Inzira yo Kugenda mu Iterambere (Inertial Navigation) ni iki?
Ingingo z'ibanze zo gukoresha uburyo bwo kugenda mu buryo butarimo ingufu (Inertial Navigation)
Amahame shingiro yo kugenda mu buryo butaziguye asa n’ay’ubundi buryo bwo kugenda. Bishingira ku kubona amakuru y’ingenzi, harimo aho umuntu aherereye, aho umuntu aherereye, aho umuntu aherereye n’aho agenda buri kanya, no gushyira hamwe aya makuru buhoro buhoro (ajyanye n’imikorere yo guhuza imibare) kugira ngo hamenyekane neza ibipimo byo kugenda, nk’aho umuntu ahagaze n’aho ahagaze.
Uruhare rw'ibipimo mu ihindagurika ry'ikirere
Kugira ngo haboneke icyerekezo cy’ubu (imyitwarire) n’amakuru y’aho ikintu kigenda, sisitemu zo kugenzura ibintu bidafite ingufu zikoresha itsinda ry’ibikoresho by’ingenzi, cyane cyane bigizwe na accelerometer na gyroscope. Ibi bikoresho bipima umuvuduko w’inguni n’umuvuduko w’ibikoresho mu buryo budafite ingufu. Hanyuma amakuru ahuzwa kandi agatunganywa uko igihe kigenda kugira ngo haboneke amakuru y’umuvuduko n’aho ibintu biherereye. Nyuma y’ibyo, aya makuru ahindurwamo sisitemu yo guhuza ibintu, hamwe n’amakuru y’aho ibintu biherereye, bikarangira hamenyekanye aho ibintu biherereye.
Amahame y'imikorere ya sisitemu yo kuyobora ibintu mu buryo budafite ingufu
Sisitemu zo kugenzura ibintu mu buryo butari bwo zikora nk'izigenga, zikora mu buryo bufunze. Ntizishingikiriza ku kuvugurura amakuru yo hanze mu buryo bufatika kugira ngo zikosore amakosa mu gihe cy'urugendo rw'umushoferi. Bityo, sisitemu imwe yo kugenzura ibintu mu buryo butari bwo ikwiriye imirimo yo kugenzura ibintu mu buryo bugufi. Ku bikorwa birebire, igomba guhuzwa n'ubundi buryo bwo kugenzura ibintu, nka sisitemu zo kugenzura ibintu mu buryo bwa satelite, kugira ngo ikosore amakosa y'imbere yakusanyijwe buri gihe.
Uburyo bwo guhisha uburyo bwo kugenda mu kirere butagira ingufu
Mu ikoranabuhanga rigezweho ryo kugenzura ibintu, harimo no kugenzura ibintu byo mu kirere, kugenzura ibyo mu kirere, no kugenzura radiyo, kugenzura ibintu mu kirere bitagira ingufu bigaragarira mu buryo bwigenga. Ntibitanga ibimenyetso mu kirere cyangwa ngo bishingikirize ku bintu byo mu kirere cyangwa ibimenyetso byo hanze. Kubera iyo mpamvu, sisitemu zo kugenzura ibintu mu kirere zitagira ingufu zitanga uburyo bwo guhisha ibintu ku rwego rwo hejuru, bigatuma biba byiza cyane ku bikorwa bisaba ibanga rikomeye.
Ibisobanuro byemewe by'uburyo bwo kugenda mu buryo budafite ingufu
Sisitemu yo Kugenzura Ibinyabiziga (INS) ni sisitemu yo gupima ibipimo byo kuzenguruka ikoresha gyroscope na accelerometer nk'ibipima. Sisitemu, ishingiye ku musaruro wa gyroscope, ishyiraho sisitemu yo guhuza inzira mu gihe ikoresha umusaruro wa accelerometers kugira ngo ibare umuvuduko n'aho imodoka iherereye muri sisitemu yo guhuza inzira.
Imikoreshereze ya Inertial Navigation
Ikoranabuhanga rikoresha ingufu zidasanzwe ryabonye uburyo bwinshi bwo gukoresha mu nzego zitandukanye, harimo indege, indege, amazi yo mu mazi, ubushakashatsi kuri peteroli, geodesy, ubushakashatsi ku nyanja, gucukura amabuye y'agaciro, robots, na gari ya moshi. Nyuma yo kuboneka kw'ibikoresho bigezweho byo gupima ingufu zidasanzwe, ikoranabuhanga rikoresha ingufu rimaze kwagura akamaro karyo mu nganda z'imodoka no mu bikoresho by'ikoranabuhanga byo kwa muganga, n'izindi nzego. Ubu buryo bwo kwaguka bw'imikorere bugaragaza uruhare runini rw'uburyo bwo gupima ingufu zidasanzwe mu gutanga ubushobozi bwo kuyobora no gushyira ibintu mu mwanya mu buryo bunoze ku bikorwa byinshi bitandukanye.
Igice cy'ingenzi cy'ubuyobozi budafite imbaraga:Gyroscope ya Fiber Optic
Intangiriro kuri Gyroscopes ya Fiber Optic
Sisitemu zo kugenzura ibintu zidafite ingufu zishingiye cyane ku buryo buboneye n'ubuhanga bw'ibice byazo by'ingenzi. Kimwe mu bice nk'ibyo cyazamuye cyane ubushobozi bw'izi sisitemu ni Fiber Optic Gyroscope (FOG). FOG ni sensor y'ingenzi igira uruhare runini mu gupima umuvuduko w'inguni y'icyuma gitwara ibintu mu buryo butangaje.
Imikorere ya Gyroscope ya Fiber Optic
FOG zikora ku ihame rya Sagnac effect, rikubiyemo gucamo umurasire wa laser mo inzira ebyiri zitandukanye, bigatuma ugenda mu byerekezo bitandukanye unyuze mu muyoboro wa fiber optique uzungurutse. Iyo umurasire, ushyizwe hamwe na FOG, uzenguruka, itandukaniro ry'igihe cy'urugendo hagati y'imirasire ibiri ringana n'umuvuduko w'ingufu z'umurasire. Uku gutinda kw'igihe, kuzwi nka Sagnac phase shift, gupimwa neza, bigatuma FOG itanga amakuru nyayo yerekeye umurasire w'umurasire.
Ihame rya fibre optique gyroscope rikubiyemo gusohora urumuri ruturutse kuri fotoderiteri. Uru rumuri runyura mu cyuma gihuza urumuri, rwinjira ruturutse ku mpera imwe rugasohoka ruturutse ku yindi. Hanyuma runyura mu cyuma gihuza urumuri. Imirasire ibiri y'urumuri, iturutse mu byerekezo bitandukanye, yinjira muri icyo cyuma maze irangiza umurongo uhuza urumuri nyuma yo kuzenguruka. Urumuri rugaruka rwongera kwinjira muri diode itanga urumuri (LED), ikoreshwa mu kumenya ubukana bwarwo. Nubwo ihame rya fibre optique gyroscope rishobora gusa n'aho ryoroshye, ikibazo gikomeye kiri mu gukuraho ibintu bigira ingaruka ku burebure bw'inzira y'urumuri rw'imirasire ibiri y'urumuri. Iki ni kimwe mu bibazo by'ingenzi bihura nabyo mu iterambere rya fibre optique gyroscope.
1: diode ya superluminescent 2: diode ipima foto
3.icyuma gihuza urumuri 4.agakoresho ko gufata impeta za fibre 5. impeta y'urudodo rwa optique
Ibyiza bya Fiber Optic Gyroscopes
FOG zitanga ibyiza byinshi bituma zigira akamaro kanini muri sisitemu yo kuyobora indege idafite ingufu. Zizwiho ubuhanga bwazo budasanzwe, kwizerwa no kuramba. Bitandukanye na gyros za mechanical, FOG nta bice zigenda, bigabanya ibyago byo kwangirika no gucika. Byongeye kandi, ntizishobora kwangirika no kunyeganyega, bigatuma ziba nziza cyane mu bidukikije nk'ikirere n'ibikoresho byo kwirwanaho.
Guhuza Gyroscopes za Fiber Optic mu Inzira Idafite Ingufu
Sisitemu zo kugenzura ibintu mu buryo butari bwo (inertial navigation systems) zigenda ziyongera gukoresha FOG bitewe n’uko zikora neza kandi zizewe. Izi gyroscope zitanga ibipimo by’ingenzi by’umuvuduko w’inguni bikenerwa kugira ngo hamenyekane neza icyerekezo n’aho ziherereye. Mu gushyira FOG muri sisitemu zo kugenzura ibintu mu buryo butari bwo (inertial navigation systems), abakoresha bashobora kungukirwa no kunoza uburyo bwo kugenzura ibintu mu buryo butari bwo, cyane cyane mu bihe aho ari ngombwa ko habaho uburyo butari bwo cyane.
Imikoreshereze ya Fiber Optic Gyroscopes mu Inzira Idafite Ingufu
Kuba harashyizwemo FOGs byaguriye ikoreshwa rya sisitemu zo kugenzura ibintu mu buryo butagira ingufu mu nzego zitandukanye. Mu by’indege n’indege, sisitemu zifite FOG zitanga ibisubizo nyabyo ku ngendo z’indege, indege zitagira abapilote, n’ibyogajuru. Zikoreshwa cyane mu ngendo zo mu mazi, ubushakashatsi ku bya jeoloji, no mu ikoranabuhanga rya roboti rigezweho, bituma izi sisitemu zikora neza kandi zizewe.
Ubwoko butandukanye bw'imiterere ya Fiber Optic Gyroscopes
Gyroscope ya Fiber optique iza mu buryo butandukanye, aho icyiganje muri iki gihe kigera mu rwego rw'ubuhanga nigyroscope ya fiber optic ifunganye kandi ikomeza imiterere y'urukiramende. Ishingiro ry'iyi gyroscope niurusobe rw'imigozi rubungabunga polarisation, igizwe n'imigozi ikomeza polarisation hamwe n'umuyoboro wakozwe neza. Iyubakwa ry'uyu muyoboro rikubiyemo uburyo bwo kuzunguruka bungana inshuro enye, bwunganiwe na gel idasanzwe yo gufunga kugira ngo habeho umuyoboro wa fibre ugororotse.
Ibintu by'ingenzi byaGukomeza Polarization-Kubungabunga Fiber Optic Gyro Coil
▶Igishushanyo cyihariye cy'imiterere:Udukingirizo twa gyroscope dufite imiterere yihariye y’urukiramende ifasha ubwoko butandukanye bw’imigozi ikomeza polarisation ku buryo bworoshye.
▶Ubuhanga bwo Guhuza Impande Ene:Uburyo bwo gupima ibintu bugizwe n'ibice bine bugabanya ingaruka za Shupe, bigatuma ibipimo bipima neza kandi byizewe.
▶Ibikoresho bya Gel byo Gufunga Bigezweho:Gukoresha ibikoresho bya gel byo kuziba bigezweho, hamwe n'uburyo budasanzwe bwo kuziba, byongera ubudahangarwa bw'imitingito, bigatuma izi gyroscope loops ziba nziza cyane mu bikorwa biri ahantu hagoye.
▶Guhagarara neza mu bushyuhe bwinshi:Udukingirizo twa gyroscope tugaragaza ubushyuhe bwinshi buhamye, bigatuma habaho ubuziranenge ndetse no mu bihe bitandukanye by'ubushyuhe.
▶Icyitegererezo cyoroheje cyoroheje:Imirongo ya gyroscope yakozwe neza ifite imiterere yoroshye ariko yoroheje, iha agaciro ko gutunganya neza.
▶Inzira yo Guhuza Ingufu Ihoraho:Uburyo bwo kuzunguruka buguma buhamye, bujyanye n'ibisabwa na gyroscope zitandukanye za fibre optique.
Indangamuntu
Groves, PD (2008). Intangiriro ku bijyanye no kugenda mu buryo butarimo ingufu.Ikinyamakuru cy'Uburyo bwo Kugenda, 61(1), 13-28.
El-Sheimy, N., Hou, H., & Niu, X. (2019). Ikoranabuhanga rya Inertial sensors mu gukoresha mu kugenzura: igezweho.Uburyo bwo kugenzura satelite, 1(1), 1-15.
Woodman, OJ (2007). Intangiriro ku bijyanye no kugenda mu kirere.Kaminuza ya Cambridge, Laboratwari ya mudasobwa, UCAM-CL-TR-696.
Chatila, R., & Laumond, JP (1985). Igenzura ry'imyanya n'uburyo bwo kwerekana imiterere y'isi ku marobo agendanwa.Mu byavuzwe mu nama mpuzamahanga ya IEEE yo mu 1985 ku bijyanye na robotike n'ikoranabuhanga(Umubumbe wa 2, pp. 138-145). IEEE.
Ukeneye Konsilasiyo y'ubuntu?
IMWE MU MISHINGA YANJYE
IBIKORWA BITANGAJE NAKOREYE. NISHIMIYE!
