{"id":91312,"date":"2024-04-12T17:27:01","date_gmt":"2024-04-12T09:27:01","guid":{"rendered":"\/\/www.dealsbon.com\/?p=91312"},"modified":"2024-04-12T17:27:05","modified_gmt":"2024-04-12T09:27:05","slug":"alfcssm","status":"publish","type":"post","link":"\/\/www.dealsbon.com\/blog\/91312.html","title":{"rendered":"\u827e\u4f26\u65b9\u5dee\u662f\u4ec0\u4e48\uff1f"},"content":{"rendered":"\n

\u3000\u3000\u827e\u4f26\u65b9\u5dee(Allan variance)<\/strong>\u662f\u4e00\u79cd\u7528\u4e8e\u6d4b\u91cf\u65f6\u57df\u4e2d\u4e00\u7cfb\u5217\u6570\u636e\u632f\u8361\u9891\u7387\u7684\u7a33\u5b9a\u6027\u7684\u65b9\u6cd5\uff0c\u5b83\u80fd\u591f\u6839\u636e\u5e73\u5747\u65f6\u95f4\u786e\u5b9a\u7cfb\u7edf\u4e2d\u7684\u56fa\u6709\u566a\u58f0\u3002\u827e\u4f26\u65b9\u5dee\u7684\u8ba1\u7b97\u6d89\u53ca\u5230\u5728\u91c7\u6837\u5468\u671f\u5185\u91c7\u6837\u7684\u9891\u7387\u504f\u5dee\u7684\u8fde\u7eed\u8bfb\u6570\u4e4b\u95f4\u7684\u5dee\u503c\u5e73\u65b9\u7684\u65f6\u95f4\u5e73\u5747\u503c\u7684\u4e00\u534a\uff0c\u8fd9\u4e2a\u503c\u53d6\u51b3\u4e8e\u6837\u672c\u4e4b\u95f4\u4f7f\u7528\u7684\u65f6\u95f4\u6bb5\uff0c\u56e0\u6b64\u5b83\u662f\u6837\u672c\u5468\u671f\u7684\u51fd\u6570\uff0c\u901a\u5e38\u8868\u793a\u4e3a\u03c4\uff0c\u5e76\u4e14\u88ab\u6d4b\u91cf\u7684\u5206\u5e03\u663e\u793a\u4e3a\u56fe\u5f62\u800c\u4e0d\u662f\u5355\u4e2a\u6570\u5b57\u3002\u827e\u4f26\u65b9\u5dee\u4e0d\u4ec5\u9002\u7528\u4e8e\u65f6\u9891\u5206\u6790\u548c\u60ef\u6027\u5bfc\u822a\u9886\u57df\uff0c\u800c\u4e14\u662f\u8fd9\u4e9b\u9886\u57df\u4e2d\u5e38\u7528\u7684\u4e00\u79cd\u8bef\u5dee\u5206\u6790\u65b9\u6cd5\uff0c\u6709\u6548\u5730\u523b\u753b\u4e86\u5f85\u7814\u7a76\u7684\u8bef\u5dee\u65f6\u95f4\u5e8f\u5217\u5728\u4e0d\u540c\u65f6\u95f4\u5c3a\u5ea6\u4e0a\u7684\u6ce2\u52a8\u6c34\u5e73(\u4e0d\u7a33\u5b9a\u6027)\uff0c\u5e76\u53ef\u6839\u636e\u4e0d\u540c\u65f6\u95f4\u5c3a\u5ea6\u4e0a\u7684Allan\u65b9\u5dee\u503c\u6240\u6784\u6210\u7684\u66f2\u7ebf\u7684\u5f62\u72b6\u7279\u5f81\u6765\u8fa8\u8bc6\u5176\u4e2d\u5305\u542b\u7684\u968f\u673a\u8fc7\u7a0b\u6a21\u578b\u3002<\/p>\n\n\n\n

\u3000\u3000\u827e\u4f26\u65b9\u5dee\u7684\u6982\u5ff5\u6700\u521d\u7531David Allan\u4e8e1966\u5e74\u63d0\u51fa\uff0c\u6700\u521d\u8be5\u65b9\u6cd5\u662f\u7528\u4e8e\u5206\u6790\u632f\u8361\u5668\u7684\u76f8\u4f4d\u548c\u9891\u7387\u4e0d\u7a33\u5b9a\u6027\uff0c\u4ee5\u53ca\u9ad8\u7a33\u5b9a\u6027\u632f\u8361\u5668\u7684\u9891\u7387\u7a33\u5b9a\u5ea6\u3002<\/strong>\u5b83\u76f8\u6bd4\u4e8e\u666e\u901a\u7684\u65b9\u5dee\u5177\u6709\u66f4\u597d\u7684\u63cf\u8ff0\u957f\u65f6\u95f4\u8bef\u5dee\u7684\u4f18\u52bf\uff0c\u56e0\u6b64\uff0cAllan\u65b9\u5dee\u88ab\u7528\u6765\u5f53\u4f5cIMU\u566a\u58f0\u6807\u5b9a\u7684\u6807\u51c6\u65b9\u6cd5\u3002\u6b64\u5916\uff0cAllan\u65b9\u5dee\u8fd8\u6709\u6548\u53cd\u6620\u4e86\u76f8\u90bb\u4e24\u4e2a\u91c7\u6837\u6bb5\u5185\u5e73\u5747\u9891\u7387\u5dee\u7684\u8d77\u4f0f\uff0c\u53ef\u4ee5\u4eceAllan\u65b9\u5dee\u56fe\u4e2d\u5f97\u5230\u591a\u79cd\u968f\u673a\u8bef\u5dee\u3002<\/p>\n\n\n\n

\u3000\u3000\u827e\u4f26\u65b9\u5dee\u662f\u4e00\u79cd\u91cd\u8981\u7684\u8bef\u5dee\u5206\u6790\u5de5\u5177\uff0c\u7279\u522b\u662f\u5728\u65f6\u9891\u5206\u6790\u548c\u60ef\u6027\u5bfc\u822a\u9886\u57df\uff0c\u5b83\u901a\u8fc7\u5206\u6790\u4e0d\u540c\u65f6\u95f4\u5c3a\u5ea6\u4e0a\u7684\u6ce2\u52a8\u6c34\u5e73\u6765\u8bc4\u4f30\u7cfb\u7edf\u7684\u7a33\u5b9a\u6027\uff0c\u5bf9\u4e8e\u7406\u89e3\u548c\u6539\u5584\u7cfb\u7edf\u7684\u6027\u80fd\u5177\u6709\u91cd\u8981\u610f\u4e49\u3002<\/strong><\/p>\n\n\n\n

\u3000\u3000\u4e00\u3001 \u827e\u4f26\u65b9\u5dee\u7684\u5386\u53f2\u80cc\u666f\u548c\u53d1\u5c55\u662f\u4ec0\u4e48?<\/h2>\n\n\n\n

\u3000\u3000\u827e\u4f26\u65b9\u5dee(Allan Variance)\u7684\u5386\u53f2\u80cc\u666f\u548c\u53d1\u5c55\u53ef\u4ee5\u4ece\u51e0\u4e2a\u65b9\u9762\u6765\u6982\u8ff0\u3002\u9996\u5148\uff0c\u827e\u4f26\u65b9\u5dee\u662f\u5728\u8fc7\u53bb50\u5e74\u4e2d\u53d1\u5c55\u8d77\u6765\u7684\uff0c\u7528\u4e8e\u8868\u5f81\u7cbe\u5bc6\u65f6\u949f\u548c\u632f\u8361\u5668\u7684\u4e0d\u7a33\u5b9a\u6027\u3002\u8fd9\u4e9b\u4e0d\u7a33\u5b9a\u6027\u901a\u5e38\u88ab\u5efa\u6a21\u4e3a\u975e\u5e73\u7a33\u8fc7\u7a0b\uff0c\u800c\u827e\u4f26\u65b9\u5dee\u88ab\u8bc1\u660e\u662f\u884c\u4e3a\u826f\u597d\u7684\uff0c\u5e76\u4e14\u662f\u8fd9\u4e9b\u8fc7\u7a0b\u7c7b\u578b\u7684\u65e0\u504f\u89c1\u3001\u6709\u6548\u7684\u63cf\u8ff0\u7b26\u3002\u8fd9\u8868\u660e\u827e\u4f26\u65b9\u5dee\u7684\u53d1\u5c55\u662f\u4e3a\u4e86\u66f4\u597d\u5730\u7406\u89e3\u548c\u91cf\u5316\u65f6\u95f4\u6d4b\u91cf\u8bbe\u5907\u7684\u6027\u80fd\u3002<\/p>\n\n\n\n

\u3000\u3000\u968f\u7740\u65f6\u95f4\u7684\u63a8\u79fb\uff0c\u827e\u4f26\u65b9\u5dee\u7684\u5e94\u7528\u9886\u57df\u548c\u6280\u672f\u7ec6\u8282\u4e5f\u5728\u4e0d\u65ad\u6269\u5c55\u548c\u6df1\u5316\u3002\u4f8b\u5982\uff0c\u901a\u8fc7\u4f7f\u7528\u4e24\u4e2a\u901a\u9053\u7684\u62df\u5408\u76f8\u4f4d\u5dee\u5f02\u751f\u6210\u6240\u9700\u7684\u65f6\u5e8f\u6570\u636e\uff0c\u53ef\u4ee5\u5728\u7279\u5b9a\u6761\u4ef6\u4e0b\u6d4b\u91cf\u5f97\u5230\u7684\u53cc\u5149\u68b3\u9891\u7387\u827e\u4f26\u65b9\u5dee\u3001\u5e45\u5ea6\u827e\u4f26\u65b9\u5dee\u3001\u76f8\u4f4d\u566a\u58f0\u7684\u7ed3\u679c\u8fdb\u884c\u5bf9\u6bd4\uff0c\u8fdb\u4e00\u6b65\u8bc1\u660e\u6742\u5316\u9501\u5b9a\u53ef\u4ee5\u5f97\u5230\u6700\u4f18\u5316\u7684\u9891\u7387\u548c\u65f6\u95f4\u6807\u51c6\u504f\u5dee\u3002\u8fd9\u79cd\u6280\u672f\u7684\u5e94\u7528\u4e0d\u4ec5\u63d0\u9ad8\u4e86\u6d4b\u91cf\u7684\u7cbe\u5ea6\uff0c\u4e5f\u63a8\u52a8\u4e86\u827e\u4f26\u65b9\u5dee\u5728\u9ad8\u7a33\u5b9a\u592a\u8d6b\u5179\u534a\u5bfc\u4f53\u53cc\u5149\u68b3\u7b49\u9886\u57df\u7684\u7814\u7a76\u8fdb\u5c55\u3002<\/p>\n\n\n\n

\u3000\u3000\u6b64\u5916\uff0c\u827e\u4f26\u65b9\u5dee\u7684\u7814\u7a76\u8fd8\u6d89\u53ca\u5230\u5e7f\u4e49\u963f\u4ed1\u65b9\u5dee\u53ca\u4fee\u6b63\u963f\u4ed1\u65b9\u5dee\u7684\u63d0\u51fa\uff0c\u8fd9\u662f\u5229\u7528\u968f\u673a\u4fe1\u53f7\u5904\u7406\u7406\u8bba\u6765\u7814\u7a76\u9891\u7387\u7a33\u5b9a\u6027\u7406\u8bba\u7684\u4e00\u90e8\u5206\u3002\u5e7f\u4e49\u963f\u4ed1\u65b9\u5dee\u53ca\u4fee\u6b63\u963f\u4ed1\u65b9\u5dee\u7684\u63d0\u51fa\uff0c\u8bc1\u660e\u4e86\u5b83\u4eec\u4e3a\u76ee\u524d\u5df2\u77e5\u7684\u51e0\u79cd\u65f6\u57df\u65b9\u5dee\u7684\u4e00\u822c\u8868\u8fbe\u5f0f\uff0c\u5728\u5e42\u5f8b\u8c31\u6761\u4ef6\u4e0b\u7684\u83b7\u5f97\uff0c\u8fdb\u4e00\u6b65\u4e30\u5bcc\u4e86\u827e\u4f26\u65b9\u5dee\u7684\u7406\u8bba\u57fa\u7840\u548c\u5e94\u7528\u8303\u56f4\u3002<\/p>\n\n\n\n

\u3000\u3000\u827e\u4f26\u65b9\u5dee\u7684\u5386\u53f2\u80cc\u666f\u548c\u53d1\u5c55\u4f53\u73b0\u4e86\u4ece\u6700\u521d\u7684\u6982\u5ff5\u63d0\u51fa\u5230\u6280\u672f\u7ec6\u8282\u7684\u4e0d\u65ad\u5b8c\u5584\uff0c\u518d\u5230\u5e94\u7528\u9886\u57df\u7684\u4e0d\u65ad\u6269\u5c55\u3002\u5b83\u4e0d\u4ec5\u662f\u5bf9\u7cbe\u5bc6\u65f6\u949f\u548c\u632f\u8361\u5668\u4e0d\u7a33\u5b9a\u6027\u7684\u4e00\u79cd\u6709\u6548\u63cf\u8ff0\uff0c\u4e5f\u662f\u73b0\u4ee3\u79d1\u6280\u53d1\u5c55\u4e2d\u4e0d\u53ef\u6216\u7f3a\u7684\u4e00\u90e8\u5206\u3002<\/p>\n\n\n\n

\u3000\u3000\u4e8c\u3001 \u5982\u4f55\u5177\u4f53\u8ba1\u7b97\u827e\u4f26\u65b9\u5dee\u4ee5\u53ca\u5176\u5728\u65f6\u9891\u5206\u6790\u4e2d\u7684\u5e94\u7528\u6b65\u9aa4?<\/h2>\n\n\n\n

\u3000\u3000\u827e\u4f26\u65b9\u5dee(Allan Variance, AVAR)\u662f\u4e00\u79cd\u7528\u4e8e\u5206\u6790\u9891\u7387\u7a33\u5b9a\u5ea6\u7684\u7edf\u8ba1\u65b9\u6cd5\uff0c\u7279\u522b\u662f\u5728\u65f6\u57df\u5206\u6790\u4e2d\u3002\u5b83\u6700\u521d\u7531Allan\u57281966\u5e74\u63d0\u51fa\uff0c\u7528\u4e8e\u5206\u6790\u94ef\u539f\u5b50\u9891\u6807\u7684\u9891\u7387\u7a33\u5b9a\u5ea6\uff0c\u5e76\u57281971\u5e74\u88abIEEE\u6b63\u5f0f\u63a8\u8350\u4f5c\u4e3a\u9891\u7387\u7a33\u5b9a\u5ea6\u7684\u65f6\u57df\u5206\u6790\u65b9\u6cd5\u3002\u827e\u4f26\u65b9\u5dee\u80fd\u591f\u63ed\u793a\u968f\u673a\u8bef\u5dee\u7684\u6f5c\u5728\u6765\u6e90\uff0c\u800c\u4f20\u7edf\u7684\u6837\u672c\u5747\u503c\u548c\u65b9\u5dee\u8ba1\u7b97\u65b9\u6cd5\u5219\u4e0d\u80fd\u3002<\/p>\n\n\n\n

\u3000\u3000\u5177\u4f53\u8ba1\u7b97\u827e\u4f26\u65b9\u5dee\u7684\u6b65\u9aa4\u5982\u4e0b\uff1a<\/p>\n\n\n\n

    \n
  • \u3000\u3000\u6570\u636e\u51c6\u5907\uff1a\u9996\u5148\u9700\u8981\u6709\u4e00\u6bb5\u8fde\u7eed\u7684\u8bef\u5dee\u5e8f\u5217\u6570\u636e\u3002\u8fd9\u4e9b\u6570\u636e\u53ef\u4ee5\u662f\u6765\u81ea\u4efb\u4f55\u7c7b\u578b\u7684\u6d4b\u91cf\u8bbe\u5907\uff0c\u5982\u9891\u7387\u6807\u51c6\u3001\u60ef\u6027\u6d4b\u91cf\u5355\u5143(IMU)\u7b49\u3002<\/li>\n\n\n\n
  • \u3000\u3000\u5206\u6bb5\u5904\u7406\uff1a\u5c06\u6574\u6bb5\u8bef\u5dee\u5e8f\u5217\u6309\u7167\u4f60\u611f\u5174\u8da3\u7684\u65f6\u95f4\u5c3a\u5ea6\u7684\u957f\u5ea6\u8fdb\u884c\u5206\u5272\u3002\u4f8b\u5982\uff0c\u5982\u679c\u4f60\u5bf91\u79d2\u65f6\u95f4\u5c3a\u5ea6\u4e0a\u7684\u6ce2\u52a8\u611f\u5174\u8da3\uff0c\u90a3\u4e48\u5c31\u9700\u8981\u5c06\u6570\u636e\u5206\u5272\u6210\u591a\u4e2a1\u79d2\u957f\u7684\u5b50\u5e8f\u5217\u3002<\/li>\n\n\n\n
  • \u3000\u3000\u8ba1\u7b97\u5747\u503c\uff1a\u5bf9\u4e8e\u6bcf\u4e2a\u65f6\u95f4\u5c3a\u5ea6\u4e0a\u7684\u5b50\u5e8f\u5217\uff0c\u8ba1\u7b97\u5176\u5e73\u5747\u503c\u3002\u8fd9\u4e00\u6b65\u662f\u4e3a\u4e86\u51cf\u5c11\u968f\u673a\u566a\u58f0\u7684\u5f71\u54cd\uff0c\u4f7f\u5f97\u540e\u7eed\u8ba1\u7b97\u66f4\u52a0\u51c6\u786e\u3002<\/li>\n\n\n\n
  • \u3000\u3000\u8ba1\u7b97\u65b9\u5dee\uff1a\u5bf9\u4e8e\u6bcf\u4e2a\u65f6\u95f4\u5c3a\u5ea6\u4e0a\u7684\u5b50\u5e8f\u5217\uff0c\u8ba1\u7b97\u5176\u65b9\u5dee\u3002\u8fd9\u4e00\u6b65\u5b9e\u9645\u4e0a\u662f\u8ba1\u7b97Allan\u65b9\u5dee\u7684\u5173\u952e\uff0c\u56e0\u4e3a\u5b83\u76f4\u63a5\u53cd\u6620\u4e86\u8bef\u5dee\u5e8f\u5217\u5728\u8be5\u65f6\u95f4\u5c3a\u5ea6\u4e0a\u7684\u6ce2\u52a8\u60c5\u51b5\u3002<\/li>\n\n\n\n
  • \u3000\u3000\u6807\u51c6\u5316\u5904\u7406\uff1a\u7531\u4e8eAllan\u65b9\u5dee\u7684\u8ba1\u7b97\u6d89\u53ca\u5230\u65f6\u95f4\u5c3a\u5ea6\u7684\u53d8\u5316\uff0c\u56e0\u6b64\u9700\u8981\u5bf9\u8ba1\u7b97\u51fa\u7684\u65b9\u5dee\u8fdb\u884c\u6807\u51c6\u5316\u5904\u7406\uff0c\u4ee5\u6d88\u9664\u65f6\u95f4\u5c3a\u5ea6\u7684\u5f71\u54cd\u3002\u8fd9\u901a\u5e38\u6d89\u53ca\u5230\u9664\u4ee5\u65f6\u95f4\u5c3a\u5ea6\u7684\u5e73\u65b9\u6839\u7b49\u64cd\u4f5c\u3002<\/li>\n\n\n\n
  • \u3000\u3000\u7ed3\u679c\u89e3\u91ca\uff1a\u6700\u540e\uff0c\u901a\u8fc7\u5206\u6790\u4e0d\u540c\u65f6\u95f4\u5c3a\u5ea6\u4e0b\u7684Allan\u65b9\u5dee\u503c\uff0c\u53ef\u4ee5\u5f97\u5230\u5173\u4e8e\u9891\u7387\u7a33\u5b9a\u5ea6\u7684\u4fe1\u606f\u3002\u4e00\u822c\u6765\u8bf4\uff0c\u5982\u679cAllan\u65b9\u5dee\u968f\u7740\u6d4b\u91cf\u65f6\u95f4\u7684\u589e\u957f\u800c\u51cf\u5c0f\uff0c\u8bf4\u660e\u9891\u7387\u7a33\u5b9a\u6027\u597d;\u53cd\u4e4b\uff0c\u5219\u8bf4\u660e\u9891\u7387\u7a33\u5b9a\u6027\u5dee\u3002<\/li>\n<\/ul>\n\n\n\n

    \u3000\u3000\u5728\u65f6\u9891\u5206\u6790\u4e2d\uff0c\u827e\u4f26\u65b9\u5dee\u7684\u5e94\u7528\u6b65\u9aa4\u5305\u62ec\u4f46\u4e0d\u9650\u4e8e\u4e0a\u8ff0\u5185\u5bb9\u3002\u5b83\u4e0d\u4ec5\u53ef\u4ee5\u7528\u4e8e\u5206\u6790\u9891\u7387\u7a33\u5b9a\u5ea6\uff0c\u8fd8\u53ef\u4ee5\u5e94\u7528\u4e8e\u60ef\u6027\u5668\u4ef6\u7684\u5206\u6790\u4e2d\u3002\u4f8b\u5982\uff0c\u5728\u5206\u6790IMU\u7684\u7279\u5b9a\u968f\u673a\u8bef\u5dee\u65f6\uff0c\u53ef\u4ee5\u901a\u8fc7\u57fa\u672c\u7684Allan\u65b9\u5dee\u7b97\u6cd5\u6765\u8fdb\u884c\u3002\u6b64\u5916\uff0cAllan\u65b9\u5dee\u5206\u6790\u8fd8\u53ef\u4ee5\u7528\u4e8e\u5206\u6790\u9640\u87ba\u91cf\u5316\u566a\u58f0\u3001\u89d2\u5ea6\u968f\u673a\u6e38\u8d70\u566a\u58f0\u7b49\u591a\u79cd\u7c7b\u578b\u7684\u566a\u58f0\u3002<\/p>\n\n\n\n

    \u3000\u3000\u827e\u4f26\u65b9\u5dee\u662f\u4e00\u79cd\u5f3a\u5927\u7684\u5de5\u5177\uff0c\u53ef\u4ee5\u5e2e\u52a9\u7814\u7a76\u4eba\u5458\u548c\u5de5\u7a0b\u5e08\u4ece\u65f6\u57df\u89d2\u5ea6\u6df1\u5165\u7406\u89e3\u6d4b\u91cf\u6570\u636e\u7684\u7a33\u5b9a\u6027\u95ee\u9898\u3002\u901a\u8fc7\u4e0a\u8ff0\u6b65\u9aa4\uff0c\u53ef\u4ee5\u6709\u6548\u5730\u8ba1\u7b97\u5e76\u5206\u6790\u827e\u4f26\u65b9\u5dee\uff0c\u8fdb\u800c\u8bc4\u4f30\u7cfb\u7edf\u7684\u9891\u7387\u7a33\u5b9a\u5ea6\u3002<\/p>\n\n\n\n

    \u3000\u3000\u4e09\u3001 \u827e\u4f26\u65b9\u5dee\u4e0e\u5176\u4ed6\u8bef\u5dee\u5206\u6790\u65b9\u6cd5(\u5982\u5747\u65b9\u6839\u8bef\u5dee)\u7684\u6bd4\u8f83\u4f18\u52bf\u5728\u54ea\u91cc?<\/h2>\n\n\n\n

    \u3000\u3000\u827e\u4f26\u65b9\u5dee\u4e0e\u5176\u4ed6\u8bef\u5dee\u5206\u6790\u65b9\u6cd5(\u5982\u5747\u65b9\u6839\u8bef\u5dee)\u7684\u6bd4\u8f83\u4f18\u52bf\u4e3b\u8981\u4f53\u73b0\u5728\u4ee5\u4e0b\u51e0\u4e2a\u65b9\u9762\uff1a<\/p>\n\n\n\n

      \n
    • \u3000\u3000\u7ec6\u81f4\u7684\u8868\u5f81\u548c\u8fa8\u8bc6\u80fd\u529b\uff1a\u827e\u4f26\u65b9\u5dee\u6cd5\u80fd\u591f\u975e\u5e38\u5bb9\u6613\u5730\u5bf9\u5404\u79cd\u8bef\u5dee\u6e90\u53ca\u5176\u5bf9\u6574\u4e2a\u566a\u58f0\u7edf\u8ba1\u7279\u6027\u7684\u8d21\u732e\u8fdb\u884c\u7ec6\u81f4\u7684\u8868\u5f81\u548c\u8fa8\u8bc6\u3002\u8fd9\u4e00\u70b9\u662f\u5176\u76f8\u5bf9\u4e8e\u5176\u4ed6\u8bef\u5dee\u5206\u6790\u65b9\u6cd5\uff0c\u5982\u5747\u65b9\u6839\u8bef\u5dee\u7b49\uff0c\u7684\u4e00\u4e2a\u663e\u8457\u4f18\u52bf\u3002<\/li>\n\n\n\n
    • \u3000\u3000\u4fbf\u4e8e\u8ba1\u7b97\u548c\u5206\u79bb\uff1a\u827e\u4f26\u65b9\u5dee\u5177\u6709\u4fbf\u4e8e\u8ba1\u7b97\u3001\u6613\u4e8e\u5206\u79bb\u7684\u4f18\u70b9\u3002\u8fd9\u610f\u5473\u7740\u5728\u5b9e\u9645\u5e94\u7528\u4e2d\uff0c\u4f7f\u7528\u827e\u4f26\u65b9\u5dee\u53ef\u4ee5\u66f4\u52a0\u9ad8\u6548\u548c\u51c6\u786e\u5730\u5206\u6790\u548c\u5904\u7406\u6570\u636e\u4e2d\u7684\u566a\u58f0\u6210\u5206\u3002<\/li>\n\n\n\n
    • \u3000\u3000\u76f4\u89c2\u8868\u73b0\u53ca\u539f\u7406\u7406\u89e3\uff1a\u5728\u5bf9\u5668\u4ef6\u8bef\u5dee\u7684\u6210\u5206\u8fdb\u884c\u5206\u6790\u65f6\uff0c\u827e\u4f26\u65b9\u5dee\u65b9\u6cd5\u6bd4\u76f4\u63a5\u65b9\u5dee\u7edf\u8ba1\u8981\u66f4\u6709\u4f18\u52bf\uff0c\u56e0\u4e3a\u5b83\u80fd\u591f\u5728”\u65b9\u5dee-\u65f6\u95f4\u95f4\u9694”\u7684\u53cc\u5bf9\u6570\u66f2\u7ebf\u4e0a\u76f4\u89c2\u5730\u8868\u73b0\u8fd9\u4e9b\u8bef\u5dee\u6210\u5206\u53ca\u5176\u4ea7\u751f\u7684\u539f\u7406\u3002\u8fd9\u79cd\u76f4\u89c2\u6027\u5bf9\u4e8e\u7406\u89e3\u548c\u5206\u6790\u6570\u636e\u975e\u5e38\u91cd\u8981\u3002<\/li>\n\n\n\n
    • \u3000\u3000\u4e0d\u53d7\u7edf\u8ba1\u7ec4\u6570\u9650\u5236\uff0c\u53ef\u8fdb\u884c\u591a\u91cd\u6bd4\u8f83\uff1a\u867d\u7136\u8fd9\u4e00\u70b9\u4e0d\u662f\u76f4\u63a5\u9488\u5bf9\u827e\u4f26\u65b9\u5dee\u7684\u63cf\u8ff0\uff0c\u4f46\u65b9\u5dee\u5206\u6790\u6cd5\u7684\u4f18\u70b9\u4e4b\u4e00\u662f\u4e0d\u53d7\u7edf\u8ba1\u7ec4\u6570\u7684\u9650\u5236\uff0c\u53ef\u4ee5\u63a5\u53d7\u5927\u6837\u672c\u7edf\u8ba1\u6570\u91cf\u8fdb\u884c\u591a\u91cd\u6bd4\u8f83\u3002\u8fd9\u8868\u660e\u5728\u5904\u7406\u5927\u91cf\u6570\u636e\u6216\u8fdb\u884c\u590d\u6742\u5206\u6790\u65f6\uff0c\u827e\u4f26\u65b9\u5dee\u53ef\u80fd\u56e0\u5176\u4e0e\u65b9\u5dee\u5206\u6790\u6cd5\u7684\u5173\u8054\u800c\u53d7\u76ca\u4e8e\u8fd9\u4e00\u4f18\u52bf\u3002<\/li>\n<\/ul>\n\n\n\n

      \u3000\u3000\u76f8\u6bd4\u4e4b\u4e0b\uff0c\u5747\u65b9\u6839\u8bef\u5dee\u4e3b\u8981\u7528\u4e8e\u8861\u91cf\u89c2\u6d4b\u503c\u540c\u771f\u503c\u4e4b\u95f4\u7684\u504f\u5dee\uff0c\u5b83\u5173\u6ce8\u7684\u662f\u6570\u636e\u5e8f\u5217\u4e0e\u771f\u5b9e\u503c\u4e4b\u95f4\u7684\u5173\u7cfb\uff0c\u800c\u4e0d\u662f\u50cf\u827e\u4f26\u65b9\u5dee\u90a3\u6837\u6df1\u5165\u5230\u566a\u58f0\u6e90\u7684\u8bc6\u522b\u548c\u5206\u6790\u4e0a\u3002\u56e0\u6b64\uff0c\u827e\u4f26\u65b9\u5dee\u5728\u5904\u7406\u9700\u8981\u7ec6\u81f4\u533a\u5206\u4e0d\u540c\u566a\u58f0\u6e90\u548c\u7406\u89e3\u566a\u58f0\u7279\u6027\u53d8\u5316\u7684\u5e94\u7528\u573a\u666f\u65f6\uff0c\u5c55\u73b0\u51fa\u66f4\u4e3a\u660e\u663e\u7684\u4f18\u52bf\u3002<\/p>\n\n\n\n

      \u3000\u3000\u56db\u3001 \u5728\u60ef\u6027\u5bfc\u822a\u9886\u57df\uff0c\u827e\u4f26\u65b9\u5dee\u5982\u4f55\u7528\u4e8eIMU\u566a\u58f0\u6807\u5b9a?<\/h2>\n\n\n\n

      \u3000\u3000\u5728\u60ef\u6027\u5bfc\u822a\u9886\u57df\uff0c\u827e\u4f26\u65b9\u5dee(Allan Variance)\u662f\u4e00\u79cd\u7528\u4e8eIMU\u566a\u58f0\u6807\u5b9a\u7684\u91cd\u8981\u6280\u672f\u3002\u901a\u8fc7\u5206\u6790IMU\u7684\u566a\u58f0\u7279\u6027\uff0c\u827e\u4f26\u65b9\u5dee\u80fd\u591f\u5e2e\u52a9\u8bc6\u522b\u548c\u91cf\u5316\u4e0d\u540c\u7c7b\u578b\u7684\u566a\u58f0\u9879\uff0c\u4ece\u800c\u5bf9IMU\u8fdb\u884c\u6709\u6548\u7684\u566a\u58f0\u6807\u5b9a\u3002<\/p>\n\n\n\n

      \u3000\u3000\u827e\u4f26\u65b9\u5dee\u6a21\u578b\u80fd\u591f\u6307\u51faIMU\u566a\u58f0\u9879\u7684\u4e0d\u540c\u8868\u793a\u5f62\u5f0f\uff0c\u5305\u62ec\u91cf\u5316\u566a\u58f0\u3001\u89d2\u5ea6(\u901f\u5ea6)\u968f\u673a\u6e38\u8d70\u3001\u504f\u7f6e\u4e0d\u7a33\u5b9a\u6027\u3001\u901f\u7387\u968f\u673a\u6e38\u8d70\u548c\u6f02\u79fb\u7387\u659c\u5761\u7b49\u3002\u8fd9\u610f\u5473\u7740\u901a\u8fc7\u827e\u4f26\u65b9\u5dee\u5206\u6790\uff0c\u53ef\u4ee5\u5bf9IMU\u7684\u566a\u58f0\u7c7b\u578b\u6709\u4e00\u4e2a\u5168\u9762\u7684\u8ba4\u8bc6\u3002<\/p>\n\n\n\n

      \u3000\u3000\u827e\u4f26\u65b9\u5dee\u5206\u6790\u6cd5\u4e0d\u4ec5\u53ef\u4ee5\u7528\u4e8e\u8bc6\u522b\u4e3b\u8981\u7684\u968f\u673a\u8bef\u5dee\u7c7b\u578b\uff0c\u8fd8\u80fd\u8ba1\u7b97\u51fa\u968f\u673a\u8bef\u5dee\u7684\u6a21\u578b\u53c2\u6570\u3002\u8fd9\u8868\u660e\u827e\u4f26\u65b9\u5dee\u5206\u6790\u4e0d\u4ec5\u80fd\u591f\u63d0\u4f9b\u5173\u4e8e\u566a\u58f0\u7c7b\u578b\u7684\u76f4\u89c2\u7406\u89e3\uff0c\u8fd8\u80fd\u591f\u8fdb\u4e00\u6b65\u91cf\u5316\u8fd9\u4e9b\u566a\u58f0\u7684\u5f71\u54cd\u3002<\/p>\n\n\n\n

      \u3000\u3000\u6b64\u5916\uff0c\u827e\u4f26\u65b9\u5dee\u6cd5\u662f\u57fa\u4e8e\u65f6\u57df\u7684\u5206\u6790\u65b9\u6cd5\uff0c\u901a\u8fc7\u4fdd\u6301\u4f20\u611f\u5668\u7edd\u5bf9\u9759\u6b62\u5e76\u83b7\u53d6\u6570\u636e\u8d85\u8fc72\u5c0f\u65f6\u4ee5\u4e0a\uff0c\u6765\u8fdb\u884c\u566a\u58f0\u6807\u5b9a\u3002\u8fd9\u79cd\u65b9\u6cd5\u7684\u4f18\u52bf\u5728\u4e8e\u5b83\u80fd\u591f\u5728\u5b9e\u9645\u5e94\u7528\u4e2d\uff0c\u901a\u8fc7\u5bf9\u957f\u65f6\u95f4\u5e8f\u5217\u6570\u636e\u7684\u5206\u6790\uff0c\u66f4\u51c6\u786e\u5730\u4f30\u8ba1\u548c\u6821\u6b63IMU\u7684\u566a\u58f0\u3002<\/p>\n\n\n\n

      \u3000\u3000\u827e\u4f26\u65b9\u5dee\u5728IMU\u566a\u58f0\u6807\u5b9a\u4e2d\u7684\u5e94\u7528\uff0c\u4e3b\u8981\u662f\u901a\u8fc7\u5bf9IMU\u7684\u566a\u58f0\u7279\u6027\u8fdb\u884c\u6df1\u5165\u5206\u6790\uff0c\u8bc6\u522b\u548c\u91cf\u5316\u4e0d\u540c\u7c7b\u578b\u7684\u566a\u58f0\u9879\uff0c\u8fdb\u800c\u5b9e\u73b0\u5bf9IMU\u7684\u6709\u6548\u6807\u5b9a\u3002\u8fd9\u4e00\u8fc7\u7a0b\u4e0d\u4ec5\u6d89\u53ca\u5230\u5bf9\u566a\u58f0\u7c7b\u578b\u7684\u8bc6\u522b\uff0c\u8fd8\u5305\u62ec\u4e86\u5bf9\u566a\u58f0\u5f71\u54cd\u7684\u91cf\u5316\u8bc4\u4f30\uff0c\u4e3a\u60ef\u6027\u5bfc\u822a\u7cfb\u7edf\u7684\u7cbe\u786e\u6027\u548c\u7a33\u5b9a\u6027\u63d0\u4f9b\u4e86\u91cd\u8981\u4fdd\u969c\u3002<\/p>\n\n\n\n

      \u3000\u3000\u4e94\u3001 \u827e\u4f26\u65b9\u5dee\u56fe\u7684\u89e3\u8bfb\u65b9\u6cd5\u6709\u54ea\u4e9b?<\/h2>\n\n\n\n

      \u3000\u3000\u827e\u4f26\u65b9\u5dee\u56fe\u7684\u89e3\u8bfb\u65b9\u6cd5\u4e3b\u8981\u5305\u62ec\u4ee5\u4e0b\u51e0\u4e2a\u65b9\u9762\uff1a<\/p>\n\n\n\n

        \n
      • \u3000\u3000\u96f6\u504f\u7a33\u5b9a\u6027\u5206\u6790\uff1a\u901a\u8fc7\u827e\u4f26\u65b9\u5dee\u56fe\uff0c\u53ef\u4ee5\u5bf9\u4f20\u611f\u5668\u7684\u96f6\u504f\u7a33\u5b9a\u6027\u8fdb\u884c\u8bc4\u4f30\u3002\u96f6\u504f\u7a33\u5b9a\u6027\u662f\u6307\u4f20\u611f\u5668\u5728\u6ca1\u6709\u5916\u90e8\u6fc0\u52b1\u4f5c\u7528\u4e0b\uff0c\u8f93\u51fa\u4fe1\u53f7\u968f\u65f6\u95f4\u53d8\u5316\u7684\u7a33\u5b9a\u6027\u3002\u5728\u827e\u4f26\u65b9\u5dee\u56fe\u4e2d\uff0c\u96f6\u504f\u7a33\u5b9a\u6027\u7684\u8868\u73b0\u901a\u5e38\u4e0e\u65f6\u95f4\u95f4\u9694\u6709\u5173\uff0c\u65f6\u95f4\u95f4\u9694\u8d8a\u5c0f\uff0c\u8868\u793a\u96f6\u504f\u7a33\u5b9a\u6027\u8d8a\u597d\u3002<\/li>\n\n\n\n
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