accelerometer

Ichi ndicho chikonzero accelerometers ishamwari dzakanaka dzegyroscopes: nokuti vanogona kuona zvakanakisisa "pasi" zvinyorwa (zvishoma, kana vari mumamiriro ekusimba kwepasi).

Zvakanaka, kazhinji kutaura. Kubva pane imwe nguva kuenda kune imwe, inogamuchira giravhiti, mutsara kukurumidza, centrifugal simba rinogadzirwa nekutenderera, vibration, ruzha uye, hongu, kukanganisa kwe sensor.

Nokudaro, pasinei nehuwandu hwekuenzanisa uye kunyatsojeka kweMEMS sensors (kazhinji yakanaka segyroscopes), data ye accelerometer ichiri imwe ye data ine ruzha uye isina kuvimbika. Yakagamuchira "zviratidzo" zvakati wandei izvo zvinofanirwa kuve zvisina kurongeka. Asi iko kunzwisiswa kune ese akasiyana masaini anoita kuti ive yepasirese-inogona kunzwa zvese.

Pane nhanho mbiri dzekubatanidza dzekumhanyisa kubva pachinzvimbo chatinoda chaizvo kuziva, saka isu tinofanirwa kupfupisa yakawanda deltas uye mitsara yekukanganisa, kubva pakuyerwa kukwidziridzwa kusvika kune inofungidzirwa kumhanya, uyezve isu tinofanirwa kuzviita zvakare kuti titore iyo inofungidzirwa. chinzvimbo. Zvikanganiso zvinoramba zvichiwanda.

Ichi ndicho chikonzero GPS ishamwari yeaccelerometer: nekuti icha "zero" iyo inowedzera chinzvimbo chikanganiso nguva nenguva, sezvinoita accelerometer zvinyoro nyoro zero azimuth kukanganisa kwegyroscope.

magnetometer

Kambasi yakanaka haifaniri kufuratirwa. Nekudaro, senge accelerometer, inowanzoshandiswa senzira yekudzora yenguva refu gyro Drift. Kuziva kuti ndekupi kwakananga kumusoro kunobatsira kupfuura kuziva kuti ndekupi kwakananga kuchamhembe-asi neaya maviri, tinogona kuziva nzvimbo yedu yakanaka chaizvo panyika.

Ivo vanowanzo batanidzwa neGPS vanogamuchira, nekuti ivo zvakare kurwisa kushaya simba kweumwe neumwe, asi ivo vakanyatsoenderana mune zvimwe zvinhu. Imwe inopa hutsinye hwakanakisa chinzvimbo, uye imwe inopa yakakasharara yakanakisa gwara.