{"id":4054,"date":"2023-02-08T08:54:21","date_gmt":"2023-02-08T00:54:21","guid":{"rendered":"http:\/\/192.168.10.115\/index.php\/2023\/02\/08\/4054\/"},"modified":"2023-02-08T11:06:25","modified_gmt":"2023-02-08T03:06:25","slug":"%e8%87%aa%e5%8a%a8%e9%a9%be%e9%a9%b6%e4%bc%a0%e6%84%9f%e5%99%a8%ef%bc%88%e5%85%ad%ef%bc%89%ef%bc%9a%e6%83%af%e6%80%a7%e5%af%bc%e8%88%aaimu%e5%8e%9f%e7%90%86","status":"publish","type":"post","link":"http:\/\/222.128.65.89:18086\/index.php\/2023\/02\/08\/4054\/","title":{"rendered":"\u81ea\u52a8\u9a7e\u9a76\u4f20\u611f\u5668\uff08\u516d\uff09\uff1a\u60ef\u6027\u5bfc\u822aIMU\u539f\u7406"},"content":{"rendered":"

\u7f16\u8f91\u4e8e 2023-02-08 01:02\u30fbIP \u5c5e\u5730\u5317\u4eac<\/p>\n

\u200b\u76ee\u5f55,\u4f5c\u8005\uff1aBUAA\u706b\u8f66\u4fa0<\/p>\n

\u6210\u6587\u65e5\u671f\uff1a2022\/01\/17<\/p>\n

1. \u60ef\u6027\u6d4b\u91cf\u5355\u5143\uff08IMU\uff09\u6982\u8ff0<\/p>\n

\u60ef\u6027\u6d4b\u91cf\u5355\u5143(Inertial measurement unit\uff0cIMU)\uff0c\u662f\u6d4b\u91cf\u7269\u4f53\u4e09\u8f74\u59ff\u6001\u89d2\u53ca\u52a0\u901f\u5ea6\u7684\u88c5\u7f6e\u3002IMU\u901a\u5e38\u5305\u542b\u9640\u87ba\u4eea (Gyroscope)\u3001\u52a0\u901f\u5ea6\u8ba1 (Accelermeters)\uff0c\u6709\u7684\u8fd8\u5305\u542b\u78c1\u529b\u8ba1(Magnetometers)\u3002\u9640\u87ba\u4eea\u7528\u6765\u6d4b\u91cf\u4e09\u8f74\u7684\u89d2\u901f\u5ea6\uff0c\u52a0\u901f\u5ea6\u8ba1\u7528\u6765\u6d4b\u91cf\u4e09\u8f74\u7684\u52a0\u901f\u5ea6\uff0c\u78c1\u529b\u8ba1\u63d0\u4f9b\u671d\u5411\u4fe1\u606f\u3002<\/p>\n

IMU\u5728\u624b\u673a\u3001VR\uff0c\u822a\u7a7a\u822a\u5929\u9886\u57df\u90fd\u6709\u7740\u5e7f\u6cdb\u5e94\u7528\u3002\u6bd4\u5982\u624b\u673a\u7684\u8bb0\u6b65\u529f\u80fd\u5c31\u662f\u5229\u7528IMU\u7684\u7b97\u6cd5\u8fbe\u6210\uff1bVR\u4e2dIMU\u53ef\u5b9e\u73b0\u968f\u5934\u90e8\u59ff\u6001\u53d8\u5316\u800c\u5207\u6362\u573a\u666f\uff1bApollo\u767b\u6708\u4e2d\u4f9d\u8d56IMU\u5b9e\u73b0\u4f4d\u7f6e\u8ffd\u8e2a\u548c\u671d\u5411\u786e\u8ba4\u3002<\/p>\n

<\/p>\n

IMU\u7684\u5e94\u7528<\/p>\n

\u5728\u81ea\u52a8\u9a7e\u9a76\u4e2d\uff0cIMU\u540c\u6837\u662f\u91cd\u8981\u7684\u5bfc\u822a\u548c\u5b9a\u4f4d\u7ec4\u4ef6\u3002IMU\u7684\u539f\u7406\u901a\u4fd7\u7684\u8bb2\uff1a\u5c31\u662f\u77e5\u9053\u81ea\u5df1\u7684\u521d\u59cb\u4f4d\u7f6e\u548c\u521d\u59cb\u59ff\u6001\u3001\u4ee5\u53ca\u6bcf\u4e2a\u65f6\u523b\u7684\u8fd0\u52a8\u52a0\u901f\u5ea6\u548c\u59ff\u6001\u3002\u5e76\u5c06\u5176\u5bf9\u65f6\u95f4\u79ef\u5206\uff0c\u5373\u53ef\u6d4b\u5f97\u5f53\u524d\u7684\u4f4d\u7f6e\u548c\u59ff\u6001\u4fe1\u606f\u3002<\/p>\n

\u800c\u83b7\u5f97\u7269\u4f53\u5f53\u524d\u7684\u59ff\u6001\u4ee5\u53ca\u52a0\u901f\u5ea6\uff0c\u5219\u4f9d\u9760\u4e24\u79cd\u786c\u4ef6\uff1a\u9640\u87ba\u4eea\u548c\u52a0\u901f\u5ea6\u8ba1\u3002\u4e24\u79cd\u4eea\u5668\u90fd\u662f\u4f9d\u9760\u60ef\u6027\u4f5c\u7528\u3002\uff08\u89d2\u52a8\u91cf\u5b88\u6052\u4e0e\u725b\u987f\u7b2c\u4e8c\u5b9a\u5f8b\uff09\uff0c\u56e0\u6b64\u624d\u88ab\u79f0\u4e4b\u4e3a\u201c\u60ef\u6027\u5bfc\u822a\u201d\u3002<\/p>\n

2. \u9640\u87ba\u4eea(Gyroscope)<\/p>\n

2.1 \u4f20\u7edf\u673a\u68b0\u9640\u87ba\u4eea\u539f\u7406\uff1a\u89d2\u52a8\u91cf\u5b88\u6052<\/p>\n

\u6211\u4eec\u5148\u4ece\u6700\u53e4\u8001\u7684\u9640\u87ba\u4eea\u770b\u8d77\uff0c\u987e\u540d\u601d\u4e49\uff0c\u9640\u87ba\u4eea\u7684\u6838\u5fc3\u662f\u4e00\u4e2a\u9640\u87ba\u3002\u5f53\u5176\u5f00\u59cb\u65cb\u8f6c\uff0c\u9640\u87ba\u4eea\u6709\u6297\u62d2\u65b9\u5411\u6539\u53d8\u7684\u8d8b\u52bf\uff0c\u8fd9\u5c31\u662f\u89d2\u52a8\u91cf\u5b88\u6052\u3002\u9a91\u81ea\u884c\u8f66\u3001\u6469\u6258\u8f66\u4e0d\u4f1a\u6454\u5012\u4e5f\u662f\u8fd9\u4e2a\u539f\u7406\uff0c\u5de8\u578b\u8f6e\u8239\u91c7\u7528\u7684\u8239\u8eab\u7a33\u5b9a\u7cfb\u7edf\u4e5f\u662f\u5229\u7528\u8fd9\u4e2a\u539f\u7406\u3002<\/p>\n

\u673a\u68b0\u9640\u87ba\u4eea<\/p>\n

\u673a\u68b0\u9640\u87ba\u4eea\u7684\u57fa\u672c\u90e8\u4ef6\u6709\uff1a<\/p>\n

\u9640\u87ba\u8f6c\u5b50\uff1a\u5e38\u91c7\u7535\u673a\u9a71\u52a8\u4f7f\u9640\u87ba\u8f6c\u5b50\u7ed5\u81ea\u8f6c\u8f74\u9ad8\u901f\u65cb\u8f6c\uff0c\u5176\u8f6c\u901f\u8fd1\u4f3c\u4e3a\u5e38\u503c\u3002<\/p>\n

\u5185\u3001\u5916\u6846\u67b6\uff1a\u4f7f\u9640\u87ba\u81ea\u8f6c\u8f74\u83b7\u5f97\u6240\u9700\u89d2\u8f6c\u52a8\u81ea\u7531\u5ea6\u7684\u7ed3\u6784\u3002<\/p>\n

\u9644\u4ef6\uff1a\u529b\u77e9\u9a6c\u8fbe\u3001\u4fe1\u53f7\u4f20\u611f\u5668\u7b49\u3002<\/p>\n

\u5f53\u9640\u87ba\u9ad8\u901f\u65cb\u65f6\uff0c\u5176\u59ff\u6001\u53ef\u4ee5\u89c6\u4e3a\u4e0d\u53d8\u3002\u6b64\u65f6\uff0c\u5f53\u642d\u8f7d\u9640\u87ba\u4eea\u7269\u4f53\u7684\u59ff\u6001\u53d1\u751f\u53d8\u5316\uff0c\u5219\u673a\u68b0\u9640\u87ba\u4eea\u7684\u5185\u5916\u6846\u67b6\u76f8\u5bf9\u4e8e\u9640\u87ba\u7684\u89d2\u5ea6\u5c31\u53d1\u751f\u4e86\u53d8\u5316\u3002\u53ea\u8981\u6d4b\u91cf\u89d2\u5ea6\uff0c\u6216\u8005\u89d2\u901f\u5ea6\uff0c\u5373\u53ef\u5b8c\u6210\u5bf9\u4f4d\u59ff\u7684\u6d4b\u91cf\u3002<\/p>\n

\u9640\u87ba\u4eea\u7684\u6d4b\u91cf\u6a21\u578b\u4e3a(\u5ffd\u7565\u5730\u7403\u81ea\u8f6c)\uff1a<\/p>\n

omega(t)=omega_s(t)+b_{gyro}(t)+n_{gyro}(t)<\/p>\n

\u5176\u4e2d\uff1a<\/p>\n

omega(t) : \u9640\u87ba\u4eea\u8f93\u51fa\u7684\u89d2\u901f\u5ea6\uff1b<\/p>\n

b_{gyro}(t) \uff1a\u6f02\u79fb\u91cf\uff1b<\/p>\n

n_{gyro}(t) \uff1a\u566a\u58f0\u9879\uff0c\u901a\u5e38\u4e3a\u9ad8\u65af\u767d\u566a\u58f0\uff0c\u6a21\u62df\u4f20\u611f\u5668\u8bef\u5dee\u3002<\/p>\n

2.2 \u9640\u87ba\u4eea\u7684\u53d1\u5c55<\/p>\n

\u9640\u87ba\u4eea\u5386\u53f2\u5f88\u60a0\u4e45\uff0c\u65e9\u57281904\u5e74\uff0c\u7b2c\u4e00\u4e2a\u673a\u68b0\u9640\u87ba\u4eea\u7cfb\u7edf\u5c31\u88ab\u8bbe\u8ba1\u51fa\u6765\u4e86\uff0c\u673a\u68b0\u9640\u87ba\u4eea\u65e9\u671f\u5e94\u7528\u5728\u6b66\u5668\u5236\u5bfc\u3001\u822a\u7a7a\u822a\u5929\u9886\u57df\u8f83\u591a\u3002\u6bd4\u5982\u4e8c\u6218\u65f6\u5019\u7684V2\u706b\u7bad\u5c31\u91c7\u7528\u4e86\u9640\u87ba\u4eea\u5bfc\u822a\uff0c\u5c3d\u7ba1\u5176\u5bfc\u822a\u5e76\u4e0d\u51c6\u786e\uff0c\u603b\u662f\u79bb\u76ee\u7684\u5730\u5f88\u8fdc\u3002<\/p>\n

<\/p>\n

V2\u706b\u7bad\u4e2d\u7684\u9640\u87ba\u4eea\u5e94\u7528<\/p>\n

\u6211\u4eec\u53ef\u4ee5\u5f88\u8f7b\u6613\u7684\u53d1\u73b0\u6b64\u79cd\u9640\u87ba\u4eea\u5b58\u5728\u7684\u95ee\u9898\uff1a\u9ad8\u901f\u65cb\u8f6c\u7684\u9640\u87ba\u9700\u8981\u6781\u9ad8\u7684\u673a\u52a0\u5de5\u5de5\u827a\uff0c\u4e14\u9ad8\u901f\u65cb\u8f6c\u7684\u9640\u87ba\u9700\u8981\u914d\u5408\u6781\u597d\u7684\u51cf\u963b\u3001\u6297\u6469\u64e6\u5e72\u6270\u63aa\u65bd\u3002\u572870\u5e74\u4ee3\u4ee5\u524d\uff0c\u9640\u87ba\u4eea\u7684\u7814\u53d1\u91cd\u5fc3\u5c31\u5728\u4e8e\u6b64\u3002\u572840\u5e74\u4ee3\uff0c\u5de5\u7a0b\u5e08\u91c7\u7528\u8f74\u627f\u6765\u51cf\u5c0f\u65cb\u8f6c\u963b\u529b\uff0c50\u5e74\u4ee3\u5219\u53d1\u660e\u4e86\u6db2\u6d6e\u548c\u6c14\u6d6e\u9640\u87ba\u4eea\u300260\u5e74\u5219\u51fa\u73b0\u4e86\u6320\u6027\u652f\u6491\u9640\u87ba\u4eea\u3002<\/p>\n

<\/p>\n

\u6320\u6027\u9640\u87ba\u4eea<\/p>\n

\u4f46\u8fd9\u4e9b\u4f20\u7edf\u7684\u673a\u68b0\u9640\u87ba\u4eea\u4ecd\u7136\u6ca1\u6709\u8df3\u51fa\u725b\u987f\u7684\u7ecf\u5178\u529b\u5b66\u539f\u7406\u3002\u800c\u968f\u774070\u5e74\u4ee3\u5148\u8fdb\u52a0\u5de5\u5de5\u827a\u3001\u5149\u5b66\u539f\u7406\u7684\u53d1\u5c55\u4e5f\u5e94\u7528\uff0c\u9640\u87ba\u4eea\u671d\u7740\u5c0f\u578b\u5316\u3001\u9ad8\u7cbe\u5ea6\u3001\u9ad8\u53ef\u9760\u6027\u7684\u65b9\u5411\u53d1\u5c55\u3002\u73af\u5f62\u6fc0\u5149\u9640\u87ba\u4eea\u3001\u5149\u7ea4\u9640\u87ba\u4eea\u3001\u9759\u7535\u9640\u87ba\u4eea\u3001MEMS\u9640\u87ba\u4eea\u7b49\u9010\u6e10\u53d1\u5c55\uff0c\u5e76\u5728\u5e7f\u6cdb\u5e94\u7528\u4e8e\u9ad8\u7cbe\u5ea6\u60ef\u5bfc\u7cfb\u7edf\u4e2d\u3002<\/p>\n

\u8fd9\u4e9b\u65b0\u7684\u9640\u87ba\u4eea\u7684\u539f\u7406\u5df2\u4e0d\u518d\u662f\u201d\u89d2\u52a8\u91cf\u5b88\u6052\u201d\uff0c\u4e5f\u4e0d\u518d\u9700\u8981\u9ad8\u901f\u65cb\u8f6c\u7684\u9640\u87ba\uff0c\u6bd4\u5982\u5149\u7ea4\u9640\u87ba\u4eea\u57fa\u4e8e\u7684\u539f\u7406\u662fSagnac\u6548\u5e94\uff0cMEMS\u9640\u87ba\u4eea\u5219\u662f\u57fa\u4e8e \u201c\u79d1\u6c0f\u529b\u548c\u79d1\u6c0f\u52a0\u901f\u5ea6\u201d\u3002<\/p>\n

\u5bf9\u4e8e\u91cf\u4ea7\u81ea\u52a8\u9a7e\u9a76\u7cfb\u7edf\uff0c\u4f53\u79ef\u66f4\u5c0f\u3001\u96c6\u6210\u5ea6\u66f4\u9ad8\u3001\u6613\u4e8e\u89c4\u6a21\u5236\u9020\u7684MEMS\u9640\u87ba\u4eea\u81ea\u7136\u662f\u9996\u9009\u3002\u56e0\u6b64\uff0c\u6211\u4eec\u63a5\u4e0b\u6765\u91cd\u70b9\u8ba8\u8bba\u5176\u539f\u7406\u3002<\/p>\n

2.3 MEMS\u9640\u87ba\u4eea\u5173\u4e8eMEMS\u2014\u2014\u5fae\u673a\u7535\u7cfb\u7edf\u7684\u76f8\u5173\u77e5\u8bc6\uff0c\u53ef\u4ee5\u53c2\u8003\uff1a\u5fae\u673a\u7535\u7cfb\u7edf_\u767e\u5ea6\u767e\u79d1 (baidu.com)\uff0c\u8fd9\u91cc\u4e0d\u5c55\u5f00\u3002\u4e0b\u56fe\u52a0\u5de5\u51fa\u6765\u7684\u7ed3\u6784\u5728\u673a\u68b0\u5b66\u9886\u57df\u53eb\u201c\u67d4\u6027\u94f0\u94fe\u201d\u6216\u8005\u201c\u67d4\u6027\u632f\u5b50\u201d\u3002\uff08\u6b64\u6280\u672f\u5728MEMS\u6fc0\u5149\u96f7\u8fbe\u4e2d\u4e5f\u6709\u5e94\u7528\uff09\u3002<\/p>\n

<\/p>\n

MEMS\u9640\u87ba\u4eeaMEMS\u9640\u87ba\u4eea\u539f\u7406\uff1a<\/p>\n

\u5fae\u673a\u7535\u9640\u87ba\u4eea\u57fa\u4e8e\u7684\u539f\u7406\u662f\u79d1\u91cc\u5965\u5229\u529b\uff08\u56de\u5fc6\u5927\u5b66\u300a\u7406\u8bba\u529b\u5b66\u300b\u5185\u5bb9\uff09\u3002\u79d1\u6c0f\u529b\u7684\u5b9a\u4e49\u7a0d\u5fae\u6709\u70b9\u590d\u6742\uff0c\u7b80\u800c\u8a00\u4e4b\uff1a \u4ee5\u65cb\u8f6c\u4f53\u7cfb\u4e3a\u53c2\u8003\u7cfb\u89c2\u5bdf\uff0c\u5ef6\u5f84\u5411\u76f4\u7ebf\u8fd0\u52a8\u7684\u7269\u4f53\u4f1a\u7531\u4e8e\u8f6c\u52a8\u7684\u7ebf\u901f\u5ea6\u4e0d\u540c\u800c\u6709\u504f\u79bb\u539f\u6709\u65b9\u5411\u7684\u503e\u5411\uff0c\u8fd9\u4e2a\u503e\u5411\u53ef\u4ee5\u5f52\u7ed3\u4e3a\u4e00\u4e2a\u5916\u52a0\u529b\u7684\u4f5c\u7528<\/p>\n

<\/p>\n

\u79d1\u6c0f\u529b\u7684\u76f4\u89c2\u63cf\u8ff0<\/p>\n

\u5982\u56fe\u6240\u793a\uff0c\u5728\u987a\u65f6\u9488\u65cb\u8f6c\u7684\u5706\u76d8\u4e0a\uff0c\u5f53\u4eba\u4ece\u5706\u5fc3\u8d70\u5411\u8fb9\u7f18\uff0c\u5047\u5b9a\u8fd9\u4e2a\u8fc7\u7a0b\u4e2d\u5c0f\u4eba\u7684\u5207\u5411\u7ebf\u901f\u5ea6\u4e0d\u53d8\uff0c\u800c\u8d70\u5230\u7684\u811a\u4e0b\u7684\u5706\u76d8\u56e0\u4e3a\u534a\u5f84\u7684\u589e\u5927\u800c\u7ebf\u901f\u5ea6\u589e\u5927\uff0c\u6240\u4ee5\u5c0f\u4eba\u76f8\u5bf9\u5706\u76d8\u5c31\u6709\u76f8\u5bf9\u5411\u5de6\u7684\u8fd0\u52a8\u8d8b\u52bf\u3002\u7ad9\u5728\u5706\u76d8\u4e0a\u770b\uff0c\u5c31\u597d\u50cf\u6536\u5230\u4e86\u4e00\u4e2a\u5411\u5de6\u7684\u529b\u4e00\u6837\u3002<\/p>\n

\u628a\u4eba\u6362\u6210\u5f39\u7c27\u632f\u5b50\uff0c\u5f53\u632f\u5b50\u5f80\u8fb9\u7f18\u8fd0\u52a8\u7684\u65f6\u5019\uff0c\u6536\u5230\u5411\u5de6\u7684\u4e00\u4e2a\u529b\uff1b\u5f53\u632f\u5b50\u5f80\u5706\u5fc3\u8fd0\u52a8\u7684\u65f6\u5019\uff0c\u5219\u4f1a\u53d7\u5230\u5411\u53f3\u7684\u4e00\u4e2a\u529b\u3002 \u518d\u628a\u5f39\u7c27\u632f\u5b50\u8fde\u63a5\u4e0a\u5782\u76f4\u4e8e\u632f\u52a8\u65b9\u5411\u7684\u7535\u5bb9\u548c\u5f39\u7c27\uff0c\u5c31\u53ef\u4ee5\u628a\u79d1\u6c0f\u529b\u7684\u4f5c\u7528\u8f6c\u5316\u4e3a\u7535\u5bb9\u503c\u7684\u53d8\u5316\u3002<\/p>\n

\u800c\u79d1\u6c0f\u529b\u5927\u5c0f\u4e3a vec{F_c}=-2m(vec{omega} times vec{v}) \uff0c\u5176\u4e2d m \u4e3a\u8d28\u91cf\uff0c v \u4e3a\u8d28\u70b9\u8fd0\u52a8\u901f\u5ea6\uff0c omega \u4e3a\u65cb\u8f6c\u4f53\u7cfb\u89d2\u901f\u5ea6\u3002 times \u4e3a\u5916\u79ef\u3002\u90a3\u4e48\u5c31\u53ef\u4ee5\u6c42\u89e3\u51fa\u8f7d\u4f53\u8fd0\u52a8\u7684\u89d2\u901f\u5ea6\u4e86\u3002<\/p>\n

\u6574\u4e2a\u4fe1\u53f7\u7684\u8f6c\u5316\u6d41\u7a0b\u4e3a\uff1a\u6d4b\u91cf\u7535\u5bb9\u53d8\u5316->\u79d1\u6c0f\u529b->\u65cb\u8f6c\u89d2\u901f\u5ea6->\u89d2\u901f\u5ea6\u79ef\u5206\u53ef\u5f97\u65cb\u8f6c\u89d2\u5ea6\u3002<\/p>\n

\u5177\u4f53\u5230\u5b9e\u9645\u5de5\u4f5c\u8fc7\u7a0b\uff1a<\/p>\n

MEMS\u673a\u6784\u901a\u8fc714 kHz\u7684\u5171\u632f\u7ed3\u6784\u65bd\u52a0\u5468\u671f\u6027\u7684\u8fd0\u52a8\uff0c\u5feb\u901f\u8026\u5408\u5230\u52a0\u901f\u5ea6\u8ba1\u6846\u67b6\u3002\u79d1\u6c0f\u52a0\u901f\u5ea6\u4e0e\u8c10\u632f\u5668\u5177\u6709\u76f8\u540c\u7684\u9891\u7387\u548c\u76f8\u4f4d\uff0c\u56e0\u6b64\u53ef\u4ee5\u62b5\u6d88\u4f4e\u901f\u5916\u90e8\u632f\u52a8\u3002<\/p>\n

3. \u52a0\u901f\u5ea6\u8ba1(Accelermeters)<\/p>\n

3.1 \u52a0\u901f\u5ea6\u8ba1\u539f\u7406<\/p>\n

\u52a0\u901f\u5ea6\u8ba1\u7684\u6839\u672c\u539f\u7406\u5f88\u7b80\u5355\uff1a\u5373\u662f\u6d4b\u91cf\u52a0\u901f\u5ea6\u5f15\u8d77\u7684\u8fbe\u6717\u8d1d\u5c14\u529b\uff08\u56de\u5fc6\u5927\u5b66\u300a\u7406\u8bba\u529b\u5b66\u300b\u5185\u5bb9\uff09\u3002\u7269\u4f53\u52a0\u901f\u5ea6\u53ef\u8868\u793a\u4e3a\uff1a a_{means} = frac{F_{non-gravity}}{m} \uff08\u6392\u9664\u91cd\u529b\u52a0\u901f\u5ea6\uff09\u3002<\/p>\n

\u52a0\u901f\u5ea6\u8ba1\u7684\u6a21\u578b\u975e\u5e38\u7b80\u5355\uff0c\u5047\u8bbe\u771f\u7a7a\u73af\u5883\u4e0b\u6709\u4e00\u4e2a\u7403\u653e\u5728\u4e00\u4e2a\u76d2\u4e2d\uff0c\u5e76\u4e14\u7ed9\u76d2\u5b50\u5185\u58c1\u90fd\u5b89\u88c5\u538b\u654f\u4f20\u611f\u5668\u3002\u5728\u4e0d\u53d7\u5916\u529b\u60c5\u51b5\u4e0b\u5706\u7403\u81ea\u7136\u6f02\u6d6e\u5728\u76d2\u5b50\u4e2d\u592e\u3002\u5f53\u5b58\u5728\u52a0\u901f\u5ea6\u65f6\uff0c\u7531\u4e8e\u60ef\u6027\u4f5c\u7528\uff0c\u7403\u81ea\u7136\u4f1a\u649e\u5728\u5185\u58c1\u4e0a\uff0c\u5176\u4e0a\u7684\u538b\u654f\u4f20\u611f\u5668\u53cd\u9988\u7684\u529b F=ma \u3002<\/p>\n

\u6211\u4eec\u642d\u7535\u68af\u65f6\u7684\u8d85\u91cd\u3001\u5931\u91cd\u611f\uff0c\u5f00\u8f66\u5730\u677f\u6cb9\u65f6\u7684\u63a8\u80cc\u611f\uff0c\u5176\u5b9e\u5c31\u662f\u8fd9\u4e2a\u539f\u7406\u3002<\/p>\n

<\/p>\n

\u52a0\u901f\u5ea6\u8ba1\u539f\u7406<\/p>\n

\u52a0\u901f\u5ea6\u8ba1\u7684\u6d4b\u91cf\u6a21\u578b\u4e3a\uff1a<\/p>\n

a(t) = cs_n(t)(ddot{r_n}^{sn}(t)-g_n)+b_{accel}(t)+n_{accel}(t)<\/p>\n

\u5176\u4e2d\uff1a<\/p>\n

cs_n(t) \uff1a\u4f20\u611f\u5668\u65b9\u5411\uff08\u901a\u8fc7\u79ef\u5206\u9640\u87ba\u4eea\u7684\u8f6c\u901f\u8ba1\u7b97\uff09\uff1b<\/p>\n

b_{accel}(t) \uff1a\u6f02\u79fb\u91cf\uff1b<\/p>\n

n_{accel}(t) : \u566a\u58f0\u9879\uff0c\u901a\u5e38\u4e3aGaussian Noise\uff0c\u4f20\u611f\u5668\u8bef\u5dee\uff1b<\/p>\n

g_n \uff1a\u91cd\u529b\u52a0\u901f\u5ea6<\/p>\n

3.2 \u52a0\u901f\u5ea6\u8ba1\u7684\u5c0f\u578b\u5316<\/p>\n

\u540c\u7406\uff0c\u52a0\u901f\u5ea6\u8ba1\u4e5f\u53ef\u4ee5\u901a\u8fc7MEMS\u7684\u624b\u6bb5\u6765\u5b9e\u73b0\u5fae\u578b\u5316\u548c\u96c6\u6210\u5316\u3002MEMS\u52a0\u901f\u5ea6\u8ba1\u7684\u539f\u7406\u5982\u56fe\u6240\u793a\uff0c\u5728\u7845\u82af\u7247\u4e0a\u7528Laser\u52a0\u5de5\u51fa\u5fae\u578b\u67d4\u6027\u94f0\u94fe\uff0c\u901a\u8fc7\u67d4\u6027\u94f0\u94fe\u7684\u5fae\u53d8\u5f62\u5373\u53ef\u6d4b\u5b9a\u52a0\u901f\u5ea6\uff0c\u5176\u4f53\u79ef\u5c0f\uff0c\u7075\u654f\u5ea6\u9ad8\u3002<\/p>\n

\u5173\u4e8e\u67d4\u6027\u94f0\u94fe\u7684\u5b9a\u4e49\u548c\u4f5c\u7528\u65b9\u5f0f\uff0c\u53ef\u4ee5\u53c2\u8003\u6587\u7ae0\u81ea\u52a8\u9a7e\u9a76\u611f\u77e5\u5c42\u7684\u672c\u8d28\u2014\u2014\u7535\u78c1\u6ce2\u7684\u5e94\u7528 \u4e0bMEMS\u6fc0\u5149\u96f7\u8fbe\u7684\u90e8\u5206\u7684\u8868\u8ff0\u3002<\/p>\n

MEMS\u52a0\u901f\u5ea6\u8ba1<\/p>\n

4. \u7ec4\u5408\u5bfc\u822a<\/p>\n

IMU\u6709\u7740\u5341\u5206\u9c9c\u660e\u7684\u4f18\u70b9\u548c\u7f3a\u70b9\uff0c\u800c\u5f53\u5176\u4e0eGNSS\u76f8\u7ed3\u5408\u7684\u65f6\u5019\uff0c\u5219\u53ef\u4ee5\u6700\u5927\u7a0b\u5ea6\u5730\u626c\u957f\u907f\u77ed\u3002\u8fd9\u4e5f\u5c31\u662f\u201c\u7ec4\u5408\u5bfc\u822a\u201d\u7684\u6765\u6e90\u3002<\/p>\n

4.1 IMU\u7684\u4f18\u7f3a\u70b9<\/p>\n

IMU\u7684\u4f18\u70b9\uff1a<\/p>\n

\u76f8\u5bf9\u4f4d\u7f6e\u7684\u63a8\u6f14\u4e0d\u5b58\u5728\u4efb\u4f55\u5916\u90e8\u4f9d\u8d56\uff0c\u662f\u4e00\u4e2a\u5b8c\u5907\u7684\u7cfb\u7edf\u3002\u76f8\u6bd4\u4e4b\u4e0b\uff0c\u5982GNSS\u4f9d\u8d56\u4e8e\u536b\u661f\u7684\u8986\u76d6\uff0cLidar\uff0cCamera\u5219\u4f9d\u8d56\u4e8e\u5bf9\u5916\u90e8\u7684\u611f\u77e5\uff0c\u56e0\u800c\u5b58\u5728\u4e00\u5b9a\u7684\u4e0d\u7a33\u5b9a\u6027\u3002<\/p>\n

\u6b63\u56e0\u5982\u6b64\uff0cIMU\u51e0\u4e4e\u4e0d\u53d7\u5916\u6765\u4fe1\u53f7\u5e72\u6270\u3002\u673a\u68b0\u51b2\u51fb\uff0c\u7535\u78c1\u5e72\u6270\uff0c\u5f3a\u5149\u7b49\u4f1a\u5bf9\u5176\u4ed6\u4f20\u611f\u5668\u9020\u6210\u6270\u52a8\u7684\u5916\u754c\u4fe1\u53f7\u5bf9\u4e8eIMU\u901a\u901a\u4e0d\u8d77\u4f5c\u7528\u3002<\/p>\n

IMU\u5bf9\u89d2\u901f\u5ea6\u548c\u52a0\u901f\u5ea6\u7684\u6d4b\u91cf\u503c\u4e4b\u95f4\u672c\u5c31\u5177\u6709\u4e00\u5b9a\u7684\u5197\u4f59\u6027\uff0c\u518d\u52a0\u4e0a\u6c7d\u8f66\u7684\u8f6e\u901f\u8ba1\u548c\u65b9\u5411\u76d8\u8f6c\u89d2\u7b49\u5197\u4f59\u4fe1\u606f\uff0c\u4f7fIMU\u7684\u8f93\u51fa\u7ed3\u679c\u62e5\u6709\u6781\u9ad8\u7684\u7f6e\u4fe1\u5ea6\u3002<\/p>\n

IMU\u7684\u4e0d\u8db3\uff1a<\/p>\n

IMU\u53ea\u80fd\u6839\u636e\u63d0\u4f9b\u76f8\u5bf9\u4f4d\u7f6e\u548c\u59ff\u6001\u7684\u63a8\u6f14\uff0c\u4f46\u5374\u65e0\u6cd5\u63d0\u4f9b\u7edd\u5bf9\u4f4d\u7f6e\u4fe1\u606f\uff1b<\/p>\n

IMU\u5728\u4f7f\u7528\u8fc7\u7a0b\u4e2d\uff0c\u5982\u4e0d\u52a0\u6821\u6b63\uff0c\u5176\u6f02\u79fb\u4f1a\u8d8a\u6765\u8d8a\u5927\uff0c\u8f93\u51fa\u7ed3\u679c\u4e0e\u771f\u5b9e\u503c\u7684\u5dee\u8ddd\u8d8a\u6765\u8d8a\u5927\uff0c\u4ece\u800c\u5931\u53bb\u4f7f\u7528\u4ef7\u503c\u3002<\/p>\n

\u7531\u524d\u9762\u5206\u6790\u53ef\u77e5\uff0c\u9640\u87ba\u4eea\u5bf9\u5f53\u524d\u89d2\u5ea6\u7684\u63a8\u6d4b\u662f\u57fa\u4e8e\u4e0a\u4e00\u65f6\u523b\u7684\u89d2\u5ea6\u4f4d\u7f6e\uff0c\u5176\u5e76\u4e0d\u80fd\u5bf9\u7edd\u5bf9\u7684\u4f4d\u7f6e<\/p>\n

\u6240\u4ee5\u9700\u8981\u5bf9\u9640\u87ba\u4eea\u7684\u8f93\u51fa\u5bf9\u65f6\u95f4\u79ef\u5206\u624d\u80fd\u5f97\u5230\u671d\u5411\u4fe1\u606f\uff0c\u5728\u79ef\u5206\u7684\u8fc7\u7a0b\u4e2d\uff0c\u968f\u7740\u65f6\u95f4\u7684\u79ef\u7d2f\uff0c\u8bef\u5dee\u4e5f\u4f1a\u6301\u7eed\u7d2f\u79ef\uff0c\u6700\u7ec8\u4f7f\u5f97\u671d\u5411\u53d1\u751f\u504f\u79fb(Drift)\u3002<\/p>\n

<\/p>\n

\u9640\u87ba\u4eea\u7684\u6f02\u79fbDrift<\/p>\n

4.2 \u7ec4\u5408\u5bfc\u822a\u539f\u7406<\/p>\n

\u5df2\u77e5IMU\u5c5e\u4e8e\u5185\u90e8\u95ed\u73af\u7684\u5bfc\u822a\u7cfb\u7edf\uff0c\u5728\u8fd0\u52a8\u8fc7\u7a0b\u4e2d\u6ca1\u6709\u5916\u90e8\u66f4\u65b0\u6570\u636e\u6765\u5bf9\u8bef\u5dee\u8fdb\u884c\u4fee\u6b63\u3002\u800c\u5c06\u5176\u4e0eGNSS-RTK\u5bfc\u822a\u76f8\u7ed3\u5408\uff0c\u5373\u53ef\u5bf9\u5185\u90e8\u7684\u7d2f\u8ba1\u8bef\u5dee\u8fdb\u884c\u4fee\u6b63\u3002<\/p>\n

<\/p>\n

\u7ec4\u5408\u60ef\u5bfc\u7684\u5de5\u4f5c\u903b\u8f91\u7ec4\u5408\u5bfc\u822a\u4e0e\u5176\u4ed6\u5b9a\u4f4d\u65b9\u5f0f\u7684\u5bf9\u6bd4\u5982\u4e0b\u8868\uff1a<\/p>\n

<\/p>\n

\u4e0d\u540c\u5b9a\u4f4d\u65b9\u6cd5\u4e4b\u95f4\u7684\u5bf9\u6bd4\uff0cFrom \u300aA Survey of Autonomous Driving: Common Practices and Emerging Technologies\u300b<\/p>\n

\u5728\u7ec4\u5408\u5bfc\u822a\u4e2d\uff0cIMU\u4e5f\u662f\u81ea\u52a8\u9a7e\u9a76\u5b9a\u4f4d\u7684\u6700\u540e\u4e00\u9053\u9632\u7ebf\uff0c\u5176\u539f\u56e0\u662f\uff1a<\/p>\n

IMU\u53ef\u4ee5\u5bf9RTK\u7ed3\u679c\u8fdb\u884c\u9a8c\u8bc1\u548c\u4fee\u6b63\u3002\u6bd4\u5982RTK\u8f93\u51fa\u7ed3\u679c\u5728\u77ed\u65f6\u95f4\u5185\u53d1\u751f\u5f88\u5927\u53d8\u5316\uff0c\u800cIMU\u5374\u5e76\u672a\u51fa\u73b0\u5982\u6b64\u53d8\u5316\uff0c\u8bc1\u660eRTK\u7684\u5b9a\u4f4d\u51fa\u73b0\u4e86\u95ee\u9898\uff0c\u53ef\u4ee5\u7531IMU\u6682\u65f6\u63a5\u7ba1\u5b9a\u4f4d\u7cfb\u7edf\uff0c\u7b49\u5f85RTK\u6062\u590d\u6b63\u5e38\u3002<\/p>\n

\u5f53\u8f66\u8f86\u9a76\u5165\u5927\u57ce\u5e02\u3001\u5c71\u533a\uff0c\u5931\u53bb\u536b\u661f\u4fe1\u53f7\u540e\u3002\u6b64\u65f6\uff0cIMU\u4e5f\u53ef\u4ee5\u5ef6\u7eed\u82e5\u5e72\u79d2\u7684\u7cbe\u786e\u5b9a\u4f4d\uff0c\u4e3a\u81ea\u52a8\u9a7e\u9a76\u8f66\u8f86\u5207\u6362\u5230\u5176\u4ed6\u5b9a\u4f4d\u65b9\u5f0f\u4e89\u53d6\u5b9d\u8d35\u7684\u53cd\u5e94\u65f6\u95f4\uff0c\u4fdd\u8bc1\u8f66\u8f86\u7684\u5b89\u5168\u3002<\/p>\n

\u5728\u57fa\u4e8e\u89c6\u89c9\u3001\u96f7\u8fbe\u7684\u5b9a\u4f4d\u65b9\u6cd5\u53d7\u5230\u5916\u754c\u5e72\u6270\uff08\u5982\u5f3a\u5149\u7167\u5c04\uff09\u800c\u77ed\u6682\u5931\u6548\u7684\u60c5\u51b5\u4e0b\u3002IMU\u4f9d\u7136\u53ef\u4ee5\u7a33\u5b9a\u53d1\u6325\u4f5c\u7528\uff0c\u786e\u4fdd\u8f66\u8f86\u4e00\u6bb5\u65f6\u95f4\u5185\u884c\u9a76\u5728\u8f66\u9053\u5185\u3002<\/p>\n

<\/p>\n

IMU\u7684\u4f5c\u7528<\/p>\n

\u4e8b\u5b9e\u4e0a\uff0c\u5f53\u524d\u7684\u4e3b\u673a\u5382\u4e5f\u662f\u8fd9\u4e48\u505a\u7684\uff0c\u4e00\u7cfb\u5217\u54c1\u724c\uff0c\u5728\u8bb8\u591a\u8f66\u578b\u4e0a\u90fd\u91c7\u7528\u4e86\u7ec4\u5408GNSS-RTK+IMU\u7684\u7ec4\u5408\u5bfc\u822a\u6a21\u5757\uff1a\u6bd4\u5982ZED F9R\u3002\u5176\u91cf\u4ea7\u6210\u672c\u4e0d\u5230\u5343\u5143\uff0c\u80fd\u591f\u4e3aADAS\u7cfb\u7edf\u63d0\u4f9b\u6781\u9ad8\u7684\u5b89\u5168\u5197\u4f59\u3002<\/p>\n

<\/p>\n

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