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New Crowdin translations - zh-CN (#25483)

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docs/zh/sensor/inertial_navigation_systems.md
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PX4 typically runs on flight controllers that include an IMU, such as the Pixhawk series, and fuse the sensor data along with GNSS information in the EKF2 estimator to determine vehicle attitude, heading, position, and velocity.
However PX4 can also use some INS devices as either sources of raw data, or as an external estimator, replacing the EKF.
However PX4 can also use some INS devices as either sources of raw data, or as an external estimator, replacing EKF2.
Systems that can be used in this way include:
## Supported INS Systems
INS systems that can be used as a replacement for EKF2 in PX4:
- [InertialLabs](../sensor/inertiallabs.md)
- [VectorNav](../sensor/vectornav.md): IMU/AHRS, GNSS/INS, Dual GNSS/INS systems that can be used as an external INS or as a source of raw sensor data.
## PX4 Firmware
The driver module for your INS system may not be included in the PX4 firmware for your flight controller by default.
You can check by searching the [default.px4board](https://github.com/PX4/PX4-Autopilot/blob/main/boards/px4/fmu-v6c/default.px4board#L25) configuration file for your target board for either:
- `CONFIG_COMMON_INS`, which includes drivers for [all INS systems](https://github.com/PX4/PX4-Autopilot/blob/main/src/drivers/ins/Kconfig).
- The key for the particular INS system you are using, such as:
- `CONFIG_DRIVERS_INS_ILABS`
- `CONFIG_DRIVERS_INS_MICROSTRAIN`
- `CONFIG_DRIVERS_INS_VECTORNAV`
If the required key is not present you can include the module in firmware by adding the key to the `default.px4board` file, or using the [kconfig board configuration tool](../hardware/porting_guide_config.md#px4-board-configuration-kconfig) and then select the driver you want (`Drivers -> INS`).
Note that if you're working on a flight controller where flash memory is limited, you're better off installing just the modules you need.
You will then need to rebuild the firmware.
## Glossary
### Inertial Measurement Unit (IMU)
docs/zh/sensor/inertiallabs.md
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- For external INS, set [ILABS_MODE](../advanced_config/parameter_reference.md#ILABS_MODE) to `INS`.
- For raw inertial sensors, set [ILABS_MODE](../advanced_config/parameter_reference.md#ILABS_MODE) to `Sensors Only`.
You can then prioritize inertial labs sensors using [CAL_GYROn_PRIO](../advanced_config/parameter_reference.md#CAL_GYRO0_PRIO), [CAL_ACCn_PRIO](../advanced_config/parameter_reference.md#CAL_ACC0_PRIO), [CAL_BAROn_PRIO](../advanced_config/parameter_reference.md#CAL_BARO0_PRIO), [CAL_MAGn_PRIO](../advanced_config/parameter_reference.md#CAL_MAG0_PRIO), where `n` is the instance number of the IMU component (0, 1, etc.).
You can then prioritize inertial labs sensors using [CAL_GYROn_PRIO](../advanced_config/parameter_reference.md#CAL_GYRO0_PRIO), [CAL_ACCn_PRIO](../advanced_config/parameter_reference.md#CAL_ACC0_PRIO), [CAL_BAROn_PRIO](../advanced_config/parameter_reference.md#CAL_BARO0_PRIO), [CAL_MAGn_PRIO](../advanced_config/parameter_reference.md#CAL_MAG0_PRIO), where `n` is the instance number of the IMU component (0, 1, etc.).
::: tip
In most cases the external IMU is the highest-numbered.
You can get a list of the IMU components available using [`uorb top -1`](../middleware/uorb.md#uorb-top-command), you can differentiate between them using the [`listener`](../modules/modules_command.md#listener) command and looking through the data, or just the rates.
::: tip
In most cases the external IMU is the highest-numbered.
You can get a list of the IMU components available using [`uorb top -1`](../middleware/uorb.md#uorb-top-command), you can differentiate between them using the [`listener`](../modules/modules_command.md#listener) command and looking through the data, or just the rates.
:::
docs/zh/sensor/rangefinders.md
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1. Open the menu **Q > Select Tool > Analyze Tools**:
![Menu for QGC Analyze Tool](../../assets/qgc/analyze/menu_analyze_tool.png)
![Menu for QGC Analyze Tool](../../assets/qgc/analyze/menu_analyze_tool.png)
2. Select the message `DISTANCE_SENSOR`, and then check the plot checkbox against `current_distance`.
The tool will then plot the result:
![QGC Analyze DISTANCE_SENSOR value](../../assets/qgc/analyze/qgc_analyze_tool_distance_sensor.png)
The tool will then plot the result:
![QGC Analyze DISTANCE_SENSOR value](../../assets/qgc/analyze/qgc_analyze_tool_distance_sensor.png)
### QGroundControl MAVLink Console
docs/zh/sensor/vectornav.md
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5. Configure driver as either an external INS or to provide raw data:
- If using the VectorNav as an external INS, set [VN_MODE](../advanced_config/parameter_reference.md#VN_MODE) to `INS`.
This disables EKF2.
This disables EKF2.
- If using the VectorNav as external inertial sensors:
1. Set [VN_MODE](../advanced_config/parameter_reference.md#VN_MODE) to `Sensors Only`
2. If internal sensors are enabled, prioritize VectorNav sensors using [CAL_GYROn_PRIO](../advanced_config/parameter_reference.md#CAL_GYRO0_PRIO), [CAL_ACCn_PRIO](../advanced_config/parameter_reference.md#CAL_ACC0_PRIO), [CAL_BAROn_PRIO](../advanced_config/parameter_reference.md#CAL_BARO0_PRIO), [CAL_MAGn_PRIO](../advanced_config/parameter_reference.md#CAL_MAG0_PRIO), where _n_ is the instance number of the IMU component (0, 1, etc.).
1. Set [VN_MODE](../advanced_config/parameter_reference.md#VN_MODE) to `Sensors Only`
2. If internal sensors are enabled, prioritize VectorNav sensors using [CAL_GYROn_PRIO](../advanced_config/parameter_reference.md#CAL_GYRO0_PRIO), [CAL_ACCn_PRIO](../advanced_config/parameter_reference.md#CAL_ACC0_PRIO), [CAL_BAROn_PRIO](../advanced_config/parameter_reference.md#CAL_BARO0_PRIO), [CAL_MAGn_PRIO](../advanced_config/parameter_reference.md#CAL_MAG0_PRIO), where _n_ is the instance number of the IMU component (0, 1, etc.).
::: tip
In most cases the external IMU (VN) is the highest-numbered.
You can get a list of the IMU components available using [`uorb top -1`](../middleware/uorb.md#uorb-top-command), you can differentiate between them using the [`listener`](../modules/modules_command.md#listener) command and looking through the data, or just the rates.
::: tip
In most cases the external IMU (VN) is the highest-numbered.
You can get a list of the IMU components available using [`uorb top -1`](../middleware/uorb.md#uorb-top-command), you can differentiate between them using the [`listener`](../modules/modules_command.md#listener) command and looking through the data, or just the rates.
Alternatively, you can check [CAL_GYROn_ID](../advanced_config/parameter_reference.md#CAL_GYRO0_ID) to see the device id.
The priority is 0-255, where 0 is entirely disabled and 255 is highest priority.
Alternatively, you can check [CAL_GYROn_ID](../advanced_config/parameter_reference.md#CAL_GYRO0_ID) to see the device id.
The priority is 0-255, where 0 is entirely disabled and 255 is highest priority.
:::