Gimbal control method, control system, gimbal, and unmanned aircraft

A system for controlling a gimbal including a mounting member, a magnetic sensor, and an inertial measurement unit, the system comprising:

• a first deflection angle determination apparatus configured to determine, through the magnetic sensor, a first deflection angle of the mounting member around a yaw axis in a time period;
• a second deflection angle determination apparatus configured to determine, through the inertial measurement unit, a second deflection angle of the mounting member around the yaw axis in the time period;
• an angle error determination apparatus configured to determine an angle error based on the first deflection angle and the second deflection angle;
• and
• a control apparatus configured to control attitude of the gimbal based on measurement data of the inertial measurement unit in which the angle error has been corrected.

A gimbal, comprising:

• a mounting member configured to mount a load device;
• a magnetic sensor;
• an inertial measurement unit;
• and
• a controller configured to:
• determine, through the magnetic sensor, a first deflection angle of the mounting member around a yaw axis in a time period;
• determine, through the inertial measurement unit, a second deflection angle of the mounting member around the yaw axis in the time period;
• determine an angle error of the inertial measurement unit based on the first deflection angle and the second deflection angle;
• and
• control attitude of the gimbal based on measurement data of the inertial measurement unit in which the angle error has been corrected.