CC LOI IMU

Mt n v o lng qun tnh hoc IMU l thnh phn ca h thng dn ng

trong air space, tu thuyn, my bay, v c tn la IMU l s kt hp gia cm
bin gia tc v con quay hi chuyn ( xc nh c cc thuc tnh pitch, roll,
yaw). D liu thu thp c s c a vo my tnh, xc nh c tc , v tr
hin ti
S kt hp ca IMU v GPS c th cung cp kt qu hiu qu hn iu hng,
hng dn, kim sot h thng cho my bay, tng t nh UAV (phng tin bay
khng ngi li)
C th la chn IMU theo type, kch thc, hnh dng nhng ch yu vn la
chn theo degrees of freedom (DOF). 3 DOF cm bin gia tc v 2 con quay hi
chuyn o yaw. 5 DOF o pitch, roll. 6 DOF, 9 DOF, 10 DOF (3 axis gyroscope
+ 3 axis accelerometer + 3 axis magnetic field + air pressure)
Mt h thng cm bin MARG ( Magnetic, Angular Rate, v Gravity) chnh l s
kt hp gia IMU v mt cm bin t trng. IMU c th o c thuc tnh h
thng ( nghing) theo chiu ca trng lc, cn MARG cn c bit l AHRS
( Attitude and Heading Reference Systems) c th cung cp mt h thng o
lng nh hng h thng mt cch hon chnh thng qua hng ca t trng
v trng trng

CC B LC
B LC AHRS
B LC B
B LC KALMAN