Iyo Essence yeSensor Fusion -- Kuyera sensor yega yega

Muchikamu chese cheichi chinyorwa, isu tichatarisa pane chaiyo nzvimbo, asi iyo pfungwa inoshanda kune chero huwandu hwaunoda kuyera. Iwe unogona kufunga kuti akawanda mabackup sensors emhando imwe chete anogoneka, asi izvi zvinowanzobatanidza kusasimba kwavo kwakafanana nenzira inosiririsa.

Kusiyana neizvi, iyo hybrid system ine simba zvakanyanya. Hapana sensor inogona kutiita kuti tivimbe * * *, nekuti sensor yega yega inogadzirisa dambudziko uye inopa zvidimbu zvakasiyana, uye chete nekuzvisanganisa tinogona kuona chokwadi.

Ngatitarisei mamwe ma sensors akajairika anoshandiswa mu quadrotor, uye tokurukura zvakanakira nekuipira kwavo, pamwe nebasa ravo musensor fusion.

global positioning system (GPS)

GPS ine miganhu iri pachena. Iko kukanganiswa kwesampling kunogona kunge kuri mamita maviri, uye kutsauka kunodonha nesatellite.

Kana iwe uchida kushandisa iyo yepasi rose yekumisikidza sisitimu kuti uwane iyo chaiyo nzvimbo kusvika masendimita, iwe unofanirwa kuroverera munzvimbo yakakodzera uye kuiyera mumazuva mashoma. Izvi zviri pachena kuti handizvo zvatinoda. Asi kutaura zvazviri, kufamba nekumhanya kwakanyanya mumhepo, kunyangwe 100Hz GPS michina haigone kutsetsenura nguva.

GPS haigone kukuudza gwara rawakatarisana naro, asi gwara rauri kufamba.

Pamusoro pezvo, iyo z resolution (kureba) inogona kuve chikamu chimwe mugumi chelatitude uye longitudo. Saka, isu tinofanirwa kusiya 20 metres kuenda pasi. Izvi zvinoreva kuti GPS yega haikwanise kukuudza kuti uri kure sei kubva pasi, chete kuti uri kure sei kubva padanho regungwa. Mhinduro ine musoro ndeyekutora kuverenga usati wasimuka, asi isu tine 20-mita yekukanganisa bar. Uyezve, mukubhururuka, kupesvedzera kwepasi pazviratidzo zveGPS kwakasiyana, saka hatigone kufunga kuti zvikanganiso izvi zvichabviswa mukufamba kwenguva-kunyangwe zvichizobviswa pakutanga!

Zviripachena, GPS haina kukwana.

Hatikwanise kubhururuka zvakavimbika mukati me 20-40 metres kubva pasi, iyo inosvika nhurikidzwa shanu dzakakwirira, chinova chinhambwe chakareba kumucheto. Muhupenyu chaihwo, zvinoshamisa kukwanisa kuzviwana chero kupi zvako munyika uine kukanganisa kwakatwasuka kwemamita makumi maviri… .