Umnyombo we-sensor fusion - enesisindo senzwa ngayinye

Kuyo yonke into yalesi sihloko, sizogxila endaweni ebonakalayo, kepha umbono ofanayo uyasebenza kunoma yiliphi inani ofuna ukulilinganisa. Ungacabanga ukuthi izinzwa eziningi zesipele zohlobo olufanayo ziyenzeka, kepha lokhu kuvame ukuhlanganisa ubuthakathaka babo obufanayo ngendlela engeyigciwane.

Ngokuphambene nalokho, uhlelo lwe-hybrid lunamandla amakhulu. Alikho inzwa engenza sithembele * * *, ngoba inzwa ngayinye ixazulula inkinga futhi iveze izingcezu ezihlukile, futhi kuphela ngokuzihlanganisa nazo singabona iqiniso.

Ake sibheke ezinye izinzwa ezisetshenziswayo ezisetshenziswa ku-quadrotor, futhi sixoxe ngezinzuzo zazo kanye nobubi, kanye nendima yabo ekufuneni kwenzwa.

Isistimu Yokukhulisa Global (GPS)

I-GPS inokulinganiselwa okusobala. Iphutha lesampula lingaba amamitha amabili, futhi ukuphambuka kuzodonsa nge-satellite.

Uma ufuna ukusebenzisa uhlelo lokuma komhlaba wonke ukuze uthole isikhundla esinembile kumasentimitha, udinga ukulifaka endaweni efanelekile bese ukukala ngezinsuku ezimbalwa. Lokhu ngokusobala akuyona into esiyifunayo. Kepha eqinisweni, ihamba ngesivinini esikhulu emoyeni, ngisho nemishini ye-100hz ye-GPS ayikwazi ukushelela isikhathi.

I-GPS ayikwazi ukukutshela indlela obhekene nayo, kuphela indlela ohamba ngayo.

Ngaphezu kwalokho, isisombululo se-z (ukuphakama) kungaba yingxenye yeshumi yobude nobude. Ngakho-ke, kufanele sishiya amamitha angama-20 emhlabathini. Lokhu kusho ukuthi i-GPS iyodwa ayikwazi ukukutshela ukuthi uvela kude kangakanani emhlabathini, kuphela lapho uvela khona olwandle. Isixazululo esinengqondo ukuthatha ukufundwa ngaphambi kokuhamba, kepha khona-ke sinebha yephutha lamamitha angama-20. Ngaphezu kwalokho, endizeni, ithonya lomhlaba ezimpawu ze-GPS lihlukile, ngakho-ke asikwazi ukucabanga ukuthi la maphutha azoqedwa ngokuhamba kwesikhathi - yize azoqedwa ekuqaleni!

Ngokusobala, i-GPS ayanele.

Ngeke sindize ngokuthembekile kungakapheli amamitha angama-20- 40 ngaphezulu komhlaba, okuthe okungenani izindaba ezinhlanu eziphezulu, okuyibanga elide lemibuso. Empilweni yangempela, Kuyamangaza ukukwazi ukuthi uzozithola noma kuphi emhlabeni ngephutha elithe mpo kwamamitha angama-20 ... Kepha lokhu ngeke kusiyeke ekushayweni, ngaphandle kweziteshi zomhlaba ezihlukile ze-GPS, abathola amamephu aphezulu aphezulu kanye namamephu athile aphezulu.