Inertial Navigation IMU: Isesengura ryuzuye kuva ihame kugeza mubikorwa

Mu buryo bwihuse bwiterambere rya tekinoroji, ibipimo byo gupima inertial (IMUs) biragaragara nkibice byingenzi byingirakamaro kuri porogaramu kuva kuri sisitemu yo kugenda kugeza ku binyabiziga byigenga. Iyi ngingo irasesengura cyane amahame shingiro, ibice bigize imiterere, uburyo bwakazi hamwe na tekinoroji ya kalibrasi ya IMU kugirango yumve neza akamaro kayo mubuhanga bugezweho.

Ihame rya IMU

Amahame ya IMU yashinze imizi mu itegeko rya mbere ryimikorere rya Newton ndetse n’amategeko yo kubungabunga imbaraga zinguni. Ukurikije aya mategeko, ikintu kigenda kizakomeza kugenda keretse iyo gikoreshejwe nimbaraga zo hanze. IMU ikoresha iri hame mugupima imbaraga zidafite imbaraga ninguni zinguni zingana nibintu. Mu gufata umuvuduko n'umuvuduko w'inguni, IMU irashobora guhitamo mu buryo butaziguye umwanya n'icyerekezo cy'ikintu mu mwanya. Iyi mikorere ningirakamaro kuri porogaramu zisaba kugendagenda neza no gukurikirana inzira.

Imiterere ya IMU

Imiterere ya IMU igizwe ahanini nibice bibiri byibanze: umuvuduko waometero na giroskopi. Kwihuta bipima kwihuta kumurongo umwe cyangwa byinshi, mugihe giroskopi ipima igipimo cyo kuzenguruka kuri aya mashoka. Hamwe na hamwe, ibyo byuma bitanga ibitekerezo byuzuye byerekana ibintu bigenda. Kwishyira hamwe kwikoranabuhanga byombi bituma IMU itanga amakuru yukuri, mugihe nyacyo, ikaba igikoresho cyingirakamaro mubice bitandukanye birimo icyogajuru, robotike hamwe nibikoresho bya elegitoroniki.

Uburyo IMU ikora

Uburyo bwa IMU bukora burimo guhuza no kubara amakuru kuva kuri moteri yihuta na giroscope. Iyi nzira ifasha IMU kumenya imyitwarire nigikorwa cyikintu gifite ubusobanuro bukabije. Ibyegeranijwe byakusanyirijwe hamwe binyuze muri algorithm igoye kugirango uyungurure urusaku kandi tunoze neza. Ubwinshi bwa IMU butuma ikoreshwa muburyo butandukanye bwa porogaramu, nka sisitemu yo kugendagenda mu ndege, gukurikirana ibintu muri terefone zigendanwa, no kugenzura umutekano muri drones. Uko ikoranabuhanga rigenda ritera imbere, ibishobora gukoreshwa na IMU bikomeje kwaguka, bigatanga inzira yo guhanga udushya mu gutwara ibinyabiziga byigenga na robo.

IMU Ikosa na Calibibasi

Nubwo ubushobozi bwa IMU bwateye imbere, ntabwo nta mbogamizi. Amakosa atandukanye, harimo offset, gupima, hamwe na drift amakosa, birashobora kugira ingaruka zikomeye kubipimo. Aya makosa aterwa nimpamvu nkudusembwa twa sensor, ibidukikije, hamwe nubushobozi buke. Kugabanya ibyo bidahwitse, kalibrasi ni ngombwa. Calibration tekinike irashobora kubamo kubogama kubogamye, igipimo cyibipimo byerekana, hamwe nubushuhe bwubushyuhe, buri cyashizweho kugirango cyongere ubwizerwe bwibisohoka IMU. Calibibasi isanzwe yemeza ko IMU ikomeza imikorere yayo mugihe, bigatuma ihitamo kwizewe kubikorwa bikomeye.

Muri make

Ibikoresho byo gupima bidafite ishingiro byahindutse tekinoroji yibanze mu kugendana kijyambere, indege, drone na robo zifite ubwenge. Ubushobozi bwabwo bwo gupima neza icyerekezo nicyerekezo bituma biba ingirakamaro mubikorwa bitandukanye. Mugusobanukirwa amahame, imiterere, uburyo bwo gukora hamwe na tekinoroji ya tekinoroji ya IMU, abafatanyabikorwa barashobora kumenya neza ubushobozi bwabo no guteza imbere udushya mubyo bakora. Mugihe dukomeje gucukumbura ubushobozi bwa IMU, hari amasezerano akomeye yiterambere ryigihe kizaza muburyo bwikoranabuhanga hamwe nibisabwa bizahindura uburyo tugenda kandi dukorana nisi idukikije.