Kwimeko yetekhnoloji eguquka ngokukhawuleza, iiyunithi zokulinganisa i-inertial (IMUs) zigqama njengezona nxalenye ziphambili zezicelo ukusuka kwiinkqubo zokukhangela ukuya kwizithuthi ezizimeleyo. Eli nqaku liphonononga ngokunzulu imigaqo esisiseko, amacandelo olwakhiwo, iindlela zokusebenza kunye netekhnoloji yokulinganisa i-IMU ukuqonda ngokupheleleyo ukubaluleka kwayo kubuchwephesha banamhlanje.
Imigaqo ye-IMU isekelwe kumthetho wokuqala we-Newton wentshukumo kunye nomthetho wolondolozo lwesantya se-angular. Ngokwale mithetho, into eshukumayo iya kuhlala isebenza ngaphandle kokuba yenziwe ngamandla angaphandle. Ii-IMUs zixhaphaza lo mgaqo ngokulinganisa amandla angaphakathi kunye ne-angular momentum vectors ezifunyanwa yinto. Ngokubamba ukukhawuleza kunye ne-angular velocity, i-IMU inokuthintela ngokungathanga ngqo indawo kunye nokuqhelaniswa kwento kwindawo. Olu phawu lubalulekile kwizicelo ezifuna ukukhangela okuchanekileyo kunye nokulandela umkhondo.
Ubume be-IMU
Ulwakhiwo lwe-IMU ikakhulu luqulunqwe ngamacandelo amabini asisiseko: i-accelerometer kunye ne-gyroscope. Ii-accelerometers zilinganisa isantya sokuhamba nge-axse enye okanye ngaphezulu, ngelixa ii-gyroscopes zilinganisa umyinge wokujikeleza kwezi zembe. Ngokudibeneyo, ezi luvo zibonelela ngombono obanzi wokushukuma kwezinto kunye nokuqhelaniswa. Ukudityaniswa kwezi teknoloji zimbini kwenza ii-IMU zibonelele ngedatha echanekileyo, yexesha langempela, nto leyo ezenza zibe sisixhobo esiyimfuneko kwiinkalo ezahlukeneyo ezibandakanya i-aerospace, i-robotic kunye ne-electronics yabathengi.
Isebenza njani i-IMU
Indlela yokusebenza ye-IMU ibandakanya ukudibanisa kunye nokubala idatha esuka kwi-accelerometer kunye ne-gyroscope. Le nkqubo yenza ukuba i-IMU ikwazi ukumisela isimo sengqondo kunye nentshukumo yento ngokuchaneka okugqithisileyo. Idatha eqokelelweyo icutshungulwa ngee-algorithms ezintsonkothileyo zokucoca ingxolo kunye nokuphucula ukuchaneka. Ukuguquguquka kwee-IMU kuvumela ukusetyenziswa kwazo kuluhlu olubanzi lwezicelo, ezifana neenkqubo zokuhamba ngeenqwelomoya, ukulandelela intshukumo kwii-smartphones, kunye nolawulo lozinzo kwiidrone. Njengoko iteknoloji iqhubela phambili, izicelo ezinokuthi zenzeke kwii-IMUs ziyaqhubeka zisanda, zivula indlela entsha ekuqhubeni ngokuzimeleyo kunye neerobhothi.
Imposiso ye-IMU kunye noLungiso
Nangona izakhono zee-IMUs zihambele phambili, azinayo imingeni. Iimpazamo ezahlukeneyo, kubandakanya i-offset, ukukala, kunye neempazamo zokukhukuliseka, zinokuchaphazela kakhulu ukuchaneka komlinganiselo. Ezi mpazamo zibangelwa yimiba efana nokungafezeki kwenzwa, iimeko zokusingqongileyo, kunye nokunciphisa ukusebenza. Ukunciphisa oku kungachanekanga, ukulinganisa kubalulekile. Ubuchule bokulinganisa bunokubandakanya ukulinganisa i-bias, ukulinganisa i-degree factor, kunye nokulinganisa ubushushu, nganye yenzelwe ukunyusa ukuthembeka kwemveliso ye-IMU. Ukulinganisa rhoqo kuqinisekisa ukuba i-IMU igcina ukusebenza kwayo ngexesha, iyenza ibe yinto ethembekileyo yokukhetha izicelo ezibalulekileyo.
Isishwankathelo
Izixhobo zokulinganisa i-inertial ziye zaba yitekhnoloji yelitye lembombo kuhambo lwangoku, ukuhamba ngenqwelomoya, iidrones kunye neerobhothi ezikrelekrele. Ukukwazi kwayo ukulinganisa ngokuchanekileyo intshukumo kunye nesikhokelo kwenza ukuba ixabiseke kumashishini ahlukeneyo. Ngokuqonda imigaqo, ulwakhiwo, iindlela zokusebenza kunye nolungelelwaniso lwetekhnoloji yee-IMUs, abachaphazelekayo banokuqonda ngokupheleleyo amandla abo kwaye bakhuthaze ukuqamba izinto ezintsha kwiinkalo zabo. Njengoko siqhubeka siphonononga amandla e-IMUs, kukho isithembiso esikhulu sokuqhubela phambili kweteknoloji kunye nezicelo eziza kubumba indlela esihamba ngayo kunye nokusebenzisana nehlabathi elisingqongileyo.
Ixesha lokuposa: Oct-15-2024