Essence of Sensor Fusion -- Kuyeza sensa iliyonse

M'nkhani yonseyi, tidzayang'ana malo enieni, koma lingaliro lomwelo likugwira ntchito pa kuchuluka kulikonse komwe mukufuna kuyeza. Mutha kuganiza kuti masensa angapo osunga zobwezeretsera amtundu womwewo ndi otheka, koma izi nthawi zambiri zimaphatikiza zofooka zawo zomwezo mwatsoka.

Mosiyana ndi zimenezi, dongosolo la haibridi ndi lamphamvu kwambiri. Palibe sensor yomwe ingatipangitse kudalira * * *, chifukwa sensor iliyonse imathetsa vuto ndikupereka tizidutswa tosiyanasiyana, ndipo pokhapokha titaphatikizana titha kuwona chowonadi.

Tiyeni tiwone masensa ena omwe amagwiritsidwa ntchito mu quadrotor, ndikukambirana zabwino ndi zovuta zawo, komanso gawo lawo pakuphatikiza ma sensor.

Global Positioning System (GPS)

GPS ili ndi malire odziwikiratu. Cholakwika cha sampuli chikhoza kukhala mamita awiri, ndipo kupatuka kumasunthika ndi satellite.

Ngati mukufuna kugwiritsa ntchito mawonekedwe apadziko lonse lapansi kuti mupeze malo olondola mpaka ma centimita, muyenera kukhomerera pamalo oyenera ndikuyesa m'masiku ochepa. Izi mwachiwonekere sizomwe tikufuna. Koma m'malo mwake, kuyenda mothamanga kwambiri mumlengalenga, ngakhale zida za GPS za 100Hz sizingathe kusalaza nthawi.

GPS siyingakuuzeni komwe mukuyang'ana, koma komwe mukupita.

Kuphatikiza apo, kusamvana kwa z (kutalika) kumatha kukhala gawo limodzi mwa magawo khumi a latitude ndi longitude. Choncho, tiyenera kusiya mamita 20 kuchokera pansi. Izi zikutanthauza kuti GPS yokha siingathe kukuuzani kuti muli kutali bwanji ndi pansi, koma kutali ndi nyanja. Yankho lomveka ndikuwerenga musananyamuke, koma ndiye tili ndi cholakwika cha mita 20. Komanso, pothawa, mphamvu ya pansi pa zizindikiro za GPS ndi yosiyana, kotero sitingaganize kuti zolakwika izi zidzathetsedwa pakapita nthawi-ngakhale zidzachotsedwa poyamba!

Mwachiwonekere, GPS sikokwanira.

Sitingathe kuwuluka modalirika mkati mwa 20-40 mamita pamwamba pa nthaka, yomwe ili ndi zipinda zosachepera zisanu, zomwe ndi mtunda wautali kwa malire. M'moyo weniweni, ndizodabwitsa kuti mutha kukhala paliponse padziko lapansi ndi cholakwika choyima cha 20 metres ... .