Ngatitii sensor yemuviri inobhururuka pane quadrilateral. Kana ukamira pakona, Pythagoras akati pasi rinotarisa kure kupfuura zvariri chaizvo. Yakanga yakarereka zvekuti takanga tisingaione zvachose, kunyangwe takanga tingori macentimita mashoma kubva pabondera.

Kuti tigadzirise izvi, tinofanira kuziva maitiro edu. Zvinoreva kuti...

Gyroscope uye accelerometer zvinodaidzwa kuti "IMU" pamwe chete, asi chikonzero nei vachiwanzoonekwa pamwe chete ndechekuti ivo vanovhara kusasimba kweumwe neumwe. Iwo ari classic fusion pair.

Nekudaro, mumwe nemumwe, iyo gyroscope yakanaka uye yakachena sosi ye data sensor, uye iwe unozowana inoenderera yekuyera chinzvimbo.

Pasina ruzivo rwakawanda, gyroscope inogadzirwa ne micromechanical tuning forogo yakamisikidzwa pamusoro pe chip. Kana chip ichitenderera, mamwe maforogo ekugadzirisa anove ane simba, uye anoshandura toni yeumwe neumwe.

MEMS gyroscopes haatombokanganiswi nechero kufamba kunze kwekutenderera. Kunyangwe kudengenyeka kwechisimba hakuzovakanganisa (mukati meiyo yakatarwa renji), nekuti uku ndiko kukurumidza kukwirisa.

Kana iwe ukatarisa mukati mekutonga loop ye-multi-rotor, ndiyo gyroscope inoshandiswa nemutungamiriri wendege kuchengetedza chiyero mumhepo. Vamwe vatyairi vemodhi yezviyero vanodzima accelerometer zvachose, vachipa gyro yakawanda bandwidth nekuti gyro ine zvakawanda zvakakosha zvinongedzo.

Kana iwe uchiziva kwawakanga uri hafu yemillisecond yapfuura uye iwe unoda kuziva kuti chii chachinja kubva ipapo, ipapo gyroscope inokurumidza, yakarurama uye yakavimbika. Uye havadi nzvimbo dzinochinjika kana setiraiti.

Utera hwe gyro hunodonha. Hazvina mhosva kuti unoedza zvakadii, anoita seanotenderera zvishoma nezvishoma achitenderedza akisi isina kujairika. Kutenderera kwega kwega kunotora maminetsi akati wandei, asi kunyangwe chidhinha chisina kufamba chinotenderera zvinyoro. Kuunganidza masamples ehama kuti uwane "yakanakisa" fungidziro kuchawedzerawo mabhara ekukanganisa. Iko kukanganisa kweiyo gyroscope inokwira inoda "zeroed" nguva nenguva neyekunze yakanakisa referensi chiratidzo.