Trong qu\u00e1 tr\u00ecnh ph\u00e1t tri\u1ec3n c\u00e1c h\u1ec7 th\u1ed1ng v\u0169 kh\u00ed hi\u1ec7n \u0111\u1ea1i, h\u1ec7 th\u1ed1ng l\u00e1i t\u1ef1 \u0111\u1ed9ng c\u1ee7a t\u00ean l\u1eeda \u0111\u00f3ng vai tr\u00f2 l\u00e0 m\u1ed9t trong nh\u1eefng th\u00e0nh ph\u1ea7n \u0111i\u1ec1u khi\u1ec3n quan tr\u1ecdng nh\u1ea5t, t\u00e1c \u0111\u1ed9ng tr\u1ef1c ti\u1ebfp \u0111\u1ebfn t\u00ednh \u1ed5n \u0111\u1ecbnh bay, kh\u1ea3 n\u0103ng c\u01a1 \u0111\u1ed9ng v\u00e0 \u0111\u1ed9 ch\u00ednh x\u00e1c khi t\u1ea5n c\u00f4ng. \u0110\u1ec3 \u0111\u1ea3m b\u1ea3o \u0111\u1ed9 tin c\u1eady v\u00e0 hi\u1ec7u su\u1ea5t c\u1ee7a h\u1ec7 th\u1ed1ng l\u00e1i t\u1ef1 \u0111\u1ed9ng trong su\u1ed1t v\u00f2ng \u0111\u1eddi c\u1ee7a n\u00f3, c\u1ea7n ph\u1ea3i c\u00f3 m\u1ed9t n\u1ec1n t\u1ea3ng th\u1eed nghi\u1ec7m v\u00e0 m\u00f4 ph\u1ecfng m\u1ea1nh m\u1ebd. Gi\u1ea3i ph\u00e1p M\u00f4 ph\u1ecfng v\u00e0 X\u00e1c minh H\u1ec7 th\u1ed1ng L\u00e1i t\u1ef1 \u0111\u1ed9ng T\u00ean l\u1eeda T\u00edch h\u1ee3p \u0111\u00e3 \u0111\u01b0\u1ee3c thi\u1ebft k\u1ebf \u0111\u1eb7c bi\u1ec7t \u0111\u1ec3 \u0111\u00e1p \u1ee9ng nhu c\u1ea7u n\u00e0y, cung c\u1ea5p c\u00e1c kh\u1ea3 n\u0103ng m\u00f4 ph\u1ecfng v\u00e0 x\u00e1c minh to\u00e0n di\u1ec7n trong c\u00e1c giai \u0111o\u1ea1n thi\u1ebft k\u1ebf, x\u00e1c minh v\u00e0 b\u00e0n giao.<\/p>\n\n\n\n
Gi\u1ea3i ph\u00e1p n\u00e0y t\u00edch h\u1ee3p c\u00e1c ch\u1ee9c n\u0103ng ki\u1ec3m tra cho b\u1ed9 \u0111o l\u01b0\u1eddng qu\u00e1n t\u00ednh (IMU), h\u1ec7 th\u1ed1ng servo v\u00e0 bu\u1ed3ng \u0111i\u1ec1u khi\u1ec3n, cung c\u1ea5p m\u1ed9t ph\u1ea1m vi ki\u1ec3m \u0111\u1ecbnh to\u00e0n di\u1ec7n t\u1eeb c\u00e1c \u0111\u1eb7c t\u00ednh t\u0129nh \u0111\u1ebfn hi\u1ec7u su\u1ea5t \u0111\u1ed9ng, v\u00e0 t\u1eeb vi\u1ec7c ki\u1ec3m tra t\u1eebng m\u00f4-\u0111un ri\u00eang l\u1ebb \u0111\u1ebfn vi\u1ec7c x\u00e1c minh \u1edf c\u1ea5p \u0111\u1ed9 h\u1ec7 th\u1ed1ng. Trong m\u00f4i tr\u01b0\u1eddng ph\u00f2ng th\u00ed nghi\u1ec7m, gi\u1ea3i ph\u00e1p n\u00e0y h\u1ed7 tr\u1ee3 vi\u1ec7c x\u00e1c \u0111\u1ecbnh \u0111\u1eb7c t\u00ednh IMU m\u1ed9t c\u00e1ch ch\u00ednh x\u00e1c b\u1eb1ng c\u00e1ch ph\u00e2n t\u00edch ph\u1ea3n \u1ee9ng c\u1ee7a c\u00e1c c\u1ea3m bi\u1ebfn \u0111\u01b0\u1ee3c l\u1eafp \u0111\u1eb7t tr\u00ean b\u00e0n rung v\u00e0 x\u00e2y d\u1ef1ng c\u00e1c m\u00f4 h\u00ecnh to\u00e1n h\u1ecdc. Nh\u1eefng k\u1ebft qu\u1ea3 n\u00e0y \u0111\u00f3ng vai tr\u00f2 l\u00e0 n\u1ec1n t\u1ea3ng khoa h\u1ecdc cho vi\u1ec7c tinh ch\u1ec9nh thu\u1eadt to\u00e1n v\u00e0 t\u1ed1i \u01b0u h\u00f3a ph\u1ea7n c\u1ee9ng.<\/p>\n\n\n\n
\u0110\u1ed1i v\u1edbi c\u00e1c \u0111\u00e1nh gi\u00e1 t\u0129nh, n\u1ec1n t\u1ea3ng n\u00e0y cho ph\u00e9p ki\u1ec3m tra nhanh c\u00e1c l\u1ed7i v\u1ecb tr\u00ed zero, \u0111\u1eb7c t\u00ednh ph\u1ea3n h\u1ed3i c\u1ee7a b\u1ed9 \u0111i\u1ec1u khi\u1ec3n servo v\u00e0 \u0111\u1ed9 \u1ed5n \u0111\u1ecbnh c\u1ee7a v\u00f2ng l\u1eb7p h\u1ec7 th\u1ed1ng l\u00e1i t\u1ef1 \u0111\u1ed9ng, gi\u00fap c\u00e1c k\u1ef9 s\u01b0 ph\u00e1t hi\u1ec7n s\u1edbm c\u00e1c v\u1ea5n \u0111\u1ec1 ti\u1ec1m \u1ea9n ngay t\u1eeb giai \u0111o\u1ea1n \u0111\u1ea7u c\u1ee7a chu k\u1ef3 ph\u00e1t tri\u1ec3n. Trong th\u1eed nghi\u1ec7m \u0111\u1ed9ng, n\u1ec1n t\u1ea3ng n\u00e0y c\u00f3 th\u1ec3 m\u00f4 ph\u1ecfng c\u00e1c \u0111i\u1ec1u ki\u1ec7n bay th\u1ef1c t\u1ebf \u2014 bao g\u1ed3m c\u00e1c chuy\u1ec3n \u0111\u1ed9ng nghi\u00eang, xoay v\u00e0 l\u0103n \u2014 \u0111\u1ed3ng th\u1eddi x\u00e1c minh ph\u1ea3n \u1ee9ng c\u1ee7a h\u1ec7 th\u1ed1ng l\u00e1i t\u1ef1 \u0111\u1ed9ng trong c\u00e1c v\u00f2ng ph\u1ea3n h\u1ed3i kh\u00e1c nhau. Th\u00f4ng qua c\u00e1c t\u01b0\u01a1ng t\u00e1c th\u1eddi gian th\u1ef1c gi\u1eefa m\u00e1y t\u00ednh th\u1eed nghi\u1ec7m v\u00e0 bu\u1ed3ng \u0111i\u1ec1u khi\u1ec3n, h\u1ec7 th\u1ed1ng \u0111\u1ea3m b\u1ea3o t\u00ednh ch\u00ednh x\u00e1c c\u1ee7a c\u00e1c quy t\u1eafc \u0111i\u1ec1u khi\u1ec3n v\u00e0 x\u00e1c th\u1ef1c hi\u1ec7u su\u1ea5t th\u1eddi gian th\u1ef1c trong c\u00e1c \u0111i\u1ec1u ki\u1ec7n v\u1eadn h\u00e0nh ph\u1ee9c t\u1ea1p. Kh\u1ea3 n\u0103ng th\u1eed nghi\u1ec7m t\u0129nh v\u00e0 \u0111\u1ed9ng c\u1ee7a bu\u1ed3ng \u0111i\u1ec1u khi\u1ec3n gi\u00fap t\u0103ng c\u01b0\u1eddng h\u01a1n n\u1eefa t\u00ednh d\u1ef1 ph\u00f2ng v\u00e0 \u1ed5n \u0111\u1ecbnh c\u1ee7a h\u1ec7 th\u1ed1ng trong c\u00e1c t\u00ecnh hu\u1ed1ng quan tr\u1ecdng.<\/p>\n\n\n\n
Ki\u1ebfn tr\u00fac c\u1ee7a gi\u1ea3i ph\u00e1p \u0111\u01b0\u1ee3c x\u00e2y d\u1ef1ng tr\u00ean n\u1ec1n t\u1ea3ng m\u00f4 ph\u1ecfng ph\u1ea7n c\u1ee9ng trong v\u00f2ng l\u1eb7p (HIL) c\u1ee7a HRT, \u00e1p d\u1ee5ng c\u1ea5u tr\u00fac m\u00e1y ch\u1ee7\u2013h\u1ec7 th\u1ed1ng con. H\u1ec7 th\u1ed1ng con n\u00e0y, d\u1ef1a tr\u00ean c\u00f4ng ngh\u1ec7 bus CPCI, mang l\u1ea1i \u0111\u1ed9 tin c\u1eady cao, kh\u1ea3 n\u0103ng I\/O m\u1ea1nh m\u1ebd v\u00e0 kh\u1ea3 n\u0103ng qu\u1ea3n l\u00fd nhi\u1ec7t tuy\u1ec7t v\u1eddi. \u0110i\u1ec1u n\u00e0y \u0111\u1ea3m b\u1ea3o t\u00ednh ph\u00f9 h\u1ee3p cho c\u1ea3 c\u00e1c ho\u1ea1t \u0111\u1ed9ng ph\u00f2ng th\u00ed nghi\u1ec7m k\u00e9o d\u00e0i v\u00e0 c\u00e1c th\u1eed nghi\u1ec7m th\u1ef1c \u0111\u1ecba \u0111\u00f2i h\u1ecfi kh\u1eaft khe. Ch\u1ea1y tr\u00ean h\u1ec7 \u0111i\u1ec1u h\u00e0nh th\u1eddi gian th\u1ef1c VxWorks, n\u1ec1n t\u1ea3ng n\u00e0y \u0111\u1ea1t \u0111\u01b0\u1ee3c kh\u1ea3 n\u0103ng ph\u1ea3n h\u1ed3i \u1edf m\u1ee9c mili gi\u00e2y \u0111\u1ec3 \u0111\u00e1p \u1ee9ng \u0111\u1ea7y \u0111\u1ee7 c\u00e1c y\u00eau c\u1ea7u th\u1eddi gian th\u1ef1c nghi\u00eam ng\u1eb7t c\u1ee7a th\u1eed nghi\u1ec7m h\u1ec7 th\u1ed1ng l\u00e1i t\u1ef1 \u0111\u1ed9ng t\u00ean l\u1eeda. Ngo\u00e0i ra, c\u00e1c t\u00ednh n\u0103ng nh\u01b0 t\u1ef1 ki\u1ec3m tra t\u1ef1 \u0111\u1ed9ng v\u00e0 kh\u1edfi t\u1ea1o nhanh gi\u00fap gi\u1ea3m \u0111\u00e1ng k\u1ec3 th\u1eddi gian kh\u1eafc ph\u1ee5c s\u1ef1 c\u1ed1 v\u00e0 chi ph\u00ed v\u1eadn h\u00e0nh.<\/p>\n\n\n\n
T\u1eeb g\u00f3c \u0111\u1ed9 ng\u01b0\u1eddi d\u00f9ng, gi\u1ea3i ph\u00e1p n\u00e0y cung c\u1ea5p m\u1ed9t giao di\u1ec7n tr\u1ef1c quan, cho ph\u00e9p c\u00e1c nh\u00e0 \u0111i\u1ec1u h\u00e0nh theo d\u00f5i c\u00e1c b\u00e0i ki\u1ec3m tra v\u00e0 k\u1ebft qu\u1ea3 theo th\u1eddi gian th\u1ef1c, \u0111\u1ed3ng th\u1eddi nh\u1eadn \u0111\u01b0\u1ee3c c\u00e1c c\u1ea3nh b\u00e1o t\u1ef1 \u0111\u1ed9ng khi c\u00f3 s\u1ef1 c\u1ed1 b\u1ea5t th\u01b0\u1eddng x\u1ea3y ra. C\u00e1c giao di\u1ec7n d\u1eef li\u1ec7u m\u1edf h\u1ed7 tr\u1ee3 t\u00edch h\u1ee3p li\u1ec1n m\u1ea1ch v\u1edbi ph\u1ea7n m\u1ec1m ph\u00e2n t\u00edch d\u1eef li\u1ec7u ti\u00ean ti\u1ebfn, t\u1eeb \u0111\u00f3 mang l\u1ea1i nh\u1eefng hi\u1ec3u bi\u1ebft s\u00e2u s\u1eafc h\u01a1n v\u1ec1 hi\u1ec7u su\u1ea5t h\u1ec7 th\u1ed1ng v\u00e0 c\u00e1c c\u1ea3i ti\u1ebfn v\u1ec1 thi\u1ebft k\u1ebf.<\/p>\n\n\n\n
V\u1edbi ph\u1ea1m vi \u1ee9ng d\u1ee5ng r\u1ed9ng r\u00e3i, gi\u1ea3i ph\u00e1p n\u00e0y h\u1ed7 tr\u1ee3 qu\u00e1 tr\u00ecnh ph\u00e1t tri\u1ec3n h\u1ec7 th\u1ed1ng l\u00e1i t\u1ef1 \u0111\u1ed9ng cho t\u00ean l\u1eeda, x\u00e1c nh\u1eadn thi\u1ebft k\u1ebf, \u0111\u00e1nh gi\u00e1 hi\u1ec7u su\u1ea5t v\u00e0 ki\u1ec3m \u0111\u1ecbnh tr\u01b0\u1edbc khi b\u00e0n giao. D\u00f9 \u0111\u01b0\u1ee3c s\u1eed d\u1ee5ng trong c\u00e1c giai \u0111o\u1ea1n thi\u1ebft k\u1ebf t\u1ea1i ph\u00f2ng th\u00ed nghi\u1ec7m hay trong c\u00e1c th\u1eed nghi\u1ec7m x\u00e1c minh th\u1ef1c \u0111\u1ecba, gi\u1ea3i ph\u00e1p n\u00e0y \u0111\u1ec1u mang l\u1ea1i k\u1ebft qu\u1ea3 ch\u00ednh x\u00e1c, \u0111\u00e1ng tin c\u1eady v\u00e0 c\u00f3 th\u1ec3 l\u1eb7p l\u1ea1i, t\u1eeb \u0111\u00f3 \u0111\u1ea9y nhanh chu k\u1ef3 ph\u00e1t tri\u1ec3n v\u00e0 n\u00e2ng cao ch\u1ea5t l\u01b0\u1ee3ng t\u1ed5ng th\u1ec3 c\u1ee7a h\u1ec7 th\u1ed1ng.<\/p>\n\n\n\n
B\u1eb1ng c\u00e1ch \u00e1p d\u1ee5ng Gi\u1ea3i ph\u00e1p m\u00f4 ph\u1ecfng v\u00e0 ki\u1ec3m \u0111\u1ecbnh h\u1ec7 th\u1ed1ng l\u00e1i t\u1ef1 \u0111\u1ed9ng t\u00ean l\u1eeda t\u00edch h\u1ee3p, c\u00e1c nh\u00f3m ph\u00e1t tri\u1ec3n c\u00f3 th\u1ec3 t\u00e1i t\u1ea1o c\u00e1c \u0111i\u1ec1u ki\u1ec7n bay ph\u1ee9c t\u1ea1p trong m\u00f4i tr\u01b0\u1eddng \u0111\u01b0\u1ee3c ki\u1ec3m so\u00e1t, \u0111\u1ea3m b\u1ea3o t\u00ednh an to\u00e0n, \u1ed5n \u0111\u1ecbnh v\u00e0 \u0111\u1ed9 ch\u00ednh x\u00e1c c\u1ee7a h\u1ec7 th\u1ed1ng l\u00e1i t\u1ef1 \u0111\u1ed9ng. Gi\u1ea3i ph\u00e1p n\u00e0y t\u1ea1o ra m\u1ed9t n\u1ec1n t\u1ea3ng c\u00f4ng ngh\u1ec7 v\u1eefng ch\u1eafc cho s\u1ef1 ph\u00e1t tri\u1ec3n c\u1ee7a c\u00e1c h\u1ec7 th\u1ed1ng v\u0169 kh\u00ed th\u1ebf h\u1ec7 m\u1edbi.<\/p>","protected":false},"featured_media":845,"template":"","meta":{"_acf_changed":false,"footnotes":""},"categories":[19],"tags":[],"class_list":["post-846","application","type-application","status-publish","has-post-thumbnail","hentry","category-system-solutions"],"acf":[],"_links":{"self":[{"href":"https:\/\/www.wallisemi.com\/vi\/wp-json\/wp\/v2\/application\/846","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/www.wallisemi.com\/vi\/wp-json\/wp\/v2\/application"}],"about":[{"href":"https:\/\/www.wallisemi.com\/vi\/wp-json\/wp\/v2\/types\/application"}],"version-history":[{"count":1,"href":"https:\/\/www.wallisemi.com\/vi\/wp-json\/wp\/v2\/application\/846\/revisions"}],"predecessor-version":[{"id":847,"href":"https:\/\/www.wallisemi.com\/vi\/wp-json\/wp\/v2\/application\/846\/revisions\/847"}],"wp:featuredmedia":[{"embeddable":true,"href":"https:\/\/www.wallisemi.com\/vi\/wp-json\/wp\/v2\/media\/845"}],"wp:attachment":[{"href":"https:\/\/www.wallisemi.com\/vi\/wp-json\/wp\/v2\/media?parent=846"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/www.wallisemi.com\/vi\/wp-json\/wp\/v2\/categories?post=846"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/www.wallisemi.com\/vi\/wp-json\/wp\/v2\/tags?post=846"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}