Emkhakheni othuthukayo ngokushesha wokushayela ngokuzenzakalelayo, isidingo sezinhlelo zokumisa ezinembile nezithembekile asikaze sibe esiphuthuma kakhulu. Phakathi kobuchwepheshe obuhlukahlukene obukhona,Amayunithi Okulinganisa Angaphelele (IMUs)ukugqama njengomugqa wokugcina wokuzivikela, uhlinzeka ngokunemba kokuma okungenakuqhathaniswa nokuqina. Lapho izimoto ezizimele zizulazula ezindaweni eziyinkimbinkimbi, ama-IMU angasebenza njengesixazululo esinamandla emikhawulweni yezindlela zokuma ezivamile.
Enye yezinzuzo ezibaluleke kakhulu zama-IMU ukuthi azimele kumasiginali angaphandle. Ngokungafani ne-GPS, encike ekumbozweni kwesathelayithi, noma amamephu anembe kakhulu, ancike kwikhwalithi yombono nokusebenza kwe-algorithm, i-IMU isebenza njengesistimu ezimele. Le ndlela yebhokisi elimnyama isho ukuthi ama-IMU awahlushwa ubungozi obufanayo nobunye ubuchwepheshe bokumisa. Isibonelo, amasiginali we-GPS angase avinjwe imihosha yasemadolobheni noma izimo zezulu ezinzima, futhi amamephu anembe kakhulu angase angahlali ebonisa izinguquko zesikhathi sangempela endaweni. Ngokuphambene, ama-IMU ahlinzeka ngedatha eqhubekayo ngesivinini se-angular nokusheshisa, eqinisekisa ukuthi izimoto ezizimele zigcina ukuma okunembile ngisho nasezimeni eziyinselele.
Ukwengeza, ukuguquguquka kokufakwa kwama-IMU kuthuthukisa ukukhanga kwawo ezinhlelweni zokushayela ezizimele. Njengoba i-IMU ingadingi isignali yangaphandle, ingafakwa ngobuhlakani endaweni evikelekile yemoto, njenge-chassis. Lokhu kumiswa akubavikeli nje kuphela ekuhlaselweni okungaba ngugesi noma komshini, futhi kunciphisa ubungozi bokulimala okuvela ezicini zangaphandle ezifana nemfucumfucu noma isimo sezulu esibi. Ngokuphambene, ezinye izinzwa ezinjengamakhamera, i-lidar ne-radar zisengozini yokuphazanyiswa amaza kagesi noma amasignali okukhanya anamandla, athinta ukusebenza kwawo kahle. Idizayini eqinile ye-IMU nokungathinteki ekuphazamiseni kuyenza ifaneleke ukuqinisekisa ukuma okuthembekile lapho ibhekene nezinsongo ezingaba khona.
Ukungafuneki okungokwemvelo kwezilinganiso ze-IMU kuthuthukisa nakakhulu ukwethembeka kwazo. Ngokuhlanganisa idatha ye-angular velocity kanye nokusheshisa nokokufaka okwengeziwe okufana nesivinini sesondo ne-engeli yokuqondisa, ama-IMU angakhiqiza okuphumayo ngezinga eliphezulu lokuzethemba. Lokhu kuphelelwa umsebenzi kubalulekile kumongo wokushayela uzimele, lapho izikhonkwane ziphezulu futhi umkhawulo wamaphutha uncane. Nakuba ezinye izinzwa zingase zinikeze imiphumela ephelele noma ehlobene yokuma, ukuhlanganiswa kwedatha okuphelele kwe-IMU kuphumela kusixazululo sokuzulazula esinembe kakhudlwana nesithembeke kakhudlwana.
Emkhakheni wokushayela ngokuzenzakalelayo, indima ye-IMU ayikona ukubeka endaweni kuphela. Ingasebenza njengesithasiselo esibalulekile uma enye idatha yenzwa ingatholakali noma ifakwa engcupheni. Ngokubala izinguquko esimweni sengqondo semoto, isihloko, isivinini nendawo, ama-IMU angavala ngempumelelo igebe phakathi kwezibuyekezo zesignali ye-GNSS. Uma kwenzeka i-GNSS nokunye ukwehluleka kwezinzwa, i-IMU ingakwazi ukwenza izibalo ezifile ukuze iqinisekise ukuthi imoto ihlala endleleni. Lesi sici sibeka i-IMU njengomthombo wedatha ozimele, okwazi ukuzulazula kwesikhashana kanye nokuqinisekisa ulwazi oluvela kwezinye izinzwa.
Njengamanje, uhla lwama-IMU ayatholakala emakethe, okuhlanganisa amamodeli we-6-eksisi kanye ne-9-eksisi. I-6-axis IMU ihlanganisa i-accelerometer ye-axis emithathu kanye ne-gyroscope ye-axis emithathu, kuyilapho i-9-axis IMU ingeza i-magnetometer ye-axis emithathu yokusebenza okuthuthukisiwe. Ama-IMU amaningi asebenzisa ubuchwepheshe be-MEMS futhi ahlanganisa amathemometha akhelwe ngaphakathi ukuze alinganise izinga lokushisa ngesikhathi sangempela, athuthukise nokunemba kwawo.
Sekukonke, ngokuthuthuka okuqhubekayo kobuchwepheshe bokushayela okuzihambelayo, i-IMU isiyingxenye ebalulekile ohlelweni lokuma. I-IMU isibe umugqa wokugcina wokuzivikela ezimotweni ezizimele ngenxa yokuzethemba kwayo okuphezulu, ukungavikeleki kumasignali angaphandle kanye nekhono eliqinile lokulwa nokuphazamiseka. Ngokuqinisekisa ukuma okuthembekile nokunembile,Ama-IMUzidlala indima ebalulekile ekusebenzeni okuphephile nangempumelelo kwezinhlelo zokushayela ezizimele, okuzenza zibe yimpahla ebalulekile esikhathini esizayo sezokuthutha.
Isikhathi sokuthumela: Nov-11-2024