Sensor fusion algorithm

Kalman lim

Kalman lim yog ib txwm.

Lub hauv paus ntawm lub algorithm yog teem ib txheej ntawm "kev ntseeg" yam rau txhua tus sensor. Txhua lub sijhawm, cov ntaub ntawv sensor los ntawm lub sijhawm kawg yuav raug siv rau kev txheeb cais los txhim kho qhov kev kwv yees (tus kheej ntxiv), thiab qhov zoo ntawm lub sensor kuj tseem raug txiav txim. Hauv kev sib piv ntawm tus nqi kwv yees thiab ntsuas tus nqi ntawm lub sensor, tus nqi zoo heev yuav raug kwv yees thiab tso tawm.

Qhov no txhais tau hais tias yog ib lub sensor ib txwm muab qhov zoo thiab zoo ib yam thiab pib qhia koj ib yam dab tsi tsis zoo li, qhov ntsuas qhov kev ntseeg siab yuav txo qis hauv ob peb milliseconds kom txog thaum nws pib ua kom rov qab zoo dua.

Qhov no yog qhov zoo dua li qhov nruab nrab yooj yim lossis kev pov npav, vim tias Kalman lim tuaj yeem cuam tshuam nrog qhov xwm txheej uas cov sensors feem ntau tsis ua haujlwm ib ntus. Ntev npaum li ib tus tuaj yeem khaws qhov laj thawj zoo, nws tuaj yeem ua rau tus neeg hlau hla lub sijhawm tsaus ntuj.

Kalman lim yog ib daim ntawv thov ntawm ntau lub ntsiab lus ntawm Markov saw thiab Bayesian kev xav, uas yog ib qho kev ua lej uas rov txhim kho lawv qhov kev kwv yees los ntawm kev siv pov thawj. Cov cuab yeej no yog cov cuab yeej siv los pab science nws tus kheej sim cov tswv yim (uas kuj yog lub hauv paus ntawm qhov peb hu ua "statistical significance").

Yog li ntawd, nws tuaj yeem hais lus poetically tias qee lub tshuab fusion sensor tau nthuav tawm cov ntsiab lus ntawm kev tshawb fawb ntawm qhov nrawm ntawm 1000 zaug ib ob.

Kalman cov ntxaij lim dej tau siv nyob rau hauv qhov chaw orbital ntawm qhov chaw satellites tau ntau xyoo lawm. Vim tias niaj hnub microcontrollers tuaj yeem khiav cov algorithm hauv lub sijhawm tiag tiag, lawv tau dhau los ua neeg nyiam ntau dua.