Sensor fusion algorithm

Akayunguruzo

Akayunguruzo ka Kalman karasanzwe.

Intego ya algorithm nugushiraho ibintu "kwizera" kuri buri sensor. Kuri buri mwanya, amakuru ya sensor kuva mumwanya wanyuma azakoreshwa mubarurishamibare kugirango atezimbere igitekerezo (kwiyongeraho), kandi ubwiza bwa sensor nabwo buzasuzumwa. Mugereranije hagati yagaciro kavuzwe nigiciro cyapimwe cya sensor, agaciro keza kazagereranywa nibisohoka.

Ibi bivuze ko niba sensor ihora itanga agaciro keza kandi gahoraho hanyuma igatangira kukubwira ikintu kidashoboka, urwego rwicyizere rwa sensor ruzagabanuka muri milisegonda nkeya kugeza igihe ruzatangira kumvikana.

Ibi nibyiza kuruta kugereranya cyangwa gutora byoroshye, kuberako Kalman muyunguruzi irashobora guhangana nikibazo sensor nyinshi zidateganijwe mugihe gito. Igihe cyose umuntu ashobora kugumana impamvu zifatika, irashobora gukora robot mugihe cyumwijima.

Akayunguruzo ka Kalman ni ugukoresha ibitekerezo rusange byurunigi rwa Markov hamwe nibitekerezo bya Bayesian, ni sisitemu y'imibare iteza imbere ibitekerezo byabo ikoresheje ibimenyetso. Ibi bikoresho nibikoresho byifashishwa mu gufasha siyanse ubwayo kugerageza ibitekerezo (nabyo bikaba ishingiro ryibyo twita "ubusobanuro bwibarurishamibare").

Kubwibyo, birashobora kuvugwa mubisigo ko sisitemu zimwe na zimwe za sensor fusion zerekana ishingiro rya siyanse ku muvuduko wikubye inshuro 1000 kumasegonda.

Akayunguruzo ka Kalman gakoreshwa muri sitasiyo ya satelite yo mu kirere mu myaka mirongo. Kuberako microcontrollers igezweho irashobora gukoresha algorithm mugihe nyacyo, iragenda irushaho gukundwa na robo.