E manaʻo paha e lele ana ka mea ʻike kino ma kahi ʻaoʻao ʻehā. Inā kū ʻoe ma kahi kihi, ʻōlelo ʻo Pythagoras he ʻoi aku ka mamao o ka honua ma mua o kona ʻano maoli. Ua hili ʻia ʻo ia ʻaʻole hiki iā mākou ke ʻike iki, ʻoiai he mau kenimika wale nō ka mamao mai ka ulia.

No ka hoʻoponopono ʻana i kēia, pono mākou e ʻike i ko mākou ʻano. ʻO ia hoʻi ...

Ua kapa ʻia ʻo Gyroscope a me ka accelerometer ʻo "IMU", akā ʻo ke kumu i ʻike pinepine ʻia ai lākou no ka uhi maoli ʻana i nā nāwaliwali nui o kekahi. He hui hui kuʻuna lākou.

Eia naʻe, ʻo kēlā me kēia, ʻo ka gyroscope kahi kumu maikaʻi a maʻemaʻe o ka ʻikepili sensor, a e loaʻa iā ʻoe ke ana kūlana mau.

Me ka ʻole o nā kikoʻī nui, hana ʻia ka gyroscope me ka micromechanical tuning fork i kālai ʻia ma ka ʻili o ka chip. I ka wā e kaʻawili ai ka puʻupuʻu, e ikaika ana kekahi mau pahu kani, a e hoʻololi lākou i ka leo o kekahi.

ʻAʻole paʻa ʻia nā gyroscope MEMS e kekahi neʻe koe wale nō ka hoʻololi. ʻAʻole pili ka haʻalulu ʻino iā lākou (i loko o nā kikoʻī kikoʻī), no ka mea, ʻo kēia ka wikiwiki lateral.

Inā ʻoe e nānā i ka loop control internal o ka multi-rotor, ʻo ia ka gyroscope i hoʻohana ʻia e ka mea hoʻokele lele e mālama i ka pae i ka lewa. Hoʻopau loa kekahi mau pailaka mode rate i ka accelerometer, hāʻawi i ka gyro i ka bandwidth no ka mea he nui nā hōʻailona koʻikoʻi o ka gyro.

Inā ʻike ʻoe i hea ʻoe i ka hapalua millisecond i hala aku nei a makemake ʻoe e ʻike i ka mea i loli mai ia manawa, a laila wikiwiki ka gyroscope, pololei a hilinaʻi. ʻAʻole pono lākou i nā ʻili a i ʻole nā ​​satelite.

ʻO ka nāwaliwali o ka gyro he neʻe. No ka nui o kou ho'āʻo ʻana, me he mea lā e hoʻololi mālie lākou a puni kahi axis random. He mau minuke ka lōʻihi o kēlā me kēia hoʻololi ʻana, akā ʻo ka pōhaku ʻoniʻoni ʻole e hoʻololi mālie. ʻO ka hōʻiliʻili ʻana i nā laʻana pili no ka loaʻa ʻana o nā koho "maikaʻi" e hoʻohui pū i nā pahu kuhi. ʻO ka hewa o ka piʻi gyroscope pono e "zeroed" i kēlā me kēia manawa e kahi hōʻailona kuhikuhi maikaʻi loa.