Ezweni lobuchwepheshe elithuthukayo, amayunithi okulinganisa angasebenzi (IMUs) agqama njengezingxenye ezibalulekile zezinhlelo zokusebenza kusukela kumasistimu wokuzulazula kuya ezimotweni ezizimele. Lesi sihloko sihlola ngokujulile izimiso eziyisisekelo, izingxenye zesakhiwo, izindlela zokusebenza nobuchwepheshe bokulinganisa be-IMU ukuze kuqondwe ngokugcwele ukubaluleka kwayo kubuchwepheshe besimanje.
Izimiso ze-IMU zisekelwe emthethweni wokuqala ka-Newton wokunyakaza kanye nomthetho wokongiwa komfutho we-angular. Ngokwale mithetho, into enyakazayo izohlala isebenza ngaphandle uma kwenziwa amandla angaphandle. Ama-IMU asizakala ngalesi simiso ngokulinganisa amandla angenayo kanye nama-angular momentum vectors atholwa into. Ngokuthwebula ukusheshisa kanye nesivinini se-angular, i-IMU ingakwazi ukweqa ngokungaqondile indawo nokuma kwento emkhathini. Lesi sici sibalulekile ezinhlelweni zokusebenza ezidinga ukuzulazula okunembile nokulandelela ukunyakaza.
Isakhiwo se-IMU
Isakhiwo se-IMU ikakhulukazi sakhiwe izingxenye ezimbili eziyisisekelo: i-accelerometer ne-gyroscope. Ama-Accelerometer akala ukusheshisa komugqa ngembazo eyodwa noma ngaphezulu, kuyilapho ama-gyroscope akala izinga lokuzungezisa mayelana nalezi zimbazo. Ndawonye, lezi zinzwa zinikeza umbono obanzi wokunyakaza nokuma kwento. Ukuhlanganiswa kwalobu buchwepheshe obubili kwenza ama-IMU anikeze idatha enembile, yesikhathi sangempela, okuwenza abe ithuluzi elibalulekile emikhakheni ehlukahlukene ehlanganisa i-aerospace, irobhothi kanye ne-electronics yabathengi.
Isebenza kanjani i-IMU
Imodi yokusebenza ye-IMU ibandakanya ukuhlanganiswa nokubala idatha kusuka ku-accelerometer ne-gyroscope. Le nqubo yenza i-IMU ikwazi ukunquma isimo sengqondo nokunyakaza kwento ngokunemba okukhulu. Idatha eqoqiwe icutshungulwa ngama-algorithms ayinkimbinkimbi ukuze kuhlungwe umsindo futhi kuthuthukiswe ukunemba. Ukusebenzisa izinto ezihlukahlukene kwama-IMU kuvumela ukusetshenziswa kwawo ezinhlelweni eziningi ezihlukahlukene, njengamasistimu okuzulazula endizeni, ukulandelela ukunyakaza kuma-smartphone, nokulawula ukuzinza kuma-drones. Njengoba ubuchwepheshe buthuthuka, ukusetshenziswa okungaba khona kwama-IMUs kuyaqhubeka nokukhula, kuvula indlela yokuqanjwa kabusha ekushayeleni okuzimele kanye namarobhothi.
Nakuba amakhono ama-IMU esethuthukile, anezinselele. Amaphutha ahlukahlukene, okuhlanganisa amaphutha e-offset, ukukala, nama-drift, angathinta kakhulu ukunemba kokulinganisa. Lawa maphutha abangelwa izici ezifana nokungapheleli kwezinzwa, izimo zemvelo, nemikhawulo yokusebenza. Ukunciphisa lokhu kungalungile, ukulinganisa kubalulekile. Amasu okulinganisa angase ahlanganise ukulinganisa okuchema, ukulinganisa kwesici sesikali, nokulinganisa izinga lokushisa, ngayinye yakhelwe ukuthuthukisa ukwethembeka kokukhiphayo kwe-IMU. Ukulinganisa okuvamile kuqinisekisa ukuthi i-IMU igcina ukusebenza kwayo ngokuhamba kwesikhathi, okuyenza ibe ukukhetha okuthembekile kwezinhlelo zokusebenza ezibucayi.
Ngokufigqiwe
Imishini yokulinganisa engenzi lutho isiphenduke ubuchwepheshe obuyisisekelo ekuzulazuleni kwesimanje, ukuhamba ngezindiza, ama-drones namarobhothi ahlakaniphile. Ikhono layo lokulinganisa ngokunembile ukunyakaza kanye nesiqondiso liyenza ibe yigugu kuzo zonke izimboni ezihlukahlukene. Ngokuqonda izimiso, ukwakheka, izindlela zokusebenza kanye nobuchwepheshe bokulinganisa bama-IMU, ababambiqhaza bangabona ngokugcwele amandla abo futhi bakhuthaze ukuqamba okusha emikhakheni yabo. Njengoba siqhubeka nokuhlola amakhono ama-IMU, kunesithembiso esihle sentuthuko yesikhathi esizayo kubuchwepheshe nezinhlelo zokusebenza ezizoshintsha indlela esizulazula ngayo futhi sihlanganyele nomhlaba osizungezile.
Isikhathi sokuthumela: Oct-15-2024