I-Essence of Sensor Fusion —— Ikala inzwa ngayinye

Kuso sonke lesi sihloko, sizogxila endaweni ebonakalayo, kodwa umqondo ofanayo uyasebenza kunoma yiliphi inani ofuna ukulilinganisa. Ungase ucabange ukuthi izinzwa eziyisipele eziningi zohlobo olufanayo zingenzeka, kodwa lokhu kuvame ukuhlanganisa ubuthakathaka bazo obufanayo ngendlela eyishwa.

Ngokuphambene, uhlelo lwe-hybrid lunamandla kakhulu. Ayikho inzwa engasenza sithembele * * *, ngoba inzwa ngayinye ixazulula inkinga kuphela futhi iveza izingcezu ezihlukahlukene, futhi ngokuzihlanganisa kuphela singakwazi ukubona iqiniso.

Ake sibheke ezinye izinzwa ezijwayelekile ezisetshenziswa ku-quadrotor, futhi sixoxe ngezinzuzo zazo kanye nokubi, kanye nendima yazo ekuhlanganisweni kwezinzwa.

i-global positioning system (GPS)

I-GPS inemikhawulo esobala. Iphutha lesampula lingaba amamitha amabili, futhi ukuchezuka kuzokhukhuleka nesathelayithi.

Uma ufuna ukusebenzisa isistimu yokumisa umhlaba wonke ukuze uthole indawo enembile ibe amasentimitha, udinga ukuyibethela endaweni efanele futhi uyikale ezinsukwini ezimbalwa. Ngokusobala akukhona lokhu esikufunayo. Kodwa empeleni, ukuhamba ngesivinini esikhulu emoyeni, ngisho nemishini ye-GPS engu-100Hz ayikwazi ukushelela isikhathi.

I-GPS ayikwazi ukukutshela indlela obheke kuyo, kuphela lapho uya ngakhona.

Ngaphezu kwalokho, ukulungiswa kuka-z (ubude) kungaba ingxenye eyishumi ye-latitude nobude. Ngakho-ke, kufanele sishiye amamitha angama-20 ukuya phansi. Lokhu kusho ukuthi i-GPS iyodwa ayikwazi ukukutshela ukuthi ukude kangakanani nomhlaba, kuphela ukuthi ukude kangakanani nezinga lolwandle. Isixazululo esiphusile siwukufunda ngaphambi kokusuka, kodwa-ke sinebha yephutha engamamitha angama-20. Ngaphezu kwalokho, ekundizeni, ithonya lomhlabathi kumasignali we-GPS lihlukile, ngakho-ke asikwazi ukucabanga ukuthi lawa maphutha azoqedwa ngokuhamba kwesikhathi-nakuba azoqedwa ekuqaleni!

Ngokusobala, i-GPS ayanele.

Asikwazi ukundiza ngendlela ethembekile phakathi kwamamitha angu-20-40 ukusuka phansi, okuyizitezi okungenani ezinhlanu ukuphakama, okuyibanga elide lemajini. Empilweni yangempela, kuyamangaza ukwazi ukuzitholela noma yikuphi emhlabeni ngephutha eliqondile elingamamitha angama-20 ... kodwa lokhu akukwazi ukusivimba ekuphahlazekeni, ngaphandle kweziteshi zaphansi ze-GPS ezihlukile, izamukeli zesivinini esikhulu ezibizayo kanye namamephu amahle we-topology. .