Sensor fusion algorithm

Kalman sefa

Kalman sefa yakajairika.

Iyo yakakosha yealgorithm ndeyekuseta seti ye "kutenda" zvinhu kune yega sensor. Panguva imwe neimwe, iyo data sensor kubva panguva yekupedzisira ichashandiswa kune manhamba ekuvandudza fungidziro (yega-yekuwedzera), uye mhando ye sensor ichatongwa zvakare. Mukuenzanisa pakati peiyo yakafanotaurwa kukosha uye kuyerwa kukosha kweiyo sensor, kukosha kwakanakisa kuchafungidzirwa uye kubuda.

Izvi zvinoreva kuti kana sensor inogara ichipa yakanaka uye inowirirana kukosha uye inotanga kukuudza chimwe chinhu chisingafungidzike, iyo sensor yekuvimbika nhanho inoderera mune mashoma milliseconds kusvika yatanga kuita pfungwa zvakare.

Izvi zviri nani pane kuyera avhareji kana kuvhota, nekuti Kalman sefa inogona kubata nemamiriro ezvinhu ekuti ma sensor mazhinji ari kunze kwehurongwa kwenguva. Chero bedzi munhu anogona kuchengeta chikonzero chakanaka, inogona kuita iro robhoti kuburikidza nerima nguva.

Kalman sefa iko kushandisa kweakawanda pfungwa dzeMarkov cheni uye Bayesian kufunga, iri masvomhu sisitimu inovandudza fungidziro yavo nekushandisa humbowo. Maturusi aya maturusi anoshandiswa kubatsira sainzi pachayo kuyedza mazano (anovawo hwaro hwezvatinodaidza kuti "chiverengero chakakosha").

Naizvozvo, zvinogona kutaurwa senhetembo kuti mamwe ma sensor fusion masisitimu ari kuratidza hunhu hwesainzi nekumhanya kweka 1000 pasekondi.

Mafirita eKalman ave achishandiswa munzvimbo dzekutenderera dzemasatellite kwemakumi emakore. Nekuti azvino ma microcontrollers anogona kumhanyisa algorithm munguva chaiyo, ivo vari kuramba vachizivikanwa mumarobhoti.