US 12,345,370 B1
Gimbal pose correction method and device
Xiang Zhang, Shenzhen (CN); Bing Li, Shenzhen (CN); and You Zhou, Shenzhen (CN)
Assigned to SZ DJI TECHNOLOGY CO., LTD., Shenzhen (CN)
Filed by SZ DJI TECHNOLOGY CO., LTD., Shenzhen (CN)
Filed on Mar. 14, 2022, as Appl. No. 17/654,767.
Application 17/654,767 is a continuation of application No. 17/075,034, filed on Oct. 20, 2020, granted, now 11,274,788.
Application 17/075,034 is a continuation of application No. PCT/CN2018/084499, filed on Apr. 25, 2018.
Int. Cl. F16M 11/18 (2006.01); F16M 11/04 (2006.01); F16M 11/10 (2006.01); F16M 11/12 (2006.01); G01C 21/16 (2006.01); G03B 17/56 (2021.01); G05D 3/12 (2006.01)
CPC F16M 11/18 (2013.01) [F16M 11/04 (2013.01); F16M 11/046 (2013.01); F16M 11/10 (2013.01); F16M 11/12 (2013.01); G01C 21/1656 (2020.08); G03B 17/56 (2013.01); G03B 17/561 (2013.01); G05D 3/12 (2013.01); F16M 2200/00 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A gimbal compensation method comprising:
obtaining a first pose of a gimbal based on an Inertial Measurement Unit (IMU) arranged at a vertical compensation device, the vertical compensation device being configured to be coupled to the gimbal and compensate for movement of the gimbal in a vertical direction, the vertical compensation device including a main body and an axis arm configured to be connected to the gimbal, the axis arm being configured to rotate to compensate for the movement of the gimbal in the vertical direction, and the IMU being arranged at an end of the axis arm connected to the gimbal;
obtaining a second pose of the vertical compensation device based on at least one sensor arranged at the vertical compensation device, the at least one sensor being arranged at the main body of the vertical compensation device; and
compensating for the movement of the gimbal in the vertical direction based on the first pose and the second pose.