Ake sithi inzwa ebonakalayo indizela i-quadrilateral.Uma umile, uPythagoras wathi inhlabathi ibukeka ikude kunalokho oyikho ngempela.Yayitshekile kangangokuthi sasingayiboni nhlobo, nakuba sasiqhele ngamasentimitha ambalwa ukusuka kuphahlazeka.

Ukuze silungise lokhu, kudingeka sazi ukuthambekela kwethu.Kusho ukuthi ...

I-Gyroscope ne-accelerometer zibizwa ngokuthi "IMU" ndawonye, ​​kodwa isizathu sokuthi kungani zivame ukubonakala ndawonye ukuthi ngokwemvelo zifihla ubuthakathaka obuyinhloko bomunye nomunye.Ziyipheya ye-fusion yakudala.

Kodwa-ke, ngabanye, i-gyroscope iwumthombo omuhle futhi ohlanzekile wedatha yezinzwa, futhi uzothola ukukalwa kokuma okuqhubekayo.

Ngaphandle kwemininingwane eminingi, i-gyroscope yenziwe ngemfoloko yokulungisa emincane eqoshwe ebusweni be-chip.Lapho i-chip iphenduka, ezinye izimfoloko zokulungisa zizoba namandla, futhi zizoshintsha ithoni yomunye nomunye.

Ama-gyroscope we-MEMS awathinteki kunoma yikuphi ukunyakaza ngaphandle kokuzungeza.Ngisho nokudlidliza okunodlame ngeke kubathinte (ngaphakathi kwebanga lokucaciswa), ngoba lokhu ukusheshisa okuhlangene.

Uma ubheka iluphu yokulawula yangaphakathi ye-multi-rotor, i-gyroscope esetshenziswa isilawuli sendiza ukugcina izinga emoyeni.Abanye abashayeli bezindiza bemodi yokulinganisa bayivala ngokuphelele i-accelerometer, banikeze i-gyro umkhawulokudonsa owengeziwe ngoba i-gyro inezinkomba eziningi ezibalulekile.

Uma wazi ukuthi ubukuphi isigamu se-millisecond edlule futhi ufuna ukwazi ukuthi yini eshintshile kusukela ngaleso sikhathi, khona-ke i-gyroscope iyashesha, inembile futhi inokwethenjelwa.Futhi abadingi indawo evumelana nezimo noma amasathelayithi.

Ubuthakathaka be-gyro buyakhukhuleka.Kungakhathaliseki ukuthi uzama kangakanani, zibonakala zizungeza kancane eksisini engahleliwe.Ukuzungezisa ngakunye kuthatha imizuzu embalwa, kodwa ngisho nesitini esinganyakazi sizozungeza kancane.Ukuqongelela amasampula ahlobene ukuze uthole izilinganiso "ezinhle kakhulu" kuzophinde kwengeze imigoqo yamaphutha.Iphutha le-gyroscope ekhuphukayo idinga "ukumiswa" ngezikhathi ezithile ngophawu oluhle lwangaphandle lwereferensi.