Masithi isivamvo somzimba sibhabha kwi-quadrilateral. Ukuba ume kwi-engile, uPythagoras wathi umhlaba ujongeka kude kunokuba unjalo ngokwenene. Yayithambekile kangangokuba sasingayiboni kwaphela, nangona sasikumgama weesentimitha ezimbalwa ukusuka kuloo ngozi.

Ukuze sikulungise oku, kufuneka silwazi utyekelo lwethu. Oko ikukuthi ...

I-Gyroscope kunye ne-accelerometer zibizwa ngokuba yi "IMU" kunye, kodwa isizathu sokuba zivame ukubonakala kunye kukuba ngokwemvelo zigubungela ubuthathaka obuphambili bomnye nomnye. Zizimbini zokudibanisa zakudala.

Nangona kunjalo, ngabanye, i-gyroscope ngumthombo olungileyo kunye nococekileyo wedatha yenzwa, kwaye uya kufumana umlinganiselo oqhubekayo wendawo.

Ngaphandle kweenkcukacha ezininzi, i-gyroscope yenziwe ngefolokhwe yokulungisa i-micromechanical efakwe kumphezulu we-chip. Xa i-chip ijikeleza, ezinye iifolokhwe zokulungisa ziya kuba namandla, kwaye ziya kutshintsha ithoni yomnye nomnye.

Iigyroscopes ze-MEMS azichatshazelwa nakweyiphi na intshukumo ngaphandle kokujikeleza. Nokuba ukungcangcazela okunobundlobongela akuyi kubachaphazela (ngaphakathi koluhlu oluchaziweyo), kuba oku kukukhawuleza kwecala.

Ukuba ujonga i-loop yokulawula yangaphakathi ye-multi-rotor, yi-gyroscope esetyenziswa ngumlawuli wendiza ukugcina inqanaba emoyeni. Abanye abaqhubi bendlela yokulinganisa bacima i-accelerometer ngokupheleleyo, benika i-gyro i-bandwidth engaphezulu kuba i-gyro inemikhondo emininzi ebalulekileyo.

Ukuba uyazi apho ubunesiqingatha se-millisecond edlulileyo kwaye ufuna ukwazi ukuba yintoni etshintshileyo ukususela ngoko, ngoko i-gyroscope ikhawuleza, ichanekile kwaye inokwethenjelwa. Kwaye azidingi iindawo eziguquguqukayo okanye iisathelayithi.

Ubuthathaka be-gyro buhamba. Nokuba uzama kangakanani na, zibonakala zijikeleza kancinane kwi-axis engakhethiyo. Ukujikeleza ngakunye kuthatha imizuzu emininzi, kodwa nesitena esingashukumiyo siya kujikeleza ngobunono. Ukuqokelela iisampulu ezizalanayo ukufumana uqikelelo "olugqwesileyo" nako kuya kudibanisa imivalo yempazamo. Impazamo yegyroscope enyukayo idinga ukuba "zeroed" ngamaxesha athile ngophawu olubalaseleyo lwangaphandle lwesalathiso.