Kodi Inertial Navigation ndi chiyani?
Zofunikira pa Inertial Navigation
Mfundo zazikulu za inertial navigation ndizofanana ndi za njira zina zoyendetsera. Zimadalira kupeza chidziwitso chofunikira, kuphatikizapo malo oyambira, malo oyambira, komwe mayendedwe amayendera nthawi iliyonse, ndikuphatikiza pang'onopang'ono deta iyi (yofanana ndi ntchito zogwirizanitsa masamu) kuti idziwe bwino magawo oyendetsera, monga momwe amayendera ndi malo.
Udindo wa Masensa mu Kuyenda Mopanda Mphamvu
Kuti apeze momwe zinthu zilili panopa komanso malo omwe chinthu chikuyenda, makina oyendetsera zinthu opanda mphamvu amagwiritsa ntchito masensa ofunikira, makamaka omwe ali ndi ma accelerometer ndi ma gyroscope. Masensawa amayesa liwiro la angular ndi kuthamanga kwa chonyamuliracho mu chimango chowunikira chosagwiritsa ntchito mphamvu. Kenako deta imaphatikizidwa ndikukonzedwa pakapita nthawi kuti ipeze zambiri za liwiro ndi malo ogwirizana. Pambuyo pake, chidziwitsochi chimasinthidwa kukhala njira yolumikizirana ndi navigation, mogwirizana ndi deta yoyambira, zomwe zimapangitsa kuti pakhale kudziwa komwe chonyamuliracho chilili panopa.
Mfundo Zogwiritsira Ntchito za Inertial Navigation Systems
Machitidwe oyendetsera zinthu opanda zingwe amagwira ntchito ngati machitidwe oyendetsera zinthu opanda zingwe omwe amadzilamulira okha. Sadalira zosintha zakunja zenizeni kuti akonze zolakwika panthawi yoyendetsa galimoto. Motero, makina amodzi oyendetsera zinthu opanda zingwe ndi oyenera ntchito zoyendetsera zinthu zopanda zingwe nthawi yochepa. Pa ntchito zazitali, ziyenera kuphatikizidwa ndi njira zina zoyendetsera zinthu, monga machitidwe oyendetsera zinthu pogwiritsa ntchito satellite, kuti akonze zolakwika zamkati zomwe zasonkhanitsidwa nthawi ndi nthawi.
Kubisika kwa Inertial Navigation
Mu ukadaulo wamakono woyendera, kuphatikizapo kuyenda kwa zinthu zakuthambo, kuyenda kwa satellite, ndi kuyenda kwa wailesi, kuyenda kwa inertial kumadziwika kuti ndi kodziyimira pawokha. Sikupereka zizindikiro ku chilengedwe chakunja kapena kudalira zinthu zakuthambo kapena zizindikiro zakunja. Chifukwa chake, machitidwe oyendera a inertial amapereka kubisika kwakukulu, zomwe zimapangitsa kuti zikhale zoyenera kugwiritsa ntchito zomwe zimafuna chinsinsi kwambiri.
Tanthauzo Lovomerezeka la Inertial Navigation
Inertial Navigation System (INS) ndi njira yowerengera magawo oyendera yomwe imagwiritsa ntchito ma gyroscope ndi ma accelerometer ngati masensa. Dongosololi, kutengera kutulutsa kwa ma gyroscope, limakhazikitsa njira yolumikizirana ndi ma navigation pamene likugwiritsa ntchito kutulutsa kwa ma accelerometer kuti liwerenge liwiro ndi malo a chonyamulira mu navigation coordinate system.
Kugwiritsa Ntchito Inertial Navigation
Ukadaulo wa inertial wapeza ntchito zosiyanasiyana m'magawo osiyanasiyana, kuphatikizapo ndege, ndege, zapamadzi, kufufuza mafuta, geodesy, kafukufuku wa nyanja, kuboola miyala, maloboti, ndi machitidwe a sitima. Pakubwera kwa masensa apamwamba a inertial, ukadaulo wa inertial wawonjezera ntchito yake kumakampani opanga magalimoto ndi zida zamagetsi zamankhwala, pakati pa madera ena. Kukula kwa ntchito kumeneku kukuwonetsa gawo lofunika kwambiri la inertial navigation popereka njira zoyendetsera bwino komanso zoyikira malo pazinthu zambiri.
Gawo Lofunika Kwambiri la Malangizo Opanda Mphamvu:Gyroscope ya Fiber Optic
Mau Oyamba a Fiber Optic Gyroscopes
Makina oyendetsera ndege opanda mphamvu amadalira kwambiri kulondola ndi kulondola kwa zigawo zawo zazikulu. Chimodzi mwa zinthu zimenezi chomwe chawonjezera kwambiri mphamvu za makinawa ndi Fiber Optic Gyroscope (FOG). FOG ndi sensa yofunika kwambiri yomwe imagwira ntchito yofunika kwambiri poyesa liwiro la chonyamuliracho molondola kwambiri.
Ntchito ya Gyroscope ya Fiber Optic
Ma FOG amagwira ntchito motsatira mfundo ya Sagnac effect, yomwe imaphatikizapo kugawa kuwala kwa laser m'njira ziwiri zosiyana, zomwe zimapangitsa kuti iyende mbali zosiyana motsatira lupu yozungulira ya fiber optic. Pamene chonyamulira, cholumikizidwa ndi FOG, chizungulira, kusiyana kwa nthawi yoyenda pakati pa ma bedi awiriwa kumagwirizana ndi liwiro la angular la kuzungulira kwa chonyamulira. Kuchedwa kwa nthawi kumeneku, komwe kumadziwika kuti Sagnac phase shift, kumayesedwa bwino, zomwe zimathandiza FOG kupereka deta yolondola yokhudza kuzungulira kwa chonyamulira.
Mfundo ya fiber optic gyroscope imaphatikizapo kutulutsa kuwala kuchokera ku photodetector. Kuwala kumeneku kumadutsa mu coupler, kulowa kuchokera mbali imodzi ndikutuluka kuchokera kwina. Kenako kumadutsa mu optical loop. Kuwala kuwiri, kochokera mbali zosiyanasiyana, kumalowa mu loop ndikumaliza coherent superposition mutazungulira mozungulira. Kuwala kobwerera kumalowanso mu light-emitting diode (LED), yomwe imagwiritsidwa ntchito kuzindikira mphamvu yake. Ngakhale mfundo ya fiber optic gyroscope ingawoneke ngati yosavuta, vuto lalikulu kwambiri lili pakuchotsa zinthu zomwe zimakhudza kutalika kwa njira yowunikira ya kuwala kuwiri. Iyi ndi imodzi mwa nkhani zofunika kwambiri zomwe zimakumana nazo pakupanga fiber optic gyroscopes.
1: diode ya superluminescent 2: diode yowunikira zithunzi
3.cholumikizira cha gwero lowala 4.cholumikizira cha mphete ya ulusi 5.mphete ya fiber optical
Ubwino wa Fiber Optic Gyroscopes
Ma FOG amapereka zabwino zingapo zomwe zimawapangitsa kukhala ofunika kwambiri mu makina oyendera ndege opanda zingwe. Amadziwika kuti ndi olondola kwambiri, odalirika, komanso okhazikika. Mosiyana ndi ma gyro amakina, ma FOG alibe ziwalo zosuntha, zomwe zimachepetsa chiopsezo cha kuwonongeka. Kuphatikiza apo, sagonjetsedwa ndi mantha ndi kugwedezeka, zomwe zimapangitsa kuti akhale abwino kwambiri m'malo ovuta monga ndege ndi zida zodzitetezera.
Kuphatikiza kwa Ma Gyroscope a Fiber Optic mu Inertial Navigation
Machitidwe oyendetsera zinthu mopanda mphamvu akuwonjezera ma FOG chifukwa cha kulondola kwawo kwakukulu komanso kudalirika kwawo. Ma gyroscope amenewa amapereka miyeso yofunika kwambiri ya liwiro la angular yomwe ikufunika kuti munthu adziwe bwino komwe akupita komanso malo ake. Mwa kuphatikiza ma FOG mu machitidwe oyendetsera zinthu mopanda mphamvu omwe alipo, ogwiritsa ntchito amatha kupindula ndi kulondola kwabwino kwa kayendedwe ka zinthu, makamaka pazochitika zomwe kulondola kwambiri ndikofunikira.
Kugwiritsa Ntchito Ma Gyroscope a Fiber Optic mu Inertial Navigation
Kuphatikizidwa kwa ma FOG kwakulitsa kugwiritsa ntchito njira zoyendetsera ndege zopanda mphamvu m'magawo osiyanasiyana. Mu ndege ndi ndege, makina okhala ndi FOG amapereka njira zolondola zoyendetsera ndege, ma drone, ndi zombo zamlengalenga. Amagwiritsidwanso ntchito kwambiri poyendetsa sitima zapamadzi, kafukufuku wa za nthaka, ndi maloboti apamwamba, zomwe zimathandiza kuti machitidwewa azigwira ntchito bwino komanso modalirika.
Mitundu Yosiyanasiyana ya Ma Fiber Optic Gyroscopes
Ma gyroscope a fiber optic amabwera m'njira zosiyanasiyana, ndipo omwe akulowa kwambiri muuinjiniya ndigyroscope yosunga fiber optic yotsekedwa-loopPakati pa gyroscope iyi palikuzungulira kwa ulusi komwe kumasunga polarization, zomwe zimaphatikizapo ulusi wosunga polarization ndi chimango chokonzedwa bwino. Kapangidwe ka lupu iyi kamaphatikizapo njira yozungulira yofanana inayi, yowonjezerapo ndi jeli yapadera yotsekera kuti ipange coil yozungulira ya ulusi wolimba.
Zinthu Zofunika Kwambiri zaKusunga Polarization-Fiber Optic Gyro Coil
▶Kapangidwe ka Chimango Chapadera:Ma gyroscope loops ali ndi kapangidwe kapadera ka chimango chomwe chimalola mitundu yosiyanasiyana ya ulusi wosunga polarization mosavuta.
▶Njira Yopangira Ma Wind Yaikulu Yofanana:Njira yozungulira yofanana inayi imachepetsa mphamvu ya Shupe, kuonetsetsa kuti miyeso yake ndi yolondola komanso yodalirika.
▶Zinthu Zopangira Gel Yotsekera Kwambiri:Kugwiritsa ntchito zipangizo zapamwamba zotsekera gel, kuphatikiza ndi njira yapadera yochiritsira, kumawonjezera kukana kugwedezeka, zomwe zimapangitsa kuti ma gyroscope loops awa akhale abwino kugwiritsidwa ntchito m'malo ovuta.
▶Kukhazikika kwa Mgwirizano wa Kutentha Kwambiri:Ma loops a gyroscope amasonyeza kukhazikika kwa mgwirizano wa kutentha kwambiri, kuonetsetsa kuti kulondola ngakhale pa kutentha kosiyanasiyana.
▶Malo Opepuka Osavuta:Ma loops a gyroscope amapangidwa ndi chimango chosavuta koma chopepuka, zomwe zimatsimikizira kuti ntchito yake ndi yolondola kwambiri.
▶Njira Yokhazikika Yokhotakhota:Njira yozungulira imakhalabe yokhazikika, ikugwirizana ndi zofunikira za ma gyroscope osiyanasiyana olondola a fiber optic.
Buku lothandizira
Groves, PD (2008). Chiyambi cha Inertial Navigation.Magazini Yoyendera, 61(1), 13-28.
El-Sheimy, N., Hou, H., & Niu, X. (2019). Ukadaulo wa masensa osagwiritsa ntchito magetsi pa ntchito zoyendera: zamakono.Kuyenda pa Satellite, 1(1), 1-15.
Woodman, OJ (2007). Chiyambi cha kuyenda kwa inertial.Yunivesite ya Cambridge, Laboratory ya Makompyuta, UCAM-CL-TR-696.
Chatila, R., & Laumond, JP (1985). Kufotokozera udindo ndi kupanga chitsanzo cha dziko lonse cha maloboti oyenda.Mu Zochitika za Msonkhano Wapadziko Lonse wa IEEE wa 1985 pa Ma Robotics ndi Automation(Voliyumu 2, tsamba 138-145). IEEE.
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