Photographing control method and controller with target localization based on sound detectors

A photographing control method comprising:

• detecting a target sound from a target using a plurality of sound detectors of a mobile platform carrying a sensor, the mobile platform including a gimbal carrying the sensor;
• determining a target location of the target according to the target sound detected using the plurality of sound detectors;
• obtaining Euler angles of the target relative to the mobile platform based at least in part on the target location;
• and
• controlling the mobile platform based at least in part on the target location, including:
• rotating at least one of the mobile platform, the sensor, or the gimbal based at least in part on the Euler angles of the target to cause the sensor to point approximately toward the target;
• and
• finetuning the at least one of the mobile platform, the sensor, or the gimbal to reduce differences between Euler angles of an orientation of the sensor and the Euler angles of the target, including:
• obtaining measurement data about the target through the sensor;
• obtaining a finetune parameter according to the measurement data and the orientation of the sensor;
• and
• finetuning the at least one of the mobile platform, the sensor, or the gimbal according to the finetune parameter.