ʻO ke kumu o ka Sensor Fusion —— Ke kaupaona ʻana i kēlā me kēia sensor

Ma ke koena o kēia ʻatikala, e kālele mākou i ka wahi kino, akā pili ka manaʻo like i kēlā me kēia nui āu e makemake ai e ana. Hiki paha iā ʻoe ke manaʻo he hiki ke hoʻohana ʻia nā mea ʻike hoʻihoʻi he nui o ka ʻano like, akā hoʻohui pinepine kēia i ko lākou mau nāwaliwali like ʻole i kahi ala pōʻino.

ʻO ka hoʻohālikelike, ʻoi aku ka ikaika o ka ʻōnaehana hybrid. ʻAʻohe mea ʻike e hiki ke hilinaʻi iā mākou * * *, no ka mea, ʻo kēlā me kēia sensor e hoʻoponopono wale i kahi pilikia a hōʻike i nā ʻāpana like ʻole, a ma ka hui pū ʻana e ʻike mākou i ka ʻoiaʻiʻo.

E nānā kākou i kekahi mau mea ʻike maʻamau i hoʻohana ʻia i ka quadrotor, a kūkākūkā i kā lākou pono a me nā hemahema, a me kā lākou kuleana i ka hui pū ʻana.

ʻōnaehana kūlana honua (GPS)

Loaʻa nā palena o GPS. ʻElua mau mika paha ka hewa o ka laʻana, a e neʻe ana ka ʻaoʻao me ka satellite.

Inā makemake ʻoe e hoʻohana i ka ʻōnaehana hoʻonohonoho honua e kiʻi i ke kūlana pololei i ke kenimika, pono ʻoe e kui i ke kūlana kūpono a ana i loko o kekahi mau lā. ʻAʻole maopopo kēia i kā mākou makemake. Akā ʻo ka ʻoiaʻiʻo, ʻo ka neʻe ʻana i ka wikiwiki kiʻekiʻe i ka lewa, ʻaʻole hiki i nā lako GPS 100Hz hiki ke hoʻomaʻamaʻa i ka manawa.

ʻAʻole hiki iā GPS ke haʻi iā ʻoe i ke ala āu e kū nei, ʻo ke ala wale nō āu e neʻe nei.

Eia hou, hiki i ka hoʻonā z (kiʻekiʻe) ke hoʻokahi hapaʻumi o ka latitu a me ka longitude. No laila, pono mākou e waiho i 20 mika no ka honua. ʻO ia hoʻi, ʻaʻole hiki iā GPS wale nō ke haʻi iā ʻoe i kou mamao mai ka honua, ʻo ka mamao wale nō ʻoe mai ka ʻilikai. ʻO ka hopena kūpono e lawe i kahi heluhelu ma mua o ka lele ʻana, akā loaʻa iā mākou kahi pahu kuhi 20 mika. Eia kekahi, i ka lele ʻana, ʻokoʻa ka mana o ka honua ma nā hōʻailona GPS, no laila ʻaʻole hiki iā mākou ke manaʻo e hoʻopau ʻia kēia mau hewa i ka wā lōʻihi-ʻoiai e hoʻopau ʻia lākou i ka wā mua!

ʻIke loa, ʻaʻole lawa ka GPS.

ʻAʻole hiki iā mākou ke lele hilinaʻi ma loko o 20-40 mau mika ma luna o ka honua, aia ma kahi o ʻelima mau papa ke kiʻekiʻe, ʻo ia ka lōʻihi o ka palena. Ma ke ola maoli, he mea kupanaha ka hiki ke ʻimi iā ʻoe iho ma nā wahi ʻē aʻe o ka honua me ka hewa kū pololei o 20 mika… .