Sensor Fusion algorithm

Kalman Filter

Kalman filter yakafanana.

Iyo core ye algorithm ndeyekuisa seti ye "kutenda" zvinhu kune imwe neimwe sensor. Panguva imwe neimwe, iyo sensor data kubva kune yekupedzisira nguva ichashandiswa kune nhamba dzekuvandudza kufungidzira (kuzvikudza), uye kunaka kwemanyorero kuchatongwawo. Mukuenzanisa pakati pekufemerwa kukosha uye kukosha kwakayerwa kweiyo sensor, kukosha kwakanakisa kuchafungidzirwa uye kubuda.

Izvi zvinoreva kuti kana sensor nguva dzose inopa kukosha kwakanaka uye inotanga kukuudza chimwe chinhu chisingafarire, iyo sensor yekuvimbika ichaderera mumamero kusvikira yatanga kuita musoro zvakare.

Izvi zviri nani pane zviri nyore kufambisa kana kuvhota, nekuti kalman firita inogona kubata nemamiriro ezvinhu ayo nyanzvi sensors isingabvumirwe kwenguva pfupi. Chero bedzi munhu anogona kuchengeta chikonzero chakanaka, chinogona kuita kuti robhoti munguva yerima.

Kalman filter ishandiso yezve pfungwa dzakawanda dzeMarkov Chain uye Bayesian Kukurukurirana, iyo iri sisvomhu yemasvomhu iyo iceratively inovandudza kufungidzira kwavo nekushandisa humbowo. Izvi zvishandiso zvishandiso zvinoshandiswa kubatsira sainzi pane mazano (ayo zvakare hwaro hwezvatinodaidza "kukosha kwehuwandu").

Naizvozvo, zvinogona kutaurwa zvakajeka kuti vamwe sensor Fusions vari kuratidza kukosha kwesainzi kumhanya kwegumi kagumi.

Kalman mafirita akashandiswa muzvinyorwa zvekunyora zve space satellite kwemakumi emakore. Nekuti microcokiccontrollers yemazuva ano inogona kumhanyisa algorithm munguva chaiyo, ivo vari kuwedzera kuwedzera kufarirwa mu robhoti.