Kodi Inertial Navigation ndi chiyani?
Zofunikira za Inertial Navigation
Mfundo zazikuluzikulu za kayendedwe ka inertial ndizofanana ndi njira zina zoyendera.Zimadalira kupeza mfundo zazikuluzikulu, kuphatikizapo malo oyambirira, momwe amayambira, momwe akuyendetsedwera panthawi iliyonse, ndikugwirizanitsa pang'onopang'ono deta iyi (yofanana ndi masamu ophatikizira masamu) kuti adziwe bwino magawo oyendetsa, monga momwe angayendetsedwe ndi malo.
Udindo wa Sensor mu Inertial Navigation
Kuti mupeze zomwe zikuchitika pano (malingaliro) ndi chidziwitso cha malo a chinthu chosuntha, makina oyenda mopanda mphamvu amagwiritsa ntchito masensa ovuta, makamaka opangidwa ndi ma accelerometers ndi ma gyroscopes.Masensa awa amayesa kuthamanga kwa angular ndi kuthamanga kwa chonyamuliracho mu inertiaal reference frame.Detayo imaphatikizidwa ndikusinthidwa pakapita nthawi kuti ipeze liwiro komanso chidziwitso cha malo.Pambuyo pake, chidziwitsochi chimasinthidwa kukhala kayendetsedwe ka kayendetsedwe ka kayendetsedwe ka kayendetsedwe ka kayendetsedwe ka kayendetsedwe ka kayendetsedwe ka kayendetsedwe ka kayendetsedwe ka kayendetsedwe ka kayendetsedwe ka kayendetsedwe ka kayendetsedwe ka kayendetsedwe ka kayendetsedwe ka kayendetsedwe ka kayendetsedwe ka kayendetsedwe ka kayendetsedwe ka kayendetsedwe ka kayendetsedwe ka kayendetsedwe ka kayendetsedwe ka kayendetsedwe ka kayendetsedwe ka kayendetsedwe ka kayendetsedwe ka kayendetsedwe ka kayendetsedwe ka kayendetsedwe ka kayendetsedwe ka kayendetsedwe ka kayendetsedwe ka kayendetsedwe ka kayendetsedwe ka kayendetsedwe ka kayendetsedwe ka kayendetsedwe ka kayendetsedwe ka kayendetsedwe ka kayendetsedwe ka kayendetsedwe ka kayendetsedwe ka kayendetsedwe ka kayendetsedwe ka kayendetsedwe ka kayendetsedwe ka kayendetsedwe ka kayendetsedwe ka kayendetsedwe ka kayendetsedwe ka kayendetsedwe ka kayendetsedwe ka kayendetsedwe ka kayendetsedwe ka kayendetsedwe ka kayendetsedwe ka kayendetsedwe ka kayendetsedwe ka kayendetsedwe ka kayendetsedwe ka kayendetsedwe ka kayendetsedwe ka kayendetsedwe ka kayendetsedwe ka kayendetsedwe ka kayendetsedwe ka kayendetsedwe ka kayendetsedwe ka kayendetsedwe ka kayendetsedwe ka kayendetsedwe ka kayendetsedwe ka kayendetsedwekazi ka kayendetsedwe kabwino kabwinobwinobwinobwinobwinobwinobwinobwinobwinobwinobwinobwinobwinobwinobwinonganenganensekitileka iwe ugwire ntchito.
Mfundo Zogwirira Ntchito za Inertial Navigation Systems
Mayendedwe a inertial navigation akugwira ntchito ngati njira zodziyimira zokha, zotsekeka mkati.Sadalira zosintha zenizeni zakunja zakunja kuti akonze zolakwika panthawi yamayendedwe a chonyamulira.Momwemonso, njira imodzi yokha yoyenda mozungulira ndi yoyenera pakuyenda kwakanthawi kochepa.Pazochita zanthawi yayitali, ziyenera kuphatikizidwa ndi njira zina zoyendera, monga ma satellite-based navigation systems, nthawi ndi nthawi kukonza zolakwika zamkati zomwe zasonkhanitsidwa.
Kubisika kwa Inertial Navigation
M'matekinoloje amakono apanyanja, kuphatikiza kuyenda kwakumwamba, satellite navigation, ndikuyenda pawailesi, kuyenda kwa inertial kumadziwika ngati kodziyimira pawokha.Sichimatulutsa zizindikiro ku chilengedwe chakunja kapena kudalira zinthu zakuthambo kapena zizindikiro zakunja.Chifukwa chake, makina oyenda mopanda mphamvu amapereka mulingo wapamwamba kwambiri wobisika, kuwapangitsa kukhala abwino kwa mapulogalamu omwe amafunikira chinsinsi kwambiri.
Tanthauzo Lovomerezeka la Inertial Navigation
Inertial Navigation System (INS) ndi njira yoyezera magawo omwe amagwiritsa ntchito ma gyroscopes ndi accelerometers ngati masensa.Dongosololi, kutengera kutulutsa kwa ma gyroscopes, limakhazikitsa njira yolumikizira mayendedwe pomwe imagwiritsa ntchito ma accelerometers kuti awerenge liwiro ndi malo a chonyamulira pamakina olumikizirana.
Mapulogalamu a Inertial Navigation
Ukadaulo wa inertial wapeza ntchito zosiyanasiyana m'magawo osiyanasiyana, kuphatikiza zakuthambo, ndege, nyanja, kufufuza kwa petroleum, geodesy, oceanographic survey, kubowola kwa geological, robotics, ndi masitima apamtunda.Kubwera kwa masensa apamwamba a inertial, ukadaulo wa inertial wawonjezera ntchito zake kumakampani amagalimoto ndi zida zamagetsi zamankhwala, pakati pazinthu zina.Kuchulukirachulukira kwa mapulogalamuwa kukuwonetsa kufunikira kokulirakulira kwa kuyenda kosasinthasintha popereka njira zolondola kwambiri komanso zoyika pamapulogalamu ambiri.
Chigawo Chachikulu cha Inertial Guidance:Gyroscope ya Fiber Optic
Chiyambi cha Fiber Optic Gyroscopes
Machitidwe oyenda mopanda mphamvu amadalira kwambiri kulondola ndi kulondola kwa zigawo zawo zazikulu.Chimodzi mwazinthu zotere zomwe zakulitsa luso la machitidwewa ndi Fiber Optic Gyroscope (FOG).FOG ndi kachipangizo kofunikira kwambiri kamene kamagwira ntchito yofunika kwambiri poyeza mayendedwe aang'ono a chonyamuliracho molondola kwambiri.
Ntchito ya Fiber Optic Gyroscope
FOGs imagwira ntchito motsatira mfundo ya Sagnac effect, yomwe imaphatikizapo kugawa mtengo wa laser m'njira ziwiri zosiyana, kuilola kuti iyende mbali zosiyana motsatira chingwe chophimbidwa ndi fiber optic loop.Pamene chonyamuliracho, chophatikizidwa ndi FOG, chimazungulira, kusiyana kwa nthawi yoyenda pakati pa matabwa awiriwa ndi ofanana ndi liwiro la angular la kuzungulira kwa chonyamuliracho.Kuchedwa kwa nthawiyi, komwe kumatchedwa Sagnac phase shift, ndiye kumayezedwa ndendende, zomwe zimathandiza FOG kupereka deta yolondola yokhudzana ndi kuzungulira kwa chonyamuliracho.
Mfundo ya fiber optic gyroscope imaphatikizapo kutulutsa kuwala kuchokera ku photodetector.Nyali yowala iyi imadutsa pa coupler, kulowa kuchokera ku mbali imodzi ndikutuluka kuchokera kwina.Kenako imadutsa mu lupu la optical.Miyendo iwiri ya kuwala, yochokera mbali zosiyanasiyana, imalowa m'chiuno ndikumaliza mawonekedwe ogwirizana pambuyo pozungulira.Kuwala kobwerera kumalowetsanso kuwala kotulutsa kuwala (LED), komwe kumagwiritsidwa ntchito kuzindikira kulimba kwake.Ngakhale mfundo ya fiber optic gyroscope ingawoneke yolunjika, vuto lalikulu kwambiri liri pakuchotsa zinthu zomwe zimakhudza kutalika kwa njira ya kuwala kwa nyali ziwirizo.Ichi ndi chimodzi mwazofunikira kwambiri pakupanga ma fiber optic gyroscope.
1: diode yapamwamba kwambiri 2: Photodetector diode
3.light source coupler 4.fiber ring coupler 5.optical CHIKWANGWANI mphete
Ubwino wa Fiber Optic Gyroscopes
Ma FOG amapereka maubwino angapo omwe amawapangitsa kukhala ofunikira pamakina oyenda mozungulira.Amadziwika kuti ndi olondola mwapadera, odalirika komanso okhalitsa.Mosiyana ndi ma gyros opangidwa ndi makina, ma FOG alibe magawo osuntha, amachepetsa chiopsezo cha kuwonongeka ndi kung'ambika.Kuphatikiza apo, amalimbana ndi kugwedezeka ndi kugwedezeka, zomwe zimawapangitsa kukhala abwino kwa malo ovuta kwambiri monga momwe angapangire ndege ndi chitetezo.
Kuphatikiza kwa Fiber Optic Gyroscopes mu Inertial Navigation
Mayendedwe a inertial navigation akuphatikiza ma FOGs chifukwa chakulondola kwawo komanso kudalirika kwawo.Ma gyroscopes awa amapereka miyeso yofunika kwambiri ya liwiro la angular yomwe imafunikira kuti munthu adziwe komwe akulowera komanso malo.Mwa kuphatikiza ma FOG mumayendedwe omwe alipo kale, oyendetsa amatha kupindula ndi kulondola kwakuyenda bwino, makamaka munthawi zomwe ndizofunikira kwambiri.
Kugwiritsa Ntchito Ma Fiber Optic Gyroscopes mu Inertial Navigation
Kuphatikizika kwa ma FOG kwakulitsa kugwiritsa ntchito kachitidwe ka inertial navigation kumadera osiyanasiyana.Muzamlengalenga ndi ndege, makina okhala ndi FOG amapereka njira zolondola zoyendetsera ndege, ma drones, ndi zakuthambo.Amagwiritsidwanso ntchito kwambiri pakuyenda panyanja, kafukufuku wa geological, komanso ma robotiki apamwamba, zomwe zimapangitsa kuti makinawa azigwira ntchito bwino komanso modalirika.
Mitundu Yosiyanasiyana Yamapangidwe a Fiber Optic Gyroscopes
Fiber optic gyroscopes amabwera m'mapangidwe osiyanasiyana, ndipo omwe amalowa mu gawo la engineering ndipolarization-loop polarization-kusunga fiber optic gyroscope.Pakatikati pa gyroscope iyi ndipolarization-kusunga CHIKWANGWANI loop, yokhala ndi ulusi wosunga polarization komanso chimango chopangidwa bwino.Kupanga lupuku kumaphatikizapo njira yokhotakhota yofanana kanayi, yowonjezeredwa ndi gel osindikizira apadera kuti apange koyilo yolimba yamtundu wa fiber loop.
Mfungulo zaPolarization-Kusunga Fiber Optic GCoil ayi
▶Mapangidwe Apadera:Malupu a gyroscope amakhala ndi mawonekedwe apadera omwe amatengera mitundu yosiyanasiyana ya ulusi wosunga polarization mosavuta.
▶Makina Owirikiza Anayi a Symmetric Winding:Njira yokhotakhota yofanana kanayi imachepetsa mphamvu ya Shupe, kuwonetsetsa miyeso yolondola komanso yodalirika.
▶ Zida Zapamwamba Zosindikizira Gel:Kugwiritsiridwa ntchito kwa zida za gel osindikizira zapamwamba, kuphatikizidwa ndi njira yapadera yochiritsa, kumathandizira kukana kugwedezeka, kupangitsa malupu a gyroscope awa kukhala abwino kwa ogwiritsa ntchito m'malo ovuta.
▶Kukhazikika kwa Kutentha Kwambiri:Malupu a gyroscope amawonetsa kukhazikika kogwirizana kwa kutentha, kuwonetsetsa kulondola ngakhale m'malo osiyanasiyana otentha.
▶ Zosavuta Zopepuka Zopepuka:Malupu a gyroscope amapangidwa ndi chimango chowongoka koma chopepuka, chomwe chimatsimikizira kulondola kwambiri.
▶Njira Yokhotakhota Mokhazikika:Njira yokhotakhota imakhalabe yokhazikika, ikugwirizana ndi zofunikira zamitundu yosiyanasiyana ya fiber optic gyroscopes.
Buku
Groves, PD (2008).Mau oyamba a Inertial Navigation.Journal of Navigation, 61( 1), 13-28 .
El-Sheimy, N., Hou, H., & Niu, X. (2019).Ukadaulo wa masensa a inertial pakugwiritsa ntchito navigation: state of the art.Satellite Navigation, 1(1), 1-15 .
Woodman, OJ (2007).Chiyambi cha navigation ya inertial.University of Cambridge, Computer Laboratory, UCAM-CL-TR-696.
Chatila, R., & Laumond, JP (1985).Kuwonetsa malo komanso kusasinthika kwapadziko lonse lapansi kwa maloboti am'manja.M'machitidwe a 1985 IEEE International Conference on Robotic and Automation(Vol. 2, tsamba 138-145).IEEE.
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