US-12618690-B2 - Orientation calculation apparatus, orientation calculation method, imaging apparatus including orientation calculation apparatus, and method for controlling same

Abstract

An orientation calculation apparatus includes one or more processors and one or more memories that are configured to obtain detection signals from a first and a second sensor configured to detect the movement of the moving apparatus; calculate, as a first calculation, first orientation information about the moving apparatus; calculate, as a second calculation, second orientation information about the moving apparatus; determine which calculation to calculate an orientation of the moving apparatus is used as a determination; and update the reference angle. The reference angle is updated in synchronization with a timing when the one or more processors and the one or more memories determine that a state where the determination is to be switched from a state where the orientation of the moving apparatus is calculated using the second calculation to a state where the orientation is calculated using the first calculation.

Inventors

• Masaki Yamauchi

Assignees

• CANON KABUSHIKI KAISHA

Dates

Publication Date

20260505

Application Date

20230626

Priority Date

20220627

Claims (20)

1. 1 . An orientation calculation apparatus comprising: one or more memories; and one or more processors, wherein the one or more processors and the one or more memories are configured to: obtain detection signals from a first sensor configured to detect movement of a moving apparatus and a second sensor configured to detect the movement of the moving apparatus on a same axis as that of the movement detected by the first sensor; calculate, as a first calculation, first orientation information about the moving apparatus based on an output of the first sensor and a reference angle; calculate, as a second calculation, second orientation information about the moving apparatus by a method different from that for the first calculation based on the output of the first sensor and an output of the second sensor; determine which calculation to compute an orientation of the moving apparatus is to be used, from among a plurality of calculations including the first calculation and the second calculation, as a determination; and update the reference angle, wherein the reference angle is updated in synchronization with a timing when the one or more processors and the one or more memories determine that a state where the determination is to be switched from a state where the orientation of the moving apparatus is calculated using the second calculation to a state where the orientation of the moving apparatus is calculated using the first calculation.
2. 2 . The orientation calculation apparatus according to claim 1 , wherein the one or more processors and the one or more memories are further configured to update the reference angle at a timing of the switching.
3. 3 . The orientation calculation apparatus according to claim 2 , wherein the one or more processors and the one or more memories are further configured to update the reference angle before the switching is performed after the determination of the switching.
4. 4 . The orientation calculation apparatus according to claim 2 , wherein the one or more processors and the one or more memories are further configured to not update the reference angle at any timing but the timing of the switching.
5. 5 . The orientation calculation apparatus according to claim 1 , wherein the one or more processors and the one or more memories are further configured to calculate the reference angle based on an average of the second orientation information, and update the reference angle to the calculated reference angle at the timing.
6. 6 . The orientation calculation apparatus according to claim 5 , wherein the one or more processors and the one or more memories are further configured to calculate the reference angle based on the average of the second orientation information during a predetermined period until the timing.
7. 7 . The orientation calculation apparatus according to claim 1 , wherein the one or more processors and the one or more memories are further configured to: determine a state of movement of the moving apparatus based on the output of the second sensor, and with the state of movement of the moving apparatus obtained based on the output of the second sensor determined to be a first state, determine the first orientation information to be information indicating the orientation of the moving apparatus, and with the state of movement of the moving apparatus obtained based on the output of the second sensor determined to be a second state where the movement is greater than in the first state, determine the second orientation information to be the information indicating the orientation of the moving apparatus.
8. 8 . The orientation calculation apparatus according to claim 1 , wherein the one or more processors and the one or more memories are further configured to determine a state of the movement of the moving apparatus based on the output of the second sensor, and update the reference angle in synchronization with a timing when the state of the movement of the moving apparatus obtained based on the output of the second sensor changes from a second state to a first state where the movement of the moving apparatus is smaller than that in the second state.
9. 9 . The orientation calculation apparatus according to claim 1 , wherein the first orientation information and the second orientation information each include angle information about a yaw angle, a pitch angle, and a roll angle of the moving apparatus with respect to a predetermined orientation.
10. 10 . The orientation calculation apparatus according to claim 1 , wherein the first sensor is configured to detect the movement of the moving apparatus on three axes, and wherein the second sensor is configured to detect the movement of the moving apparatus on three axes.
11. 11 . The orientation calculation apparatus according to claim 1 , wherein the one or more processors and the one or more memories are further configured to calculate the second orientation information by inputting a signal based on the output of the first sensor and a signal based on the output of the second sensor to a Kalman filter.
12. 12 . The orientation calculation apparatus according to claim 1 , wherein the one or more processors and the one or more memories are further configured to calculate the first orientation information based on a signal obtained by applying low-pass filter processing to the output of the first sensor.
13. 13 . The orientation calculation apparatus according to claim 1 , wherein the one or more processors and the one or more memories are further configured to calculate the first orientation information based on a signal obtained by subtracting an average of the output of the first sensor in a predetermined period from the output of the first sensor.
14. 14 . The orientation calculation apparatus according to claim 1 , wherein the first sensor is an angular velocity sensor configured to detect angular velocity of the movement of the moving apparatus, and wherein the second sensor is at least either an acceleration sensor configured to detect acceleration of the movement of the moving apparatus or a geomagnetic sensor configured to detect a change in a direction of the moving apparatus.
15. 15 . The orientation calculation apparatus according to claim 14 , wherein the first orientation information and the second orientation information each indicate a yaw angle, a pitch angle, and a roll angle of the moving apparatus, wherein the second sensor includes the geomagnetic sensor and the acceleration sensor, and wherein the one or more processors and the one or more memories are further configured to calculate the yaw angle based on an output of the geomagnetic sensor and an output of the angular velocity sensor, and calculate the pitch angle and the roll angle based on an output of the acceleration sensor and the output of the angular velocity sensor.
16. 16 . An imaging apparatus comprising: an image sensor configured to capture an object image formed by an imaging optical system; one or more memories; and one or more processors, wherein the one or more processors and the one or more memories are configured to: obtain detection signals from a first sensor configured to detect movement of the imaging apparatus and a second sensor configured to detect the movement of the imaging apparatus on a same axis as that of the movement detected by the first sensor; calculate, as a first calculation, first orientation information about the imaging apparatus based on an output of the first sensor and a reference angle; calculate, as a second calculation, second orientation information about the imaging apparatus by a method different from that for calculating the first orientation information based on the output of the first sensor and an output of the second sensor; determine which calculation to compute an orientation of the imaging apparatus is to be used, from among a plurality of calculations including the first calculation and the second calculation, as a determination; and update the reference angle, wherein the reference angle is updated in synchronization with a timing when the one or more processors and the one or more memories determine that a state where the determination is to be switched from a state where the orientation of the imaging apparatus is calculated using the second calculation to a state where the orientation of the imaging apparatus is calculated using the first calculation.
17. 17 . The imaging apparatus according to claim 16 , wherein the one or more processors and the one or more memories are further configured to control recording of an image signal output by the image sensor, and record the first orientation information or the second orientation information that is determined, by the determination, to be used for calculating the orientation of the imaging apparatus and record the image signal in synchronization with each other.
18. 18 . The imaging apparatus according to claim 16 , further comprising the first sensor and the second sensor.
19. 19 . A moving body comprising: a driving unit; one or more memories; and one or more processors, wherein the one or more processors and the one or more memories are configured to: obtain detection signals from a first sensor configured to detect movement of the moving body and a second sensor configured to detect the movement of the moving body on a same axis as that of the movement detected by the first sensor; calculate, as a first calculation, first orientation information about the moving body based on an output of the first sensor and a reference angle; calculate, as a second calculation, second orientation information about the moving body by a method different from that for calculating the first orientation information based on the output of the first sensor and an output of the second sensor; determine which calculation to compute an orientation of the moving body is to be used, from among a plurality of calculations including the first calculation and the second calculation, as a determination; and update the reference angle, wherein the reference angle is updated in synchronization with a timing when the one or more processors and the one or more memories determine that a state where the determination is to be switched from a state where the orientation of the moving body is calculated using the second calculation to a state where the orientation of the imaging apparatus is calculated using the first calculation.
20. 20 . A method for controlling an orientation calculation apparatus configured to calculate information indicating an orientation of a moving apparatus, the method comprising: obtaining detection signals from a first sensor configured to detect movement of the moving apparatus and a second sensor configured to detect the movement of the moving apparatus on a same axis as that of the movement detected by the first sensor; calculating information indicating a first orientation of the moving apparatus as a first calculation based on an output of the first sensor and a reference angle; calculating information indicating a second orientation of the moving apparatus as a second calculation by a method different from that for the first calculation based on the output of the first sensor and an output of the second sensor; determining which calculation to compute an orientation of the moving apparatus is to be used, from among a plurality of calculations including the first calculation and the second calculation, as a determination; and updating the reference angle as a reference angle update, wherein the reference angle update is performed in synchronization with a timing when it is determined by the determination that a state where the orientation of the moving apparatus is calculated using the second calculation is to be switched to a state where the orientation of the moving apparatus is calculated using the first calculation.

Description

BACKGROUND Field of the Disclosure The present disclosure relates to a technique for calculating orientation using a plurality of sensors for detecting movement. Description of the Related Art Some imaging apparatuses such as a video camera have a function of calculating a change in relative orientation from the output of an angular velocity sensor implemented therein. The orientation of an imaging apparatus is expressed by angles about three orthogonal axes, and the amount of change in orientation (angles) due to movement can be calculated by integrating angular velocity that is the output of the angular velocity sensor. However, the angular velocity sensor characteristically changes in the output in a low frequency band in particular due to temperature variations. As the temperature changes, the orientation obtained by integrating the angular velocity therefore deviates from the true value. Methods for reducing errors in the calculated angles of orientation due to a change in the output of the angular velocity sensor by using other types of sensors capable of detecting the movement of the imaging apparatus, such as an acceleration sensor and a geomagnetic sensor, in combination have thus been discussed. Japanese Patent Application Laid-Open No. 2020-181059 discusses an orientation angle calculation apparatus that calculates an angle of an imaging apparatus by combining the output signals of an angular velocity sensor with those of an acceleration sensor and a geomagnetic sensor. The outputs of the acceleration sensor and the geomagnetic sensor are less affected by errors in a low frequency band than the output of the angular velocity sensor, but may contain a lot of high frequency noise. The accuracy of the calculated orientation angles can thus drop if the output signals of such sensors are constantly used. SUMMARY According to an aspect of the present disclosure, an orientation calculation apparatus includes one or more memories and one or more processors that are configured to obtain detection signals from a first sensor configured to detect movement of a moving apparatus and a second sensor configured to detect the movement of the moving apparatus on a same axis as that of the movement detected by the first sensor; calculate, as a first calculation, first orientation information about the moving apparatus based on an output of the first sensor and a reference angle calculate, as a second calculation, second orientation information about the moving apparatus by a method different from that for the first calculation based on the output of the first sensor and an output of the second sensor; determine which calculation to calculate an orientation of the moving apparatus is to be used, from among a plurality of calculations including the first calculation and the second calculation, as a determination; and update the reference angle. The reference angle is updated in synchronization with a timing when the one or more processors and the one or more memories determine that a state where the determination is to be switched from a state where the orientation of the moving apparatus is calculated using the second calculation to a state where the orientation of the moving apparatus is calculated using the first calculation. Further features of various embodiments will become apparent from the following description of exemplary embodiments with reference to the attached drawings. BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a block diagram of a camera according to a first exemplary embodiment. FIG. 2A is a conceptual diagram for describing an absolute coordinate system. FIG. 2B is a conceptual diagram for describing the absolute coordinate system. FIG. 3A is a conceptual diagram for describing a sensor coordinate system. FIG. 3B is a conceptual diagram for describing the sensor coordinate system. FIG. 4 is a block diagram of an orientation calculation unit according to the exemplary embodiment. FIG. 5 is a flowchart illustrating processing by the orientation calculation unit according to the present exemplary embodiment. FIG. 6A is a graph illustrating an orientation of the camera according to the first exemplary embodiment. FIG. 6B is a graph illustrating output signals in the orientation calculation unit according to the first exemplary embodiment. FIG. 6C is a graph illustrating an output signal in the orientation calculation unit according to the first exemplary embodiment. FIG. 7 illustrates the configuration of an orientation calculation unit according to a second exemplary embodiment. FIG. 8 is a flowchart illustrating processing by the orientation calculation unit according to the second exemplary embodiment. FIG. 9A is a graph illustrating an orientation of the camera according to the second exemplary embodiment. FIG. 9B is a graph illustrating output signals in the orientation calculation unit according to the second exemplary embodiment. FIG. 9C is a graph illustrating an output signal in the orientati