Drift calibration method and device for inertial measurement unit, and unmanned aerial vehicle
AssigneeSz Dji Technology Co., Ltd.
InventorsQingbo LU, Chen LI, Lei ZHU, Xiaodong WANG
Life of this patent
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Abstract
Method and device for drift calibration of an inertial measurement unit, and an unmanned aerial vehicle are provided. The drift calibration method includes obtaining video data captured by a photographing device; and determining a measurement error of the inertial measurement unit according to the video data and rotation information of the inertial measurement unit when the photographing device capturing the video data. The rotation information of the inertial measurement unit includes the measurement error of the inertial measurement unit.
Claims20
A drift calibration method of an inertial measurement unit, comprising:
- obtaining video data captured by a photographing device;
- and
- determining a measurement error of the inertial measurement unit according to the video data and rotation information of the inertial measurement unit when the photographing device capturing the video data,
- wherein the rotation information of the inertial measurement unit includes the measurement error of the inertial measurement unit.
A drift calibration device of an inertial measurement unit, comprising a memory and a processor, wherein:
- the memory is configured to store programming codes;
- and
- when the program codes being executed, the processor is configured for:
- obtaining video data captured by a photographing device;
- and
- determining a measurement error of the inertial measurement unit according to the video data and rotation information of the inertial measurement unit when the photographing device capturing the video data,
- wherein the rotation information of the inertial measurement unit includes the measurement error of the inertial measurement unit.
An unmanned aerial vehicle, comprising:
- a fuselage,
- a propulsion system, installed at the fuselage, to provide a flying propulsion;
- a flight controller, communication connected to the propulsion system, to control a flight of the unmanned aerial vehicle;
- a photographing device, to capture video data;
- and
- a drift calibration device including a memory and a processor, wherein:
- the memory is configured to store programming codes;
- and
- when the program codes being executed, the processor is configured for:
- obtaining video data captured by a photographing device;
- and
- determining a measurement error of the inertial measurement unit according to the video data and rotation information of the inertial measurement unit when the photographing device capturing the video data,
- wherein the rotation information of the inertial measurement unit includes the measurement error of the inertial measurement unit.
Dependencies are inferred from the claim text.