Digital inertial orientation modules (IMUs) are systems that use inertial sensors (accelerometers and gyroscopes) and a computing unit to determine the position, velocity, and orientation of an object in space.
They work by measuring the acceleration and angular velocity of an object relative to three axes and often include a magnetometer and barometer for increased accuracy. Such modules are used in robotics, navigation, geospatial imaging, autonomous vehicles, and other areas where precise motion data is required.
Operating Principle
Measurement:
Inertial sensors (usually MEMS accelerometers and gyroscopes) record acceleration and angular velocity along three axes (X, Y, Z).
Computation:
A high-performance computing unit receives data from the sensors and processes it using Newton's laws to determine the object's position, velocity, and heading.
Accuracy Improvement:
Additional sensors, such as a magnetometer (for determining direction) and a barometer (for determining altitude), can be used to improve accuracy and correct for potential errors.
Integration:
The calculated data is transmitted to the control system or used for navigation, for example, in autonomous vehicles.
Types and Applications
Strapdown Inertial Navigation Systems (SINS):
The most common type of modern modules that do not require a gyrostabilized platform.
Applications:
Robotics
Autonomous vehicles (e.g., mining trucks)
Geosurveying and geophysics
Railway transport
Aviation (Inertial Reference Systems, INS)
Electric motors with a "digital commutator" are brushless DC motors (BLDC), which use an electronic control system instead of a mechanical commutator.
This means that current commutation in the windings (current direction switching) is performed not mechanically using brushes and a commutator, but by electronic components, which increases reliability, reduces wear, and allows for more precise motor control.
Main differences from a classic brushed motor:
Commutator type:
Commutator: mechanical, wears out due to brush friction and requires maintenance.
Brushless: electronic (digital), has no moving parts, making it more durable and reliable.
Design:
Commutator: winding on the rotor, magnets on the stator.
Brushless: magnets on the rotor, winding on the stator.
Advantages of brushless motors:
High reliability and long service life.
Low noise and vibration.
Higher efficiency and energy efficiency.
Ability to precisely control rotation speed and torque.
Applications:
Due to their advantages, brushless motors are widely used in modern technology, for example:
Household appliances (washing machines, vacuum cleaners).
Power tools and electric vehicles.
Computer equipment (fans, hard drives).
The flight controller, controlled by specialized software, is the "brain" of the drone. It receives data from sensors, processes it, and commands actuators (e.g., speed controllers) to stabilize and control the flight.
Special software determines the flight process: from stabilizing in place to performing complex autonomous missions at specified coordinates.
Flight controller functions
Stabilization:
Continuously adjusts the drone's position in space using accelerometer and gyroscope data.
Navigation:
Uses GPS and a magnetometer to determine precise coordinates, altitude, and heading, allowing it to fly along a predetermined route.
Autonomy:
Allows the drone to perform missions without human intervention: take off, fly a route, avoid obstacles, return to the starting point, and land.
Communication with peripherals:
Gives commands to the electronic speed controllers (ESCs) that control the motors, and can also communicate with cameras, gimbals, and other equipment. A gimbal uses motorized arms and sensors to mechanically stabilize a camera, eliminating the shakes and bumps from handheld movement to create smooth, professional-looking video footage.
Examples of specialized software and controllers
ArduPilot:
Open-source software for many types of controllers, supporting a wide range of functions for various tasks.
PixHawk:
A popular hardware platform that uses ArduPilot or PX4 software for control.
MultiWii:
Another well-known open-source software.
DJI:
Integrated solutions that include both flight controllers and proprietary software.
The high-speed data bus that connects sensors to actuators is called a fieldbus (in industrial automation) or a CAN bus (in automotive electronics).
These buses allow various electronic units, sensors, and actuators to exchange information in real time for synchronized system operation.
Fieldbus:
A term used in industrial automation to refer to a network, connecting controllers to field devices, i.e., sensors and actuators.
CAN bus (Controller Area Network):
A standard widely used in automobiles for communication between multiple electronic control units (ECUs), sensors, and actuators. It collects signals from sensors and sends commands to actuators, ensuring the proper operation of all vehicle systems.
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