{"id":11468,"date":"2021-10-25T00:00:57","date_gmt":"2021-10-24T17:00:57","guid":{"rendered":"https:\/\/www.okxe.vn\/blog\/?p=11468"},"modified":"2024-05-09T11:28:47","modified_gmt":"2024-05-09T04:28:47","slug":"thiet-bi-imu","status":"publish","type":"post","link":"https:\/\/www.okxe.vn\/blog\/ky-thuat-xe\/thiet-bi-imu","title":{"rendered":"Thi\u1ebft b\u1ecb IMU &#8211; Nh\u1eefng \u1ee9ng d\u1ee5ng kh\u00f4ng t\u01b0\u1edfng"},"content":{"rendered":"<div id=\"ez-toc-container\" class=\"ez-toc-v2_0_60 ez-toc-wrap-center counter-hierarchy ez-toc-counter ez-toc-custom ez-toc-container-direction\">\n<div class=\"ez-toc-title-container\">\n<p class=\"ez-toc-title \" >N\u1ed9i Dung T&oacute;m T\u1eaft B&agrave;i Vi\u1ebft<\/p>\n<span class=\"ez-toc-title-toggle\"><a href=\"#\" class=\"ez-toc-pull-right ez-toc-btn ez-toc-btn-xs ez-toc-btn-default ez-toc-toggle\" aria-label=\"Toggle Table of Content\" role=\"button\"><label for=\"item-69d0441c0dd41\" ><span class=\"\"><span class=\"eztoc-hide\" style=\"display:none;\">Toggle<\/span><span class=\"ez-toc-icon-toggle-span\"><svg style=\"fill: #000000;color:#000000\" xmlns=\"http:\/\/www.w3.org\/2000\/svg\" class=\"list-377408\" width=\"20px\" height=\"20px\" viewBox=\"0 0 24 24\" fill=\"none\"><path d=\"M6 6H4v2h2V6zm14 0H8v2h12V6zM4 11h2v2H4v-2zm16 0H8v2h12v-2zM4 16h2v2H4v-2zm16 0H8v2h12v-2z\" fill=\"currentColor\"><\/path><\/svg><svg style=\"fill: #000000;color:#000000\" class=\"arrow-unsorted-368013\" xmlns=\"http:\/\/www.w3.org\/2000\/svg\" width=\"10px\" height=\"10px\" viewBox=\"0 0 24 24\" version=\"1.2\" baseProfile=\"tiny\"><path d=\"M18.2 9.3l-6.2-6.3-6.2 6.3c-.2.2-.3.4-.3.7s.1.5.3.7c.2.2.4.3.7.3h11c.3 0 .5-.1.7-.3.2-.2.3-.5.3-.7s-.1-.5-.3-.7zM5.8 14.7l6.2 6.3 6.2-6.3c.2-.2.3-.5.3-.7s-.1-.5-.3-.7c-.2-.2-.4-.3-.7-.3h-11c-.3 0-.5.1-.7.3-.2.2-.3.5-.3.7s.1.5.3.7z\"\/><\/svg><\/span><\/span><\/label><input aria-label=\"Toggle\" aria-label=\"item-69d0441c0dd41\"  type=\"checkbox\" id=\"item-69d0441c0dd41\"><\/a><\/span><\/div>\n<nav><ul class='ez-toc-list ez-toc-list-level-1 ' ><li class='ez-toc-page-1 ez-toc-heading-level-2'><a class=\"ez-toc-link ez-toc-heading-1\" href=\"https:\/\/www.okxe.vn\/blog\/ky-thuat-xe\/thiet-bi-imu\/#Tong_quan_ve_IMU\" title=\"T\u1ed5ng quan v\u1ec1 IMU\">T\u1ed5ng quan v\u1ec1 IMU<\/a><\/li><li class='ez-toc-page-1 ez-toc-heading-level-2'><a class=\"ez-toc-link ez-toc-heading-2\" href=\"https:\/\/www.okxe.vn\/blog\/ky-thuat-xe\/thiet-bi-imu\/#Thiet_bi_IMU_tren_xe_mo_to_la_gi\" title=\"Thi\u1ebft b\u1ecb IMU tr\u00ean xe m\u00f4 t\u00f4 l\u00e0 g\u00ec?\">Thi\u1ebft b\u1ecb IMU tr\u00ean xe m\u00f4 t\u00f4 l\u00e0 g\u00ec?<\/a><\/li><\/ul><\/nav><\/div>\n<p><strong>Ph\u00e1t tri\u1ec3n l\u00e0 qu\u00e1 tr\u00ecnh \u0111\u1ea9y m\u1ea1nh kh\u00f4ng ch\u1ec9 v\u1ec1 s\u1ee9c m\u1ea1nh m\u00e0 c\u00f2n c\u1ea7n ph\u1ea3i \u0111\u1ea3m b\u1ea3o an to\u00e0n. Trong b\u00e0i vi\u1ebft h\u00f4m nay, OKXE s\u1ebd gi\u00fap c\u00e1c b\u1ea1n t\u00ecm hi\u1ec3u v\u1ec1 thi\u1ebft b\u1ecb IMU!<\/strong><\/p>\n<h2><span class=\"ez-toc-section\" id=\"Tong_quan_ve_IMU\"><\/span><strong><b>T\u1ed5ng quan v\u1ec1 IMU<\/b><\/strong><span class=\"ez-toc-section-end\"><\/span><\/h2>\n<h3><strong><b>IMU l\u00e0 g\u00ec?<\/b><\/strong><\/h3>\n<p><strong><span style=\"font-weight: 400;\">IMU l\u00e0 vi\u1ebft t\u1eaft c\u1ee7a Inertial Measurement Unit. \u0110\u00e2y l\u00e0 thi\u1ebft b\u1ecb k\u1ebft h\u1ee3p gi\u1eefa c\u1ea3m bi\u1ebfn Gyroscope c\u00f2n g\u1ecdi l\u00e0 c\u1ea3m bi\u1ebfn con quay h\u1ed3i chuy\u1ec3n. V\u00e0 c\u1ea3m bi\u1ebfn Accelerometer c\u00f2n g\u1ecdi l\u00e0 c\u1ea3m bi\u1ebfn gia t\u1ed1c. Thi\u1ebft b\u1ecb n\u00e0y c\u00f3 ch\u1ee9c n\u0103ng l\u00e0 cung c\u1ea5p th\u00f4ng tin v\u1ec1 \u0111\u1ed9 nghi\u00eang v\u00e0 g\u00f3c quay. \u0110\u1ec3 gi\u00fap h\u1ec7 th\u1ed1ng c\u00e2n b\u1eb1ng m\u1ed9t c\u00e1ch t\u1ef1 \u0111\u1ed9ng.\u00a0<\/span><\/strong><\/p>\n<p><img decoding=\"async\" class=\"aligncenter size-full wp-image-11482 lazyload\" data-src=\"https:\/\/www.okxe.vn\/blog\/wp-content\/uploads\/2023\/12\/32_content_news20211025020039_fdtOGvW9_o.jpg\" alt=\"\" width=\"1280\" height=\"810\" src=\"data:image\/gif;base64,R0lGODlhAQABAAAAACH5BAEKAAEALAAAAAABAAEAAAICTAEAOw==\" style=\"--smush-placeholder-width: 1280px; --smush-placeholder-aspect-ratio: 1280\/810;\" \/><\/p>\n<p><strong><span style=\"font-weight: 400;\">\u0110\u1ec3 c\u00f3 th\u1ec3 n\u1eafm r\u00f5 \u0111\u01b0\u1ee3c nguy\u00ean t\u1eafc ho\u1ea1t \u0111\u1ed9ng c\u1ee7a IMU, c\u00e1c b\u1ea1n c\u1ea7n t\u00ecm hi\u1ec3u k\u1ef9 v\u1ec1 nguy\u00ean t\u1eafc ho\u1ea1t \u0111\u1ed9ng c\u1ee7a t\u1eebng b\u1ed9 ph\u1eadn Acc v\u00e0 Gyro. C\u1ee5 th\u1ec3, Acc th\u01b0\u1eddng c\u00f3 3 tr\u1ee5c xyz t\u01b0\u01a1ng \u1ee9ng v\u1edbi 3 chi\u1ec1u kh\u00f4ng gian. Do \u0111o \u0111\u01b0\u1ee3c c\u1ea3 gia t\u1ed1c tr\u1ecdng l\u1ef1c n\u00ean t\u1ea1i gi\u00e1 tr\u1ecb th\u1ef1c s\u1ebd bao g\u1ed3m c\u1ea3 tr\u1ecdng l\u1ef1c. <\/span><\/strong><\/p>\n<p><strong><span style=\"font-weight: 400;\">Trong khi \u0111\u00f3, Gyro c\u0169ng c\u00f3 3 tr\u1ee5c xyz gi\u1ed1ng nh\u01b0 Acc. V\u00ed d\u1ee5 khi b\u1ea1n \u0111\u1ec3 IMU th\u1eafng \u0111\u1ee9ng v\u00e0 \u0111\u1ec3 im, gi\u00e1 tr\u1ecb tr\u1ea3 v\u1ec1 cho b\u1ea1n s\u1ebd l\u00e0 Acc = [0.0, -9.8, 0.0] v\u00e0 Gyro = [0.0, 0.0, 0.0] do l\u00fac n\u00e0y ch\u1ec9 c\u00f3 l\u1ef1c h\u00fat c\u1ee7a Tr\u00e1i \u0110\u1ea5t t\u00e1c \u0111\u1ed9ng l\u00ean v\u00e0 kh\u00f4ng c\u00f3 chuy\u1ec3n \u0111\u1ed9ng n\u00e0o. Th\u00eam n\u1eefa, do Gyro ch\u1ec9 \u0111o t\u1ed1c \u0111\u1ed9 quay ch\u1ee9 kh\u00f4ng \u0111o g\u00f3c quay n\u00ean n\u1ebfu b\u1ea1n quay 1 g\u00f3c n\u00e0o \u0111\u00f3 sau \u0111\u00f3 d\u1eebng l\u1ea1i th\u00ec gi\u00e1 tr\u1ecb c\u1ee7a Gyro s\u1ebd t\u0103ng l\u00ean r\u1ed3i h\u1ea1 v\u1ec1 0.\u00a0<\/span><\/strong><\/p>\n<h3><strong><b>\u1ee8ng d\u1ee5ng c\u1ee7a IMU<\/b><\/strong><\/h3>\n<p><strong><span style=\"font-weight: 400;\">Ch\u1eafc h\u1eb3n c\u00e1c b\u1ea1n \u0111\u00e3 h\u00ecnh dung ra m\u1ed9t chi\u1ebfc \u0111i\u1ec7n tho\u1ea1i smartphone s\u1eed d\u1ee5ng thi\u1ebft b\u1ecb IMU nh\u01b0 th\u1ebf n\u00e0o r\u1ed3i \u0111\u00fang kh\u00f4ng? Tuy nhi\u00ean, nh\u1eefng \u1ee9ng d\u1ee5ng c\u1ee7a c\u00f4ng ngh\u1ec7 IMU kh\u00f4ng ch\u1ec9 d\u1eebng l\u1ea1i \u1edf \u0111\u00f3. C\u00f3 r\u1ea5t nhi\u1ec1u thi\u1ebft b\u1ecb \u0111\u01b0\u1ee3c trang b\u1ecb IMU \u0111\u1ec3 nh\u1eb1m \u0111\u1ecbnh h\u01b0\u1edbng chuy\u1ec3n \u0111\u1ed9ng, ki\u1ec3m so\u00e1t c\u00e2n b\u1eb1ng. C\u00e1c \u1ee9ng d\u1ee5ng c\u00f3 th\u1ec3 k\u1ec3 \u0111\u1ebfn nh\u01b0: robot 2 b\u00e1nh t\u1ef1 c\u00e2n b\u1eb1ng, tay c\u1ea7m ch\u01a1i game, m\u00e1y bay \u0111i\u1ec1u khi\u1ec3n t\u1eeb xa &#8211; drone, h\u1ec7 th\u1ed1ng gi\u1eef th\u0103ng b\u1eb1ng cho m\u00e1y \u1ea3nh\/camera, \u0111\u1ebfm s\u1ed1 b\u01b0\u1edbc ch\u00e2n, c\u1ea3m bi\u1ebfn r\u01a1i\u2026\u00a0<\/span><\/strong><\/p>\n<p><img decoding=\"async\" class=\"aligncenter size-full wp-image-11483 lazyload\" data-src=\"https:\/\/www.okxe.vn\/blog\/wp-content\/uploads\/2023\/12\/32_content_news20211025020037_9SHcbZDP_o.jpg\" alt=\"\" width=\"1500\" height=\"849\" src=\"data:image\/gif;base64,R0lGODlhAQABAAAAACH5BAEKAAEALAAAAAABAAEAAAICTAEAOw==\" style=\"--smush-placeholder-width: 1500px; --smush-placeholder-aspect-ratio: 1500\/849;\" \/><\/p>\n<p><strong><span style=\"font-weight: 400;\">Nh\u01b0 \u0111\u00e3 n\u00f3i \u1edf tr\u00ean, m\u1ed9t IMU th\u00f4ng th\u01b0\u1eddng s\u1ebd c\u00f3 6 tr\u1ee5c (Degrees Of Freedom &#8211; DOF). Tuy nhi\u00ean, \u0111\u1ed1i v\u1edbi nh\u1eefng thi\u1ebft b\u1ecb ph\u1ee9c t\u1ea1p h\u01a1n nh\u01b0 robot, m\u00e1y bay \u0111i\u1ec1u khi\u1ec3n t\u1eeb xa\u2026 th\u00ec IMU s\u1ebd c\u00f3 9 tr\u1ee5c &#8211; t\u0103ng th\u00eam 3 tr\u1ee5c c\u1ea3m bi\u1ebfn t\u1eeb tr\u01b0\u1eddng Magnetometer hay 10 tr\u1ee5c &#8211; t\u0103ng th\u00eam 1 \u00e1p k\u1ebf Barometer hay 11 tr\u1ee5c &#8211; t\u0103ng th\u00eam module GPS nh\u1eb1m \u0111\u1ecbnh v\u1ecb.\u00a0<\/span><\/strong><\/p>\n<h3><strong><b>Nh\u1eefng l\u1ed7i th\u01b0\u1eddng g\u1eb7p<\/b><\/strong><\/h3>\n<p><strong><span style=\"font-weight: 400;\">Gi\u1ed1ng nh\u01b0 nh\u1eefng c\u1ea3m bi\u1ebfn kh\u00e1c, IMU c\u0169ng c\u00f3 nh\u1eefng l\u1ed7i nh\u1ea5t \u0111\u1ecbnh m\u1ed7i khi s\u1eed d\u1ee5ng. C\u1ee5 th\u1ec3:\u00a0<\/span><\/strong><\/p>\n<ul>\n<li style=\"font-weight: 400;\" aria-level=\"1\"><strong><span style=\"font-weight: 400;\">Accelerometer: Theo t\u00ecm hi\u1ec3u, Acc lu\u00f4n c\u00f3 offset \u1edf tr\u00ean m\u1ed7i tr\u1ee5c. Ch\u00ednh \u0111i\u1ec1u n\u00e0y \u0111\u00e3 khi\u1ebfn gi\u00e1 tr\u1ecb \u0111o \u0111\u01b0\u1ee3c th\u01b0\u1eddng b\u1ecb l\u1ec7ch \u0111i so v\u1edbi th\u1ef1c t\u1ebf. Ngo\u00e0i ra, gi\u00e1 tr\u1ecb n\u00e0y th\u01b0\u1eddng kh\u00e1 nhi\u1ec5u d\u1eabn \u0111\u1ebfn t\u00ecnh tr\u1ea1ng \u0111\u1ecdc tr\u1edf n\u00ean kh\u00f3 kh\u0103n h\u01a1n.\u00a0<\/span><\/strong><\/li>\n<li style=\"font-weight: 400;\" aria-level=\"1\"><strong><span style=\"font-weight: 400;\">Gyroscope: Gi\u1ed1ng Acc, Gyro c\u0169ng c\u00f3 offset l\u00e0 bias c\u00f3 th\u1ec3 khi\u1ebfn c\u00e1c gi\u00e1 tr\u1ecb \u0111o b\u1ecb gi\u1ea3m. Th\u00eam m\u1ed9t v\u1ea5n \u0111\u1ec1 n\u1eefa \u1edf Gyro \u0111\u00f3 ch\u00ednh l\u00e0 drift. Ngh\u0129a l\u00e0 bias c\u00f3 th\u1ec3 thay \u0111\u1ed5i ch\u1eadm theo th\u1eddi gian. Tuy nhi\u00ean, Gyro c\u00f3 \u01b0u th\u1ebf h\u01a1n \u1edf vi\u1ec7c \u00edt b\u1ecb nhi\u1ec5u h\u01a1n Acc.<\/span><\/strong><\/li>\n<\/ul>\n<p><strong><span style=\"font-weight: 400;\">V\u1eady l\u00e0m sao \u0111\u1ec3 kh\u1eafc ph\u1ee5c? V\u1edbi nh\u1eefng offset l\u00e0 h\u1eb1ng s\u1ed1 th\u00ec \u0111\u01a1n gi\u1ea3n l\u00e0 c\u00e1c b\u1ea1n \u0111o l\u1ea1i gi\u00e1 tr\u1ecb \u0111\u00f3 r\u1ed3i tr\u1eeb v\u00e0o gi\u00e1 tr\u1ecb \u0111o ban \u0111\u1ea7u. \u0110\u1ed1i v\u1edbi nh\u1eefng t\u00edn hi\u1ec7u b\u1ecb nhi\u1ec5u, c\u00e1c b\u1ea1n c\u00f3 th\u1ec3 d\u00f9ng b\u1ed9 l\u1ecdc \u0111i\u1ec7n t\u1eed t\u1ea7n s\u1ed1 th\u1ea5p. Trong khi \u0111\u00f3, \u0111\u1ed1i v\u1edbi v\u1ea5n \u0111\u1ec1 drift c\u1ee7a Gyro. Th\u00ec c\u00e1c b\u1ea1n c\u00f3 th\u1ec3 d\u00f9ng b\u1ed9 l\u1ecdc cao t\u1ea7n b\u1edfi Gyro drift kh\u00e1 ch\u1eadm.\u00a0<\/span><\/strong><\/p>\n<p><strong><span style=\"font-weight: 400;\">M\u1ed9t c\u00e1ch kh\u1eafc ph\u1ee5c chuy\u00ean nghi\u1ec7p h\u01a1n, c\u00e1c b\u1ea1n c\u00f3 th\u1ec3 s\u1eed d\u1ee5ng sensor fusion. Ngh\u0129a l\u00e0 c\u00e1c b\u1ea1n d\u00f9ng c\u1ea3 Acc v\u00e0 Gyro \u0111\u1ec3 \u0111o g\u00f3c sau \u0111\u00f3 d\u00f9ng m\u1ed9t s\u1ed1 thu\u1eadt to\u00e1n \u0111\u1ec3 g\u1ed9p hai gi\u00e1 tr\u1ecb l\u1ea1i v\u1edbi nhau, b\u00f9 tr\u1eeb cho nhau \u0111\u1ed3ng th\u1eddi \u0111\u01b0a ra k\u1ebft qu\u1ea3 ch\u00ednh x\u00e1c nh\u1ea5t.\u00a0<\/span><\/strong><\/p>\n<h2><span class=\"ez-toc-section\" id=\"Thiet_bi_IMU_tren_xe_mo_to_la_gi\"><\/span><strong><b>Thi\u1ebft b\u1ecb IMU tr\u00ean xe m\u00f4 t\u00f4 l\u00e0 g\u00ec?<\/b><\/strong><span class=\"ez-toc-section-end\"><\/span><\/h2>\n<p><strong><span style=\"font-weight: 400;\">IMU c\u00f3 th\u1ec3 n\u00f3i l\u00e0 thi\u1ebft b\u1ecb \u0111\u1eaft nh\u1ea5t \u0111\u01b0\u1ee3c trang b\u1ecb tr\u00ean xe m\u00f4 t\u00f4 hi\u1ec7n nay. Thi\u1ebft b\u1ecb n\u00e0y \u0111\u01b0\u1ee3c trang b\u1ecb nh\u1eb1m ph\u00e1t hi\u1ec7n c\u00e1c chuy\u1ec3n \u0111\u1ed9ng c\u0169ng nh\u01b0 h\u01b0\u1edbng chuy\u1ec3n \u0111\u1ed9ng c\u1ee7a xe m\u1ed7i khi ch\u1ea1y. IMU s\u1ebd \u0111o h\u01b0\u1edbng chuy\u1ec3n \u0111\u1ed9ng bao g\u1ed3m r\u1ebd ph\u1ea3i ho\u1eb7c tr\u00e1i. T\u0103ng t\u1ed1c ph\u00eda tr\u01b0\u1edbc ho\u1eb7c l\u00f9i v\u1ec1 ph\u00eda sau v\u00e0 t\u1eeb tr\u00ean xu\u1ed1ng d\u01b0\u1edbi.\u00a0<\/span><\/strong><\/p>\n<p><strong><span style=\"font-weight: 400;\">IMU c\u00f3 nhi\u1ec7m v\u1ee5 l\u00e0m vi\u1ec7c c\u00f9ng v\u1edbi nh\u1eefng c\u1ea3m bi\u1ebfn \u0111\u01b0\u1ee3c \u0111\u1eb7t xung quanh \u0111\u1ec3 t\u1eeb \u0111\u00f3 nh\u1eadn th\u00f4ng tin. T\u1eeb \u0111\u00f3, IMU s\u1ebd ph\u00e2n t\u00edch, n\u1eafm b\u1eaft nh\u1eefng tri\u1ec7u ch\u1ee9ng sau \u0111\u00f3 qu\u1ea3n l\u00fd c\u00e1c h\u1ec7 th\u1ed1ng nh\u01b0 h\u1ec7 th\u1ed1ng b\u01b0\u1edbm ga, phanh\u2026 \u0111\u1ec3 c\u00f3 th\u1ec3 kh\u1eafc ph\u1ee5c m\u1ecdi s\u1ef1 c\u1ed1 t\u1ef1 \u0111\u1ed9ng ch\u1ec9 trong m\u1ed9t gi\u00e2y. L\u00fac n\u00e0y, IMU s\u1ebd can thi\u1ec7p \u0111\u1ec3 t\u0103ng l\u1ef1c h\u00e3m phanh ho\u1eb7c nh\u1ea3 phanh, c\u1eaft c\u00f4ng su\u1ea5t \u0111\u1ed9ng c\u01a1\u2026 \u0111\u1ec3 nh\u1eb1m \u0111\u01b0a chi\u1ebfc xe tr\u1edf l\u1ea1i tr\u1ea1ng th\u00e1i \u1ed5n \u0111\u1ecbnh.\u00a0<\/span><\/strong><\/p>\n<p><strong><span style=\"font-weight: 400;\">Trong h\u1ea7u h\u1ebft nh\u1eefng tr\u01b0\u1eddng h\u1ee3p, IMU s\u1ebd ch\u1ecbu tr\u00e1ch ch\u1ec9 huy kh\u00e1 nhi\u1ec1u h\u1ec7 th\u1ed1ng tr\u00ean xe m\u00e1y m\u00e0 m\u1ecdi ng\u01b0\u1eddi \u0111\u00e3 quen thu\u1ed9c nh\u01b0 h\u1ec7 th\u1ed1ng Cornering ABS hay h\u1ec7 th\u1ed1ng Ki\u1ec3m so\u00e1t l\u1ef1c k\u00e9o Traction Control\u2026 L\u00fac n\u00e0y, IMU s\u1ebd l\u00e0m nhi\u1ec7m v\u1ee5 x\u00e1c \u0111\u1ecbnh m\u1ee9c c\u00f4ng su\u1ea5t \u0111\u1ed9ng c\u01a1 ph\u00f9 h\u1ee3p m\u1ed7i khi t\u1ed1c \u0111\u1ed9 quay gi\u1eefa b\u00e1nh tr\u01b0\u1edbc v\u00e0 b\u00e1nh sau c\u00f3 \u0111\u1ed9 ch\u00eanh l\u1ec7ch l\u1edbn.\u00a0<\/span><\/strong><\/p>\n<p><strong><i><span style=\"font-weight: 400;\">IMU \u0111\u01b0\u1ee3c \u1ee9ng d\u1ee5ng trong Cornering ABS tr\u00ean m\u00f4 t\u00f4\u00a0<\/span><\/i><\/strong><\/p>\n<h6><strong><span style=\"font-weight: 400;\">Trong khi \u0111\u00f3, n\u1ebfu n\u00f3 \u0111\u01b0\u1ee3c l\u1eafp v\u1edbi h\u1ec7 th\u1ed1ng Wheelie Control th\u00ec s\u1ebd gi\u00fap ki\u1ec3m so\u00e1t vi\u1ec7c b\u1ed1c \u0111\u1ea7u xe m\u1ed9t c\u00e1ch v\u00f4 t\u00ecnh b\u1eb1ng c\u00e1ch ph\u00e1t hi\u1ec7n s\u1ef1 n\u00e2ng l\u00ean c\u1ee7a b\u00e1nh tr\u01b0\u1edbc. Khi \u0111\u00f3, h\u1ec7 th\u1ed1ng n\u00e0y s\u1ebd ra l\u1ec7nh \u0111\u1ec3 h\u00e3m c\u00f4ng su\u1ea5t khi\u1ebfn hi\u1ec7n t\u01b0\u1ee3ng n\u00e0y kh\u00f4ng x\u1ea3y ra.\u00a0<\/span><\/strong><\/h6>\n<p><strong><span style=\"font-weight: 400;\">Tr\u00ean \u0111\u00e2y l\u00e0 nh\u1eefng th\u00f4ng tin v\u1ec1 IMU. C\u00f3 th\u1ec3 th\u1ea5y r\u1eb1ng, IMU l\u00e0 m\u1ed9t thi\u1ebft b\u1ecb kh\u00e1 th\u00fa v\u1ecb v\u1edbi nhi\u1ec1u \u1ee9ng d\u1ee5ng kh\u00e1c nhau. Vi\u1ec7c s\u1eed d\u1ee5ng IMU nh\u01b0 th\u1ebf n\u00e0o kh\u00f4ng h\u1ec1 kh\u00f3 nh\u01b0ng \u0111\u1ec3 c\u00f3 th\u1ec3 s\u1eed d\u1ee5ng ch\u00fang m\u1ed9t c\u00e1ch c\u00f3 hi\u1ec7u qu\u1ea3 th\u00ec s\u1ebd \u0111\u00f2i h\u1ecfi c\u00e1c b\u1ea1n c\u1ea7n b\u1ecf ra c\u00f4ng s\u1ee9c \u0111\u1ec3 hi\u1ec7u ch\u1ec9nh.<\/span><\/strong><\/p>\n","protected":false},"excerpt":{"rendered":"<p>Ph\u00e1t tri\u1ec3n l\u00e0 qu\u00e1 tr\u00ecnh \u0111\u1ea9y m\u1ea1nh kh\u00f4ng ch\u1ec9 v\u1ec1 s\u1ee9c m\u1ea1nh m\u00e0 c\u00f2n c\u1ea7n ph\u1ea3i \u0111\u1ea3m b\u1ea3o an to\u00e0n. Trong b\u00e0i vi\u1ebft h\u00f4m nay, OKXE s\u1ebd gi\u00fap c\u00e1c b\u1ea1n t\u00ecm hi\u1ec3u v\u1ec1 thi\u1ebft b\u1ecb IMU! T\u1ed5ng quan v\u1ec1 IMU IMU l\u00e0 g\u00ec? IMU l\u00e0 vi\u1ebft t\u1eaft c\u1ee7a Inertial Measurement Unit. \u0110\u00e2y l\u00e0 thi\u1ebft b\u1ecb [&hellip;]<\/p>\n","protected":false},"author":1,"featured_media":11481,"comment_status":"open","ping_status":"open","sticky":false,"template":"","format":"standard","meta":{"footnotes":""},"categories":[161],"tags":[914],"yoast_head":"<!-- This site is optimized with the Yoast SEO Premium plugin v20.5 (Yoast SEO v20.5) - https:\/\/yoast.com\/wordpress\/plugins\/seo\/ -->\n<title>Thi\u1ebft b\u1ecb IMU<\/title>\n<meta name=\"description\" content=\"Thi\u1ebft b\u1ecb IMU th\u1ef1c s\u1ef1 l\u00e0 g\u00ec? H\u00e3y c\u00f9ng OKXE t\u00ecm hi\u1ec3u ngay nh\u00e9!\" \/>\n<meta name=\"robots\" content=\"index, follow, max-snippet:-1, max-image-preview:large, max-video-preview:-1\" \/>\n<link rel=\"canonical\" href=\"https:\/\/www.okxe.vn\/blog\/ky-thuat-xe\/thiet-bi-imu\" \/>\n<meta property=\"og:locale\" content=\"vi_VN\" \/>\n<meta property=\"og:type\" content=\"article\" \/>\n<meta property=\"og:title\" content=\"Thi\u1ebft b\u1ecb IMU - Nh\u1eefng \u1ee9ng d\u1ee5ng kh\u00f4ng t\u01b0\u1edfng\" \/>\n<meta property=\"og:description\" content=\"Thi\u1ebft b\u1ecb IMU th\u1ef1c s\u1ef1 l\u00e0 g\u00ec? H\u00e3y c\u00f9ng OKXE t\u00ecm hi\u1ec3u ngay nh\u00e9!\" \/>\n<meta property=\"og:url\" content=\"https:\/\/www.okxe.vn\/blog\/ky-thuat-xe\/thiet-bi-imu\" \/>\n<meta property=\"og:site_name\" content=\"OKXE Blog | N\u00e2ng cao \u0111\u1eddi s\u1ed1ng giao th\u00f4ng v\u1edbi OKXE Vi\u1ec7t Nam\" \/>\n<meta property=\"article:publisher\" content=\"https:\/\/www.facebook.com\/okxevietnam\" \/>\n<meta property=\"article:author\" content=\"https:\/\/www.facebook.com\/okxevietnam\" \/>\n<meta property=\"article:published_time\" content=\"2021-10-24T17:00:57+00:00\" \/>\n<meta property=\"article:modified_time\" content=\"2024-05-09T04:28:47+00:00\" \/>\n<meta property=\"og:image\" content=\"https:\/\/www.okxe.vn\/blog\/wp-content\/uploads\/2023\/12\/465_1635145425.3871_o.jpg\" \/>\n\t<meta property=\"og:image:width\" content=\"2000\" \/>\n\t<meta property=\"og:image:height\" content=\"1140\" \/>\n\t<meta property=\"og:image:type\" content=\"image\/jpeg\" \/>\n<meta name=\"author\" content=\"Admin\" \/>\n<meta name=\"twitter:card\" content=\"summary_large_image\" \/>\n<meta name=\"twitter:label1\" content=\"\u0110\u01b0\u1ee3c vi\u1ebft b\u1edfi\" \/>\n\t<meta name=\"twitter:data1\" content=\"Admin\" \/>\n\t<meta name=\"twitter:label2\" content=\"\u01af\u1edbc t\u00ednh th\u1eddi gian \u0111\u1ecdc\" \/>\n\t<meta name=\"twitter:data2\" content=\"7 ph\u00fat\" \/>\n<script type=\"application\/ld+json\" class=\"yoast-schema-graph\">{\"@context\":\"https:\/\/schema.org\",\"@graph\":[{\"@type\":\"WebPage\",\"@id\":\"https:\/\/www.okxe.vn\/blog\/ky-thuat-xe\/thiet-bi-imu\",\"url\":\"https:\/\/www.okxe.vn\/blog\/ky-thuat-xe\/thiet-bi-imu\",\"name\":\"Thi\u1ebft b\u1ecb IMU\",\"isPartOf\":{\"@id\":\"https:\/\/www.okxe.vn\/blog\/#website\"},\"datePublished\":\"2021-10-24T17:00:57+00:00\",\"dateModified\":\"2024-05-09T04:28:47+00:00\",\"author\":{\"@id\":\"https:\/\/www.okxe.vn\/blog\/#\/schema\/person\/c00b320af6494de5a7edca33b4ae1157\"},\"description\":\"Thi\u1ebft b\u1ecb IMU th\u1ef1c s\u1ef1 l\u00e0 g\u00ec? H\u00e3y c\u00f9ng OKXE t\u00ecm hi\u1ec3u ngay nh\u00e9!\",\"breadcrumb\":{\"@id\":\"https:\/\/www.okxe.vn\/blog\/ky-thuat-xe\/thiet-bi-imu#breadcrumb\"},\"inLanguage\":\"vi\",\"potentialAction\":[{\"@type\":\"ReadAction\",\"target\":[\"https:\/\/www.okxe.vn\/blog\/ky-thuat-xe\/thiet-bi-imu\"]}]},{\"@type\":\"BreadcrumbList\",\"@id\":\"https:\/\/www.okxe.vn\/blog\/ky-thuat-xe\/thiet-bi-imu#breadcrumb\",\"itemListElement\":[{\"@type\":\"ListItem\",\"position\":1,\"name\":\"Trang ch\u1ee7\",\"item\":\"https:\/\/www.okxe.vn\/blog\/\"},{\"@type\":\"ListItem\",\"position\":2,\"name\":\"Thi\u1ebft b\u1ecb IMU &#8211; Nh\u1eefng \u1ee9ng d\u1ee5ng kh\u00f4ng t\u01b0\u1edfng\"}]},{\"@type\":\"WebSite\",\"@id\":\"https:\/\/www.okxe.vn\/blog\/#website\",\"url\":\"https:\/\/www.okxe.vn\/blog\/\",\"name\":\"OKXE Blog | N\u00e2ng cao \u0111\u1eddi s\u1ed1ng giao th\u00f4ng v\u1edbi OKXE Vi\u1ec7t Nam\",\"description\":\"\",\"potentialAction\":[{\"@type\":\"SearchAction\",\"target\":{\"@type\":\"EntryPoint\",\"urlTemplate\":\"https:\/\/www.okxe.vn\/blog\/?s={search_term_string}\"},\"query-input\":\"required name=search_term_string\"}],\"inLanguage\":\"vi\"},{\"@type\":\"Person\",\"@id\":\"https:\/\/www.okxe.vn\/blog\/#\/schema\/person\/c00b320af6494de5a7edca33b4ae1157\",\"name\":\"Admin\",\"image\":{\"@type\":\"ImageObject\",\"inLanguage\":\"vi\",\"@id\":\"https:\/\/www.okxe.vn\/blog\/#\/schema\/person\/image\/\",\"url\":\"https:\/\/secure.gravatar.com\/avatar\/268e8504e3c69460f368f921169867a6?s=96&d=mm&r=g\",\"contentUrl\":\"https:\/\/secure.gravatar.com\/avatar\/268e8504e3c69460f368f921169867a6?s=96&d=mm&r=g\",\"caption\":\"Admin\"},\"description\":\"Trang blog ch\u00ednh th\u1ee9c c\u1ee7a OKXE. T\u1ea1i \u0111\u00e2y, b\u1ea1n c\u00f3 th\u1ec3 t\u00ecm \u0111\u01b0\u1ee3c cho m\u00ecnh c\u00e1c th\u00f4ng tin li\u00ean quan \u0111\u1ebfn xe v\u00e0 khuy\u1ebfn m\u00e3i. Tham gia c\u00f9ng OKXE ngay h\u00f4m nay!\",\"sameAs\":[\"https:\/\/www.facebook.com\/okxevietnam\",\"https:\/\/www.linkedin.com\/company\/okxe\/\",\"https:\/\/www.youtube.com\/channel\/UCHBLSPXbaaByZWoqaBVU9VA\"],\"honorificPrefix\":\"\u00d4ng\",\"honorificSuffix\":\"MR\",\"gender\":\"nam\",\"knowsLanguage\":[\"Ti\u1ebfng Vi\u1ec7t\",\"Ti\u1ebfng Anh\"],\"jobTitle\":\"IT\",\"worksFor\":\"OKXE Vi\u1ec7t Nam\",\"url\":\"https:\/\/www.okxe.vn\/blog\/author\/okxe\"}]}<\/script>\n<!-- \/ Yoast SEO Premium plugin. -->","yoast_head_json":{"title":"Thi\u1ebft b\u1ecb IMU","description":"Thi\u1ebft b\u1ecb IMU th\u1ef1c s\u1ef1 l\u00e0 g\u00ec? H\u00e3y c\u00f9ng OKXE t\u00ecm hi\u1ec3u ngay nh\u00e9!","robots":{"index":"index","follow":"follow","max-snippet":"max-snippet:-1","max-image-preview":"max-image-preview:large","max-video-preview":"max-video-preview:-1"},"canonical":"https:\/\/www.okxe.vn\/blog\/ky-thuat-xe\/thiet-bi-imu","og_locale":"vi_VN","og_type":"article","og_title":"Thi\u1ebft b\u1ecb IMU - Nh\u1eefng \u1ee9ng d\u1ee5ng kh\u00f4ng t\u01b0\u1edfng","og_description":"Thi\u1ebft b\u1ecb IMU th\u1ef1c s\u1ef1 l\u00e0 g\u00ec? H\u00e3y c\u00f9ng OKXE t\u00ecm hi\u1ec3u ngay nh\u00e9!","og_url":"https:\/\/www.okxe.vn\/blog\/ky-thuat-xe\/thiet-bi-imu","og_site_name":"OKXE Blog | N\u00e2ng cao \u0111\u1eddi s\u1ed1ng giao th\u00f4ng v\u1edbi OKXE Vi\u1ec7t Nam","article_publisher":"https:\/\/www.facebook.com\/okxevietnam","article_author":"https:\/\/www.facebook.com\/okxevietnam","article_published_time":"2021-10-24T17:00:57+00:00","article_modified_time":"2024-05-09T04:28:47+00:00","og_image":[{"width":2000,"height":1140,"url":"https:\/\/www.okxe.vn\/blog\/wp-content\/uploads\/2023\/12\/465_1635145425.3871_o.jpg","type":"image\/jpeg"}],"author":"Admin","twitter_card":"summary_large_image","twitter_misc":{"\u0110\u01b0\u1ee3c vi\u1ebft b\u1edfi":"Admin","\u01af\u1edbc t\u00ednh th\u1eddi gian \u0111\u1ecdc":"7 ph\u00fat"},"schema":{"@context":"https:\/\/schema.org","@graph":[{"@type":"WebPage","@id":"https:\/\/www.okxe.vn\/blog\/ky-thuat-xe\/thiet-bi-imu","url":"https:\/\/www.okxe.vn\/blog\/ky-thuat-xe\/thiet-bi-imu","name":"Thi\u1ebft b\u1ecb IMU","isPartOf":{"@id":"https:\/\/www.okxe.vn\/blog\/#website"},"datePublished":"2021-10-24T17:00:57+00:00","dateModified":"2024-05-09T04:28:47+00:00","author":{"@id":"https:\/\/www.okxe.vn\/blog\/#\/schema\/person\/c00b320af6494de5a7edca33b4ae1157"},"description":"Thi\u1ebft b\u1ecb IMU th\u1ef1c s\u1ef1 l\u00e0 g\u00ec? H\u00e3y c\u00f9ng OKXE t\u00ecm hi\u1ec3u ngay nh\u00e9!","breadcrumb":{"@id":"https:\/\/www.okxe.vn\/blog\/ky-thuat-xe\/thiet-bi-imu#breadcrumb"},"inLanguage":"vi","potentialAction":[{"@type":"ReadAction","target":["https:\/\/www.okxe.vn\/blog\/ky-thuat-xe\/thiet-bi-imu"]}]},{"@type":"BreadcrumbList","@id":"https:\/\/www.okxe.vn\/blog\/ky-thuat-xe\/thiet-bi-imu#breadcrumb","itemListElement":[{"@type":"ListItem","position":1,"name":"Trang ch\u1ee7","item":"https:\/\/www.okxe.vn\/blog\/"},{"@type":"ListItem","position":2,"name":"Thi\u1ebft b\u1ecb IMU &#8211; Nh\u1eefng \u1ee9ng d\u1ee5ng kh\u00f4ng t\u01b0\u1edfng"}]},{"@type":"WebSite","@id":"https:\/\/www.okxe.vn\/blog\/#website","url":"https:\/\/www.okxe.vn\/blog\/","name":"OKXE Blog | N\u00e2ng cao \u0111\u1eddi s\u1ed1ng giao th\u00f4ng v\u1edbi OKXE Vi\u1ec7t Nam","description":"","potentialAction":[{"@type":"SearchAction","target":{"@type":"EntryPoint","urlTemplate":"https:\/\/www.okxe.vn\/blog\/?s={search_term_string}"},"query-input":"required name=search_term_string"}],"inLanguage":"vi"},{"@type":"Person","@id":"https:\/\/www.okxe.vn\/blog\/#\/schema\/person\/c00b320af6494de5a7edca33b4ae1157","name":"Admin","image":{"@type":"ImageObject","inLanguage":"vi","@id":"https:\/\/www.okxe.vn\/blog\/#\/schema\/person\/image\/","url":"https:\/\/secure.gravatar.com\/avatar\/268e8504e3c69460f368f921169867a6?s=96&d=mm&r=g","contentUrl":"https:\/\/secure.gravatar.com\/avatar\/268e8504e3c69460f368f921169867a6?s=96&d=mm&r=g","caption":"Admin"},"description":"Trang blog ch\u00ednh th\u1ee9c c\u1ee7a OKXE. T\u1ea1i \u0111\u00e2y, b\u1ea1n c\u00f3 th\u1ec3 t\u00ecm \u0111\u01b0\u1ee3c cho m\u00ecnh c\u00e1c th\u00f4ng tin li\u00ean quan \u0111\u1ebfn xe v\u00e0 khuy\u1ebfn m\u00e3i. Tham gia c\u00f9ng OKXE ngay h\u00f4m nay!","sameAs":["https:\/\/www.facebook.com\/okxevietnam","https:\/\/www.linkedin.com\/company\/okxe\/","https:\/\/www.youtube.com\/channel\/UCHBLSPXbaaByZWoqaBVU9VA"],"honorificPrefix":"\u00d4ng","honorificSuffix":"MR","gender":"nam","knowsLanguage":["Ti\u1ebfng Vi\u1ec7t","Ti\u1ebfng Anh"],"jobTitle":"IT","worksFor":"OKXE Vi\u1ec7t Nam","url":"https:\/\/www.okxe.vn\/blog\/author\/okxe"}]}},"_links":{"self":[{"href":"https:\/\/www.okxe.vn\/blog\/wp-json\/wp\/v2\/posts\/11468"}],"collection":[{"href":"https:\/\/www.okxe.vn\/blog\/wp-json\/wp\/v2\/posts"}],"about":[{"href":"https:\/\/www.okxe.vn\/blog\/wp-json\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"https:\/\/www.okxe.vn\/blog\/wp-json\/wp\/v2\/users\/1"}],"replies":[{"embeddable":true,"href":"https:\/\/www.okxe.vn\/blog\/wp-json\/wp\/v2\/comments?post=11468"}],"version-history":[{"count":3,"href":"https:\/\/www.okxe.vn\/blog\/wp-json\/wp\/v2\/posts\/11468\/revisions"}],"predecessor-version":[{"id":16657,"href":"https:\/\/www.okxe.vn\/blog\/wp-json\/wp\/v2\/posts\/11468\/revisions\/16657"}],"wp:featuredmedia":[{"embeddable":true,"href":"https:\/\/www.okxe.vn\/blog\/wp-json\/wp\/v2\/media\/11481"}],"wp:attachment":[{"href":"https:\/\/www.okxe.vn\/blog\/wp-json\/wp\/v2\/media?parent=11468"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/www.okxe.vn\/blog\/wp-json\/wp\/v2\/categories?post=11468"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/www.okxe.vn\/blog\/wp-json\/wp\/v2\/tags?post=11468"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}