Sensor fusion algorithm

Kalman fyuluta

Zosefera za Kalman ndizofanana.

Pachimake cha algorithm ndikuyika zinthu za "chikhulupiriro" pa sensa iliyonse. Pamphindi iliyonse, deta ya sensa kuchokera ku mphindi yotsiriza idzagwiritsidwa ntchito pa ziwerengero kuti ziwongolere kulingalira (kudziwonjezera), ndipo khalidwe la sensa lidzaweruzidwanso. Poyerekeza pakati pa mtengo wonenedweratu ndi mtengo woyezedwa wa sensa, mtengo wabwino kwambiri udzayesedwa ndi kutulutsa.

Izi zikutanthauza kuti ngati sensa nthawi zonse imapereka mtengo wabwino komanso wokhazikika ndikuyamba kukuuzani chinthu chosayembekezereka, mulingo wodalirika wa sensayo udzachepa mu milliseconds pang'ono mpaka uyambe kumvekanso.

Izi ndizabwino kuposa kuwerengera kosavuta kapena kuvota, chifukwa fyuluta ya Kalman imatha kuthana ndi zomwe masensa ambiri sali bwino kwakanthawi. Malingana ngati munthu atha kusunga zifukwa zomveka, akhoza kupanga robot kupyolera mumdima wamdima.

Fyuluta ya Kalman ndikugwiritsa ntchito malingaliro ambiri a Markov chain ndi malingaliro a Bayesian, omwe ndi masamu omwe amawongolera mobwerezabwereza malingaliro awo pogwiritsa ntchito umboni. Zida izi ndi zida zomwe zimagwiritsidwa ntchito pothandizira sayansi yokha kuyesa malingaliro (omwe alinso maziko a zomwe timatcha "kuwerengera zofunikira").

Chifukwa chake, tinganene mwandakatulo kuti makina ena ophatikizira masensa akuwonetsa zenizeni za sayansi pa liwiro la 1000 pa sekondi iliyonse.

Zosefera za Kalman zakhala zikugwiritsidwa ntchito m'malo ozungulira ma satellite amlengalenga kwazaka zambiri. Chifukwa ma microcontroller amakono amatha kuyendetsa ma algorithm munthawi yeniyeni, akuchulukirachulukira mu ma robotics.