AHRS vs. IMU: Ukuqonda iiyantlukwano

Ngokumalunga nokuhamba kunye nokulandela umkhondo, i-AHRS (iSimo sengqondo kunye neNkqubo yeSingqinisiso yeNtloko) kunye ne-IMU (iYunithi yoMlinganiselo we-Inertial) zimbini iiteknoloji eziphambili ezidlala indima ebalulekileyo. Zombini i-AHRS kunye ne-IMU ziyilelwe ukubonelela ngedatha echanekileyo malunga nokuqhelaniswa nentshukumo kunye nentshukumo, kodwa ziyahluka kumacandelo, ukusebenza, kunye nokuthembela kwiinkalo zesalathiso sangaphandle.

I-AHRS, njengoko igama libonisa, yinkqubo yereferensi esetyenziselwa ukumisela isimo sengqondo kunye nesihloko sento. Iqulethe i-accelerometer, i-magnetometer, kunye ne-gyroscope, ezisebenzisanayo ukunika ukuqonda okubanzi kokuma kwento kwindawo. Ireferensi yokwenyani ye-AHRS isuka kumhlaba womxhuzulane kunye nemagnethi yomhlaba, eyivumela ukuba iqinisekise ngokuchanekileyo indawo kunye nokuma kwezinto xa kuthelekiswa nesakhelo sereferensi yoMhlaba.

I-IMU, ngakolunye uhlangothi, iyunithi yokulinganisa i-inertial ekwazi ukubola zonke iintshukumo zibe ngamacandelo ahambelanayo kunye nokujikeleza. Iqulethe i-accelerometer elinganisa intshukumo yomgca kunye negyroscope elinganisa intshukumo yokujikeleza. Ngokungafaniyo ne-AHRS, i-IMU ayixhomekekanga kwiinkalo zesalathiso zangaphandle ezifana nomxhuzulane woMhlaba kunye nemagnethi ukuze imisele indawo yokuma kuyo, yenze umsebenzi wawo uzimele ngakumbi.

Omnye wowona mahluko uphambili phakathi kwe-AHRS kunye nee-IMUs linani neentlobo zezivamvo eziziquletheyo. Xa kuthelekiswa ne-IMU, i-AHRS idla ngokuquka isivamvo semagnethi eyongezelelweyo. Oku kungenxa yeyantlukwano yezakhiwo kwizixhobo zoluvo ezisetyenziswa kwi-AHRS kunye ne-IMU. I-AHRS idla ngokusebenzisa izixhobo zoluvo ze-MEMS (i-microelectromechanical systems) ezinexabiso eliphantsi, ezithi, ngelixa zingabizi kakhulu, zinokubonisa amazinga aphezulu engxolo kwimilinganiselo yazo. Ngokuhamba kwexesha, oku kunokukhokelela ekuchanekeni ekumiseleni izinto ezibeka izinto, ezifuna ukulungiswa ngokuxhomekeke kwiinkalo zangaphandle zokubhekisela.

Ngokwahlukileyo koko, ii-IMUs zixhotyiswe ngeenzwa ezintsonkothileyo, ezinje ngefiber optic gyroscopes okanye i-gyroscopes yomatshini, enokuchaneka okuphezulu kunye nokuchaneka xa kuthelekiswa ne-MEMS gyroscopes. Nangona ezi gyroscopes zichanekileyo zixabisa kakhulu, zibonelela ngemilinganiselo ethembekileyo kunye nezinzile, zinciphisa imfuno yolungiso kwiinkalo zangaphandle zokubhekisela.

Ngokwembono yokuthengisa, kubalulekile ukuqonda ukuba lo mahluko uthetha ukuthini. I-AHRS ixhomekeke kwinkalo yesalathiso yangaphandle kwaye sisisombululo esineendleko eziphezulu zezicelo apho ukuchaneka okuphezulu kungabalulekanga. Ikhono layo lokubonelela ngedatha echanekileyo yolwalathiso nangona inkxaso yemimandla yangaphandle yenza ukuba ilungele uluhlu lwezicelo zorhwebo kunye nezoshishino.

I-IMUs, ngakolunye uhlangothi, igxininisa ukuchaneka kunye nokuchaneka, okwenza kube yinto efanelekileyo kwizicelo apho imilinganiselo ethembekileyo kunye nezinzile ibaluleke kakhulu, njenge-aerospace, ukukhusela, kunye neenkqubo zokukhangela eziphezulu. Ngelixa ii-IMUs zinokubiza ngaphezulu, ukusebenza kwazo okuphezulu kunye nokuncipha kokuthembela kwiinkalo zesalathiso zangaphandle kuzenza zibe lukhetho olunomtsalane kumashishini apho ukuchaneka kungenakuchaphazeleka.

Ngamafutshane, i-AHRS kunye ne-IMU zizixhobo eziyimfuneko zokulinganisa isikhokelo kunye nentshukumo, kwaye isixhobo ngasinye sineengenelo kunye neengqalelo zaso. Ukuqonda umahluko phakathi kwezi teknoloji kubalulekile ukwenza izigqibo ezinolwazi xa ukhetha isisombululo esifanelekileyo kwisicelo esithile. Nokuba kukuthembela ngendlela eyongayo kwiinkalo zesalathiso zangaphandle kwi-AHRS okanye ukuchaneka okuphezulu nokuchaneka kwee-IMUs, zombini ezi teknoloji zibonelela ngexabiso elikhethekileyo elichaza iimfuno ezahlukeneyo zoshishino.