determine the first attitude compensation angle according to the vector information and using the following formula:
- yaw is the first pose compensation angle
- y_x' is the second component in the vector information
- x_x' is the first component in the vector information
- processor 2 is further configured to: determine the second attitude compensation angle according to the vector information and using the following formula:
- the pitch is the second attitude compensation angle
- z_x' is the third component in the vector information.
- Yet another aspect of the embodiment provides a control system for a pan/tilt head, comprising: one or more processors, working separately or in cooperation, the processor is configured to:
- a stabilization angle corresponding to the rotation axis of the gimbal in the preset body coordinate system relative to the world coordinate system; wherein the stabilization angle is any one of a pitch angle, a yaw angle and a roll angle, Preferably, the stabilization angle is 0°;
- first attitude compensation angle and a second attitude compensation angle generated by the pan-tilt rotating in the body coordinate system relative to the world coordinate system; wherein the first attitude compensation angle and the second attitude compensation angle are a pitch angle and a yaw angle And any combination of the other two angles of the roll angle excluding the stabilization angle;
- the pan/tilt is controlled according to the first attitude compensation angle, the second attitude compensation angle, and the stabilization angle, so that the image captured by the gimbal is located in the picture, preferably, the image captured by the gimbal is located at the center of the display screen. .
- the control system of the pan/tilt determines the stabilization angle corresponding to the rotation of the pan-tilt axis in the preset body coordinate system relative to the world coordinate system, and acquires the gimbal in the body coordinate system.
- the first attitude compensation angle and the second attitude compensation angle generated by rotating relative to the world coordinate system can control the pan/tilt by the first attitude compensation angle, the second attitude compensation angle, and the stabilization angle, which can effectively ensure
- the image captured by the pan-tilt is located in the picture, which improves the output of the picture and is convenient for the user to observe and process, thus ensuring the practicability of the system and facilitating the promotion and application of the market.
- the first attitude compensation angle is the yaw angle and the second attitude compensation angle is the elevation angle as an example.
- the acquisition pan/tilt is rotated in the preset body coordinate system relative to the world coordinate system.
- the first attitude compensation angle and the second attitude compensation angle may include:
- the first attitude compensation angle and the second attitude compensation angle are determined based on the vector information.
- the final quaternion corresponding to the attitude of the gimbal after the pan/tilt is rotated in the body coordinate system may include:
- the final quaternion is obtained from the initial attitude angle and the rotated quaternion.
- the rotation angle after the rotation of the PTZ in the body coordinate system may include:
- the Y-axis rotation angle is determined based on the Y-direction position information and the vertical angle of view.
- determining the Y-axis rotation angle according to the Y-direction position information and the vertical angle of view may include:
- Body_Y_angle arctan(2*(y-0.5)*tan(fov_v/2));
- Body_Y_angle is the Y-axis rotation angle
- y is the Y-direction position information
- fov_v is the vertical angle of view.
- the rotation angle after the rotation of the PTZ in the body coordinate system may include:
- the Z-axis rotation angle is determined based on the X-direction position information and the horizontal angle of view.
- determining the Z-axis rotation angle according to the X-direction position information and the horizontal angle of view may include:
- Body_Z_angle arctan(2*(x-0.5)*tan(fov_h/2));
- Body_Z_angle is the Z-axis rotation angle
- x is the X-direction position information
- fov_h is the horizontal angle of view.
- obtaining the final quaternion according to the initial attitude angle and the rotation quaternion may include determining the product of the initial posture angle and the rotation quaternion as the final quaternion.
- obtaining the vector information of the X-axis in the body coordinate system in the body coordinate system after the rotation according to the final quaternion may include:
- the vector information of the X-axis in the world coordinate system in the volume coordinate system after the rotation is obtained according to the rotation matrix.
- the vector information of the X-axis in the world coordinate system in the body coordinate system after the rotation is obtained according to the rotation matrix may include:
- O'X' dcm(camera after ) ⁇ [1;0;0];
- O'X' is vector information of the X-axis in the body coordinate system after rotation in the world coordinate system
- dcm camera after
- determining the first posture compensation angle according to the vector information may include:
- the first attitude compensation angle is determined based on the vector information and using the following formula:
- yaw is the first pose compensation angle
- y_x' is the second component in the vector information
- x_x' is the first component in the vector information
- determining the second attitude compensation angle according to the vector information may include:
- the second attitude compensation angle is determined based on the vector information and using the following formula:
- the pitch is the second attitude compensation angle
- z_x' is the third component in the vector information.
- the stabilization angle may be any one of a pitch angle, a yaw angle, and a roll angle
- the stabilization angle is 0°
- first attitude compensation angle and a second attitude compensation angle generated by the pan-tilt rotating in the body coordinate system relative to the world coordinate system; wherein the first attitude compensation angle and the second attitude compensation angle are a pitch angle and a yaw angle And any combination of the other two angles of the roll angle excluding the stabilization angle;
- the computer storage medium determines the stabilization angle corresponding to the rotation of the pan-tilt axis in the preset body coordinate system relative to the world coordinate system, and obtains the pan-tilt in the body coordinate system relative to The first attitude compensation angle and the second attitude compensation angle generated by the rotation of the world coordinate system, and the pan/tilt is controlled by the first attitude compensation angle, the second attitude compensation angle, and the stabilization angle, thereby effectively ensuring the gimbal
- the image captured by the tracking is located in the picture, which improves the output effect of the picture and is convenient for the user to observe and process, thereby ensuring the practicability of the computer storage medium and facilitating the promotion and application of the market.
- the first attitude compensation angle is a yaw angle
- the second attitude compensation angle is a pitch angle
- the first attitude compensation angle generated by the pan/tilt in the preset body coordinate system relative to the world coordinate system is obtained.
- the second attitude compensation angle may include:
- the first attitude compensation angle and the second attitude compensation angle are determined based on the vector information.
- the final quaternion corresponding to the attitude of the gimbal after the pan/tilt is rotated in the body coordinate system may include:
- the final quaternion is obtained from the initial attitude angle and the rotated quaternion.
- the rotation angle after the rotation of the PTZ in the body coordinate system may include:
- the Y-axis rotation angle is determined based on the Y-direction position information and the vertical angle of view.
- determining the Y-axis rotation angle according to the Y-direction position information and the vertical angle of view may include:
- Body_Y_angle arctan(2*(y-0.5)*tan(fov_v/2));
- Body_Y_angle is the Y-axis rotation angle
- y is the Y-direction position information
- fov_v is the vertical angle of view.
- the rotation angle after the rotation of the PTZ in the body coordinate system may include:
- the Z-axis rotation angle is determined based on the X-direction position information and the horizontal angle of view.
- determining the Z-axis rotation angle according to the X-direction position information and the horizontal angle of view may include:
- Body_Z_angle arctan(2*(x-0.5)*tan(fov_h/2));
- Body_Z_angle is the Z-axis rotation angle
- x is the X-direction position information
- fov_h is the horizontal angle of view.
- obtaining the final quaternion according to the initial attitude angle and the rotation quaternion includes: determining the product of the initial posture angle and the rotation quaternion as the final quaternion.
- obtaining the vector information of the X-axis in the body coordinate system in the body coordinate system after the rotation according to the final quaternion may include:
- the vector information of the X-axis in the world coordinate system in the volume coordinate system after the rotation is obtained according to the rotation matrix.
- the vector information of the X-axis in the world coordinate system in the body coordinate system after the rotation is obtained according to the rotation matrix may include:
- O'X' dcm(camera after ) ⁇ [1;0;0];
- O'X' is vector information of the X-axis in the body coordinate system after rotation in the world coordinate system
- dcm camera after
- determining the first posture compensation angle according to the vector information may include:
- the first attitude compensation angle is determined based on the vector information and using the following formula:
- yaw is the first pose compensation angle
- y_x' is the second component in the vector information
- x_x' is the first component in the vector information
- determining the second attitude compensation angle according to the vector information may include:
- the second attitude compensation angle is determined based on the vector information and using the following formula:
- the pitch is the second attitude compensation angle
- z_x' is the third component in the vector information.
- the controller is connected to the gimbal communication and is configured to: determine a stabilization angle corresponding to the rotation of the pan-tilt axis in the preset body coordinate system relative to the world coordinate system; and obtain the relative position of the gimbal in the body coordinate system a first attitude compensation angle and a second attitude compensation angle generated by rotating in a world coordinate system; and performing zoom control on the pan/tilt according to the first attitude compensation angle, the second attitude compensation angle, and the stabilization angle, so that the pan/tilt tracking is performed
- the image is located in the picture, preferably, such that the image captured by the pan/tilt is located at a central position of the display screen; wherein the stabilization angle may be any one of a pitch angle, a yaw angle and a roll angle, preferably, the stabilization The angle is 0°; the first attitude compensation angle and the second attitude compensation angle are any combination of the other two angles of the pitch angle, the yaw angle, and the roll angle excluding the stabilization angle.
- the unmanned aerial vehicle determines, by the controller, a stabilization angle corresponding to the rotation of the pan-tilt axis in the preset body coordinate system relative to the world coordinate system, and acquires the gimbal in the body coordinate system.
- the first attitude compensation angle and the second attitude compensation angle generated by rotating relative to the world coordinate system can control the pan/tilt by the first attitude compensation angle, the second attitude compensation angle, and the stabilization angle, which can effectively ensure
- the image captured by the pan-tilt is located in the picture, which improves the output of the picture and is convenient for the user to observe and process, thus ensuring the practicability of the drone and facilitating the promotion and application of the market.
- the first attitude compensation angle is a yaw angle
- the second attitude compensation angle is a pitch angle
- the controller may be configured to: obtain a final quaternary corresponding to the attitude of the gimbal after the pan/tilt is rotated in the body coordinate system a number; obtaining vector information of the X axis in the body coordinate system after the rotation in the world coordinate system according to the final quaternion; determining the first posture compensation angle and the second posture compensation angle according to the vector information.
- the controller when the controller obtains the final quaternion corresponding to the attitude of the gimbal after the pan/tilt is rotated in the body coordinate system, the controller is further configured to: acquire an initial attitude angle of the gimbal and a pan-tilt body The rotation angle after the rotation in the coordinate system; the rotation angle is converted into the corresponding rotation quaternion; the final quaternion is obtained according to the initial attitude angle and the rotation quaternion.
- the rotation angle includes a Y-axis rotation angle after the Y-axis of the pan-tilt coordinate system rotates; at this time, the controller is configured to: acquire Y-position position information of the image captured by the gimbal in the Y-axis direction, And a vertical field of view of the camera on the pan/tilt; the Y-axis rotation angle is determined based on the Y-direction position information and the vertical field of view.
- Body_Y_angle is the Y-axis rotation angle
- y is the Y-direction position information
- fov_v is the vertical angle of view.
- the rotation angle includes a Z-axis rotation angle after the Z-axis of the pan-tilt coordinate system rotates; at this time, the controller is configured to: acquire X-direction position information of the image captured by the gimbal in the X-axis direction, And a horizontal angle of view of the camera on the pan/tilt; the Z-axis rotation angle is determined based on the X-direction position information and the horizontal field of view.
- Body_Z_angle is the Z-axis rotation angle
- x is the X-direction position information
- fov_h is the horizontal angle of view.
- controller is further configured to: determine the product of the initial attitude angle and the rotational quaternion as the final quaternion.
- controller is further configured to: convert the final quaternion into a corresponding rotation matrix; and obtain vector information of the X-axis in the world coordinate system in the body coordinate system after the rotation according to the rotation matrix.
- the controller when the controller acquires vector information of the X-axis in the world coordinate system in the body coordinate system after the rotation according to the rotation matrix, the controller may be configured to: obtain the body coordinate system after the rotation according to the rotation matrix and using the following formula Vector information of the X-axis in the world coordinate system:
- O'X' dcm(camera after ) ⁇ [1;0;0];
- O'X' is vector information of the X-axis in the body coordinate system after rotation in the world coordinate system
- dcm camera after
- controller is further configured to:
- the first attitude compensation angle is determined based on the vector information and using the following formula:
- yaw is the first pose compensation angle
- y_x' is the second component in the vector information
- x_x' is the first component in the vector information
- controller is also used to:
- the second attitude compensation angle is determined based on the vector information and using the following formula:
- the pitch is the second attitude compensation angle
- z_x' is the third component in the vector information.
- the related apparatus and method disclosed may be implemented in other manners.
- the device embodiments described above are merely illustrative.
- the division of the modules or units is only a logical function division.
- there may be another division manner for example, multiple units or components may be used. Combinations can be integrated into another system, or some features can be ignored or not executed.
- the mutual coupling or direct coupling or communication connection shown or discussed may be an indirect coupling or communication connection through some interface, device or unit, and may be in an electrical, mechanical or other form.
- the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, may be located in one place, or may be distributed to multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of the embodiment.
- each functional unit in each embodiment of the present invention may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit.
- the above integrated unit can be implemented in the form of hardware or in the form of a software functional unit.
- the integrated unit if implemented in the form of a software functional unit and sold or used as a standalone product, may be stored in a computer readable storage medium.
- the technical solution of the present invention which is essential or contributes to the prior art, or all or part of the technical solution, may be embodied in the form of a software product stored in a storage medium.
- a number of instructions are included to cause a computer processor 101 to perform all or part of the steps of the methods described in various embodiments of the present invention.
- the foregoing storage medium includes: a U disk, a removable hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disk, and the like, which can store program codes.
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Abstract
一种云台的控制方法、装置、***、计算机存储介质及无人机,方法包括:确定云台的增稳轴在预设的体坐标系中相对于世界坐标系进行旋转所对应的增稳角度(S1);获取云台在预设的体坐标系中相对于世界坐标系进行旋转而产生的第一姿态补偿角和第二姿态补偿角(S2);根据第一姿态补偿角、第二姿态补偿角以及增稳角度对云台进行控制,以使云台跟踪拍摄的图像位于画面中(S3)。通过确定增稳角度,获取云台在体坐标系中相对于世界坐标系进行旋转而产生的第一姿态补偿角和第二姿态补偿角,通过第一姿态补偿角、第二姿态补偿角和增稳角度对云台进行控制,可以有效地保证云台跟踪拍摄的图像位于画面中,提高了画面的输出效果,便于用户观察。
Description
本发明涉及无人机技术领域,尤其涉及一种云台的控制方法、装置、***、计算机存储介质及无人机。
目前,无人机在航拍、农业、植保、微型自拍、快递运输、灾难救援、观察野生动物、监控传染病、测绘、新闻报道、电力巡检、救灾、影视拍摄、制造浪漫等等领域均有所应用,其主要是利用无人机的拍摄跟踪功能。现有的无人机跟踪的实现方式可以分为两种:一种是速度跟踪,也就是根据目标在画面上的坐标去实时计算跟踪的方式,这种方式因为存在闭环,一般情况下都能够跟踪到目标,使得目标在画面的中央;一种是角度跟踪,也就是在开始跟踪时根据目标在画面上的坐标计算云台需要移动的角度,云台一次性运动到位的方式。
对于可变焦云台而言,指点变焦功能的目的是将画面中的目标物体放到画面中央同时变焦、放大,如果采用速度跟踪的方式,变焦放大的过程中目标的图像变化很大,给图像识别带来很大的困难,且不符合使用场景的需求,因此,指点变焦采用的是角度跟踪的方式,且云台一次运动到位,体验好。
在利用无人机进行航拍、农业、植保、快递运输等操作时,可以将云台安装在机身的下方,此时,云台上的拍摄装置也位于机身的下方,为了防止在拍摄时看到机身和桨叶以及受到机械限位的限制,云台的pitch轴(俯仰轴)向上抬的角度受限,因此基本上的视野都是目标在整个飞机的前方,此时,对于云台而言,世界坐标系的方向与体坐标系相差不大;然而,当世界坐标系与体坐标系差距比较大时,例如:在利用无人机进行测绘操作(例如:检测桥洞裂痕等)时,可以将云台安装在机身的上方,此时,云台上的拍摄装置也位于机身的上方,此时,如图1所示,世界坐标 系XYZ与体坐标系X`Y`Z`差距比较大,云台的pitch轴可以至少向上达到90度(pitch角),此时,若继续利用在体坐标系中计算得到的的云台角度去控制位于世界坐标系中的云台时,会使得云台运动到错误的位置,从而降低了对云台控制的精确程度,甚至会导致所跟踪的目标不在画面中,影响了画面的输出效果。
发明内容
本发明提供了一种云台的控制方法、装置、***、计算机存储介质及无人机,针对现有技术中存在的在世界坐标系与体坐标系差距比较大时,对云台控制的精确程度较低,甚至会导致所跟踪的目标不在画面中,影响了画面的输出效果的问题。
本发明的第一方面是为了提供一种云台的控制方法,包括:
确定云台的增稳轴在预设的体坐标系中相对于世界坐标系进行旋转所对应的增稳角度;
获取所述云台在所述体坐标系中相对于所述世界坐标系进行旋转而产生的第一姿态补偿角和第二姿态补偿角;
根据所述第一姿态补偿角、第二姿态补偿角以及所述增稳角度对云台进行控制,以使所述云台跟踪拍摄的图像位于画面中。
本发明的第二方面是为了提供一种云台的控制装置,包括:
存储器,用于存储计算机程序;
处理器,用于运行所述存储器中存储的计算机程序以实现:确定云台的增稳轴在预设的体坐标系中相对于世界坐标系进行旋转所对应的增稳角度;获取所述云台在所述体坐标系中相对于所述世界坐标系进行旋转而产生的第一姿态补偿角和第二姿态补偿角;根据所述第一姿态补偿角、第二姿态补偿角以及所述增稳角度对云台进行控制,以使所述云台跟踪拍摄的图像位于画面中。
本发明的第三方面是为了提供一种云台的控制***,包括:一个或多个 处理器,单独或协同的工作,所述处理器用于:
确定云台的增稳轴在预设的体坐标系中相对于世界坐标系进行旋转所对应的增稳角度;
获取所述云台在所述体坐标系中相对于所述世界坐标系进行旋转而产生的第一姿态补偿角和第二姿态补偿角;
根据所述第一姿态补偿角、第二姿态补偿角以及所述增稳角度对云台进行控制,以使所述云台跟踪拍摄的图像位于画面的中央位置。
本发明的第四方面是为了提供一种计算机存储介质,该计算机存储介质中存储有程序指令,所述程序指令用于实现:
确定云台的增稳轴在预设的体坐标系中相对于世界坐标系进行旋转所对应的增稳角度;
获取所述云台在所述的体坐标系中相对于所述世界坐标系进行旋转而产生的第一姿态补偿角和第二姿态补偿角;
根据所述第一姿态补偿角、第二姿态补偿角以及所述增稳角度对云台进行变焦控制,以使所述云台跟踪拍摄的图像位于画面中。
本发明的第五方面是为了提供一种无人机,其特征在于,包括:
机架;
云台,安装在所述机架上;
控制器,与所述云台通信连接,用于:确定云台的增稳轴在预设的体坐标系中相对于世界坐标系进行旋转所对应的增稳角度;获取所述云台在所述体坐标系中相对于所述世界坐标系进行旋转而产生的第一姿态补偿角和第二姿态补偿角;根据所述第一姿态补偿角、第二姿态补偿角以及所述增稳角度对所述云台进行变焦控制,以使所述云台跟踪拍摄的图像位于画面中。
本发明提供的云台的控制方法、装置、***、计算机存储介质及无人机,通过确定云台的增稳轴在预设的体坐标系中相对于世界坐标系进行旋转所对应的增稳角度,并获取云台在体坐标系中相对于世界坐标系进行旋转而产生的第一姿态补偿角和第二姿态补偿角,通过上述的第一姿态补偿角、第二姿态补偿角和增稳角度对云台进行控制,可以有效地保证云台跟踪拍摄的图像 位于画面中,提高画面的输出效果,便于用户观察和处理,从而保证了该方法的实用性,有利于市场的推广与应用。
图1为本发明实施例提供的世界坐标系和体坐标系的坐标示意图;
图2为本发明实施例提供的一种云台的控制方法的流程示意图;
图3为本发明实施例提供的获取所述云台在体坐标系中相对于所述世界坐标系进行旋转而产生的第一姿态补偿角和第二姿态补偿角的流程示意图;
图4为本发明实施例提供的获取所述云台在所述体坐标系中进行旋转之后的云台姿态角所对应的最终四元数的流程示意图;
图5为本发明实施例提供的画面坐标系的示意图;
图6为本发明实施例提供的基于画面坐标系的x轴投影示意图;
图7为本发明实施例提供的基于画面坐标系的y轴投影示意图;
图8为本发明实施例提供的体坐标系中X轴在所述世界坐标系下的向量信息的表示示意图;
图9为本发明实施例提供的一种云台的控制装置的结构示意图。
为使本发明实施例的目的、技术方案和优点更加清楚,下面将结合本发明实施例中的附图,对本发明实施例中的技术方案进行清楚、完整地描述,显然,所描述的实施例是本发明一部分实施例,而不是全部的实施例。基于本发明中的实施例,本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例,都属于本发明保护的范围。
在本发明中,术语“安装”、“连接”、“固定”等术语均应广义理解,例如,“连接”可以是固定连接,也可以是可拆卸连接,或一体地连接。对于本领域的普通技术人员而言,可以根据具体情况理解上述术语在本发明中的具体含义。
需要说明的是,在本发明的描述中,术语“第一”、“第二”仅用于方便描述不同的部件,而不能理解为指示或暗示顺序关系、相对重要性或者隐含指 明所指示的技术特征的数量。由此,限定有“第一”、“第二”的特征可以明示或者隐含地包括至少一个该特征。
除非另有定义,本文所使用的所有的技术和科学术语与属于本发明的技术领域的技术人员通常理解的含义相同。本文中在本发明的说明书中所使用的术语只是为了描述具体的实施例的目的,不是旨在于限制本发明。
下面结合附图,对本发明的一些实施方式作详细说明。在各实施例之间不冲突的情况下,下述的实施例及实施例中的特征可以相互组合。
图2为本发明实施例提供的一种云台的控制方法的流程示意图,参考附图2所示,本实施例提供了一种云台的控制方法,该控制方法用于对云台进行控制(包括正常控制和变焦控制),以使得云台所跟踪拍摄的图像位于显示画面中,优选地,使得云台所跟踪拍摄的图像位于显示画面的中央位置。该方法的执行主体可以为云台的控制装置,具体的,该控制方法包括:
S1:确定云台的增稳轴在预设的体坐标系中相对于世界坐标系进行旋转所对应的增稳角度;
对于云台而言,增稳轴可以为云台的横滚增稳轴(X轴)、俯仰增稳轴(Y轴)或者偏航增稳轴(Z轴)中的任意一个,相应的,增稳轴所对应的增稳角度可以为横滚角、俯仰角和偏航角中的任意一个;具体的,本实施例中定义体坐标系为:云台上拍摄装置(包括:相机、带有拍摄功能的智能终端等)的镜头朝前为X轴,镜头朝右为Y轴,镜头朝下为Z轴,进而可知,横滚角是围绕X轴旋转所形成的角度,俯仰角是围绕Y轴旋转所形成的角度,偏航角是围绕Z轴旋转所形成的角度。
进一步的,为了保证云台产生该增稳角度所在的增稳轴的稳定性,该增稳角度优选为0°;例如,当增稳角度为俯仰角时,那么此时,云台在世界坐标系和体坐标系中进行旋转时,围绕Y轴旋转的角度为0°,进而可以有效地保证云台在pitch轴上的增稳效果;同理的,当增稳角度为偏航角时,那么此时,云台在世界坐标系和体坐标系中进行旋转时,围绕Z轴旋转的角度为0,进而可以有效地保证云台在yaw轴上的增稳效果;当增稳角度为横滚角时,那么此时,云台在世界坐标系和体坐标系中进行旋转时,围绕X轴旋转的角度为0,进而可以有效地保证云台在roll轴上的增稳效果。
举例来说:假设世界坐标系与体坐标系中的X轴不重合,此时,当云台 在体坐标系下旋转时,由于世界坐标系和体坐标系中的X轴不重合而存在差距,绕体坐标系下旋转的角度会使得云台的欧拉角中的roll角度存在一个值;此时,若继续按照在体坐标系下所获取的角度去控制云台运动到指定位置,那么云台所拍摄的图像还是在画面的中央,然而,会使得云台的roll轴倾斜,从而降低了云台的稳定性,因此,为了保证云台的稳定性,也即保证roll轴不歪的情况,可以将roll轴所对应的增稳角度设置为0°。
S2:获取云台在体坐标系中相对于世界坐标系进行旋转而产生的第一姿态补偿角和第二姿态补偿角;
对于云台而言,当云台在体坐标系和世界坐标系中进行旋转时,由于体坐标系和世界坐标系之间不重合,容易使得云台所跟踪拍摄的图像不在画面的中央位置,此时,为了保证云台跟踪拍摄画像的显示效果,需要获取体坐标系与世界坐标系之间的具体差距,并基于该差距确定相应的补偿角,也即获取到第一姿态补偿角和第二姿态补偿角。
其中,第一姿态补偿角和第二姿态补偿角为俯仰角、偏航角和横滚角中除去增稳角度的另外两个角度的任意组合;也即:当增稳角度为俯仰角时,第一姿态补偿角可以为偏航角或横滚角,具体的,在第一姿态补偿角为偏航角时,第二姿态补偿角为横滚角;或者,在第一姿态补偿角为横滚角时,第二姿态补偿角为偏航角等等。
S3:根据第一姿态补偿角、第二姿态补偿角以及增稳角度对云台进行控制,以使云台跟踪拍摄的图像位于画面中。
云台中增稳轴所对应的增稳角度为0°,那么当云台在体坐标系中进行旋转时,由于体坐标系和世界坐标系之间存在差距,因此,若继续按照在体坐标系进行分析而获得的世界欧拉角来控制云台进行运动,容易使得云台所跟踪拍摄的图像不在画面的中央位置,甚至会使得云台跟踪拍摄的画像不在画面中,不便于用户的观察;此时的云台在体坐标系中的旋转相对于世界坐标系而言会产生偏差,可以通过上述偏差确定第一姿态补偿角和第二姿态补偿角,从而可以对云台进行控制,以补偿因上述情况所造成的图像偏离中央位置的情况。
其中,在利用第一姿态补偿角、第二姿态补偿角和增稳角度对云台进行控制时,包括两种情况:情况一,对云台的普通控制,即在云台进行跟踪拍 摄的过程中,云台跟踪拍摄的图像偏离画面中,可以利用第一姿态补偿角、第二姿态补偿角和增稳角度对云台进行调整控制,使得云台所跟踪拍摄的图像位于画面中,优选的,使得云台所跟踪拍摄的图像位于显示画面的中央位置;情况二,对云台的变焦控制,即在云台进行跟踪拍摄的过程中,用户可以根据需求对图像进行变焦处理,以使得用户可以清晰地看到图像,在上述变焦处理的过程中,对于云台跟踪拍摄的、且经过变焦处理后的图像偏离画面中,可以利用第一姿态补偿角、第二姿态补偿角和增稳角度对云台进行变焦控制,使得云台所跟踪拍摄的、且经过变焦处理后图像位于画面中,优选的,使得云台所跟踪拍摄的图像位于显示画面的中央位置。
本实施例提供的云台的控制方法,通过确定云台的增稳轴在预设的体坐标系中相对于世界坐标系进行旋转所对应的增稳角度,并获取云台在体坐标系中相对于世界坐标系进行旋转而产生的第一姿态补偿角和第二姿态补偿角,通过上述的第一姿态补偿角、第二姿态补偿角和增稳角度对云台进行控制,可以有效地保证云台跟踪拍摄的图像位于画面中,提高画面的输出效果,便于用户观察和处理,从而保证了该方法的实用性,有利于市场的推广与应用。
图3为本发明实施例提供的获取云台在预设的体坐标系中相对于世界坐标系进行旋转而产生的第一姿态补偿角和第二姿态补偿角的流程示意图;图4为本发明实施例提供的获取云台在体坐标系中进行旋转之后的云台姿态角所对应的最终四元数的流程示意图;在上述实施例的基础上,继续参考附图2-4可知,本实施例对于增稳角度、第一姿态补偿角和第二姿态补偿角的具体类型不做限定,本领域技术人员可以根据不同的云台结构来进行设置,例如,增稳角度可以为俯仰角,第一姿态补偿角为偏航角,第二姿态补偿角为横滚角;或者,增稳角度可以为偏航角,第一姿态补偿角为横滚角,第二姿态补偿角为俯仰角;再或者,增稳角度可以为横滚角,第一姿态补偿角为偏航角,第二姿态补偿角为俯仰角等等。
对于第一姿态补偿角和第二姿态补偿角的具体获取方式而言,无论上述两个补偿角的具体类型组合是什么,其具体的获取方式相类似,本实施例以第一姿态补偿角为偏航角,第二姿态补偿角为俯仰角为例进行说明,此时,增稳角度为横滚角,所适用的云台类型为ZXY结构的云台;具体的,获取云台在预设的体坐标系中相对于世界坐标系进行旋转而产生的第一姿态补偿角 和第二姿态补偿角,包括:
S21:获取云台在体坐标系中进行旋转之后的云台姿态角所对应的最终四元数;
具体的,获取云台在体坐标系中进行旋转之后的云台姿态角所对应的最终四元数可以包括:
S211:获取云台的初始姿态角以及云台在体坐标系中进行旋转之后的旋转角;
本实施例对于旋转角的具体类型不做限定,本领域技术人员可以根据具体的设计需求进行设置,其中,一种可实现的方式为:旋转角包括云台绕体坐标系中Y轴进行旋转之后的Y轴旋转角;此时,获取云台在体坐标系中进行旋转之后的旋转角可以包括:
获取云台跟踪拍摄的图像在Y轴方向上的Y向位置信息、以及云台上拍摄装置的垂直视场角;根据Y向位置信息和垂直视场角确定Y轴旋转角。
具体的,根据Y向位置信息和垂直视场角确定Y轴旋转角可以包括:
根据Y向位置信息和垂直视场角、并利用以下公式确定Y轴旋转角;
Body_Y_angle=arctan(2*(y-0.5)*tan(fov_v/2));
其中,Body_Y_angle为Y轴旋转角,y为Y向位置信息,fov_v为垂直视场角。
对于旋转角而言,另一种可实现的方式为:旋转角包括云台绕体坐标系中Z轴进行旋转之后的Z轴旋转角;此时,获取云台在体坐标系中进行旋转之后的旋转角可以包括:
获取云台跟踪拍摄的图像在X轴方向上的X向位置信息、以及云台上拍摄装置的水平视场角;根据X向位置信息和水平视场角确定Z轴旋转角。
具体的,根据X向位置信息和水平视场角确定Z轴旋转角可以包括:
根据X向位置信息和水平视场角、并利用以下公式确定Z轴旋转角;
Body_Z_angle=arctan(2*(x-0.5)*tan(fov_h/2));
其中,Body_Z_angle为Z轴旋转角,x为X向位置信息,fov_h为水平视场角。
S212:将旋转角转换为相对应的旋转四元数;
在获取到旋转角之后,可以利用在《3D数学基础》中的轴角与四元数的 转换关系将旋转角转换为相对应的旋转四元数。其中,四元数为《3D数学基础》中的概念,其是一种方位的表示方法,进一步的,《3D数学基础》中的任意角位移均可以表示为绕单一轴的单一旋转,轴角形式也是一种方位的表示方法,而四元数也可以被解释为角位移的轴-角对方式,因此,绕任意轴的角度旋转可以被表示为四元数。
具体的,四元数是指设有一个通过原点[0,0,0]的旋转轴,该轴上单位长度的点为[w1,w2,w3]。绕此轴旋转θ角的变换可以用一个向量表示:
也记为q=[q0,q1,q2,q3],或者q=q0+q1*i+q2*j+q3*k,其中,四元数的模长为1。通过上述概念可知,轴角表示可以通过上述公式转换为四元数的表示。
S213:根据初始姿态角和旋转四元数获得最终四元数。
具体的,在获取到初始姿态角和旋转四元数之后,可以将初始姿态角和旋转四元数的乘积确定为最终四元数。
S22:根据最终四元数获取旋转之后的体坐标系中的X轴在世界坐标系下的向量信息;
具体的,在获取到最终四元数之后,可以根据最终四元数获取旋转之后的体坐标系中的X轴在世界坐标系下的向量信息,具体的:
将最终四元数转换为相应的旋转矩阵;根据旋转矩阵获取旋转之后的体坐标系中X轴在世界坐标系下的向量信息。
其中,将最终四元数转换为相应的旋转矩阵的实现过程可参照《3D数学基础》中四元数与旋转矩阵的转换关系来实现;在获取到旋转矩阵之后,可以对旋转矩阵进行分析处理,具体的,可以根据旋转矩阵获取旋转之后的体坐标系中X轴在世界坐标系下的向量信息,包括:
根据旋转矩阵、并利用以下公式获取旋转之后的体坐标系中的X轴在世界坐标系下的向量信息:
O′X′=dcm(camera
after)×[1;0;0];
其中,O′X′为旋转之后的体坐标系中的X轴在世界坐标系下的向量信息,dcm(camera
after)为旋转矩阵。
S23:根据向量信息确定第一姿态补偿角和第二姿态补偿角。
其中,如图8所示,根据向量信息确定第一姿态补偿角可以包括:
根据向量信息、并利用以下公式确定第一姿态补偿角:
yaw=arctan(y_x′/x_x′);
其中,yaw为第一姿态补偿角,y_x′为向量信息中的第二分量,x_x′为向量信息中的第一分量。
而根据向量信息确定第二姿态补偿角可以包括:
根据向量信息、并利用以下公式确定第二姿态补偿角:
pitch=arcsin(z_x′);
其中,pitch为第二姿态补偿角,z_x′为向量信息中的第三分量。
通过上述过程获取到第一姿态补偿角和第二姿态补偿角,有效地保证了第一姿态补偿角和第二姿态补偿角确定的精确可靠性,从而提高了对云台控制的精度,进一步保证了云台跟踪拍摄的图像位于画面的中央位置的稳定性。
具体应用时,以ZXY型的云台结构为例进行说明,且假设云台上的拍摄装置为相机,此时,在对云台进行控制之前,首先要获取相机的视场角、焦距以及目标在画面上的坐标,并根据相机的视场角、焦距以及目标在画面上的坐标,计算得到如果需要相机对准目标的时候云台需要绕体坐标系(body坐标系)各旋转多少角度。
如图5所示,设定画面的左上角为坐标原点(0,0),已知:相机跟踪拍摄的目标物体在应用程序(app)上的画面中进行归一化的像素位置为(x,y),显示画面的有效值为0.00~1.00,云台跟踪拍摄的目的是将目标物体放到画面的中央,因此,目标点的位置为(0.5,0.5),可以预先获取相机的焦距为focal_length、垂直视场角为fov_v以及水平视场角为fov_h;根据上述参数可以计算得到云台需要绕body坐标系旋转的角度。
首先,考虑画面水平方向上的角度,如图6所示,A,B分别对应的是水平方向画面的投影点,A点在画面坐标系中的坐标x=0,B点在画面坐标系中的坐标x=1,D点是中心位置坐标x=0.5,E点是目标物体的投影位置,假设坐标是x,∠ACB=fov_h(水平视场角),此时,需要将目标物体的投影位置调整至D点,也是目标物体需要旋转的角度,即∠DCE的值;
由几何关系:Rt△DCB中,tan∠DCB=tan(fov_h/2)=DB/DC=0.5/DC,则有DC=1/2(tan(fov_h/2));
Rt△DCE中,
tan∠DCE=DE/DC=(x-0.5)/(1/2(tan(fov_h/2)))=2*(x-0.5)*tan(fov_h/2);则∠DCE=arctan(2*(x-0.5)*tan(fov_h/2))。
其次,考虑画面竖直方向上的角度,如图7所示,P,Q对应的是垂直方向画面的投影点,P点在画面坐标系中的坐标y=0,Q点在画面坐标系中的坐标y=1,O点是中心位置坐标y=0.5,S点是目标物体的投影位置,假设S点y轴坐标就是y,∠PRQ=fov_v(垂直视场角),此时,需要将目标物体的投影位置调整至O点,也是目标物体需要旋转的角度,即∠ORS的值;同理,由几何关系可以解得旋转的角度:∠ORS=arctan(2*(y-0.5)*tan(fov_v/2))。
对于body坐标系而言,相机镜头朝前是X轴,相机镜头朝右是Y轴,相机镜头朝下是Z轴,则显示画面中的X轴对应的是镜头的左右,即body坐标系的Y轴,显示画面中的Y轴对应的是镜头的上下,即body坐标系的Z轴。
综上可知:绕body坐标系旋转的角度如下:绕body坐标系中的Z轴的旋转角度为:Body_Z_angle=arctan(2*detax*tmp1);其中,目标图像距离画面中央在x轴上的像素距离:detax=x-0.5;而tmp1=tan(fov_h/2)。
绕body坐标系中的Y轴的旋转角度为:Body_Y_angle=arctan(2*detay*tmp1),其中,目标图像距离画面中央在y轴上的像素距离:detay=y-0.5;而tmp2=tan(fov_v/2)。
绕body坐标系旋转可以保证目标图像在画面的中央位置,但是当世界坐标系和体坐标系存在差距时,会带来roll轴歪斜的问题,实际上考虑视线的话,定义相机朝前的方向为云台的X轴,则目标到达画面中央的问题可以转换为使得云台body坐标系的X轴对准目标的问题。进一步的,由上一步云台绕body坐标系旋转得到的角度再加上云台开始时的测量姿态可以计算得到世界坐标系下旋转后的body坐标系中的X轴的向量表示,具体的:
云台的初始姿态角(跟踪之前)可以由欧拉角表示为q_camera_init,其中,初始姿态角的获取可以通过惯性测量单元IMU与加速度计的融合测量获得。
而后,获取与旋转角相对应的旋转四元数,具体的,对上述获取的Body_Z_angle,Body_Y_angle进行转换,可得相对应的旋转四元数:q(Body_Z_angle),q(Body_Y_angle)。
旋转之后的云台的姿态角所对应的最终四元数为:q_camera_after=q_camera_init*q(Body_Z_angle)*q(Body_Y_ang)。旋转之后云台的姿态角满足相机的中心轴对着目标图像,但是由于绕body坐标系中轴的旋转分解在世界坐标系上会有绕世界坐标系上X轴的旋转的分量,此时,目标图像在画面中仍然存在偏离的情况,而目标图像在画面的中心可以理解成相机的中心点朝前射出一条线,目标图像在这条线上,也就是说只要满足云台的body坐标系(即相机坐标系)的X轴的方位要求,即可保证目标图像在画面中心。因此,需要进一步对最终四元数进行处理,具体的,q_camera_after可根据之前公式求得,最终四元数表示可以根据公式转换为旋转矩阵dcm(camera_after)(这里用dcm缩写表示旋转矩阵)。
旋转之后的body坐标系表示为O′X′Y′Z′,O′X′轴在世界坐标系下的向量表示可以求得:O′X′=dcm(camera
after)×[1;0;0];
并定义:O′X′在世界坐标系下的坐标为[x_x′,y_x′,z_x’],且上述向量表示是经过归一化后的,即|O′X′|=1。
其中,欧拉角定义:从世界坐标系先绕Z轴旋转yaw角度,然后绕X轴旋转roll角度,然后绕Y轴旋转pitch角度,从而和物体坐标系相重合(这里采用ZXY的旋转顺序)。
世界坐标系的定义:按照北动地定义表示为OXYZ,可得到如图8所示,X′在OXY平面内的投影为点X″,则从世界坐标系OXYZ先绕Z轴旋转∠XOX”,再绕X轴旋转0度,最后绕Y轴旋转∠X′OX”角度,则旋转后的世界坐标系的OX和物体坐标系的OX′重合,∠XOX”就是我们需要求解的欧拉角的yaw的角度,∠X″OX’就是我们需要求解的欧拉角的pitch角度。由几何知识可以解得:
∠XOX”=arctan(y_x′/x_x′);
∠X″OX’=arcsin(z_x′);
从而我们可以确定第一姿态补偿角为arctan(y_x′/x_x′),第二姿态补偿角为arcsin(z_x′),此处,我们将第一姿态补偿角、第二姿态补偿角和增稳角度定义为目标欧拉角,综上我们可以解得满足要求的云台姿态目标欧拉角为(yaw,pitch,roll)=(arctan(y_x′/x_x′?,arcsin(z_x′),0)。
通过上述过程获取到第一姿态补偿角、第二姿态补偿角,并通过获取的 第一姿态补偿角、第二姿态补偿角以及增稳角度对云台进行控制,适用于任意云台在初始姿态下的跟踪拍摄,可以满足云台所跟踪拍摄的目标位于画面的中央位置,并且还能够保证roll轴的增稳效果,保证了云台工作的质量和效率,进一步提高了该方法的实用性,有利于市场的推广与应用。
图9为本发明实施例提供的一种云台的控制装置的结构示意图;参考附图9所示,本实施例提供了一种云台的控制装置,该装置可以执行上述的云台的控制方法,具体的,该装置包括:
存储器1,用于存储计算机程序;
处理器2,用于运行所述存储器中存储的计算机程序以实现:
确定云台的增稳轴在预设的体坐标系中相对于世界坐标系进行旋转所对应的增稳角度;其中,增稳角度可以为俯仰角、偏航角和横滚角中的任意一个,优选的,增稳角度为0°;
获取云台在预设的体坐标系中相对于世界坐标系进行旋转而产生的第一姿态补偿角和第二姿态补偿角;其中,第一姿态补偿角和第二姿态补偿角为俯仰角、偏航角和横滚角中除去增稳角度的另外两个角度的任意组合;
根据第一姿态补偿角、第二姿态补偿角以及增稳角度对云台进行控制,以使云台跟踪拍摄的图像位于画面中,优选地,使得云台所跟踪拍摄的图像位于显示画面的中央位置。
本实施例中处理器2所实现的操作步骤的具体实现过程以及实现效果与上述实施例中步骤S1-S3的具体实现过程以及实现效果相同,具体可参考上述陈述内容,在此不再赘述。
本实施例提供的云台的控制装置,通过处理器2确定云台的增稳轴在预设的体坐标系中相对于世界坐标系进行旋转所对应的增稳角度,获取云台在体坐标系中相对于世界坐标系进行旋转而产生的第一姿态补偿角和第二姿态补偿角,通过上述的第一姿态补偿角、第二姿态补偿角和增稳角度对云台进行控制,可以有效地保证云台跟踪拍摄的图像位于画面中,提高了画面的输出效果,便于用户观察和处理,从而保证了该装置的实用性,有利于市场的推广与应用。
本实施例中,以第一姿态补偿角为偏航角、第二姿态补偿角为俯仰角为 例进行说明,此时,在处理器2获取云台在预设的体坐标系中相对于世界坐标系进行旋转而产生的第一姿态补偿角和第二姿态补偿角时,该处理器2用于执行以下步骤:
获取云台在体坐标系中进行旋转之后的云台姿态角所对应的最终四元数;根据最终四元数获取旋转之后的体坐标系中的X轴在世界坐标系下的向量信息;根据向量信息确定第一姿态补偿角和第二姿态补偿角。
其中,在处理器2获取云台在体坐标系中进行旋转之后的云台姿态角所对应的最终四元数时,该处理器2具体用于执行以下步骤:
获取云台的初始姿态角以及云台在体坐标系中进行旋转之后的旋转角;将旋转角转换为相对应的旋转四元数;根据初始姿态角和旋转四元数获得最终四元数。
当旋转角包括云台绕体坐标系中Y轴进行旋转之后的Y轴旋转角时;处理器2用于:获取云台跟踪拍摄的图像在Y轴方向上的Y向位置信息、以及云台上拍摄装置的垂直视场角;根据Y向位置信息和垂直视场角确定Y轴旋转角。
具体的,处理器2用于:根据Y向位置信息和垂直视场角、并利用以下公式确定Y轴旋转角;
Body_Y_angle=arctan(2*(y-0.5)*tan(fov_v/2));
其中,Body_Y_angle为Y轴旋转角,y为Y向位置信息,fov_v为垂直视场角。
当旋转角包括云台绕体坐标系中Z轴进行旋转之后的Z轴旋转角时;处理器2用于:获取云台跟踪拍摄的图像在X轴方向上的X向位置信息、以及云台上拍摄装置的水平视场角;根据X向位置信息和水平视场角确定Z轴旋转角。
具体的,处理器2用于:根据X向位置信息和水平视场角、并利用以下公式确定Z轴旋转角;
Body_Z_angle=arctan(2*(x-0.5)*tan(fov_h/2));
其中,Body_Z_angle为Z轴旋转角,x为X向位置信息,fov_h为水平视场角。
进一步的,在获取到初始姿态角和旋转四元数之后,需要对初始姿态角 和旋转四元数进行分析处理,从而确定最终四元数,具体的,在处理器2根据初始姿态角和旋转四元数确定最终四元数时,该处理器2用于:将初始姿态角与旋转四元数的乘积确定为最终四元数。
此外,在处理器2根据最终四元数获取旋转之后的体坐标系中的X轴在世界坐标系下的向量信息时,该处理器2具体用于:
将最终四元数转换为相应的旋转矩阵;根据旋转矩阵获取旋转之后的体坐标系中X轴在世界坐标系下的向量信息。
具体的,处理器2用于:根据旋转矩阵、并利用以下公式获取旋转之后的体坐标系中的X轴在世界坐标系下的向量信息:
O′X′=dcm(camera
after)×[1;0;0];
其中,O′X′为旋转之后的体坐标系中的X轴在世界坐标系下的向量信息,dcm(camera
after)为旋转矩阵。
在获取到向量信息之后,该处理器2还用于:根据向量信息、并利用以下公式确定第一姿态补偿角:
yaw=arctan(y_x′/x_x′);
其中,yaw为第一姿态补偿角,y_x′为向量信息中的第二分量,x_x′为向量信息中的第一分量。
进一步的,处理器2还用于:根据向量信息、并利用以下公式确定第二姿态补偿角:
pitch=arcsin(z_x′);
其中,pitch为第二姿态补偿角,z_x′为向量信息中的第三分量。
本实施例中处理器2所实现的操作步骤的具体实现过程以及实现效果与上述图2-图8所对应的实施例中的具体实现过程以及实现效果相同,具体可参考上述陈述内容,在此不再赘述。
本实施例的又一方面提供了一种云台的控制***,包括:一个或多个处理器,单独或协同的工作,处理器用于:
确定云台的增稳轴在预设的体坐标系中相对于世界坐标系进行旋转所对应的增稳角度;其中,增稳角度为俯仰角、偏航角和横滚角中的任意一个,优选的,增稳角度为0°;
获取云台在体坐标系中相对于世界坐标系进行旋转而产生的第一姿态补偿角和第二姿态补偿角;其中,第一姿态补偿角和第二姿态补偿角为俯仰角、偏航角和横滚角中除去增稳角度的另外两个角度的任意组合;
根据第一姿态补偿角、第二姿态补偿角以及增稳角度对云台进行控制,以使云台跟踪拍摄的图像位于画面中,优选地,使得云台所跟踪拍摄的图像位于显示画面的中央位置。
本实施例提供的云台的控制***,通过确定云台的增稳轴在预设的体坐标系中相对于世界坐标系进行旋转所对应的增稳角度,并获取云台在体坐标系中相对于世界坐标系进行旋转而产生的第一姿态补偿角和第二姿态补偿角,通过上述的第一姿态补偿角、第二姿态补偿角和增稳角度对云台进行控制,可以有效地保证云台跟踪拍摄的图像位于画面中,提高了画面的输出效果,便于用户观察和处理,从而保证了该***的实用性,有利于市场的推广与应用。
本实施例以第一姿态补偿角为偏航角、第二姿态补偿角为俯仰角为例进行说明,具体的,获取云台在预设的体坐标系中相对于世界坐标系进行旋转而产生的第一姿态补偿角和第二姿态补偿角可以包括:
获取云台在体坐标系中进行旋转之后的云台姿态角所对应的最终四元数;
根据最终四元数获取旋转之后的体坐标系中的X轴在世界坐标系下的向量信息;
根据向量信息确定第一姿态补偿角和第二姿态补偿角。
其中,获取云台在体坐标系中进行旋转之后的云台姿态角所对应的最终四元数可以包括:
获取云台的初始姿态角以及云台在体坐标系中进行旋转之后的旋转角;
将旋转角转换为相对应的旋转四元数;
根据初始姿态角和旋转四元数获得最终四元数。
可选的,在旋转角包括云台绕体坐标系中Y轴进行旋转之后的Y轴旋转角时,获取云台在体坐标系中进行旋转之后的旋转角可以包括:
获取云台跟踪拍摄的图像在Y轴方向上的Y向位置信息、以及云台上拍摄装置的垂直视场角;
根据Y向位置信息和垂直视场角确定Y轴旋转角。
具体的,根据Y向位置信息和垂直视场角确定Y轴旋转角可以包括:
根据Y向位置信息和垂直视场角、并利用以下公式确定Y轴旋转角;
Body_Y_angle=arctan(2*(y-0.5)*tan(fov_v/2));
其中,Body_Y_angle为Y轴旋转角,y为Y向位置信息,fov_v为垂直视场角。
可选的,在旋转角包括云台绕体坐标系中Z轴进行旋转之后的Z轴旋转角时,获取云台在体坐标系中进行旋转之后的旋转角可以包括:
获取云台跟踪拍摄的图像在X轴方向上的X向位置信息、以及云台上拍摄装置的水平视场角;
根据X向位置信息和水平视场角确定Z轴旋转角。
具体的,根据X向位置信息和水平视场角确定Z轴旋转角可以包括:
根据X向位置信息和水平视场角、并利用以下公式确定Z轴旋转角;
Body_Z_angle=arctan(2*(x-0.5)*tan(fov_h/2));
其中,Body_Z_angle为Z轴旋转角,x为X向位置信息,fov_h为水平视场角。
进一步的,根据初始姿态角和旋转四元数获得最终四元数可以包括:将初始姿态角与旋转四元数的乘积确定为最终四元数。
此外,根据最终四元数获取旋转之后的体坐标系中的X轴在世界坐标系下的向量信息可以包括:
将最终四元数转换为相应的旋转矩阵;
根据旋转矩阵获取旋转之后的体坐标系中X轴在世界坐标系下的向量信息。
具体的,根据旋转矩阵获取旋转之后的体坐标系中X轴在世界坐标系下的向量信息可以包括:
根据旋转矩阵、并利用以下公式获取旋转之后的体坐标系中的X轴在世界坐标系下的向量信息:
O′X′=dcm(camera
after)×[1;0;0];
其中,O′X′为旋转之后的体坐标系中的X轴在世界坐标系下的向量信息,dcm(camera
after)为旋转矩阵。
进一步的,根据向量信息确定第一姿态补偿角可以包括:
根据向量信息、并利用以下公式确定第一姿态补偿角:
yaw=arctan(y_x′/x_x′);
其中,yaw为第一姿态补偿角,y_x′为向量信息中的第二分量,x_x′为向量信息中的第一分量。
进一步的,根据向量信息确定第二姿态补偿角可以包括:
根据向量信息、并利用以下公式确定第二姿态补偿角:
pitch=arcsin(z_x′);
其中,pitch为第二姿态补偿角,z_x′为向量信息中的第三分量。
本实施例中所实现的操作步骤的具体实现过程以及实现效果与上述图2-图8所对应的实施例中的具体实现过程以及实现效果相同,具体可参考上述陈述内容,在此不再赘述。
本实施例的再一方面提供了一种计算机存储介质,该计算机存储介质中存储有程序指令,程序指令用于实现:
确定云台的增稳轴在预设的体坐标系中相对于世界坐标系进行旋转所对应的增稳角度;其中,增稳角度可以为俯仰角、偏航角和横滚角中的任意一个,优选的,增稳角度为0°;
获取云台在体坐标系中相对于世界坐标系进行旋转而产生的第一姿态补偿角和第二姿态补偿角;其中,第一姿态补偿角和第二姿态补偿角为俯仰角、偏航角和横滚角中除去增稳角度的另外两个角度的任意组合;
根据第一姿态补偿角、第二姿态补偿角以及增稳角度对云台进行变焦控制,以使云台跟踪拍摄的图像位于画面中,优选地,使得云台所跟踪拍摄的图像位于显示画面的中央位置。
本实施例提供的计算机存储介质,通过确定云台的增稳轴在预设的体坐标系中相对于世界坐标系进行旋转所对应的增稳角度,并获取云台在体坐标系中相对于世界坐标系进行旋转而产生的第一姿态补偿角和第二姿态补偿角,通过上述的第一姿态补偿角、第二姿态补偿角和增稳角度对云台进行控制,可以有效地保证云台跟踪拍摄的图像位于画面中,提高了画面的输出效果,便于用户观察和处理,从而保证了该计算机存储介质的实用性,有利于市场的推广与应用。
进一步的,第一姿态补偿角为偏航角,第二姿态补偿角为俯仰角;获取云台在预设的体坐标系中相对于世界坐标系进行旋转而产生的第一姿态补偿角和第二姿态补偿角可以包括:
获取云台在体坐标系中进行旋转之后的云台姿态角所对应的最终四元数;
根据最终四元数获取旋转之后的体坐标系中的X轴在世界坐标系下的向量信息;
根据向量信息确定第一姿态补偿角和第二姿态补偿角。
具体的,获取云台在体坐标系中进行旋转之后的云台姿态角所对应的最终四元数可以包括:
获取云台的初始姿态角以及云台在体坐标系中进行旋转之后的旋转角;
将旋转角转换为相对应的旋转四元数;
根据初始姿态角和旋转四元数获得最终四元数。
可选的,在旋转角包括云台绕体坐标系中Y轴进行旋转之后的Y轴旋转角时,获取云台在体坐标系中进行旋转之后的旋转角可以包括:
获取云台跟踪拍摄的图像在Y轴方向上的Y向位置信息、以及云台上拍摄装置的垂直视场角;
根据Y向位置信息和垂直视场角确定Y轴旋转角。
具体的,根据Y向位置信息和垂直视场角确定Y轴旋转角可以包括:
根据Y向位置信息和垂直视场角、并利用以下公式确定Y轴旋转角;
Body_Y_angle=arctan(2*(y-0.5)*tan(fov_v/2));
其中,Body_Y_angle为Y轴旋转角,y为Y向位置信息,fov_v为垂直视场角。
可选的,在旋转角包括云台绕体坐标系中Z轴进行旋转之后的Z轴旋转角时,获取云台在体坐标系中进行旋转之后的旋转角可以包括:
获取云台跟踪拍摄的图像在X轴方向上的X向位置信息、以及云台上拍摄装置的水平视场角;
根据X向位置信息和水平视场角确定Z轴旋转角。
具体的,根据X向位置信息和水平视场角确定Z轴旋转角可以包括:
根据X向位置信息和水平视场角、并利用以下公式确定Z轴旋转角;
Body_Z_angle=arctan(2*(x-0.5)*tan(fov_h/2));
其中,Body_Z_angle为Z轴旋转角,x为X向位置信息,fov_h为水平视场角。
进一步的,根据初始姿态角和旋转四元数获得最终四元数,包括:将初始姿态角与旋转四元数的乘积确定为最终四元数。
此外,根据最终四元数获取旋转之后的体坐标系中的X轴在世界坐标系下的向量信息可以包括:
将最终四元数转换为相应的旋转矩阵;
根据旋转矩阵获取旋转之后的体坐标系中X轴在世界坐标系下的向量信息。
具体的,根据旋转矩阵获取旋转之后的体坐标系中X轴在世界坐标系下的向量信息可以包括:
根据旋转矩阵、并利用以下公式获取旋转之后的体坐标系中的X轴在世界坐标系下的向量信息:
O′X′=dcm(camera
after)×[1;0;0];
其中,O′X′为旋转之后的体坐标系中的X轴在世界坐标系下的向量信息,dcm(camera
after)为旋转矩阵。
进一步的,根据向量信息确定第一姿态补偿角可以包括:
根据向量信息、并利用以下公式确定第一姿态补偿角:
yaw=arctan(y_x′/x_x′);
其中,yaw为第一姿态补偿角,y_x′为向量信息中的第二分量,x_x′为向量信息中的第一分量。
进一步的,根据向量信息确定第二姿态补偿角可以包括:
根据向量信息、并利用以下公式确定第二姿态补偿角:
pitch=arcsin(z_x′);
其中,pitch为第二姿态补偿角,z_x′为向量信息中的第三分量。
本实施例中所实现的操作步骤的具体实现过程以及实现效果与上述图2-图8所对应的实施例中的具体实现过程以及实现效果相同,具体可参考上述陈述内容,在此不再赘述。
本实施例的又一方面提供了一种无人机,包括:
机架;
云台,安装在机架上;
控制器,与云台通信连接,用于:确定云台的增稳轴在预设的体坐标系中相对于世界坐标系进行旋转所对应的增稳角度;获取云台在体坐标系中相对于世界坐标系进行旋转而产生的第一姿态补偿角和第二姿态补偿角;根据第一姿态补偿角、第二姿态补偿角以及增稳角度对云台进行变焦控制,以使云台跟踪拍摄的图像位于画面中,优选地,使得云台所跟踪拍摄的图像位于显示画面的中央位置;其中,增稳角度可以为俯仰角、偏航角和横滚角中的任意一个,优选的,增稳角度为0°;第一姿态补偿角和第二姿态补偿角为俯仰角、偏航角和横滚角中除去增稳角度的另外两个角度的任意组合。
本实施例提供的无人机,通过控制器确定云台的增稳轴在预设的体坐标系中相对于世界坐标系进行旋转所对应的增稳角度,并获取云台在体坐标系中相对于世界坐标系进行旋转而产生的第一姿态补偿角和第二姿态补偿角,通过上述的第一姿态补偿角、第二姿态补偿角和增稳角度对云台进行控制,可以有效地保证云台跟踪拍摄的图像位于画面中,提高了画面的输出效果,便于用户观察和处理,从而保证了该无人机的实用性,有利于市场的推广与应用。
进一步的,第一姿态补偿角为偏航角,第二姿态补偿角为俯仰角;控制器可以用于:获取云台在体坐标系中进行旋转之后的云台姿态角所对应的最终四元数;根据最终四元数获取旋转之后的体坐标系中的X轴在世界坐标系下的向量信息;根据向量信息确定第一姿态补偿角和第二姿态补偿角。
具体的,在控制器获取云台在体坐标系中进行旋转之后的云台姿态角所对应的最终四元数时,该控制器还用于:获取云台的初始姿态角以及云台在体坐标系中进行旋转之后的旋转角;将旋转角转换为相对应的旋转四元数;根据初始姿态角和旋转四元数获得最终四元数。
可选的,旋转角包括云台绕体坐标系中Y轴进行旋转之后的Y轴旋转角;此时,控制器用于:获取云台跟踪拍摄的图像在Y轴方向上的Y向位置信息、以及云台上拍摄装置的垂直视场角;根据Y向位置信息和垂直视场角确定Y轴旋转角。
具体的,控制器用于:根据Y向位置信息和垂直视场角、并利用以下公 式确定Y轴旋转角;Body_Y_angle=arctan(2*(y-0.5)*tan(fov_v/2));
其中,Body_Y_angle为Y轴旋转角,y为Y向位置信息,fov_v为垂直视场角。
可选的,旋转角包括云台绕体坐标系中Z轴进行旋转之后的Z轴旋转角;此时,控制器用于:获取云台跟踪拍摄的图像在X轴方向上的X向位置信息、以及云台上拍摄装置的水平视场角;根据X向位置信息和水平视场角确定Z轴旋转角。
具体的,控制器用于:根据X向位置信息和水平视场角、并利用以下公式确定Z轴旋转角;Body_Z_angle=arctan(2*(x-0.5)*tan(fov_h/2));
其中,Body_Z_angle为Z轴旋转角,x为X向位置信息,fov_h为水平视场角。
进一步的,该控制器还用于:将初始姿态角与旋转四元数的乘积确定为最终四元数。
此外,该控制器还用于:将最终四元数转换为相应的旋转矩阵;根据旋转矩阵获取旋转之后的体坐标系中X轴在世界坐标系下的向量信息。
其中,在控制器根据旋转矩阵获取旋转之后的体坐标系中X轴在世界坐标系下的向量信息时,该控制器可以用于:根据旋转矩阵、并利用以下公式获取旋转之后的体坐标系中的X轴在世界坐标系下的向量信息:
O′X′=dcm(camera
after)×[1;0;0];
其中,O′X′为旋转之后的体坐标系中的X轴在世界坐标系下的向量信息,dcm(camera
after)为旋转矩阵。
进一步的,控制器还用于:
根据向量信息、并利用以下公式确定第一姿态补偿角:
yaw=arctan(y_x′/x_x′);
其中,yaw为第一姿态补偿角,y_x′为向量信息中的第二分量,x_x′为向量信息中的第一分量。
此外,控制器还用于:
根据向量信息、并利用以下公式确定第二姿态补偿角:
pitch=arcsin(z_x′);
其中,pitch为第二姿态补偿角,z_x′为向量信息中的第三分量。
本实施例中所实现的操作步骤的具体实现过程以及实现效果与上述图2-图8所对应的实施例中的具体实现过程以及实现效果相同,具体可参考上述陈述内容,在此不再赘述。
以上各个实施例中的技术方案、技术特征在与本相冲突的情况下均可以单独,或者进行组合,只要未超出本领域技术人员的认知范围,均属于本申请保护范围内的等同实施例。
在本发明所提供的几个实施例中,应该理解到,所揭露的相关装置和方法,可以通过其它的方式实现。例如,以上所描述的装置实施例仅仅是示意性的,例如,所述模块或单元的划分,仅仅为一种逻辑功能划分,实际实现时可以有另外的划分方式,例如多个单元或组件可以结合或者可以集成到另一个***,或一些特征可以忽略,或不执行。另一点,所显示或讨论的相互之间的耦合或直接耦合或通信连接可以是通过一些接口,装置或单元的间接耦合或通信连接,可以是电性,机械或其它的形式。
所述作为分离部件说明的单元可以是或者也可以不是物理上分开的,作为单元显示的部件可以是或者也可以不是物理单元,即可以位于一个地方,或者也可以分布到多个网络单元上。可以根据实际的需要选择其中的部分或者全部单元来实现本实施例方案的目的。
另外,在本发明各个实施例中的各功能单元可以集成在一个处理单元中,也可以是各个单元单独物理存在,也可以两个或两个以上单元集成在一个单元中。上述集成的单元既可以采用硬件的形式实现,也可以采用软件功能单元的形式实现。
所述集成的单元如果以软件功能单元的形式实现并作为独立的产品销售或使用时,可以存储在一个计算机可读取存储介质中。基于这样的理解,本发明的技术方案本质上或者说对现有技术做出贡献的部分或者该技术方案的全部或部分可以以软件产品的形式体现出来,该计算机软件产品存储在一个存储介质中,包括若干指令用以使得计算机处理器101(processor)执行本发明各个实施例所述方法的全部或部分步骤。而前述的存储介质包括:U盘、移动硬盘、只读存储器(ROM,Read-Only Memory)、随机存取存储器(RAM,Random Access Memory)、磁盘或者光盘等各种可以存储程序代码的介质。
以上所述仅为本发明的实施例,并非因此限制本发明的专利范围,凡是 利用本发明说明书及附图内容所作的等效结构或等效流程变换,或直接或间接运用在其他相关的技术领域,均同理包括在本发明的专利保护范围内。
最后应说明的是:以上各实施例仅用以说明本发明的技术方案,而非对其限制;尽管参照前述各实施例对本发明进行了详细的说明,本领域的普通技术人员应当理解:其依然可以对前述各实施例所记载的技术方案进行修改,或者对其中部分或者全部技术特征进行等同替换;而这些修改或者替换,并不使相应技术方案的本质脱离本发明各实施例技术方案的范围。
Claims (65)
- 一种云台的控制方法,其特征在于,包括:确定云台的增稳轴在预设的体坐标系中相对于世界坐标系进行旋转所对应的增稳角度;获取所述云台在所述体坐标系中相对于所述世界坐标系进行旋转而产生的第一姿态补偿角和第二姿态补偿角;根据所述第一姿态补偿角、第二姿态补偿角以及所述增稳角度对云台进行控制,以使所述云台跟踪拍摄的图像位于画面中。
- 根据权利要求1所述的方法,其特征在于,所述增稳角度为俯仰角、偏航角和横滚角中的任意一个;所述第一姿态补偿角和所述第二姿态补偿角为俯仰角、偏航角和横滚角中除去所述增稳角度的另外两个角度的任意组合。
- 根据权利要求2所述的方法,其特征在于,所述第一姿态补偿角为偏航角,所述第二姿态补偿角为俯仰角;所述获取所述云台在预设的体坐标系中相对于所述世界坐标系进行旋转而产生的第一姿态补偿角和第二姿态补偿角,包括:获取所述云台在所述体坐标系中进行旋转之后的云台姿态角所对应的最终四元数;根据所述最终四元数获取旋转之后的所述体坐标系中的X轴在所述世界坐标系下的向量信息;根据所述向量信息确定所述第一姿态补偿角和所述第二姿态补偿角。
- 根据权利要求3所述的方法,其特征在于,所述获取所述云台在所述体坐标系中进行旋转之后的云台姿态角所对应的最终四元数,包括:获取所述云台的初始姿态角以及所述云台在所述体坐标系中进行旋转之后的旋转角;将所述旋转角转换为相对应的旋转四元数;根据所述初始姿态角和旋转四元数获得所述最终四元数。
- 根据权利要求4所述的方法,其特征在于,所述旋转角包括所述云台绕所述体坐标系中Y轴进行旋转之后的Y轴旋转角;获取所述云台在所述体 坐标系中进行旋转之后的旋转角,包括:获取所述云台跟踪拍摄的图像在Y轴方向上的Y向位置信息、以及所述云台上拍摄装置的垂直视场角;根据所述Y向位置信息和所述垂直视场角确定所述Y轴旋转角。
- 根据权利要求5所述的方法,其特征在于,所述根据所述Y向位置信息和所述垂直视场角确定所述Y轴旋转角,包括:根据所述Y向位置信息和所述垂直视场角、并利用以下公式确定所述Y轴旋转角;Body_Y_angle=arctan(2*(y-0.5)*tan(fov_v/2));其中,Body_Y_angle为Y轴旋转角,y为Y向位置信息,fov_v为垂直视场角。
- 根据权利要求4-6中任意一项所述的方法,其特征在于,所述旋转角包括所述云台绕所述体坐标系中Z轴进行旋转之后的Z轴旋转角;获取所述云台在所述体坐标系中进行旋转之后的旋转角,包括:获取所述云台跟踪拍摄的图像在X轴方向上的X向位置信息、以及所述云台上拍摄装置的水平视场角;根据所述X向位置信息和所述水平视场角确定所述Z轴旋转角。
- 根据权利要求7所述的方法,其特征在于,根据所述X向位置信息和所述水平视场角确定所述Z轴旋转角,包括:根据所述X向位置信息和所述水平视场角、并利用以下公式确定所述Z轴旋转角;Body_Z_angle=arctan(2*(x-0.5)*tan(fov_h/2));其中,Body_Z_angle为Z轴旋转角,x为X向位置信息,fov_h为水平视场角。
- 根据权利要求4所述的方法,其特征在于,所述根据所述初始姿态角和旋转四元数获得所述最终四元数,包括:将所述初始姿态角与旋转四元数的乘积确定为所述最终四元数。
- 根据权利要求3所述的方法,其特征在于,所述根据所述最终四元数获取旋转之后的所述体坐标系中的X轴在所述世界坐标系下的向量信息,包括:将所述最终四元数转换为相应的旋转矩阵;根据所述旋转矩阵获取旋转之后的所述体坐标系中X轴在所述世界坐标系下的向量信息。
- 根据权利要求10所述的方法,其特征在于,根据所述旋转矩阵获取旋转之后的所述体坐标系中X轴在所述世界坐标系下的向量信息,包括:根据所述旋转矩阵、并利用以下公式获取旋转之后的所述体坐标系中的X轴在所述世界坐标系下的向量信息:O′X′=dcm(camera after)×[1;0;0];其中,O′X′为旋转之后的所述体坐标系中的X轴在世界坐标系下的向量信息,dcm(camera after)为旋转矩阵。
- 根据权利要求3-6中任意一项所述的方法,其特征在于,根据所述向量信息确定所述第一姿态补偿角,包括:根据所述向量信息、并利用以下公式确定所述第一姿态补偿角:yaw=arctan(y_x′/x_x′);其中,yaw为第一姿态补偿角,y_x′为向量信息中的第二分量,x_x′为向量信息中的第一分量。
- 根据权利要求3-6中任意一项所述的方法,其特征在于,根据所述向量信息确定所述第二姿态补偿角,包括:根据所述向量信息、并利用以下公式确定所述第二姿态补偿角:pitch=arcsin(z_x′);其中,pitch为第二姿态补偿角,z_x′为向量信息中的第三分量。
- 一种云台的控制装置,其特征在于,包括:存储器,用于存储计算机程序;处理器,用于运行所述存储器中存储的计算机程序以实现:确定云台的增稳轴在预设的体坐标系中相对于世界坐标系进行旋转所对应的增稳角度;获取所述云台在所述体坐标系中相对于所述世界坐标系进行旋转而产生的第一姿态补偿角和第二姿态补偿角;根据所述第一姿态补偿角、第二姿态补偿角以及所述增稳角度对云台进行控制,以使所述云台跟踪拍摄的图像位于画 面中。
- 根据权利要求14所述的装置,其特征在于,所述增稳角度为俯仰角、偏航角和横滚角中的任意一个;所述第一姿态补偿角和所述第二姿态补偿角为俯仰角、偏航角和横滚角中除去所述增稳角度的另外两个角度的任意组合。
- 根据权利要求15所述的装置,其特征在于,所述第一姿态补偿角为偏航角,所述第二姿态补偿角为俯仰角;所述处理器,用于:获取所述云台在所述体坐标系中进行旋转之后的云台姿态角所对应的最终四元数;根据所述最终四元数获取旋转之后的所述体坐标系中的X轴在所述世界坐标系下的向量信息;根据所述向量信息确定所述第一姿态补偿角和所述第二姿态补偿角。
- 根据权利要求16所述的装置,其特征在于,所述处理器,用于:获取所述云台的初始姿态角以及所述云台在所述体坐标系中进行旋转之后的旋转角;将所述旋转角转换为相对应的旋转四元数;根据所述初始姿态角和旋转四元数获得所述最终四元数。
- 根据权利要求17所述的装置,其特征在于,所述旋转角包括所述云台绕所述体坐标系中Y轴进行旋转之后的Y轴旋转角;所述处理器,用于:获取所述云台跟踪拍摄的图像在Y轴方向上的Y向位置信息、以及所述云台上拍摄装置的垂直视场角;根据所述Y向位置信息和所述垂直视场角确定所述Y轴旋转角。
- 根据权利要求18所述的装置,其特征在于,所述处理器,用于:根据所述Y向位置信息和所述垂直视场角、并利用以下公式确定所述Y轴旋转角;Body_Y_angle=arctan(2*(y-0.5)*tan(fov_v/2));其中,Body_Y_angle为Y轴旋转角,y为Y向位置信息,fov_v为垂直视场角。
- 根据权利要求17-19中任意一项所述的装置,其特征在于,所述旋转角包括所述云台绕所述体坐标系中Z轴进行旋转之后的Z轴旋转角;所述 处理器,用于:获取所述云台跟踪拍摄的图像在X轴方向上的X向位置信息、以及所述云台上拍摄装置的水平视场角;根据所述X向位置信息和所述水平视场角确定所述Z轴旋转角。
- 根据权利要求20所述的装置,其特征在于,所述处理器,用于:根据所述X向位置信息和所述水平视场角、并利用以下公式确定所述Z轴旋转角;Body_Z_angle=arctan(2*(x-0.5)*tan(fov_h/2));其中,Body_Z_angle为Z轴旋转角,x为X向位置信息,fov_h为水平视场角。
- 根据权利要求17所述的装置,其特征在于,所述处理器,用于:将所述初始姿态角与旋转四元数的乘积确定为所述最终四元数。
- 根据权利要求16所述的装置,其特征在于,所述处理器,用于:将所述最终四元数转换为相应的旋转矩阵;根据所述旋转矩阵获取旋转之后的所述体坐标系中X轴在所述世界坐标系下的向量信息。
- 根据权利要求23所述的装置,其特征在于,所述处理器,用于:根据所述旋转矩阵、并利用以下公式获取旋转之后的所述体坐标系中的X轴在所述世界坐标系下的向量信息:O′X′=dcm(camera after)×[1;0;0];其中,O′X′为旋转之后的所述体坐标系中的X轴在世界坐标系下的向量信息,dcm(camera after)为旋转矩阵。
- 根据权利要求17-19中任意一项所述的装置,其特征在于,所述处理器,用于:根据所述向量信息、并利用以下公式确定所述第一姿态补偿角:yaw=arctan(y_x′/x_x′);其中,yaw为第一姿态补偿角,y_x′为向量信息中的第二分量,x_x′为向量信息中的第一分量。
- 根据权利要求17-19中任意一项所述的装置,其特征在于,所述处理器,用于:根据所述向量信息、并利用以下公式确定所述第二姿态补偿角:pitch=arcsin(z_x′);其中,pitch为第二姿态补偿角,z_x′为向量信息中的第三分量。
- 一种云台的控制***,其特征在于,包括:一个或多个处理器,单独或协同的工作,所述处理器用于:确定云台的增稳轴在预设的体坐标系中相对于世界坐标系进行旋转所对应的增稳角度;获取所述云台在所述体坐标系中相对于所述世界坐标系进行旋转而产生的第一姿态补偿角和第二姿态补偿角;根据所述第一姿态补偿角、第二姿态补偿角以及所述增稳角度对云台进行控制,以使所述云台跟踪拍摄的图像位于画面中。
- 根据权利要求27所述的***,其特征在于,所述增稳角度为俯仰角、偏航角和横滚角中的任意一个;所述第一姿态补偿角和所述第二姿态补偿角为俯仰角、偏航角和横滚角中除去所述增稳角度的另外两个角度的任意组合。
- 根据权利要求28所述的***,其特征在于,所述第一姿态补偿角为偏航角,所述第二姿态补偿角为俯仰角;所述获取所述云台在预设的体坐标系中相对于所述世界坐标系进行旋转而产生的第一姿态补偿角和第二姿态补偿角,包括:获取所述云台在所述体坐标系中进行旋转之后的云台姿态角所对应的最终四元数;根据所述最终四元数获取旋转之后的所述体坐标系中的X轴在所述世界坐标系下的向量信息;根据所述向量信息确定所述第一姿态补偿角和所述第二姿态补偿角。
- 根据权利要求29所述的***,其特征在于,所述获取所述云台在所述体坐标系中进行旋转之后的云台姿态角所对应的最终四元数,包括:获取所述云台的初始姿态角以及所述云台在所述体坐标系中进行旋转之后的旋转角;将所述旋转角转换为相对应的旋转四元数;根据所述初始姿态角和旋转四元数获得所述最终四元数。
- 根据权利要求30所述的***,其特征在于,所述旋转角包括所述云 台绕所述体坐标系中Y轴进行旋转之后的Y轴旋转角;获取所述云台在所述体坐标系中进行旋转之后的旋转角,包括:获取所述云台跟踪拍摄的图像在Y轴方向上的Y向位置信息、以及所述云台上拍摄装置的垂直视场角;根据所述Y向位置信息和所述垂直视场角确定所述Y轴旋转角。
- 根据权利要求31所述的***,其特征在于,所述根据所述Y向位置信息和所述垂直视场角确定所述Y轴旋转角,包括:根据所述Y向位置信息和所述垂直视场角、并利用以下公式确定所述Y轴旋转角;Body_Y_angle=arctan(2*(y-0.5)*tan(fov_v/2));其中,Body_Y_angle为Y轴旋转角,y为Y向位置信息,fov_v为垂直视场角。
- 根据权利要求30-32中任意一项所述的***,其特征在于,所述旋转角包括所述云台绕所述体坐标系中Z轴进行旋转之后的Z轴旋转角;获取所述云台在所述体坐标系中进行旋转之后的旋转角,包括:获取所述云台跟踪拍摄的图像在X轴方向上的X向位置信息、以及所述云台上拍摄装置的水平视场角;根据所述X向位置信息和所述水平视场角确定所述Z轴旋转角。
- 根据权利要求33所述的***,其特征在于,根据所述X向位置信息和所述水平视场角确定所述Z轴旋转角,包括:根据所述X向位置信息和所述水平视场角、并利用以下公式确定所述Z轴旋转角;Body_Z_angle=arctan(2*(x-0.5)*tan(fov_h/2));其中,Body_Z_angle为Z轴旋转角,x为X向位置信息,fov_h为水平视场角。
- 根据权利要求30所述的***,其特征在于,所述根据所述初始姿态角和旋转四元数获得所述最终四元数,包括:将所述初始姿态角与旋转四元数的乘积确定为所述最终四元数。
- 根据权利要求29所述的***,其特征在于,根据所述最终四元数获取旋转之后的所述体坐标系中的X轴在所述世界坐标系下的向量信息,包括:将所述最终四元数转换为相应的旋转矩阵;根据所述旋转矩阵获取旋转之后的所述体坐标系中X轴在所述世界坐标系下的向量信息。
- 根据权利要求36所述的***,其特征在于,根据所述旋转矩阵获取旋转之后的所述体坐标系中X轴在所述世界坐标系下的向量信息,包括:根据所述旋转矩阵、并利用以下公式获取旋转之后的所述体坐标系中的X轴在所述世界坐标系下的向量信息:O′X′=dcm(camera after)×[1;0;0];其中,O′X′为旋转之后的所述体坐标系中的X轴在世界坐标系下的向量信息,dcm(camera after)为旋转矩阵。
- 根据权利要求29-32中任意一项所述的***,其特征在于,根据所述向量信息确定所述第一姿态补偿角,包括:根据所述向量信息、并利用以下公式确定所述第一姿态补偿角:yaw=arctan(y_x′/x_x′);其中,yaw为第一姿态补偿角,y_x′为向量信息中的第二分量,x_x′为向量信息中的第一分量。
- 根据权利要求29-32中任意一项所述的***,其特征在于,根据所述向量信息确定所述第二姿态补偿角,包括:根据所述向量信息、并利用以下公式确定所述第二姿态补偿角:pitch=arcsin(z_x′);其中,pitch为第二姿态补偿角,z_x′为向量信息中的第三分量。
- 一种计算机存储介质,其特征在于,该计算机存储介质中存储有程序指令,所述程序指令用于实现:确定云台的增稳轴在预设的体坐标系中相对于世界坐标系进行旋转所对应的增稳角度;获取所述云台在所述体坐标系中相对于所述世界坐标系进行旋转而产生的第一姿态补偿角和第二姿态补偿角;根据所述第一姿态补偿角、第二姿态补偿角以及所述增稳角度对云台进行变焦控制,以使所述云台跟踪拍摄的图像位于画面中。
- 根据权利要求40所述的计算机存储介质,其特征在于,所述增稳角度为俯仰角、偏航角和横滚角中的任意一个;所述第一姿态补偿角和所述第二姿态补偿角为俯仰角、偏航角和横滚角中除去所述增稳角度的另外两个角度的任意组合。
- 根据权利要求41所述的计算机存储介质,其特征在于,所述第一姿态补偿角为偏航角,所述第二姿态补偿角为俯仰角;所述获取所述云台在预设的体坐标系中相对于所述世界坐标系进行旋转而产生的第一姿态补偿角和第二姿态补偿角,包括:获取所述云台在所述体坐标系中进行旋转之后的云台姿态角所对应的最终四元数;根据所述最终四元数获取旋转之后的所述体坐标系中的X轴在所述世界坐标系下的向量信息;根据所述向量信息确定所述第一姿态补偿角和所述第二姿态补偿角。
- 根据权利要求42所述的计算机存储介质,其特征在于,所述获取所述云台在所述体坐标系中进行旋转之后的云台姿态角所对应的最终四元数,包括:获取所述云台的初始姿态角以及所述云台在所述体坐标系中进行旋转之后的旋转角;将所述旋转角转换为相对应的旋转四元数;根据所述初始姿态角和旋转四元数获得所述最终四元数。
- 根据权利要求43所述的计算机存储介质,其特征在于,所述旋转角包括所述云台绕所述体坐标系中Y轴进行旋转之后的Y轴旋转角;获取所述云台在所述体坐标系中进行旋转之后的旋转角,包括:获取所述云台跟踪拍摄的图像在Y轴方向上的Y向位置信息、以及所述云台上拍摄装置的垂直视场角;根据所述Y向位置信息和所述垂直视场角确定所述Y轴旋转角。
- 根据权利要求44所述的计算机存储介质,其特征在于,所述根据所述Y向位置信息和所述垂直视场角确定所述Y轴旋转角,包括:根据所述Y向位置信息和所述垂直视场角、并利用以下公式确定所述Y轴旋转角;Body_Y_angle=arctan(2*(y-0.5)*tan(fov_v/2));其中,Body_Y_angle为Y轴旋转角,y为Y向位置信息,fov_v为垂直视场角。
- 根据权利要求43-45中任意一项所述的计算机存储介质,其特征在于,所述旋转角包括所述云台绕所述体坐标系中Z轴进行旋转之后的Z轴旋转角;获取所述云台在所述体坐标系中进行旋转之后的旋转角,包括:获取所述云台跟踪拍摄的图像在X轴方向上的X向位置信息、以及所述云台上拍摄装置的水平视场角;根据所述X向位置信息和所述水平视场角确定所述Z轴旋转角。
- 根据权利要求46所述的计算机存储介质,其特征在于,根据所述X向位置信息和所述水平视场角确定所述Z轴旋转角,包括:根据所述X向位置信息和所述水平视场角、并利用以下公式确定所述Z轴旋转角;Body_Z_angle=arctan(2*(x-0.5)*tan(fov_h/2));其中,Body_Z_angle为Z轴旋转角,x为X向位置信息,fov_h为水平视场角。
- 根据权利要求43所述的计算机存储介质,其特征在于,所述根据所述初始姿态角和旋转四元数获得所述最终四元数,包括:将所述初始姿态角与旋转四元数的乘积确定为所述最终四元数。
- 根据权利要求42所述的计算机存储介质,其特征在于,根据所述最终四元数获取旋转之后的所述体坐标系中的X轴在所述世界坐标系下的向量信息,包括:将所述最终四元数转换为相应的旋转矩阵;根据所述旋转矩阵获取旋转之后的所述体坐标系中X轴在所述世界坐标系下的向量信息。
- 根据权利要求49所述的计算机存储介质,其特征在于,根据所述旋转矩阵获取旋转之后的所述体坐标系中X轴在所述世界坐标系下的向量信息,包括:根据所述旋转矩阵、并利用以下公式获取旋转之后的所述体坐标系中的X轴在所述世界坐标系下的向量信息:O′X′=dcm(camera after)×[1;0;0];其中,O′X′为旋转之后的所述体坐标系中的X轴在世界坐标系下的向量信息,dcm(camera after)为旋转矩阵。
- 根据权利要求42-45中任意一项所述的计算机存储介质,其特征在于,根据所述向量信息确定所述第一姿态补偿角,包括:根据所述向量信息、并利用以下公式确定所述第一姿态补偿角:yaw=arctan(y_x′/x_x′);其中,yaw为第一姿态补偿角,y_x′为向量信息中的第二分量,x_x′为向量信息中的第一分量。
- 根据权利要求42-45中任意一项所述的计算机存储介质,其特征在于,根据所述向量信息确定所述第二姿态补偿角,包括:根据所述向量信息、并利用以下公式确定所述第二姿态补偿角:pitch=arcsin(z_x′);其中,pitch为第二姿态补偿角,z_x′为向量信息中的第三分量。
- 一种无人机,其特征在于,包括:机架;云台,安装在所述机架上;控制器,与所述云台通信连接,用于:确定云台的增稳轴在预设的体坐标系中相对于世界坐标系进行旋转所对应的增稳角度;获取所述云台在所述体坐标系中相对于所述世界坐标系进行旋转而产生的第一姿态补偿角和第二姿态补偿角;根据所述第一姿态补偿角、第二姿态补偿角以及所述增稳角度对所述云台进行变焦控制,以使所述云台跟踪拍摄的图像位于画面中。
- 根据权利要求53所述的无人机,其特征在于,所述增稳角度为俯仰角、偏航角和横滚角中的任意一个;所述第一姿态补偿角和所述第二姿态补偿角为俯仰角、偏航角和横滚角中除去所述增稳角度的另外两个角度的任意组合。
- 根据权利要求54所述的无人机,其特征在于,所述第一姿态补偿角为偏航角,所述第二姿态补偿角为俯仰角;所述控制器,用于:获取所述云台在所述体坐标系中进行旋转之后的云台姿态角所对应的最 终四元数;根据所述最终四元数获取旋转之后的所述体坐标系中的X轴在所述世界坐标系下的向量信息;根据所述向量信息确定所述第一姿态补偿角和所述第二姿态补偿角。
- 根据权利要求55所述的无人机,其特征在于,所述控制器,用于:获取所述云台的初始姿态角以及所述云台在所述体坐标系中进行旋转之后的旋转角;将所述旋转角转换为相对应的旋转四元数;根据所述初始姿态角和旋转四元数获得所述最终四元数。
- 根据权利要求56所述的无人机,其特征在于,所述旋转角包括所述云台绕所述体坐标系中Y轴进行旋转之后的Y轴旋转角;所述控制器,用于:获取所述云台跟踪拍摄的图像在Y轴方向上的Y向位置信息、以及所述云台上拍摄装置的垂直视场角;根据所述Y向位置信息和所述垂直视场角确定所述Y轴旋转角。
- 根据权利要求57所述的无人机,其特征在于,所述控制器,用于:根据所述Y向位置信息和所述垂直视场角、并利用以下公式确定所述Y轴旋转角;Body_Y_angle=arctan(2*(y-0.5)*tan(fov_v/2));其中,Body_Y_angle为Y轴旋转角,y为Y向位置信息,fov_v为垂直视场角。
- 根据权利要求56-58中任意一项所述的无人机,其特征在于,所述旋转角包括所述云台绕所述体坐标系中Z轴进行旋转之后的Z轴旋转角;所述控制器,用于:获取所述云台跟踪拍摄的图像在X轴方向上的X向位置信息、以及所述云台上拍摄装置的水平视场角;根据所述X向位置信息和所述水平视场角确定所述Z轴旋转角。
- 根据权利要求59所述的无人机,其特征在于,所述控制器,用于:根据所述X向位置信息和所述水平视场角、并利用以下公式确定所述Z轴旋转角;Body_Z_angle=arctan(2*(x-0.5)*tan(fov_h/2));其中,Body_Z_angle为Z轴旋转角,x为X向位置信息,fov_h为水平视场角。
- 根据权利要求56所述的无人机,其特征在于,所述控制器,用于:将所述初始姿态角与旋转四元数的乘积确定为所述最终四元数。
- 根据权利要求55所述的无人机,其特征在于,所述控制器,用于:将所述最终四元数转换为相应的旋转矩阵;根据所述旋转矩阵获取旋转之后的所述体坐标系中X轴在所述世界坐标系下的向量信息。
- 根据权利要求62所述的无人机,其特征在于,所述控制器,用于:根据所述旋转矩阵、并利用以下公式获取旋转之后的所述体坐标系中的X轴在所述世界坐标系下的向量信息:O′X′=dcm(camera after)×[1;0;0];其中,O′X′为旋转之后的所述体坐标系中的X轴在世界坐标系下的向量信息,dcm(camera after)为旋转矩阵。
- 根据权利要求56-58中任意一项所述的无人机,其特征在于,所述控制器,用于:根据所述向量信息、并利用以下公式确定所述第一姿态补偿角:yaw=arctan(y_x′/x_x′);其中,yaw为第一姿态补偿角,y_x′为向量信息中的第二分量,x_x′为向量信息中的第一分量。
- 根据权利要求56-58中任意一项所述的无人机,其特征在于,所述控制器,用于:根据所述向量信息、并利用以下公式确定所述第二姿态补偿角:pitch=arcsin(z_x′);其中,pitch为第二姿态补偿角,z_x′为向量信息中的第三分量。
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