Ishingiro rya sensor fusion - gupima buri sensor

Mu kindi kiganiro, tuzibanda kumwanya wumubiri, ariko igitekerezo kimwe kireba ingano iyo ari yo yose ushaka gupima. Urashobora gutekereza ko gusubiramo byinshi backsors byubwoko bumwe birashoboka, ariko ibi akenshi bihuza intege nke zabo muburyo bubabaje.

Ibinyuranye, sisitemu ya Hybrid irakomeye. Nta sensor irashobora gutuma twizera * * *, kuko buri sensor akemura ikibazo kandi agaragaza ibice bitandukanye, kandi nukwubatse gusa dushobora kubona ukuri.

Reka turebe sensor isanzwe ikoreshwa muri quadrotor, hanyuma tuganire ku nyungu zabo n'ibibi, ndetse n'uruhare rwabo muri sensor Fusion.

Sisitemu yo ku mwanya wisi yose (GPS)

GPS ifite imbogamizi. Ikosa ryo gutoranya rishobora kuba metero ebyiri, kandi gutandukana bizagenda hamwe na satelite.

Niba ushaka gukoresha sisitemu yisi yose kugirango ubone umwanya wukuri kuri santimetero, ugomba kwiyuhagira mumwanya ukwiye hanyuma upipishe muminsi mike. Ibi biragaragara ko atari byo dushaka. Ariko mubyukuri, kwimuka kumuvuduko mwinshi mukirere, ndetse ibikoresho 100hz GPS ntibishobora koroshya igihe.

GPS ntishobora kukubwira icyerekezo uhura nacyo, gusa icyerekezo urimo.

Byongeye kandi, imyanzuro ya Z (uburebure) irashobora kuba imwe ya cumi yuburizwa nuburebure. Tugomba rero gusiga metero 20 kubutaka. Ibi bivuze ko GPS yonyine idashobora kukubwira aho uva mubutaka, gusa ugenda kure yinyanja. Igisubizo cyumvikana nugufata gusoma mbere yo guhaguruka, ariko rero dufite akabari ka metero 20. Byongeye kandi, muguruka, ingaruka zubutaka kuri GPS ziratandukanye, ntidushobora gutekereza ko aya makosa azavanwa mugihe kirekire - nubwo azavanwa mbere!

Biragaragara, GPS idahagije.

Ntidushobora kuguruka byizewe muri metero 20-40 hejuru yubutaka, byibuze byibuze inkuru eshanu hejuru, ni intera ndende kuri margin. In real life, it's amazing to be able to locate yourself anywhere in the world with a vertical error of 20 meters … but this can't stop us from crashing, without differential GPS ground stations, expensive high-speed receivers and some good topology maps.