AHRS vs. IMU: Kunzwisisa Misiyano

Panyaya yekufambisa uye kufamba kwekutevera, AHRS (Attitude uye Heading Reference System) uye IMU (Inertial Measurement Unit) matekinoroji maviri akakosha anoita basa rakakosha. Ose ari maviri AHRS neIMU akagadzirwa kuti ape data rakarurama pamusoro pemamiriro echinhu uye mafambiro, asi anosiyana muzvikamu, kushanda, uye kuvimba nendima dzekunze dzereferensi.

AHRS, sekureva kunoita zita, ireferensi system inoshandiswa kuona mafungiro uye musoro wechinhu. Iyo ine accelerometer, magnetometer, uye gyroscope, iyo inoshanda pamwe chete kuti ipe kunzwisisa kwakadzama kwekutarisa kwechinhu muchadenga. Chirevo chechokwadi che AHRS chinobva kusimba rinokwevera pasi nepasi remagineti, izvo zvinoibvumira kunyatsoona pakamira zvinhu zvine chekuita nereferensi yePasi.

IMU, kune rumwe rutivi, iinertial yekuyera unit inokwanisa kukanganisa mafambiro ese kuita mutsara uye inotenderera zvikamu. Iyo ine accelerometer inoyera mutsara kufamba uye gyroscope inoyera kutenderera kwekufamba. Kusiyana neAHRS, IMU haivimbi nezvikamu zvekunze zvakaita segiravhiti rePasi uye magineti kuona kwariri, zvichiita kuti kushanda kwaro kuve kwakazvimiririra.

Mumwe wemisiyano mikuru pakati peAHRS neIMUs nhamba nemhando dzemasensor adziinawo. Kuenzaniswa neIMU, AHRS inowanzobatanidza imwe magineti yemagetsi sensor. Izvi zvinokonzerwa nekusiyana kwekuvaka mumagetsi e sensor anoshandiswa muAHRS neIMU. AHRS inowanzo shandisa zvinodhura zveMEMS (microelectromechanical systems), izvo, kunyange zvichidhura, zvinogona kuratidza ruzha rwakanyanya mukuyera kwavo. Nokufamba kwenguva, izvi zvinogona kutungamirira kune zvisizvo pakuona kuti chinhu chinomira sei, chinoda kuti zvigadziriso zviitwe nekutsamira pandima dzekunze.

Kusiyana neizvi, maIMU akashongedzerwa nemasensa akaomesesa, akadai sefiber optic gyroscopes kana mechanical gyroscopes, ane hupamhi hwepamusoro uye huchokwadi zvichienzaniswa neMEMS gyroscopes. Kunyangwe aya magyroscopes epamusoro-soro achidhura zvakanyanya, anopa zviyero zvakavimbika uye zvakatsiga, zvichideredza kudiwa kwekugadzirisa kune ekunze mareferenzi minda.

Kubva pakuona kwekutengesa, zvakakosha kuti unzwisise kuti kusiyana uku kunorevei. AHRS inotsamira pane yekunze referensi ndima uye inodhura-inoshanda mhinduro kune maapplication uko kurongeka kwepamusoro kusina kukosha. Kugona kwayo kupa kwakaringana data data kunyangwe kutsigirwa kweminda yekunze inoita kuti ive yakakodzera kune dzakasiyana siyana dzekutengesa uye maindasitiri ekushandisa.

IMUs, kune rumwe rutivi, inosimbisa kurongeka uye kurongeka, zvichiita kuti zvive zvakanaka kune zvikumbiro apo zviyero zvinovimbika uye zvakagadzikana zvakakosha, zvakadai semhepo, kudzivirira, uye maitiro ekufambisa akakwirira. Nepo maIMU achigona kudhura zvakanyanya, kuita kwavo kwepamusoro uye kuderedzwa kwekuvimba neminda yekunze inovaita sarudzo inoyevedza kumaindasitiri uko kurongeka kusingakanganisike.

Muchidimbu, AHRS neIMU maturusi akakosha ekuyera gwara uye mafambiro, uye chishandiso chega chega chine zvachakanakira nezvachinofunga. Kunzwisisa mutsauko uripo pakati peaya matekinoroji kwakakosha pakuita sarudzo dzine ruzivo paunenge uchisarudza mhinduro yakakodzera pane imwe application. Kungave kutsamira kusingadhuri kune ekunze mareferensi ndima muAHRS kana kunyatsojeka uye huchokwadi hweIMUs, ese matekinoroji anopa akasiyana kukosha zvirevo zvinogadzirisa zvakasiyana siyana zveindasitiri.