Shipborne image stabilization control method based on gyroscope

Abstract

Disclosed is a shipborne image stabilization control method based on a gyroscope. A two-degree of freedom shipborne security and protection pan-tilt with a pitch axis and an azimuth axis on basis of stepping motors is used as an image stabilization platform, two different obtained data alfa x and omega y on the pitch axis are subjected to Kalman data fusion filtering that can optimize operation amount and internal storage, and accurate pitch angle theta pitch, pitch angular velocity omega pitch and roll angle theta roll of the pan-tilt are obtained. The obtained theta pitch is input to an improved PD controller to obtain output angular velocity which can control the motor of the pitch axis of the pan-tilt, and influence of rolling movement of a ship body on course angle of the image stabilization platform can be resolved when an image stabilization system is in a non-balance state. The influence is compensated through controlling over the azimuth angle, and finally, the calculated output angular velocity omega out is transmitted to a bottom layer stepping motor driver through a serial bus RS232 for execution. By means of the shipborne image stabilization control method based on the gyroscope, movement disturbance of a shipborne image pickup system can be compensated, eliminated and inhibited, and thereby, purpose of inhibiting image shaking during shipborne image pickup can be achieved.

Description

technical field [0001] The invention is applied to the field of self-stabilized camera control systems, and relates to a real-time control method suitable for a ship-mounted image stabilization system based on an inertial sensor gyroscope. Background technique [0002] Shipborne stabilized camera technology is a derivative field of image stabilization technology, involving various related disciplines such as sensor data acquisition, data filtering and fusion, motion control, and motor drive. [0003] With the rapid development of the security monitoring industry in recent years, cameras are not only widely used on fixed platforms such as roads and buildings, but also widely used in various moving carriers such as ships, automobiles and aircraft. At the same time, there is a problem in the camera surveillance applied to these unstable carriers: due to the shaking of the installed carrier, it is impossible to ensure that the camera's angle of view is continuously aimed at the ...

AI Technical Summary

Problems solved by technology

[0005] In order to overcome the deficiencies of the existing ship-mounted camera technology, such as complicated installation, poor versatility, insufficient precision, insufficient stability and high cost, the present invention provides a gyroscope-based ship-mounted image stabilization control method, which ensures image stabilization While controlling precision and system stability, it also has the characteristics of small size, good versatility, and low cost.

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