I-Inertial Navigation Technology: Okwedlule, Okwamanje Nekusasa

I-inertial navigation technologyibe nokuthuthuka okubalulekile, isuka kuzinhlelo eziyisisekelo iye kuzisombululo zokuzulazula ezinembayo eziphezulu futhi ibe ingxenye ebalulekile yezinhlelo zokusebenza ezihlukahlukene zesimanje. Lesi sihloko sihlola ukuvela kobuchwepheshe bokuzulazula obungenasici, obugxile ezingxenyeni zakhona eziyisisekelo (okungukuthi, izinzwa zangaphakathi, ama-gyroscopes, nama-accelerometers) kanye neqhaza lazo ekulolongeni ikusasa lokuzulazula.

#### Okwedlule: Okuyisisekelo Kokuzulazula Kwe-Inertial

Ukuzalwa kwamasistimu okuzulazula angasebenzi angalandelelwa emuva ezinsukwini zakuqala zokundiza nokuzulazula. Ekuqaleni, lezi zinhlelo bezithembele kuzinzwa eziyisisekelo ze-inertial ukukala ukusheshisa kanye nesivinini esingama-angular sezindiza nemikhumbi. Ama-Gyroscopes kanye nama-accelerometer yizingxenye eziyinhloko, ezihlinzeka ngedatha eyisisekelo yokuthola ulwazi lwendawo nolwazi lokuma. Kodwa-ke, amasistimu wokuzulazula angaphambi kwesikhathi abhekane nezinselele ezinkulu, ikakhulukazi mayelana nokuqoqwa kwamaphutha. Ngokuhamba kwesikhathi, lokhu kungalungile kunomthelela ekuthembekeni kokuzulazula, okudala isidingo sezixazululo ezithuthuke kakhulu.

#### Manje: Intuthuko Yezobuchwepheshe

Namuhla, ubuchwepheshe bokuzulazula kwe-inertial bufinyelele izinga elingakaze libonwe lobunkimbinkimbi. Ukuhlanganiswa kwezinzwa ezithuthukisiwe njenge-fiber optic gyroscopes nama-microelectromechanical systems (MEMS) accelerometers kuthuthukisa kakhulu ukunemba kokuzulazula. Lezi zinzwa zesimanje ziyakwazi ukunikeza izilinganiso ezinembile, ezihlanganiswa ne-algorithms ethuthukisiwe, ziphumele ezinhlelweni zokuzulazula ezinokwethenjelwa kakhulu.

Amasistimu wamanje wokuzulazula asebenzisa izindlela zobuchwepheshe ezihlukahlukene, okuhlanganisa ukuhlunga, ukuhlanganiswa kwedatha, ukulungisa okuguquguqukayo, njll. Lezi zindlela zisebenzisana ukuze kuncishiswe imiphumela yokunqwabelana kwamaphutha futhi kuqinisekiswe ukuthi idatha yokuzulazula ihlala inembile ngokuhamba kwesikhathi. Ngakho-ke, ubuchwepheshe bokuzulazula kwe-inertial buye basetshenziswa kabanzi emikhakheni eminingi efana ne-aerospace, ukushayela okungenamuntu, nokuzulazula okuhlakaniphile.

#### Ikusasa: amasistimu wokuzulazula ayingxube

Uma ubheka phambili, ikusasa lobuchwepheshe bokuzulazula obungashintshile libonakala lithembisa, ikakhulukazi ngokuvela kwezinhlelo zokuzulazula eziyingxube. Lezi zinhlelo eziyingxubevange zithuthukisa ukuthembeka nokuzinza kwezixazululo zokuzulazula ngokuhlanganisa ukuzulazula okungenzi lutho nobunye ubuchwepheshe bokuzulazula obufana ne-Global Positioning System (GPS) ne-visual odometry. Lokhu kuhlanganiswa kulindeleke ukuthi kudlale indima ebalulekile ezindaweni ezisafufusa njengokushayela ngokuzihambela, amarobhothi ahlakaniphile kanye nokuhlola umkhathi.

Emkhakheni wokushayela ngokuzenzakalelayo, ubuchwepheshe bokuzulazula obune-inertial bunikeza ulwazi olunembile lokuma nesimo sengqondo, okuvumela izimoto ukuthi zihambe ngendlela enembile futhi ngokuphepha. Amandla okugcina ukuzulazula okunembile ezindaweni lapho amasignali e-GPS engase abe buthaka noma angatholakali kuyinzuzo enkulu. Ngokufanayo, emkhakheni wamarobhothi ahlakaniphile, ubuchwepheshe bokuzulazula obune-inertial buvumela amarobhothi ukuthi enze indawo enembile kanye nokuhlela indlela ezindaweni eziyinkimbinkimbi, ngaleyo ndlela athuthukise amandla awo okuzulazula azimele.

Kumongo wokuhlola umkhathi, ubuchwepheshe bokuzulazula obune-inertial bubalulekile. Nikeza osomkhathi ngolwazi olunembile lokuma ukuze uqinisekise ukuphepha nokwenza kahle kwemishini yasemkhathini. Njengoba siqhubeka sihlola indawo yonke, ukwethembeka kwezinhlelo zokuzulazula ezingenakubalwa kuzoba okubalulekile empumelelweni yokuhlola okuzayo.

#### Ngokufigqiwe

Kafushane,ubuchwepheshe bokuzulazula obune-inertialithuthuke kusukela esigabeni sayo sokuqala se-embryonic ukuze ibe isisekelo sezinhlelo zesimanje zokuzulazula. Intuthuko eqhubekayo kuzinzwa ezinertial, ama-gyroscopes, nama-accelerometers ithuthukise kakhulu ukunemba nokuthembeka kwalezi zinhlelo. Uma sibheka esikhathini esizayo, ukuhlanganiswa kokuzulazula kwe-inertial nobunye ubuchwepheshe kulindeleke ukuthi kulethe amathuba amasha okushayela ngokuzenzakalelayo, amarobhothi ahlakaniphile nokuhlola indawo. Uhambo lobuchwepheshe bokuzulazula be-inertial lusekude ukuphela, futhi amandla akho ayaqhubeka nokukhula, kuvula indlela yezinhlelo zokusebenza ezisungulayo ezilolonga umhlaba wethu.