Mumamiriro ehunyanzvi ari kukurumidza kushanduka, inertial kuyerwa zvikamu (IMUs) zvinomira pachena sezvinhu zvakakosha zvekushandisa kubva kumafambisirwo emafambisirwo kusvika kumotokari dzinozvimiririra. Ichi chinyorwa chinoongorora zvakadzama misimboti, zvimiro zvemukati, maitiro ekushanda uye calibration tekinoroji yeIMU kuti inzwisise zvizere kukosha kwayo muhunyanzvi hwazvino.
Misimboti yeIMU yakadzika midzi mumutemo wekutanga waNewton wekufamba uye mutemo wekuchengetedza simba reangular. Maererano nemitemo iyi, chinhu chiri kufamba chinoramba chiripo kunze kwekunge chaitwa nesimba rekunze. MaIMU anoshandisa musimboti uyu nekuyera masimba asina simba uye angular momentum vectors anowanikwa nechinhu. Nekubata kukurumidza uye angular velocity, iyo IMU inogona kukanganisa zvisina kunanga chinzvimbo uye kutaridzika kwechinhu chiri muchadenga. Iyi ficha yakakosha kune maapplication anoda kunyatso famba uye kufamba kwekufamba.
Chimiro cheIMU
Chimiro cheIMU chinonyanya kuumbwa nezvinhu zviviri zvakakosha: accelerometer uye gyroscope. Accelerometers inoyera kukwirisa kwemutsara pamwe nedemo rimwe chete kana anopfuura, ukuwo magyroscopes achiyera mwero wekutenderera pamatemo aya. Pamwe chete, ma sensors aya anopa maonero akazara ekufamba kwechinhu uye kutaridzika. Kubatanidzwa kweaya matekinoroji maviri kunoita kuti maIMU ape data rakarurama, chairo-nguva, richivaita chishandiso chakakosha munzvimbo dzakasiyana siyana dzinosanganisira aerospace, marobhoti uye zvemagetsi zvevatengi.
IMU inoshanda sei
Iyo IMU maitiro ekushanda anosanganisira synthesizing uye kuverenga data kubva kune accelerometer uye gyroscope. Iyi nzira inoita kuti IMU ione maitiro uye mafambiro echinhu nemazvo chaiwo. Iyo data yakaunganidzwa inogadziriswa kuburikidza neakaomesesa algorithms kusefa kunze ruzha uye kugadzirisa huchokwadi. Iko kushandiswa kwakasiyana-siyana kweIMUs kunogonesa kushandiswa kwavo mumhando dzakasiyana-siyana dzekushandisa, senge navigation system mundege, kufamba kwekufamba muma smartphones, uye kugadzikana kutonga mumadrones. Sezvo tekinoroji ichifambira mberi, zvingangoitika zveIMUs zvinoramba zvichikura, zvichigadzira nzira yekuvandudza mukuzvimirira kutyaira uye marobhoti.
Kunyangwe kugona kweIMU kwave kumberi, hakuna matambudziko. Zvikanganiso zvakasiyana, kusanganisira offset, scaling, uye Drift zvikanganiso, zvinogona kukanganisa zvakanyanya kuyerwa. Izvi zvikanganiso zvinokonzerwa nezvinhu zvakadai sekusakwana kwema sensor, mamiriro ezvakatipoteredza, uye zvisingakwanisi kushanda. Kuti uderedze kusarongeka uku, kuenzanisa kwakakosha. Maitiro ekugadzirisa anogona kusanganisira bias calibration, scale factor calibration, uye tembiricha calibration, imwe neimwe yakagadzirirwa kuwedzera kuvimbika kwekubuda kweIMU. Kugaro kuenzanisa kunovimbisa kuti IMU inochengetedza mashandiro ayo nekufamba kwenguva, zvichiita kuti ive sarudzo yakavimbika yezvikumbiro zvakakosha.
Muchidimbu
Inertial yekuyera michina yave iyo yekona tekinoroji mukufamba kwemazuva ano, ndege, drones uye marobhoti akangwara. Kugona kwayo kuyera mafambiro nemafambiro nemazvo kunoita kuti ive yakakosha kune akasiyana maindasitiri. Nekunzwisisa misimboti, chimiro, maitiro ekushanda uye calibration tekinoroji yeIMUs, vanobatana vanogona kuona zvizere kugona kwavo uye kukurudzira hunyanzvi muminda yavo. Sezvatinoenderera mberi nekuongorora kugona kweIMUs, kune chivimbiso chikuru chekufambira mberi mune ramangwana mune tekinoroji uye maapplication anozogadzira nzira yatinofamba nayo nekudyidzana nenyika yakatitenderedza.
Nguva yekutumira: Oct-15-2024