Kwintsimi ephuhlayo ngokukhawuleza yokuqhuba ngokuzimeleyo, imfuno yeenkqubo ezichanekileyo nezithembekileyo zokubeka akukaze kube ngokungxamisekileyo. Phakathi kweetekhnoloji ezahlukeneyo ezikhoyo,IiYunithi zoMlinganiselo oNgaphakathi (IMUs)kugqame njengomgca wokugqibela wokhuselo, ukubonelela ngokuchaneka kokuma okungenakulinganiswa kunye nokomelela. Xa izithuthi ezizimeleyo zihamba ngeendawo ezinzima, ii-IMU zinokusebenza njengesisombululo esinamandla kwimida yeendlela zokumisa zendabuko.
Enye yezona zinto zibalulekileyo kwii-IMUs kukuba zizimeleyo kwiimpawu zangaphandle. Ngokungafani ne-GPS, exhomekeke kwi-satellite coverage, okanye iimephu ezichanekileyo, ezixhomekeke kumgangatho wokuqonda kunye nokusebenza kwe-algorithm, i-IMU isebenza njengenkqubo ezimeleyo. Le ndlela yebhokisi emnyama ithetha ukuba ii-IMUs azikhathazwa bubuthathaka obufanayo nobunye ubuchwepheshe bokumisa. Umzekelo, imiqondiso yeGPS inokuthintelwa yimiwonyo yasezidolophini okanye iimeko zemozulu ezimandundu, kwaye iimephu ezichanekileyo zisenokungasoloko zibonisa utshintsho lwexesha lokwenyani kokusingqongileyo. Ngokwahlukileyo, ii-IMUs zibonelela ngedatha eqhubekayo kwi-angular velocity kunye nokukhawuleza, ukuqinisekisa ukuba izithuthi ezizimeleyo zigcina indawo echanekileyo nakwiimeko ezinzima.
Ukongeza, ubhetyebhetye lofakelo lwee-IMUs kwandisa umtsalane wazo kwizicelo zokuqhuba ezizimeleyo. Ekubeni i-IMU ayifuni isignali yangaphandle, inokufakwa ngokufihlakeleyo kwindawo ekhuselweyo yesithuthi, njenge-chassis. Oku kubekwa akubakhuseli kuphela ekuhlaselweni okunokwenzeka kombane okanye oomatshini, kunciphisa umngcipheko womonakalo kwizinto zangaphandle ezifana nenkunkuma okanye imozulu embi. Ngokwahlukileyo, ezinye iinzwa ezinje ngeekhamera, i-lidar kunye ne-radar zisesichengeni sokuphazamiseka kwamaza ombane okanye imiqondiso yokukhanya eyomeleleyo, echaphazela ukusebenza kwazo. Uyilo olomeleleyo lwe-IMU kunye nokungaphazamiseki kuphazamiseko kuyenza ibe yinto efanelekileyo yokuqinisekisa indawo ethembekileyo ebusweni bezoyikiso ezinokubakho.
Ukungafuneki kwindalo kwemilinganiselo ye-IMU kwandisa ngakumbi ukuthembeka kwayo. Ngokudibanisa idatha kwi-angular velocity kunye nokukhawuleza kunye negalelo elongezelelweyo elifana nesantya sevili kunye ne-angle yokulawula, ii-IMUs zinokuvelisa iziphumo kunye neqondo eliphezulu lokuzithemba. Le mfuneko ibaluleke kakhulu kumxholo wokuqhuba ngokuzimeleyo, apho izibonda ziphezulu kwaye umda wephutha umncinci. Ngelixa abanye abenzi boluvo banokubonelela ngeziphumo ezigqibeleleyo okanye ezihambelanayo zokuma, udibaniso lwedatha olubanzi lwe-IMU lukhokelela kwisisombululo esichanekileyo nesithembekileyo sokukhangela.
Kwintsimi yokuqhuba ngokuzimeleyo, indima ye-IMU ayikho kuphela indawo yokubeka. Inokusebenza njengesongezelelo esibalulekileyo xa enye idatha yenzwa ingafumaneki okanye iphazamisekile. Ngokubala utshintsho kwisimo sengqondo sesithuthi, isihloko, isantya kunye nesikhundla, ii-IMU zinokuvala ngokufanelekileyo umsantsa phakathi kohlaziyo lwesignali ye-GNSS. Xa kwenzeka i-GNSS kunye nokunye ukungaphumeleli kwenzwa, i-IMU inokwenza ukubala okufileyo ukuqinisekisa ukuba isithuthi sihlala sihamba. Eli nqaku libeka i-IMU njengomthombo wedatha ozimeleyo, okwaziyo ukuhamba kwexesha elifutshane kunye nokuqinisekiswa kolwazi oluvela kwezinye izinzwa.
Okwangoku, uluhlu lwe-IMUs luyafumaneka kwimarike, kubandakanya i-6-axis kunye ne-9-axis imodeli. I-IMU ye-6-axis ibandakanya i-accelerometer ye-axis emithathu kunye ne-gyroscope ye-three-axis, ngelixa i-9-axis IMU yongeza i-magnetometer ye-axis emithathu yokusebenza okuphuculweyo. Ii-IMU ezininzi zisebenzisa iteknoloji ye-MEMS kwaye zibandakanya i-thermometers eyakhelwe-ngaphakathi yokulinganisa ubushushu bexesha langempela, ukuphucula ngakumbi ukuchaneka kwazo.
Lilonke, ngokuqhubela phambili okuqhubekayo kobuchwepheshe bokuqhuba ngokuzimeleyo, i-IMU ibe yinxalenye ephambili kwinkqubo yokubeka. I-IMU ibe yindlela yokugqibela yokukhusela izithuthi ezizimeleyo ngenxa yokuzithemba kwayo okuphezulu, ukukhuseleka kwiimpawu zangaphandle kunye nobuchule obunamandla bokuchasana nokuphazamiseka. Ngokuqinisekisa indawo ethembekileyo nechanekileyo,Ii-IMUszidlala indima ephambili ekusebenzeni okukhuselekileyo nokusebenzayo kweenkqubo zokuqhuba ezizimeleyo, zibenza zibe yi-asethi eyimfuneko kwixesha elizayo lezothutho.
Ixesha lokuposa: Nov-11-2024