Tiyerekeze kuti sensa ya thupi imawulukira pa quadrilateral. Ngati muima pa ngodya, Pythagoras ananena kuti nthaka imaoneka patali kuposa mmene ilili. Zinali zopendekeka moti sitinathe kuziwona ngakhale pang’ono, ngakhale kuti tinali titangotsala pang’ono kufika pa ngoziyo.

Kuti tikonze izi, tiyenera kudziwa kachitidwe kathu. Izi zikutanthauza ...

Gyroscope ndi accelerometer amatchedwa "IMU" palimodzi, koma chifukwa chake nthawi zambiri amawonekera pamodzi ndi chakuti mwachibadwa amabisa zofooka zazikulu za wina ndi mzake. Iwo ndi classic fusion awiri.

Komabe, payekhapayekha, gyroscope ndi gwero labwino komanso loyera la data ya sensa, ndipo mupeza muyeso wopitilira.

Popanda tsatanetsatane wambiri, gyroscope imapangidwa ndi foloko ya micromechanical yokhazikika pamwamba pa chip. Chip chikazungulira, mafoloko ena osinthira amakhala amphamvu, ndipo amasintha kamvekedwe ka wina ndi mnzake.

Ma gyroscope a MEMS sakhudzidwa konse ndi kusuntha kulikonse kupatula kasinthasintha. Ngakhale kugwedezeka kwamphamvu sikungawakhudze (m'kati mwazofotokozera), chifukwa uku ndikuthamanga kwapambuyo.

Ngati muyang'ana kuzungulira kwa mkati kwa multi-rotor, ndi gyroscope yogwiritsidwa ntchito ndi woyendetsa ndege kuti asunge mulingo mumlengalenga. Oyendetsa ndege ena amazimitsa accelerometer kwathunthu, kupatsa gyro bandwidth yowonjezereka chifukwa gyro ili ndi zowunikira zambiri.

Ngati mukudziwa komwe mudali theka la millisecond zapitazo ndipo mukufuna kudziwa zomwe zasintha kuyambira pamenepo, ndiye kuti gyroscope ndi yofulumira, yolondola komanso yodalirika. Ndipo safuna malo osinthika kapena masetilaiti.

Kufooka kwa gyro ndikosokonekera. Ziribe kanthu momwe mungayesere zolimba, zikuwoneka kuti zikuzungulira pang'onopang'ono mozungulira mwachisawawa. Kuzungulira kulikonse kumatenga mphindi zingapo, koma ngakhale njerwa yosasunthika imazungulira pang'onopang'ono. Kupeza zitsanzo zachibale kuti mupeze kuyerekezera "zabwino" kudzawonjezeranso zolakwika. Cholakwika cha gyroscope chokwera chiyenera "kusinthidwa" nthawi ndi nthawi ndi chizindikiro chabwino kwambiri chakunja.