Ibyingenzi bya Sensor Fusion - - Gupima buri sensor

Mugice gisigaye cyiyi ngingo, tuzibanda kumiterere yumubiri, ariko igitekerezo kimwe kirakoreshwa mubwinshi ushaka gupima.Urashobora gutekereza ko ibyuma byinshi byo gusubira inyuma byubwoko bumwe birashoboka, ariko ibi bikunze guhuza intege nke zabo muburyo bubabaje.

Ibinyuranye, sisitemu ya Hybrid irakomeye.Nta sensor irashobora gutuma twizera * * *, kuko buri sensor ikemura ikibazo gusa ikanerekana ibice bitandukanye, kandi nukuyihuza gusa dushobora kubona ukuri.

Reka turebe bimwe mubisanzwe byifashishwa bikoreshwa muri quadrotor, hanyuma tuganire kubyiza nibibi byabo, ndetse n'uruhare rwabo muguhuza sensor.

sisitemu yo kwisi yose (GPS)

GPS ifite aho igarukira.Ikosa ry'icyitegererezo rishobora kuba metero ebyiri, kandi gutandukana bizagenda hamwe na satelite.

Niba ushaka gukoresha sisitemu yisi yose kugirango ubone umwanya wukuri kuri santimetero, ugomba kuyitera imisumari mumwanya ukwiye no kuyipima muminsi mike.Ibi biragaragara ko atari byo dushaka.Ariko mubyukuri, kugenda kumuvuduko mwinshi mwikirere, ndetse nibikoresho bya 100Hz GPS ntibishobora koroshya igihe.

GPS ntishobora kukubwira icyerekezo uhura nacyo, gusa icyerekezo ugenda.

Mubyongeyeho, imiterere ya z (uburebure) irashobora kuba kimwe cya cumi cyuburinganire nuburebure.Tugomba rero kuva muri metero 20 kubutaka.Ibi bivuze ko GPS yonyine idashobora kukubwira intera iri kure yubutaka, gusa uko uri kure yinyanja.Igisubizo cyumvikana nugufata gusoma mbere yo guhaguruka, ariko rero dufite akabari ka metero 20.Byongeye kandi, muguhaguruka, ingaruka zubutaka ku bimenyetso bya GPS ziratandukanye, ntidushobora rero gutekereza ko aya makosa azavaho mugihe kirekire-nubwo azakurwaho mbere!

Biragaragara, GPS ntabwo ihagije.

Ntidushobora kuguruka byizewe muri metero 20-40 hejuru yubutaka, byibuze byibuze amagorofa atanu, ni intera ndende ya margin.Mubuzima busanzwe, biratangaje kuba ushobora kwimenyekanisha ahantu hose kwisi ufite ikosa rihagaritse rya metero 20… ariko ibi ntibishobora kutubuza guhanuka, hatabayeho sitasiyo ya GPS itandukanye, imashini zihenze cyane hamwe namakarita meza ya topologiya .