Tanthauzo la sensor fusion - kulemera sensor iliyonse

M'nkhani yonseyi, tikambirana za malo akuthupi, koma lingaliro lomwelo limagwiranso ntchito kuchuluka kulikonse komwe mukufuna. Mutha kuganiza kuti masensa angapo obwezeretsera mtundu womwewo ndi wokhoza, koma izi nthawi zambiri zimaphatikizanso zofooka zawo mwanjira yoyipa.

Mosiyana ndi izi, dongosolo la hybrid ndi lamphamvu kwambiri. Palibe amene angatidalire sewero, chifukwa sensor iliyonse imangothetsa vuto, ndikungowonjezera zidutswa zosiyanasiyana, ndipo pokhapokha pophatikizana titha kuwona chowonadi.

Tiyeni tiwone masensa wamba omwe amagwiritsidwa ntchito ku Quadrotor, ndikukambirana zabwino ndi zovuta zawo, komanso udindo wawo kununkhira.

Dongosolo Lapadziko Lonse (GPS)

GPS ili ndi malire omveka bwino. Vuto lolakwika limatha kukhala mita iwiri, ndipo kupatuka kumayenda ndi satellite.

Ngati mukufuna kugwiritsa ntchito dongosolo lapadziko lonse lapansi kuti mudziwe zolondola kwa masentimita, muyenera kuzimvera pamalo oyenera ndikuziyesa m'masiku ochepa. Izi sizomwe sitikufuna. Koma kwenikweni, kusunthira kuthamanga kwambiri mlengalenga, ngakhale zida za 100hz GPS sizingasunthe nthawi.

GPS siyingakuuzeni kuti mukuyang'ana, kokha komwe mukuyenda.

Kuphatikiza apo, kusinthanitsa (kutalika) kumatha kukhala gawo limodzi mwa magawo khumi a mtunda ndi kutalika. Chifukwa chake, tiyenera kusiya mamita 20 pansi. Izi zikutanthauza kuti GPS yokha siyingakuuzeni kuti muli kutali bwanji kuchokera pansi, ndiye kuti muli kutali ndi nyanja. Njira yosinthira ndikuwerenga musanatenge, koma kenako tili ndi vuto la mita 20. Kuphatikiza apo, kuthawa, mphamvu ya nthaka pazizindikiro za GPS ndi yosiyana, chifukwa chake sitingaganize kuti zolakwa izi zidzathetsedwa mtunda wautali - ngakhale zithetsedwe poyamba!

Mwachidziwikire, GPS sikokwanira.

Sitingathe kuwuluka modalirika mkati mwa 20 mpaka 40 metres pamwamba pa nthaka, yomwe ili ndi nkhani zosachepera zisanu, zomwe zimakhala mtunda wautali kuti malire. M'moyo weniweni, ndizosadabwitsa kudzipeza kulikonse padziko lapansi ndi zolakwika zowongoka za mita 20 ... Koma izi sizingatilepheretse kuwonongeka, popanda mamawo okwera kwambiri ndi mamapu okwera pathupi.