Yintoni i-Inertial Navigation?
Izinto ezisisiseko zokuhamba nge-Inertial
Imigaqo esisiseko yokuhambahamba nge-inertial ifana neyezinye iindlela zokuhambahamba. Ixhomekeke ekufumaneni ulwazi oluphambili, kubandakanya indawo yokuqala, ulwalathiso lokuqala, indlela kunye nolwalathiso lwentshukumo ngalo lonke ixesha, kunye nokudibanisa ngokuthe ngcembe le datha (efana nemisebenzi yokudibanisa izibalo) ukumisela ngokuchanekileyo iiparameter zokuhambahamba, ezifana nolwalathiso kunye nendawo.
Indima yeeSensors kwi-Inertial Navigation
Ukuze kufunyanwe ulwazi lwendlela yokujika (isimo sengqondo) kunye nolwazi lwendawo yento ehambayo, iinkqubo zokuhamba ngesantya esisezantsi zisebenzisa iseti yeenzwa ezibalulekileyo, eziquka ikakhulu ii-accelerometers kunye nee-gyroscopes. Ezi sensors zilinganisa isantya se-angular kunye nokukhawulezisa kwesithuthi kwisakhelo sereferensi esingenasantya. Idatha emva koko idityaniswe kwaye icutshungulwe ngokuhamba kwexesha ukuze kufunyanwe ulwazi lwesantya kunye nendawo ehambelanayo. Emva koko, olu lwazi luguqulwa lube yinkqubo yokulungelelanisa ukuhamba, kunye nedatha yendawo yokuqala, ifikelele ekugqibeleni ekumiselweni kwendawo yangoku yesithuthi.
Imigaqo yokusebenza yeNkqubo yokuHamba engasebenziyo
Iinkqubo zokuhamba ngesantya esingenantambo zisebenza njengeenkqubo zokuhamba ngesantya esizimeleyo, zangaphakathi ezivaliweyo. Azixhomekeki kuhlaziyo lwedatha yangaphandle olusebenza ngexesha langempela ukulungisa iimpazamo ngexesha lokuhamba komthwali. Ngenxa yoko, inkqubo enye yokuhamba ngesantya esingenantambo ifanelekile kwimisebenzi yokuhamba ngesantya esifutshane. Kwimisebenzi yexesha elide, kufuneka idityaniswe nezinye iindlela zokuhamba ngesantya, njengeenkqubo zokuhamba ngesantya ezisekelwe kwisathelayithi, ukulungisa iimpazamo zangaphakathi eziqokelelweyo rhoqo.
Ukufihlwa kokuhamba ngenqanawa okungeyongozi
Kwiteknoloji zanamhlanje zokuhamba ngenqanawa, kuquka ukuhamba ngenqwelomoya, ukuhamba ngesathelayithi, kunye nokuhamba ngerediyo, ukuhamba ngenqwelomoya okungenazintambo kuyabonakala njengokuzimela. Akukhuphi zimpawu kwindawo engaphandle kwaye akuxhomeki kwizinto zasezulwini okanye kwiimpawu zangaphandle. Ngenxa yoko, iinkqubo zokuhamba ngenqwelomoya ezingenazintambo zibonelela ngeyona ndlela iphezulu yokufihlwa, nto leyo eyenza ukuba zilungele usetyenziso olufuna ubumfihlo obuphezulu.
Inkcazo esemthethweni yoKuhamba ngeNdlela engasebenziyo
I-Inertial Navigation System (INS) yinkqubo yokulinganisela iiparameter zokuhamba esebenzisa ii-gyroscopes kunye nee-accelerometers njengee-sensors. Le nkqubo, esekelwe kwimveliso yee-gyroscopes, iseka inkqubo yokulungelelanisa ukuhamba ngelixa isebenzisa imveliso yee-accelerometers ukubala isantya kunye nendawo yenkampani ethwala idatha kwinkqubo yokulungelelanisa ukuhamba.
Izicelo ze-Inertial Navigation
Itekhnoloji ye-inertial ifumene usetyenziso olubanzi kwiindawo ezahlukeneyo, kubandakanya i-aerospace, i-aircraft, i-maritime, i-petroleum exploration, i-geodesy, uphando lwe-oceanographic, i-geological drilling, i-robotics, kunye neenkqubo ze-railway. Ngokufika kwee-inertial sensors eziphambili, itekhnoloji ye-inertial yandise ukusetyenziswa kwayo kwishishini leemoto kunye nezixhobo ze-elektroniki zonyango, phakathi kwezinye iinkalo. Olu luhlu lwandayo lwezicelo lugxininisa indima ebaluleke ngakumbi ye-inertial navigation ekuboneleleni ngezakhono zokuhamba ngokuchanekileyo kunye nokubeka indawo kwiinkqubo ezininzi.
Icandelo eliPhambili leSikhokelo sokungaguquguquki:I-Gyroscope yeFiber Optic
Intshayelelo kwiFiber Optic Gyroscopes
Iinkqubo zokuhamba ngesantya esiphantsi zixhomekeke kakhulu ekuchanekeni nasekuchanekeni kwezinto ezingundoqo. Elinye lala macandelo liye laphucula kakhulu amandla ezi nkqubo yiFiber Optic Gyroscope (FOG). I-FOG sisiva-luvo esibalulekileyo esidlala indima ebalulekileyo ekulinganiseni isantya se-angular somthwali ngokuchaneka okuphawulekayo.
Ukusebenza kweGyroscope yeFiber Optic
IiFOG zisebenza ngokomgaqo weSagnac effect, oquka ukwahlula umqadi welaser ube ziindlela ezimbini ezahlukeneyo, ovumela ukuba uhambe kwicala elahlukileyo kwi-fiber optic loop edibeneyo. Xa umthwali, ofakwe kwiFOG, ejikeleza, umahluko kwixesha lokuhamba phakathi kwee-beams ezimbini uhambelana nesantya se-angular sokujikeleza komthwali. Olu tshintsho lwexesha, olwaziwa ngokuba yiSagnac phase shift, lulinganiswa ngokuchanekileyo, nto leyo evumela iFOG ukuba inike idatha echanekileyo malunga nokujikeleza komthwali.
Umgaqo we-fiber optic gyroscope ubandakanya ukukhupha umsebe wokukhanya ovela kwi-photodetector. Lo msebe wokukhanya udlula kwi-coupler, ungena kwelinye icala uze uphume kwelinye. Emva koko uhamba nge-optical loop. Imisebe emibini yokukhanya, evela kumacala ahlukeneyo, ingena kwi-loop ize igqibezele i-coherent superposition emva kokujikeleza. Ukukhanya okubuyayo kungena kwakhona kwi-light-emitting diode (LED), esetyenziselwa ukubona ubunzulu bayo. Nangona umgaqo we-fiber optic gyroscope usenokubonakala ulula, owona mngeni ubalulekileyo usekususeni izinto ezichaphazela ubude bendlela ye-optical yemitha emibini yokukhanya. Le yenye yezona ngxaki zibalulekileyo ezijongene nazo ekuphuhlisweni kwe-fiber optic gyroscopes.
1: i-diode ye-superluminescent 2: i-diode ye-photodetector
3.umthombo wokukhanya wokudibanisa 4.i-fiber ring coupler 5.isangqa sefayibha esibonakalayo
Iingenelo zeFiber Optic Gyroscopes
IiFOG zibonelela ngeenzuzo ezininzi ezenza zibe luncedo kakhulu kwiinkqubo zokuhamba ngenqwelomoya ezingenamandla. Ziyaziwa ngokuchaneka kwazo okugqwesileyo, ukuthembeka, kunye nokuqina. Ngokungafaniyo nee-gyros zoomatshini, iiFOG azinazo iindawo ezihambayo, nto leyo enciphisa umngcipheko wokuguguleka. Ukongeza, azikwazi ukumelana nomothuko kunye nokungcangcazela, nto leyo ezenza zibe zilungele iindawo ezinzima ezifana neenqwelo moya kunye nezicelo zokhuselo.
Ukuhlanganiswa kweeGyroscopes zeFiber Optic kwi-Inertial Navigation
Iinkqubo zokuhamba ngesantya esingashukumiyo ziyanda ukufaka ii-FOG ngenxa yokuchaneka kwazo okuphezulu kunye nokuthembeka. Ezi gyroscopes zibonelela ngokulinganisa isantya esibalulekileyo se-angular esifunekayo ukuze kuqinisekiswe ngokuchanekileyo ukuqhelaniswa kunye nendawo. Ngokudibanisa ii-FOG kwiinkqubo zokuhamba ngesantya esingashukumiyo ezikhoyo, abaqhubi banokungenelwa kukuchaneka okuphuculweyo kokuhamba ngesantya, ngakumbi kwiimeko apho ukuchaneka okugqithisileyo kufuneka khona.
Ukusetyenziswa kweFiber Optic Gyroscopes kwi-Inertial Navigation
Ukubandakanywa kwe-FOGs kwandisa ukusetyenziswa kweenkqubo zokuhamba ngenqanawa ezingenazintambo kwiindawo ezahlukeneyo. Kwi-aerospace nakwi-aircraft, iinkqubo ezixhotyiswe yi-FOG zibonelela ngezisombululo ezichanekileyo zokuhamba ngenqwelomoya, iidrone, kunye ne-spacecraft. Zikwasetyenziswa kakhulu ekuqhubekeni kolwandle, uphando lwe-geological, kunye ne-robotics eziphambili, okuvumela ezi nkqubo ukuba zisebenze ngokusebenza okuphuculweyo kunye nokuthembeka.
Iintlobo ezahlukeneyo zesakhiwo seFiber Optic Gyroscopes
Ii-gyroscope ze-fiber optic ziza ngeendlela ezahlukeneyo zolwakhiwo, kwaye eyona iphambili ngoku ingena kwicandelo lobunjineli yii-gyroscope ye-fiber optic egcina i-polarization evaliweyo. Embindini wale gyroscope kukhoiluphu yefayibha egcina i-polarisation, equka imicu egcina i-polarisation kunye nesakhelo esiyilwe ngokuchanekileyo. Ukwakhiwa kwale loop kubandakanya indlela yokujika ephindwe kane, eyongezwa yijeli yokutywina eyahlukileyo ukwenza ikhoyili ye-fiber loop yesimo esiqinileyo.
Iimpawu eziphambili zeI-Fiber Optic G egcina i-PolarizationIkhoyili yonyaka
▶Uyilo lweSakhelo esikhethekileyo:Ii-gyroscope loops zinoyilo olwahlukileyo lwesakhelo oluvumela iintlobo ezahlukeneyo zeefayibha ezigcina i-polarisation ngokulula.
▶Indlela Yokujika Ngokulinganayo Okuneziqendu Ezine:Indlela yokujika ene-symmetric winding inciphisa isiphumo seShupe, iqinisekisa ukulinganiswa okuchanekileyo nokuthembekileyo.
▶Izinto zeGel zokutywina eziPhambili:Ukusetyenziswa kwezinto eziphambili zokutywina ijeli, kudityaniswe nendlela eyahlukileyo yokunyanga, kwandisa ukumelana nokungcangcazela, nto leyo eyenza ezi ziluphu zegyroscope zilungele ukusetyenziswa kwiindawo ezixineneyo.
▶Uzinzo loBumbano lobushushu obuphezulu:Ii-gyroscope loops zibonisa uzinzo oluhambelana nobushushu obuphezulu, ziqinisekisa ukuchaneka nokuba kwiimeko ezahlukeneyo zobushushu.
▶Isakhelo Esilula Esilula:Ii-gyroscope loops zenziwe ngesakhelo esilula kodwa esikhaphukhaphu, esiqinisekisa ukuchaneka okuphezulu kokucubungula.
▶Inkqubo yokuQoqa engaguqukiyo:Inkqubo yokujika ihlala izinzile, ihambelana neemfuno zeegyroscopes ezahlukeneyo ze-fiber optic ezichanekileyo.
Isalathiso
Groves, PD (2008). Intshayelelo kwi-Inertial Navigation.Ijenali yoKuhamba, 61(1), 13-28.
U-El-Sheimy, N., uHou, H., kunye noNiu, X. (2019). Iitekhnoloji ze-inertial sensors zezicelo zokuhamba: ezisemgangathweni ophezulu.Ukuhamba ngeSatellite, 1(1), 1-15.
Woodman, OJ (2007). Intshayelelo kwindlela yokuhamba nge-inertial.IYunivesithi yaseCambridge, iLebhu yeKhompyutha, i-UCAM-CL-TR-696.
UChatila, R., kunye noLaumond, JP (1985). Ukubhekisela kwisikhundla kunye nomzekelo wehlabathi ohambelanayo weerobhothi eziphathwayo.Kwingxelo yeNgqungquthela yeHlabathi ye-IEEE ka-1985 malunga neRobhothi kunye nokuZenzekelayo(Umqulu 2, iphe. 138-145). IEEE.
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