Patent ID: 11889192
Assignee: SZ DJI TECHNOLOGY CO., LTD.
Field: Audio-visual technology (Electrical engineering)
Classification: CPC F  H  G | IPC H

Claim 8:
9. The device according to claim 1, wherein
the motion sensor includes:
a first motion sensor disposed at the second end,
a second motion sensor configured to measure a rotation angle of the parallelogram mechanism relative to the base, and
a third motion sensor disposed on the base; and

to obtain the sensor data output by the motion sensor and determine the velocity of the second end in the direction of gravity relative to the ground based on the sensor data, the at least one processor being further configured to:
obtain first sensor data output by the first motion sensor, second sensor data output by the second motion sensor, and third sensor data output by the third motion sensor,
determine a first velocity of the second end in the direction of gravity relative to the ground based on the first sensor data,
determine a rotation angle of the parallelogram mechanism relative to the base based on the second sensor data,
determine a velocity of the base based on the third sensor data,
determine a second velocity of the second end in the direction of gravity relative to the ground based on the rotation angle and the velocity of the base, and
fuse the first velocity and the second velocity to determine the velocity of the second end in the direction of gravity relative to the ground.