Sensor Fusion Algorithm

Kalman Akayunguruzo

Kalman Akayunguruzo gasanzwe.

Intangiriro ya algorithm ni ugushiraho ibintu "kwizera" kuri buri sensor. Kuri buri mwanya, sensor data kuva kumwanya wanyuma izakoreshwa mumibare kugirango iteze imbere gukeka (kwiyongera), kandi ubwiza bwa sensor nabyo bizacirwa urubanza. Mugereranije hagati yagaciro byahanuwe hamwe nigiciro cyapimwe cya sensor, agaciro keza kazagereranywa no gusohoka.

Ibi bivuze ko niba sensor burigihe itanga agaciro keza kandi gahoraho kandi inganda urwego ntizishobora kugutera muri minisiteri nkeya kugeza itangiye kumvikana.

Ibi nibyiza kuruta uko byoroshye cyangwa gutora, kuko kalman filteri irashobora guhangana nikibazo sensor nyinshi zitangwa mugihe gito. Igihe cyose umuntu ashobora gukomeza gutekereza neza, irashobora gukora robot unyuze mumwanya wijimye.

Kalman filteri ni ugushyira mubikorwa ibitekerezo rusange bya Markov Urunigi rwa Markov na Bayiseyini, niyihe gahunda yimibare itezimbere itezimbere kubitekerezo byabo ukoresheje ibimenyetso. Ibi bikoresho nibikoresho bikoreshwa mugufasha siyanse ibitekerezo byikizamini (nibishingiro nibyo twita "ubusobanuro bwibarurishamibare").

Kubwibyo, birashobora kuvugwa muburyo bumwe bwa sensor clusion byerekana ishingiro rya siyanse kumuvuduko wa 1000 kumasegonda.

Kuyungurura Kalman byakoreshejwe muri sitasiyo ya Orbital bya Satelite Umwanya mumyaka mirongo. Kuberako microcontrollers ishobora gukoresha algorithm mugihe nyacyo, baragenda barushaho gukundwa cyane muri robo.