PAN-TILT DEVICE CONTROL METHOD, APPARATUS AND SYSTEM, COMPUTER STORAGE MEDIUM AND UNMANNED AERIAL VEHICLE

摘要

A pan-tilt device control method, apparatus and system, a computer storage medium and an unmanned aerial vehicle. The method comprises: determining a stability augmentation angle corresponding to a stabilization augmentation axis of a pan-tilt device rotating in a pre-set body coordinate system relative to a global coordinate system (S1); acquiring a first attitude compensation angle and a second attitude compensation angle generated by the rotation of the pan-tilt device in the pre-set body coordinate system relative to the global coordinate system (S2); and controlling the pan-tilt device according to the first attitude compensation angle, the second attitude compensation angle and the stability augmentation angle, so that an image photographed, in a tracking manner, by the pan-tilt device is located in a picture (S3). By means of determining a stabilization augmentation angle, acquiring a first attitude compensation angle and a second attitude compensation angle generated by the rotation of a pan-tilt device in a pre-set body coordinate system relative to a global coordinate system, and controlling the pan-tilt device according to the first attitude compensation angle, the second attitude compensation angle and the stability augmentation angle, an image photographed, in a tracking manner, by the pan-tilt device can be effectively guaranteed to be located in a picture, thereby improving the output effect of the picture and facilitating the observation of a user.