Piv txwv li lub cev sensor ya mus rau ntawm ib lub quadrilateral. Yog tias koj sawv ntawm lub kaum sab xis, Pythagoras hais tias hauv av zoo li deb dua li qhov tiag. Nws tau qaij txaus uas peb tsis tuaj yeem pom nws txhua, txawm tias peb tsuas yog ob peb centimeters deb ntawm qhov sib tsoo.

Txhawm rau kho qhov no, peb yuav tsum paub peb txoj kev nyiam. Qhov ntawd txhais tau tias ...

Gyroscope thiab accelerometer hu ua "IMU" ua ke, tab sis yog vim li cas lawv feem ntau tshwm sim ua ke yog tias lawv ib txwm npog ib leeg lub ntsiab tsis muaj zog. Lawv yog ib tug classic fusion khub.

Txawm li cas los xij, ib tus zuj zus, gyroscope yog qhov zoo thiab huv ntawm cov ntaub ntawv sensor, thiab koj yuav tau txais kev ntsuas txoj hauj lwm tas li.

Tsis muaj kev nthuav dav ntau dhau, lub gyroscope yog ua los ntawm micromechanical tuning diav rawg etched rau saum npoo ntawm cov nti. Thaum lub nti tig, qee qhov kev sib tw yuav muaj zog, thiab lawv yuav hloov lub suab ntawm ib leeg.

MEMS gyroscopes tsis tshua muaj kev cuam tshuam los ntawm ib qho kev txav tshwj tsis yog kev sib hloov. Txawm tias muaj kev vibration hnyav yuav tsis cuam tshuam rau lawv (hauv qhov kev qhia tshwj xeeb), vim tias qhov no yog kev nrawm nrawm.

Yog tias koj saib ntawm lub voj voog tswj sab hauv ntawm ntau lub rotor, nws yog lub gyroscope siv los ntawm lub davhlau tswj kom nyob rau hauv huab cua. Qee tus nqi hom tsav tsheb tua lub accelerometer tag nrho, muab lub gyro ntau bandwidth vim tias gyro muaj ntau yam tseem ceeb.

Yog tias koj paub tias koj nyob qhov twg ib nrab millisecond dhau los thiab koj xav paub tias qhov twg tau hloov txij thaum ntawd los, ces lub gyroscope yog ceev, raug thiab txhim khu kev qha. Thiab lawv tsis xav tau qhov chaw hloov tau yooj yim lossis satellites.

Qhov tsis muaj zog ntawm gyro yog drift. Txawm hais tias koj sim nyuaj npaum li cas, lawv zoo li tig maj mam nyob ib ncig ntawm lub axis random. Txhua qhov kev sib hloov yuav siv sij hawm ob peb feeb, tab sis txawm tias lub cib tsis muaj zog yuav tig maj mam. Sau cov piv txwv txheeb ze kom tau txais kev kwv yees "zoo heev" tseem yuav ntxiv qhov yuam kev tuav. Qhov yuam kev ntawm ascending gyroscope yuav tsum tau "zeroed" ib ntus los ntawm ib qho zoo heev siv cim.