hoʻokē ʻai

ʻO ia ke kumu he mau hoaaloha maikaʻi nā accelerometers no nā gyroscopes: no ka mea hiki iā lākou ke ʻike i nā kuhikuhi "lalo" maikaʻi loa (ma ka liʻiliʻi loa, i ka wā e noho ana lākou i ke kūlana o ka umekaumaha o ka honua).

ʻAe, ma ka ʻōlelo maʻamau. Mai kekahi manawa a i kekahi, loaʻa iā ia ka gravity, linear acceleration, centrifugal force i hana ʻia e ka rotation, vibration, noise a, ʻoiaʻiʻo, nā hemahema o ka sensor.

No laila, ʻoiai ke kiʻekiʻe o ka sampling rate a me ka pololei maikaʻi o nā sensor MEMS (e like me ka maikaʻi e like me nā gyroscopes), ʻo ka ʻikepili accelerometer kekahi o nā ʻikepili walaʻau a hilinaʻi ʻole. Ua loaʻa iā ia kekahi mau "hōʻailona" pono e wehewehe ʻia. Akā, ʻo ka naʻau i kēia mau hōʻailona like ʻole ka mea e hoʻohālikelike ai i ke ao holoʻokoʻa-hiki iā ia ke lohe i nā mea āpau.

ʻElua mau ʻanuʻu hoʻohui o ka wikiwiki mai ke kūlana a mākou e makemake ai e ʻike, no laila pono mākou e hōʻuluʻulu i ka nui o nā deltas a me nā laina kuhi, mai ke ana ʻana i ka wikiwiki i manaʻo ʻia, a laila pono mākou e hana hou e kiʻi i ka manaʻo. kūlana. Hoʻonui mau nā hewa.

ʻO kēia ke kumu he hoaaloha ʻo GPS no ka accelerometer: no ka mea, e "zero" ia i ka hoʻonui ʻana i ka hewa kūlana i kēlā me kēia manawa, e like me ka ʻae ʻana o ka accelerometer i ka hewa azimuth o ka gyroscope.

magnetometer

ʻAʻole pono e mālama ʻia kahi panana maikaʻi. Eia nō naʻe, e like me ka accelerometer, hoʻohana maʻamau ia ma ke ʻano he kaohi no ka gyro drift lōʻihi. ʻOi aku ka maikaʻi o ka ʻike ʻana i ke ala e piʻi ai ma mua o ka ʻike ʻana i ka ʻaoʻao he magnetic ʻākau-akā me kēia mau mea ʻelua, hiki iā mākou ke ʻike i ko mākou kūlana maikaʻi loa ma ka honua.

Hoʻopili pinepine ʻia lākou me nā mea hoʻokipa GPS, no ka mea e hakakā hou lākou i nā nāwaliwali nui o kekahi, akā pili like lākou i nā ʻano ʻē aʻe. Hāʻawi kekahi i kahi kūlana maikaʻi loa, a hāʻawi kekahi i kahi kuhikuhi maikaʻi loa.