Chii chinonzi Inertial Navigation?
Nheyo dzeInertial Navigation
Nheyo huru dze inertial navigation dzakafanana nedzimwe nzira dzekufamba navigation. Inovimba nekuwana ruzivo rwakakosha, kusanganisira nzvimbo yekutanga, kurongeka kwekutanga, gwara uye kurongeka kwekufamba panguva imwe neimwe, uye kubatanidza zvishoma nezvishoma data iri (rakafanana nemasvomhu ekubatanidza mashandiro) kuti ione zvakananga parameters dzekufamba, dzakadai sekutungamira nenzvimbo.
Basa reSensors muInertial Navigation
Kuti uwane ruzivo rwemamiriro ezvinhu (maitiro) uye nzvimbo yechinhu chinofamba, inertial navigation systems dzinoshandisa seti yema sensors akakosha, anosanganisira accelerometers uye gyroscopes. Aya ma sensors anoyera angular velocity uye acceleration yecarrier mu inertial reference frame. Data rinozobatanidzwa uye rinogadziriswa nekufamba kwenguva kuti riwane ruzivo rwe velocity uye relative position. Zvadaro, ruzivo urwu runoshandurwa kuita navigation coordinate system, pamwe chete nedata rekutanga renzvimbo, zvichiguma nekutsvaga nzvimbo yazvino yecarrier.
Nheyo dzeKushanda kweInertial Navigation Systems
Masisitimu ekufamba-famba asina simba anoshanda semasisitimu ekufamba-famba emukati akavharwa. Haavimbi nekuvandudzwa kwedata rekunze kwenguva chaiyo kuti agadzirise zvikanganiso panguva yekufamba kwemutakuri. Saka, sisitimu imwe chete yekufamba-famba isina simba yakakodzera mabasa ekufamba-famba kwenguva pfupi. Kune mashandiro enguva refu, inofanira kubatanidzwa nedzimwe nzira dzekufamba-famba, dzakadai semasisitimu ekufamba-famba akavakirwa pasatellite, kuti agadzirise zvikanganiso zvemukati zvakaunganidzwa nguva nenguva.
Kuvanzika kweInertial Navigation
Mumichina yemazuva ano yekufambisa zvinhu, kusanganisira kufamba kwezvinhu zvekudenga, kufamba nesatellite, uye kufamba neredhiyo, kufamba neinertial kunoonekwa sekwakazvimirira. Hakutumiri zviratidzo kune nharaunda yekunze kana kuvimba nezvinhu zvekudenga kana zviratidzo zvekunze. Nekuda kweizvozvo, masisitimu ekufambisa zvinhu zvekunze anopa mwero wepamusoro wekuvanza, zvichiita kuti zvive zvakanaka kumapurogiramu anoda kuvanzika kwakanyanya.
Tsanangudzo Yepamutemo yeInertial Navigation
Inertial Navigation System (INS) isystem yekuongorora ma parameter ekufamba inoshandisa ma gyroscopes nema accelerometers sema sensors. Sisitimu iyi, zvichibva pamagetsi anobuda, inogadzira sisitimu yekufamba ichishandisa magetsi anobuda kuti iverenge kumhanya nenzvimbo yemutakuri musystem yekufamba.
Mashandisirwo eInertial Navigation
Tekinoroji yeInertial yakawana mashandisirwo akasiyana-siyana munzvimbo dzakasiyana-siyana, kusanganisira ndege, ndege, zvikepe, kutsvaga peturu, geodesy, ongororo dzegungwa, kuchera matongo, marobhoti, uye masisitimu ezvitima. Nekuuya kwemasensa epamusoro einertial, tekinoroji yeinertial yakawedzera kushanda kwayo kuindasitiri yemotokari uye zvishandiso zvemagetsi zvekurapa, pakati pezvimwe zvinhu. Kuwanda uku kwekushandiswa kunoratidza basa riri kuramba richikura reinertial navigation mukupa kugona kwekufamba kwakanyatsojeka uye kuisa panzvimbo kune akawanda mashandisirwo.
Chikamu Chikuru cheInertial Guidance:Gyroscope yeFiber Optic
Nhanganyaya kuFiber Optic Gyroscopes
Masisitimu ekufamba asina simba anonyanya kuvimba nekururama uye kurongeka kwezvikamu zvavo zvikuru. Chimwe chezvinhu zvakadaro chakavandudza zvakanyanya kugona kwemasisitimu aya iFiber Optic Gyroscope (FOG). FOG inzwa yakakosha inoita basa guru mukuyera kumhanya kwemutakuri nekunyatsojeka.
Kushanda kweFiber Optic Gyroscope
MaFOG anoshanda nepfungwa yeSagnac effect, iyo inosanganisira kupatsanura danda relaser kuita nzira mbiri dzakasiyana, zvichiita kuti rifambe nenzira dzakasiyana richitevedza fiber optic loop yakakoshwa. Kana tangi, yakabatanidzwa neFOG, ikatenderera, musiyano wenguva yekufamba pakati pematanda maviri unoenderana nekumhanya kwekona kwekutenderera kwetangi. Kunonoka kwenguva uku, kunozivikanwa seSagnac phase shift, kunoyerwa nemazvo, zvichiita kuti FOG ipe data rakarurama maererano nekutenderera kwetangi.
Nheyo ye fiber optic gyroscope inosanganisira kuburitsa chiedza kubva mu photodetector. Chiedza ichi chinopfuura nemu coupler, chichipinda kubva kumugumo mumwe uye chichibuda kubva kune mumwe. Chinobva chafamba ne optical loop. Marambi maviri echiedza, anobva kumativi akasiyana, anopinda mu loop uye anopedzisa coherent superposition mushure mekutenderera. Chiedza chinodzoka chinopinda zvakare mu light-emitting diode (LED), iyo inoshandiswa kuona simba rayo. Kunyange zvazvo nheyo ye fiber optic gyroscope ingaita seyakareruka, dambudziko guru riri mukubvisa zvinhu zvinokanganisa kureba kwenzira ye optical yemwenje miviri yechiedza. Ichi chimwe chezvinhu zvakakosha zvinotarisana nekugadzirwa kwe fiber optic gyroscopes.
1: diode ye superluminescent 2: diode yekuona chiedza
3.chiedza chinobva pakugadzira 4.fiber mhete coupler 5.mhete yefiber ye optical
Mabhenefiti eFiber Optic Gyroscopes
MaFOG ane mabhenefiti akati wandei anoita kuti ave akakosha mu inertial navigation systems. Anozivikanwa nekunyatsorurama kwawo, kuvimbika, uye kugara kwenguva refu. Kusiyana nema mechanical gyros, maFOG haana zvikamu zvinofamba, zvichideredza njodzi yekusakara. Pamusoro pezvo, haagoni kubatwa nekuvhunduka uye kudedera, zvichiita kuti ave akakodzera nzvimbo dzinoda simba dzakadai sendege nemidziyo yekudzivirira.
Kubatanidzwa kweFiber Optic Gyroscopes muInertial Navigation
Masisitimu ekufamba-famba asina simba ari kuwedzera kushandisa maFOG nekuda kwekunyatsorongeka kwawo uye kuvimbika. Magyroscope aya anopa zviyero zvakakosha zvekumhanya kwekona zvinodiwa kuti munhu aone kwakarurama nzvimbo uye nzvimbo. Nekubatanidza maFOG mumasisitimu ekufamba-famba asina simba aripo, vashandisi vanogona kubatsirwa nekuvandudzwa kwekururama kwekufamba-famba, kunyanya mumamiriro ezvinhu apo kunyatsorongeka kwakanyanya kunodiwa.
Mashandisirwo eFiber Optic Gyroscopes muInertial Navigation
Kubatanidzwa kweFOGs kwakawedzera mashandisirwo einertial navigation systems munzvimbo dzakasiyana siyana. Mundege nendege, masisitimu ane FOG anopa mhinduro dzakarurama dzekufambisa ndege, madrone, uye zvitundumuseremusere. Anoshandiswawo zvakanyanya mukufambisa ngarava mugungwa, ongororo dzezve geology, uye marobhoti epamusoro, zvichiita kuti masisitimu aya ashande nekushanda kwakawedzerwa uye kuvimbika.
Mhando dzakasiyana dzeFiber Optic Gyroscopes
Magyroscope eFiber optic anouya nenzira dzakasiyana-siyana, uye chinonyanya kukosha pari zvino chiri kupinda muhunyanzvi igyroscope inochengetedza fiber optic ne closed-loopPakati peiyi gyroscope panefiber loop inochengetedza polarization, ine mafiber anochengetedza polarization uye framework yakagadzirwa nemazvo. Kugadzirwa kwe loop iyi kunosanganisira nzira yekumonera ine symmetric winding yakapetwa kane mana, inowedzerwa ne sealing gel yakasiyana kuti igadzire solid-state fiber loop coil.
Zvinhu Zvikuru zveKuchengetedza Polarization-Fiber Optic Gyro Coil
▶Kugadzira Framework Yakasarudzika:Marobho egyroscope ane dhizaini yakasiyana yeframework iyo inokwanisa kugamuchira mhando dzakasiyana dzemafiber anochengetedza polarization zviri nyore.
▶Maitiro Ekugadzirisa Mavhiri Akafanana Kane Fourfold:Nzira yekumonera mativi mana inoderedza Shupe effect, zvichiita kuti zviyero zvive zvakarurama uye zvakavimbika.
▶Zvinhu zveGel zveSealing Advanced:Kushandiswa kwezvinhu zvemhando yepamusoro zvekuvhara gel, pamwe chete nenzira yakasiyana yekurapa, kunowedzera kuramba kukanganiswa nekudengenyeka, zvichiita kuti marobho aya egyroscope akwanise kushandiswa munzvimbo dzine rima.
▶Kugadzikana kweKubatana kweTembiricha Yakakwira:Zvisungo zvegyroscope zvinoratidza kugadzikana kwakasimba kwekupisa kwakanyanya, zvichiita kuti zvive nechokwadi chekuti zvakanyatsojeka kunyangwe mumamiriro ekupisa akasiyana-siyana.
▶Furemu Yakareruka Yakareruka:Marobho egyroscope akagadzirwa nechimiro chakareruka asi chiri nyore, zvichiita kuti kugadziriswa kuve kwakanyatsojeka.
▶Maitiro Ekugadzirisa Zvisingachinji:Maitiro ekumonera anoramba akagadzikana, achienderana nezvinodiwa nemagyroscope akasiyana-siyana efiber optic akanyatsogadzirwa.
Referensi
Groves, PD (2008). Nhanganyaya yeInertial Navigation.Magazini yeKufamba, 61(1), 13-28.
El-Sheimy, N., Hou, H., & Niu, X. (2019). Matekinoroji einertial sensors ekushandisa pakufamba: epamusoro-soro.Kufamba neSetilaiti, 1(1), 1-15.
Woodman, OJ (2007). Sumo yekufamba kwemhepo.Yunivhesiti yeCambridge, Laboratory yeMakomputa, UCAM-CL-TR-696.
Chatila, R., & Laumond, JP (1985). Kutarisa chinzvimbo uye kutevedzera kwakafanana kwenyika yemarobhoti anofamba.Muzvinyorwa zveMusangano weInternational Conference weIEEE we1985 weRobotics uye Automation(Vhoriyamu 2, mapeji 138-145). IEEE.
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