CN100520294C - Mobil terminal and tilt angle counting method for mobile terminal - Google Patents

Abstract

The invention provides a portable terminal such as cellular phones and a tilt angle computing method capable of measuring the inclination of itself while suppressing effects of a user's walking etc. A main control part 220 acquires data on magnetism and acceleration from a magnetic sensor control part 211 when the tilt angle of a cellular phone 100 itself is required during the execution of processing of an application program, determines the tilt angle of a cellular phone 100 itself on the basis of the data on acceleration, and determines the angle of elevation of geomagnetism on the basis of the data on magnetism. The main control part 220 recomputes the tilt angle on the basis of the determined angle of elevation of geomagnetism and the data on magnetism, processes on the basis of the tilt angle only in the case that the tilt angle based on acquired magnetism be applicable, and processes on the basis of the tilt angle previously determined on the basis of the data on acceleration in the case that the tilt angle based on magnetism is not applicable.

Description

The tilt angle counting method of portable terminal and mobile terminal main body

Technical field

The present invention relates to measure the portable terminal of mobile phone etc. of degree of tilt of self and the tilt angle counting method of mobile terminal main body.

Background technology

In the portable terminal of mobile phone etc., the inclination sensor that has with angle of inclination of detecting self.This inclination sensor detects the component of acceleration of gravity, and portable terminal is based on detected acceleration calculation angle of inclination.But mobile terminal user is used this portable terminal in meeting sometimes in walking, in this case, because inclination sensor also detects the acceleration that is produced by walking, so there is the problem points that can not correctly obtain the angle of inclination.

In addition, as prior art, known spy opens flat 10-185608 communique and the described device of the flat 11-160349 communique of Te Kai.But it is to revise by the region difference of the terrestrial magnetic field device to the influence of Attitute detecting device that the spy opens the described device of flat 10-185608 communique, can not solve the above-mentioned problem points that is produced by the influence of walking etc.In addition, the spy drives the small-sized acceleration transducer shown in the flat 11-160349 communique and can not solve the above problems a little.

Summary of the invention

The present invention considers the problems referred to above, and the portable terminal of mobile phone of providing the influence that can suppress user's walking etc. to measure self degree of tilt simultaneously etc. and the tilt angle counting method of mobile terminal main body are provided.

Be used to solve the portable terminal of the present invention of above-mentioned problem, possess:

Magnetic field sensor, this magnetic field sensor is fixed on the aforementioned portable terminal, exports the value corresponding with the magnetic field that puts on this portable terminal;

Inclination sensor, this inclination sensor is fixed on the aforementioned portable terminal, exports and put on the corresponding value of power of this portable terminal, and this power comprises gravity;

The terrestrial magnetic field data obtain the unit, and the data that are used to represent the terrestrial magnetic field are obtained based on the output of aforementioned magnetic field sensor in this unit;

The 1st angle of inclination computing unit, this unit be based on the output of aforementioned inclination sensor, calculates the 1st angle-data of the aforementioned mobile terminal main body heeling condition that is used for representing 3 dimension spaces;

Elevation angle computing unit, this unit calculate the value at the elevation angle, terrestrial magnetic field based on the 1st angle-data and the aforementioned data that are used to represent the terrestrial magnetic field that obtain of aforementioned calculating;

The 2nd angle of inclination computing unit, this unit is based on the setting and the aforementioned data that are used to represent the terrestrial magnetic field that obtain of the size of the value at the elevation angle, terrestrial magnetic field of aforementioned calculating, expression terrestrial magnetic field, calculates the 2nd angle-data of the aforementioned mobile terminal main body heeling condition that is used for representing aforementioned 3 dimension spaces; And

Output unit, this unit are exported aforementioned the 1st angle-data or aforementioned the 2nd angle-data.

Thus, by the 1st angle of inclination computing unit, calculate the 1st angle-data of the heeling condition that is used to represent the mobile device main body in 3 dimension spaces (for example earth axes) based on the output of aforementioned inclination sensor.The output of inclination sensor not only embodies acceleration of gravity, has also embodied the influence of the acceleration that portable terminal is applied by the user.Therefore, the precision of the 1st angle-data may not be high.

On the other hand, in above-mentioned portable terminal,,, calculate the value at the elevation angle, terrestrial magnetic field based on the 1st angle-data of aforementioned calculating and the data that are used to represent the terrestrial magnetic field of aforementioned mensuration by elevation angle computing unit.In addition, by the 2nd angle of inclination computing unit, based on the value at the elevation angle, aforementioned terrestrial magnetic field of aforementioned calculating, the setting (known value) and the aforementioned data that are used to represent the terrestrial magnetic field that obtain of expression terrestrial magnetic field size, calculate the 2nd angle-data that is used for representing the aforementioned mobile terminal main body heeling condition of aforementioned 3 dimension spaces.

That is to say that the 2nd angle-data is not only to comprise the value of trying to achieve from inclination sensor as the 1st angle-data, but by also based on the output of magnetic field sensor and the value of trying to achieve form.Therefore, even, also can suppress the data of the influence of this walking, so under a lot of situation, than the 1st angle-data precision height because the 2nd angle-data is under the situation of user's walking etc.Even its result in the portable terminal user walking, also can obtain the data of more high-precision expression mobile terminal main body heeling condition, these data can be used in application program etc.In addition, in portable terminal,, also can correctly represent the orientation because can obtain more accurate orientation based on the data of the high expression heeling condition of the precision that obtains by said structure with detection orientation function.

In this case, preferred:

The constituted mode of aforementioned the 2nd angle of inclination computing unit is, the value that makes the part of aforementioned the 2nd angle-data is the assumed value of regulation, calculates other the value in the 2nd angle-data;

The constituted mode of aforementioned output unit is, under the value of a part of judging aforementioned 1st angle-data suitable with the value of the part of aforementioned the 2nd angle-data belongs to situation in the specialized range that comprises aforementioned assumed value, exports aforementioned the 2nd angle-data; Under the value of a part of judging the 1st angle-data does not belong to situation in the specialized range that comprises aforementioned assumed value, export aforementioned the 1st angle-data.

Like this, be that the assumed value of regulation is calculated other the value in the 2nd angle-data if make the value of the part of the 2nd angle-data, then can simplify the calculating when asking the 2nd angle-data.On the one hand, the value of the part of aforementioned the 1st angle-data that judgement is suitable with the value of the aforementioned part of aforementioned the 2nd angle-data belongs to the situation in the specialized range that comprises aforementioned assumed value, is the situation of the supposition establishment of " assumed value that the value that makes the part of the 2nd angle-data is regulation ".Therefore, in this case, because the reliability height of the 2nd angle-data, so output unit is exported the 2nd angle-data.On the other hand, the value of the part of aforementioned the 1st angle-data that judgement is suitable with the value of the aforementioned part of aforementioned the 2nd angle-data is not subordinated to the situation in the specialized range that comprises aforementioned assumed value, is the invalid situation of supposition of " assumed value that the value that makes the part of the 2nd angle-data is regulation ".Therefore, in this case, because the reliability of the 2nd angle-data is low, so output unit is exported the 1st angle-data.Thus, can avoid the low problem of precision of angle of arrival data.

In this case, the value of the part of preferred aforementioned the 2nd angle-data is that the predetermined axis with aforementioned mobile terminal main body is the value of the anglec of rotation center, this main body.

The state that many upper surfaces with main body such as the portable terminal of mobile phone etc. etc. remain in the face (for example surface level) of regulation uses.Therefore, if making the value of the part of aforementioned the 2nd angle-data with the predetermined axis of aforementioned mobile terminal main body (for example is, the axle of the above-below direction of the upper surface of mobile terminal main body, be Y-axis) be the value of the anglec of rotation center, this main body, then can reduce the invalid frequency of supposition of aforementioned " value that makes the part of the 2nd angle-data is the assumed value of regulation ".Its result because increased the frequency that can use the 2nd angle-data, can obtain more high-precision angle-data.

In addition, aforementioned the 1st angle-data and aforementioned the 2nd angle-data can comprise following two values respectively at least, be the value of aforementioned mobile terminal main body, and be the value of the anglec of rotation center, this main body with the predetermined axis of aforementioned mobile terminal main body with respect to the elevation angle on the plane of the regulation in aforementioned 3 dimension spaces.The plane of the regulation in so-called aforementioned 3 dimension spaces for example is a surface level.

In addition, can to comprise with the predetermined axis in aforementioned 3 dimension spaces respectively be the value of the anglec of rotation center, aforementioned mobile terminal main body for aforementioned the 1st angle-data and aforementioned the 2nd angle-data.Predetermined axis in so-called aforementioned 3 dimension spaces for example is perpendicular to the axle (axle of vertical above-below direction) of surface level.

In addition, aforementioned portable terminal possesses storage unit,

Aforementioned elevation angle computing unit preferably constitutes in the following manner, for example, when produce calculating measurement request or through each predetermined timing of stipulated time, based on the last look of the 1st angle-data of aforementioned calculating and the aforementioned last look of obtaining of data that is used to represent the terrestrial magnetic field, calculate the terrestrial magnetic field elevation value, the value at the elevation angle, terrestrial magnetic field of this calculating is write in the aforementioned storage unit in turn, try to achieve the mean value of the value that is stored in a plurality of elevations angle in this storage unit, the aforementioned terrestrial magnetic field elevation value of using when calculating aforementioned the 2nd angle-data at aforementioned the 2nd angle of inclination computing unit.Thus, because by getting in turn the mean value at the elevation angle, terrestrial magnetic field of calculating, can improve the precision of the value at the elevation angle, aforementioned terrestrial magnetic field that the 2nd angle of inclination computing unit uses, so can further improve the precision of the 2nd angle-data.

In addition, aforementioned storage unit preferably constitutes in the following manner, promptly carries out writing of data according to first-in first-out.Thus, because can delete the legacy data at the elevation angle, terrestrial magnetic field that is stored in the storage unit, so can further improve the precision at the elevation angle of trying to achieve.

In addition, aforementioned inclination sensor can following mode constitute, and exports the value corresponding with each axial power of 3, and these 3 for aforementioned mobile terminal main body and 3 of definite, mutually orthogonal.

In addition, aforementioned inclination sensor can following mode constitute, and exports the value corresponding with each axial power of 2, these 2 for aforementioned mobile terminal main body and among 3 of definite, mutually orthogonal 2.

Aforementioned the 1st angle of inclination computing unit also can following mode constitute, based on the value corresponding with each aforementioned 2 axial power from aforementioned inclination sensor output, and the value of known acceleration of gravity, try to achieve and be used for calculating aforementioned the 1st angle-data and the corresponding value of axial power aforementioned 3 remaining 1.Thus, because can be with the sensor of inclination sensor as the output value corresponding with 2 each power of direction of principal axis, so the situation of the inclination sensor of the value corresponding with 3 each power of direction of principal axis with using output is compared, can make the further miniaturization of circuit, thereby inexpensive portable terminal can be provided.

Description of drawings

Fig. 1 is the block diagram of the structure of the portable terminal in the expression embodiments of the present invention.

Fig. 2 is the figure of the functional structure of the portable terminal in the expression embodiments of the present invention.

Fig. 3 is the figure of the inclination of the portable terminal in the expression embodiments of the present invention.

Fig. 4 is the figure of data of the use of the portable terminal of expression in the embodiments of the present invention.

Fig. 5 is the stream of flow process of the processing of the portable terminal of expression in the embodiments of the present invention

Journey figure.

Embodiment

Below, with reference to accompanying drawing embodiments of the present invention are described.The mobile phone 100 of Fig. 1 has 2 housings of terminal unit 200 and terminal unit 300, is folding mobile phone.In this manual, sometimes the housing of terminal unit 200 is referred to as the main body of portable terminal (mobile phone 100).Antenna 235a be used for and the wireless base station between carry out the transmission and the reception of electric wave signal antenna.RF (Radio Frequency) portion 201 will be transformed to the received signal of intermediate frequency via the received signal that antenna 235a receives, and to department of modulation and demodulation 202 outputs.In addition, RF portion 201 will be modulated into the signal of transmission frequency from the transmission signal of department of modulation and demodulation 202 inputs, and send to antenna 235a output.Department of modulation and demodulation 202 carries out from the demodulation process of the received signal of RF portion 201 inputs with from CDMA (CodeDivision Multiple Access: the modulation treatment of the transmission signal of portion's 204 inputs CDMA).CDMA portion 204 sends the encoding process of signal and the decoding processing of received signal.

Audio treatment part 205 will be exported to CDMA portion 204 after will being transformed into digital signal from the sound signal of microphone 206 inputs, in addition, be transformed into simulated audio signal behind CDMA portion 204 input digital audio signals, and make its sounding to loudspeaker 301 outputs.207 couples of antenna 235b of GPS acceptance division carry out demodulation from the electric wave signal that gps satellite receives, and based on electric wave signal, calculate self the position with expressions such as the latitude on 3 dimension spaces, longitude or height.

Magnetic field sensor portion 210 possesses: magnetic field sensor 212a～magnetic field sensor 212c, these magnetic field sensors detect X-axis, the Y-axis of the regulation of mutually orthogonals, each axial magnetic field of Z axle, these axis limits the 3 dimension coordinates system of mobile phone 100 main bodys (housings 200); And magnetic field sensor control part 211, it carries out the processing of A/D conversion etc. to the testing result of each sensor 212a～212c.In other words, magnetic field sensor portion 210 comprises magnetic field sensor, and this magnetic field sensor is fixed on the main body (housing 200) of mobile phone 110, exports and put on the corresponding value in magnetic field on the mobile phone 100.In addition, mobile phone 100 has inclination sensor 231a～inclination sensor 231c, and these inclination sensors detect the axial acceleration that is caused by gravity etc. of each of X-axis, Y-axis, Z axle.The testing result of 211 couples of inclination sensor 231a～inclination sensor 231c of magnetic field sensor control part is carried out the processing of A/D conversion etc.In other words, mobile phone 100 possesses inclination sensor, this inclination sensor is fixed on the main body (housing 200) of mobile phone 100, exports and put on the corresponding value of the power that comprises gravity on the mobile phone 100 (by acceleration of gravity and put on the acceleration of power after the acceleration that produces on the mobile phone 100 is synthetic on the mobile phone 100).

Master control part 220 control mobile phones 100 are overall.The detailed description of master control part 220 as described later.The program that ROM (Read Only Memory) 208 storage master control part 220 are carried out, and when mobile phone 100 dispatches from the factory the arithmetic number G of predefined expression terrestrial magnetic field size.Form the nonvolatile storage of the data of temporarily storing master control part 220 etc. as the RAM (Random Access Memory) 209 of storage unit.

RAM209 storage: offset data, this offset data are represented from the size in the magnetic field that the metal shell of the electronic unit that is equipped on loudspeaker 301, the microphone 206 on the mobile phone 100 and has magnetized etc. leaks; And the elevation angle, terrestrial magnetic field of form is shown as shown in Figure 4.The time that time data when this elevation angle, terrestrial magnetic field table is stored the size at the elevation angle, terrestrial magnetic field and carried out the calculating at the elevation angle, terrestrial magnetic field obtain.In addition, the n of Fig. 4 is predetermined natural number, is when calculating the mean value that is stored in the elevation angle, terrestrial magnetic field in the table of the elevation angle, terrestrial magnetic field, brings up to the number of the degree of the precision at the elevation angle, magnetic field confidently.

Notification unit 232 has loudspeaker, Vib. and light emitting diode, by sound, vibration and light notifying user of incoming call or reception mail etc.Clock portion 233 has the clocking capability that is used by master control part 220.Main operation portion 234 exports user's indication to master control part.Electrofax portion 302 exports to master control part after the image of subject is transformed into digital signal.

Display part 303 is based on from the demonstration signal of master control part input, the LCD of display image and literal etc.Touch-screen 304 is installed on the surface of the LCD of display part 303, and the signal of representing the content of operation that the user presses is exported to master control part.Secondary operating portion 305 is the pushbutton switches that are used to show switching.

In addition, Fig. 2 is the figure that the part of Fig. 1 is replaced the back expression with functional block diagram.The A/D translation circuit-1 of Fig. 2, switch unit, sweep limit setup unit have and the magnetic field sensor portion 210 of Fig. 1, the function that inclination sensor 231a～c is suitable.In addition, the orientation arithmetic element of Fig. 2 has the function suitable with RAM209 with the master control part 220 of Fig. 1.In addition, the orientation display unit of Fig. 2 has the function suitable with the display part 303 of Fig. 1.

Next, with reference to the treatment scheme in the description of drawings present embodiment.Fig. 5 represents the treatment scheme of the mobile phone 100 in the present embodiment.This mobile phone 100 needs the angle of inclination (data at expression angle of inclination) of the main body (housing 200) of mobile phone 100 in the execution of the application program of master control part 220 is handled.This angle of inclination is an angle as shown in Figure 3.Fig. 3 has represented the attitude of the main body (housing 200) of mobile phone 100 in 3 dimension space medium dips.

The Vx of Fig. 3, Vy, Vx represent X-axis, Y-axis, the Z axle in the 3 dimension coordinates system of main body (under this situation, being housing 200) of mobile phone 100.α, β, γ are the real numbers of expression angle, are the data (being used for determining the parameter of heeling condition) that are used to represent the heeling condition of the mobile phone 100 in 3 dimension spaces.α be mobile phone 100 with respect to the horizontal plane go up the north to the anglec of rotation, promptly represent the orientation.β represents mobile phone 100 elevation angle with respect to the horizontal plane.γ is to be the anglec of rotation at center with Vy (Y-axis, the i.e. last lower shaft of the upper surface of mobile phone 100), for example, is equivalent to the state of user with hand held mobile phone 100, reverses the anglec of rotation under the situation of action such as wrist.Application program needs the angle of inclination of the main body (housing 200) of mobile phone 100 when this program of execution, promptly at this moment these α, β and γ generate the angle of bank measurement request.

Below, with reference to the process flow diagram of Fig. 5 the calculating that is used for the angle of inclination carried out in mobile phone 100 and the treatment scheme of output are described.Corresponding to the angle of bank measurement request that executory application program generates, master control part 220 obtains the data as the basis of this calculating for the α, the β that obtain Fig. 3, γ.That is the request that obtains of 220 pairs of magnetic field sensor control parts of master control part, 211 output magnetic fields and acceleration measurement.Thus, master control part 220 with inclination sensor 231a～inclination sensor 231c to magnetic field sensor control part 211 output, become numerical data as the signal transformation of the measurement result of acceleration, obtain g=(gx, gy, gz) (the step S01 of Fig. 5).This gx, gy, gz are respectively X-axis, the Y-axis in expression 3 dimension coordinates relevant with mobile phone 100 (housing 200), the real number of Z-direction acceleration magnitude.Here, the gx that obtains, gy, gz are not only the size of the acceleration that is produced by gravity, also comprise the size of the acceleration that is produced by user's walking etc.

Then, master control part 220 becomes numerical data with magnetic field sensor 212a～magnetic field sensor 212c to the magnetic field measuring result's of magnetic field sensor control part 211 outputs signal transformation, obtains magnetic field data.At this moment, master control part 220 visit RAM209 read offset data, from the magnetic field data of obtaining, deduct offset data, obtain representing only to be the data (being used to represent the data of terrestrial magnetic field) of the size of terrestrial magnetic field, i.e. h=(hx, hy, hz) (the step S02 of Fig. 5).This hx, hy and hz are the real numbers of representing the size of X-axis, Y-axis and Z-direction terrestrial magnetic field in 3 dimension coordinates relevant with mobile phone 100 (housing 200) respectively.In other words, master control part 220 has the output based on the aforementioned magnetic field sensor, and the terrestrial magnetic field data that obtain the data that are used to represent the terrestrial magnetic field obtain the function of unit (terrestrial magnetic field determination unit).

Next, master control part 220 is carried out β shown in Figure 3, the calculating of γ based on the g that imports before.That is to say that master control part 220 has the function as the 1st angle of inclination computing unit.Formula (the 1)～computing formula of formula (6) expression master control part 220 when asking β, γ.

(Gx，Gy，Gz)BC＝(gx，gy，gz)…(1)

$\left.\begin{array}{c}B=\left[\begin{array}{ccc}1& 0& 0\\ 0& \cos \mathrm{\β}& \sin \mathrm{\β}\\ 0& -\sin \mathrm{\β}& \cos \mathrm{\β}\end{array}\right]\\ C=\left[\begin{array}{ccc}\cos \mathrm{\γ}& 0& -\sin \mathrm{\γ}\\ 0& 1& 0\\ \sin \mathrm{\γ}& 0& \cos \mathrm{\γ}\end{array}\right]\end{array}\right\}\·\·\·\left(2\right)$

$\mathrm{BC}=\left[\begin{array}{ccc}\cos \mathrm{\γ}& 0& -\sin \mathrm{\γ}\\ \sin \mathrm{\β}\sin \mathrm{\γ}& \cos \mathrm{\β}& \sin \mathrm{\β}\cos \mathrm{\γ}\\ \cos \mathrm{\β}\sin \mathrm{\γ}& -\sin \mathrm{\β}& \cos \mathrm{\β}\cos \mathrm{\γ}\end{array}\right]\·\·\·\left(3\right)$

$(\mathrm{gx},\mathrm{gy},\mathrm{gz})=(\mathrm{0,0},\mathrm{Gz})\left[\begin{array}{ccc}\cos \mathrm{\γ}& 0& -\sin \mathrm{\γ}\\ \sin \mathrm{\β}\sin \mathrm{\γ}& \cos \mathrm{\β}& \sin \mathrm{\β}\cos \mathrm{\γ}\\ \cos \mathrm{\β}\sin \mathrm{\γ}& -\sin \mathrm{\β}& \cos \mathrm{\β}\cos \mathrm{\γ}\end{array}\right]$

$=\mathrm{Gz}(\cos \mathrm{\β}\sin \mathrm{\γ},-\sin \mathrm{\β},\cos \mathrm{\β}\cos \mathrm{\γ})\·\·\·\left(4\right)$

$\mathrm{\&gamma;}=\left\{\begin{array}{cc}\arctan \left(\frac{\mathrm{gx}}{\mathrm{gz}}\right)& \mathrm{gz}\&GreaterEqual;0\\ 180\left(\mathrm{deg}\right)+\arctan \left(\frac{\mathrm{gx}}{\mathrm{gz}}\right)& \mathrm{gz}<0\end{array}\right.\&CenterDot;\&CenterDot;\&CenterDot;\left(5\right)$

$\mathrm{\&beta;}=\arctan (-\frac{\mathrm{gy}}{\sqrt{{\mathrm{gx}}^2+{\mathrm{gz}}^2}})\&CenterDot;\&CenterDot;\&CenterDot;\left(6\right)$

Formula (1) is to calculate the formula of the size of the acceleration of gravity that mobile phone 100 is produced.In formula (1), (Gx, Gy, Gz) component of each of the gravity in the expression 3 dimension earth axes.Gx, Gy, Gz are real numbers.The matrix B of formula (1) and Matrix C are according to β and γ, the rotation matrix of representing in the mode of formula (2).Because gravity takes place in vertical direction, so the α of the angle on the expression surface level does not have influence to formula (1).Then, the multiplying of the matrix B of master control part 220 through types (2) and Matrix C obtains formula (3).In addition, master control part 220 is respectively 0 based on Gx with regard to gravity and Gy, and formula (3), tries to achieve the left side of formula (1) in the mode shown in the formula (4).

Then, master control part 220 is removed the gx that is obtained by formula (4) with gz, obtains the tangent (tan γ) of γ, obtains γ from the tangent of the γ that obtains based on formula (5).In addition, master control part 220 is removed gy by square root sum square of the gx that obtains with formula (4) and gz, obtains the tangent (tan β) of β.Master control part 220 obtains β (the step S03 of Fig. 5) from the tangent of the β that obtains based on formula (6).

Then, master control part 220 is carried out the calculating (the step S04 of Fig. 5) of the α of Fig. 3 as follows.Because the terrestrial magnetic field is only to produce in North and South direction and vertical direction, is real number so can make Hy and Hz, with respect to the coordinate axis of east-west direction, the coordinate axis of North and South direction and the coordinate axis of vertical direction, with (O, Hy, Hz) size of expression terrestrial magnetic field.On the other hand, h=(the hx of the vector of the terrestrial magnetic field in the expression 3 dimension coordinates system of mobile phone 100, hy, hz), as the formula (7), can by the vector of terrestrial magnetic field in the expression earth axes promptly (O, Hy, Hz), the matrix A of matrix B, Matrix C and the expression rotation that obtained by the anglec of rotation α of the mobile phone on the surface level 100 calculates.

(O，Hy，Hz)ABC＝(hx，hy，hz)

$A=\left[\begin{array}{ccc}\cos \mathrm{\&alpha;}& \sin \mathrm{\&alpha;}& 0\\ -\sin \mathrm{\&alpha;}& \cos \mathrm{\&alpha;}& 0\\ 0& 0& 1\end{array}\right]$ $B=\left[\begin{array}{ccc}1& 0& 0\\ 0& \cos \mathrm{\&beta;}& \sin \mathrm{\&beta;}\\ 0& -\sin \mathrm{\&beta;}& \cos \mathrm{\&beta;}\end{array}\right]$ $C=\left[\begin{array}{ccc}\cos \mathrm{\&gamma;}& 0& -\sin \mathrm{\&gamma;}\\ 0& 1& 0\\ \sin \mathrm{\&gamma;}& 0& \cos \mathrm{\&gamma;}\end{array}\right]$

…(7)

If this formula (7) (0, Hy, Hz) (inverse matrix of both sides multiply matrix C hz) and the inverse matrix of matrix B then obtain formula (8) to ABC=for hx, hy.The value on each limit of formula (8) is with (hx ', hy ', hz ') expression.Master control part 220 is tried to achieve the inverse matrix of matrix B based on the β that obtains before, try to achieve the inverse matrix of Matrix C based on the γ that obtains before, by these inverse matrixs being applied in the formula (8) (promptly, by to (hx, hy, hz) inverse matrix of the inverse matrix of multiply matrix C and matrix B), obtain (hx ', hy ', hz ') value.

(O, Hy, Hz) A=(hx, hy, hz) C ^-1B ^-1Three (hx ', hy ', hz ') ... (8)

On the other hand, if expansion 8 (0, Hy, Hz) A, then because (0, Hy, Hz) A=(Hysin α, Hycos α, Hz), so (hx ', hy ', hz ')=(Hysin α, Hycos α Hz) set up.Therefore, master control part 220 is handled the size of the terrestrial magnetic field in the earth axes as known (that is, Hy and Hz are known), and (hx ', hy ', hz ')=(Hysin α, Hycos α Hz) obtain α (the step S04 of Fig. 5) by separating.

Have the calculating of passing through before this as the master control part 220 of the 1st angle of inclination computing unit function, obtained α, β and γ.Each value of this α that obtains, β and γ is referred to as the 1st angle-data.But, (β and γ are the values that only obtains based on the output valve of inclination sensor) that the result of calculation that obtains is based on mainly that acceleration that inclination sensor 231a～inclination sensor 231c detects obtains, thereby be situation in the walking etc. the user, precision is low sometimes.Therefore, (hx, hy hz), (pass through diverse ways) and attempt the calculating of α, β and γ to master control part 220 once more based on the data that obtain before (expression only is the data that deduct the size of the terrestrial magnetic field after the offset data from the magnetic field data of obtaining) h=.That is to say, obtain angle of inclination (β by the acceleration of being not only after detecting from inclination sensor 231a～inclination sensor 231c, γ), also obtain angle of inclination (α based on terrestrial magnetic field (data that the magnetic field measuring result who exports based on magnetic field sensor 212a～magnetic field sensor 212c obtains), β, γ), precision is improved.In following processing, the elevation angle, terrestrial magnetic field that master control part 220 is at first tried to achieve current place is θ, and (hx, hy hz), obtain α, β and γ based on this θ and the data h=that obtains before again.

More particularly, because remove hz ', can obtain the tangent (tan θ) of θ, so master control part 220 is carried out the calculating of formula (9) and obtained θ (the step S05 of Fig. 5) with square root sum square of hx ' and hy '.Hx ', the hy ' on the right of formula (9) and hz ' are according to formula (8) as mentioned above, by to (hx, hy, hz) inverse matrix of the inverse matrix of the Matrix C of trying to achieve before taking advantage of and matrix B and the value that obtains.That is to say, master control part 220 has the function as elevation angle computing unit, this elevation angle computing unit is based on the part of the 1st angle-data of aforementioned calculating (under this situation, be β and γ) and the aforementioned data (hx that is used to represent the terrestrial magnetic field that obtains, hy, hz), calculate the value at the elevation angle, terrestrial magnetic field.

$\mathrm{\&theta;}=\arctan \frac{{\mathrm{hz}}^{,}}{\sqrt{{\mathrm{hx}}^{,2}+{\mathrm{hy}}^{,2}}}\&CenterDot;\&CenterDot;\&CenterDot;\left(9\right)$

Next, master control part 220 is according to first-in first-out, will be write as the elevation angle, terrestrial magnetic field among the RAM209 of storage unit by the value of the θ that calculates of formula (9) to show.Master control part 220 is checked the number (the step S06 of Fig. 5) of the data of the expression θ value in the table of the elevation angle, terrestrial magnetic field before this writes.At this moment, master control part 220 has been stored (the step S06 of Fig. 5 is " more than or equal to n ") under n the data conditions in detecting the elevation angle, terrestrial magnetic field table, delete the oldest data (the step S07 of Fig. 5), obtain the current time from clock portion 233, with the data and the current time of the θ value of calculating write the elevation angle, terrestrial magnetic field table (the step S09 of Fig. 5) before.

In addition, if master control part 220 adds the data that will write now detecting, the data of the elevation angle, terrestrial magnetic field table just are under the individual situation of n (the step S06 of Fig. 5 is " n "), obtain the current time from clock portion 233, with the data and the current time of the θ value of calculating write the elevation angle, terrestrial magnetic field table (the step S09 among Fig. 5) before.

In addition, even master control part 220 adds the data that will write now detecting, under the also not enough n of data the situation of the elevation angle, terrestrial magnetic field table (the step S06 of Fig. 5 is " not enough n "), after obtaining the current time from clock portion 233, with the data and the current time of the θ value of calculating write the elevation angle, terrestrial magnetic field table (the step S08 among Fig. 5) before, and the request that obtains of exporting the measurement result of magnetic fields and inclination to magnetic field sensor control part 211 once more, try to achieve θ and write the elevation angle, terrestrial magnetic field table.Master control part 220 this action repeatedly before the data of the elevation angle, terrestrial magnetic field table reach n.

Then, master control part 220 is in following processing, in order to try to achieve and revise α, β, γ based on the terrestrial magnetic field, the α that tries to achieve before setting in RAM209, β and γ (the 1st angle-data) are respectively α 0, β 0 and γ 0, and make its temporary transient preserve (step S10 of Fig. 5).The result of calculation that the terrestrial magnetic field elevation angle table of master control part 220 from RAM209 read whole θ, trying to achieve its mean value is θ a (the step S11 of Fig. 5).

That is to say, master control part 220 has the function as elevation angle average calculation unit, the constituted mode of this elevation angle average calculation unit is, with predetermined timing, when promptly asking angle of bank measurement, based on the last look of the 1st angle-data of aforementioned calculating and the aforementioned last look of obtaining of data that is used to represent the terrestrial magnetic field, calculate the value at the elevation angle, terrestrial magnetic field, the value at the elevation angle, terrestrial magnetic field of this calculating is write aforementioned storage unit in turn, try to achieve the mean value of the value at a plurality of elevations angle of storing in this storage unit.

Then, master control part 220 is read real number G from ROM208, based on the θ a that tries to achieve, the terrestrial magnetic field of calculating current place be G (0, cos (θ a), sin (θ a)).Here, under the most situation of supposition, be that the user is at the state near the parallel, horizontal face, promptly

State under during use mobile phone 100 (, when the value γ of the part of supposition angle-data is the assumed value " 0 " of regulation), then formula (7) (0, Hy, Hz) ABC=(hx, hy, hz) in, Matrix C is a unit matrix, thereby obtains (0, Hy, Hz) AB=(hx, hy, formula hz).

In addition, because (0, Hy, Hz)=(0, (θ a), sin (θ is a)) is so (0, (θ a), (hx, hy hz) set up sin (θ is a)) AB=cos G cos G.Thus, master control part 220 separates that (0, (θ a), (simultaneous equations that hz) obtains is tried to achieve β to sin (θ a)) AB=to cos for hx, hy by G.In addition, master control part 220 is also tried to achieve α (the step S12 of Fig. 5) from identical simultaneous equations.With the α, the β that obtain like this and be the 2nd angle-data that 0 γ is referred to as to be used to represent the main body heeling condition of mobile phone 100.Therefore, master control part 220 has the function as the 2nd angle of inclination computing unit, its value based on the elevation angle, terrestrial magnetic field of aforementioned calculating (θ or its mean value θ a), the setting (G) and the aforementioned data (hx that is used to represent the terrestrial magnetic field that obtains of expression terrestrial magnetic field size, hy, hz), try to achieve the 2nd angle-data (α, β and γ) in aforementioned 3 dimension spaces.

Here, have as the master control part 220 of judging unit function and read the γ 0 that obtains before, check this value (the step S13 of Fig. 5) from RAM209.Then, master control part 220 detecting γ 0 and be not comprised in ± and situation in the scopes of 10 degree is (promptly, the value (γ 0) of the part of aforementioned the 1st angle-data that judgement is suitable with the value (γ) of the part of aforementioned the 2nd angle-data does not belong to the situation in the specialized range that comprises aforementioned assumed value (" 0 ")) under, judge aforesaid

Prerequisite be false fully.In this case, have as the processing of the master control part 220 of output unit function for the application program that needs the angle of inclination, read α 0, β 0 and γ 0 (the 1st angle-data) (the step S14 of Fig. 5) from RAM209, with of the value output (the step S15 of Fig. 5) of these values as α, β and γ.These values of output are used in the processing of the executory application program that needs the angle of inclination.

In addition, master control part 220 detects γ 0 and is comprised in step S13 ± situation in the scopes of 10 degree under, then judge aforesaid

Prerequisite set up α, the β that will in step S12, calculate and be 0 γ (the 2nd angle-data) value output (the step S15 of Fig. 5) as α, β and γ.That is, master control part 220 has the function as output unit.These values of output are used in the processing of the application program that needs the angle of inclination.

More than, with reference to accompanying drawing embodiments of the present invention are had been described in detail, but concrete structure is not limited to present embodiment, also can in the scope that does not break away from main idea of the present invention, carry out design alteration etc.For example, master control part 220 also can the application program that needs the angle of inclination working during, with the data that can keep the elevation angle, terrestrial magnetic field table is the predetermined time interval of up-to-date degree, carries out calculating and data the writing to the elevation angle, terrestrial magnetic field table of θ.In application program repeatedly under the situation with reference to the angle of inclination, because the reliability height of the mean value by this method θ, so have the effect that can obtain the high angle of inclination of reliability.

In addition, master control part 220 also can be under the idle situation of the application program that needs the angle of inclination, with the predetermined data that can keep the elevation angle, terrestrial magnetic field table is the time interval of up-to-date degree, carries out calculating and data the writing to the elevation angle, terrestrial magnetic field table of θ.Mean value with θ is the high effect of reliability always.In addition, because always there are n data in the elevation angle, terrestrial magnetic field table, so need in application program under the situation at angle of inclination, the step S06 of Fig. 5 does not carry out this calculating of the situation of " not enough n " repeatedly, so have the effect in the processing time that shortens application program.

In addition, in the present embodiment, in order to use 3 inclination sensors, but also it can be replaced with 2 inclination sensors corresponding to 2 except vertical direction corresponding to 3 the orthogonal coordinate system relevant with the main body of mobile phone 100.In this case, the acceleration g z of vertical direction as g, obtains acceleration of gravity by following formula (10).

Promptly, the constituted mode of aforementioned inclination sensor is, export the corresponding value of each axial power with 2 (for example X-axis and Y-axis), these 2 definite for aforementioned mobile terminal main body, in 3 of mutually orthogonal 2, the constituted mode of aforementioned the 1st angle of inclination computing unit is, based on the value corresponding (for example gx and gy) with each aforementioned 2 axial power from aforementioned inclination sensor output, and the value (g) quickened of known gravity, obtain the corresponding value (gz) of axial power with aforementioned 3 remaining 1 (Z axles) being used for calculating aforementioned the 1st angle-data.Because reduced the quantity of sensor, can make the more effect of miniaturization of circuit so have by this method.

$\mathrm{gz}=\sqrt{g^2-{\mathrm{gx}}^2-{\mathrm{gy}}^2}\&CenterDot;\&CenterDot;\&CenterDot;\left(10\right)$

In addition, description of the present embodiment relates to mobile phone 100, but also present embodiment can be used for the portable terminal of PDA (Personal Digital Assistants) etc.

In addition, in Fig. 5, can under data deficiencies n the situation at the elevation angle, terrestrial magnetic field, not be back to step S01 yet, and α, β, γ that output is tried to achieve by step S04.Can export the result rapidly like this.

In addition, in Fig. 5, also can before step S05, carry out the judgement of step S13.Here, under the situation of-10 Du ≦ γ ≦ 10 degree, also the α that obtains by step 4 can be exported as the orientation.Can promptly export the result like this.

In addition, also can replace and from ROM, read as the real number G of geomagnetic field intensity and use (Hx, Hy, intensity Hz) that obtains by mensuration.Be difficult for the influence of the geomagnetic field intensity difference that causes by the place like this.

In addition, above-mentioned embodiment comprises following notion (invention).

(1) a kind of portable terminal possesses the terrestrial magnetic field determination unit of measuring the direction of terrestrial magnetic field based on the output of magnetic field sensor, and measures the angle of inclination determination unit at angle of inclination based on the output of inclination sensor, it is characterized in that possessing:

Elevation angle computing unit, this unit from the 1st angle of inclination that is obtained by aforementioned angle of inclination determination unit, and the output of aforementioned terrestrial magnetic field determination unit, calculate the elevation angle, terrestrial magnetic field and output when receiving the angle of bank measurement request that comes from application program;

The accumulation unit, the elevation angle, aforementioned terrestrial magnetic field is imported in this unit, and write storage unit, reads whole elevations angle, terrestrial magnetic field from aforementioned storage unit, obtains the mean value at the elevation angle, and the mean value at this elevation angle is exported; And

The angle of inclination arithmetic element, the mean value at the aforementioned elevation angle is imported in this unit, obtain geomagnetic fieldvector from the mean value at the aforementioned elevation angle and the stated number value of expression terrestrial magnetic field size, calculating is also exported the 2nd angle of inclination, and the 2nd angle of inclination is that the output transform that is used for aforementioned terrestrial magnetic field determination unit is the angle of aforementioned geomagnetic fieldvector.

As (1) described end device, it is characterized in that (2) aforementioned accumulation unit possesses:

Inspection unit, this unit is when importing the elevation angle, aforementioned terrestrial magnetic field and writing aforementioned storage unit, check the number at the elevation angle, terrestrial magnetic field in the aforementioned storage unit, only during the number of the not enough regulation of the number at the elevation angle, terrestrial magnetic field in detecting aforementioned storage unit, calculate the request of unit output angle of bank measurement to aforementioned elevation meter.

(3) as (1) or (2) described end device, it is characterized in that, aforementioned angle of inclination arithmetic element also possesses judging unit, this unit checks that aforementioned the 1st angle of inclination is whether in specialized range, only when judging that aforementioned the 1st angle of inclination is in aforementioned specialized range, export aforementioned the 2nd angle of inclination, only when judging that aforementioned the 1st angle of inclination is not in aforementioned specialized range, export aforementioned the 1st angle of inclination.

As (1) to (3) each described end device, it is characterized in that (4) aforementioned storage unit is the storage unit of first in first out.

(5) as (1) to (4) each described end device, it is characterized in that also possessing the 2nd accumulation unit, the request of unit output angle of bank measurement is calculated to aforementioned elevation meter at interval with official hour in this unit, obtain the elevation angle, terrestrial magnetic field, and this elevation angle, terrestrial magnetic field is write aforementioned storage unit.

(6) as (1) to (5) each described end device, aforementioned inclination sensor is the sensor of 2 usefulness,

Aforementioned elevation angle computing unit obtains angle of inclination about 3 from the output of the numerical value of expression acceleration of gravity size of regulation and aforementioned inclination sensor.

(7) a kind of angle of bank measurement method, it is characterized in that, possessing the terrestrial magnetic field determination unit of measuring the direction of terrestrial magnetic field based on the output of magnetic field sensor, and measuring based on the output of inclination sensor in the portable terminal of angle of inclination determination unit at angle of inclination

When receiving the angle of bank measurement request that comes from application program, from the 1st angle of inclination that is obtained by aforementioned angle of inclination determination unit, and the elevation angle, terrestrial magnetic field is calculated in the output of aforementioned terrestrial magnetic field determination unit;

With the elevation angle, aforementioned terrestrial magnetic field write storage unit;

Read whole elevations angle, terrestrial magnetic field from aforementioned storage unit, and calculate the mean value at the elevation angle;

Obtain the vector of terrestrial magnetic field from the stated number value of the mean value at the aforementioned elevation angle and expression terrestrial magnetic field size;

Calculating is also exported the 2nd angle of inclination, and the 2nd angle of inclination is that the output transform that is used for aforementioned terrestrial magnetic field determination unit is the angle of the vector of aforementioned terrestrial magnetic field.

(8) as (7) described angle of bank measurement method, it is characterized in that, before calculating the mean value at the aforementioned elevation angle, check the number at the elevation angle, terrestrial magnetic field in the aforementioned storage unit, only during the number of the not enough regulation in the elevation angle, terrestrial magnetic field in detecting aforementioned storage unit, the request of output angle of bank measurement.

By the invention of above-mentioned (1) or (7), because can tilt (angle-data), so even have the effect that also can suppress its influence under the situation such as user's walking based on the magnetic field detection that obtains from magnetic field sensor.Therefore, even also can obtain correct inclination in user's walking, in addition, in possessing the portable terminal that detects existing orientation function, because can obtain correct orientation, so have the effect that can correctly represent the orientation based on the correct inclination that obtains.

In addition, by the invention of above-mentioned (2) or (8), the elevation angle, terrestrial magnetic field in being stored in storage unit is not under the situation of regulation number, by repeatedly asking this value back equalization, has the effect that can improve measuring accuracy.In addition, by the invention of above-mentioned (3), under by magnetic field measuring inclination situation of difficult, the result of inclination sensor is preferential, has thus and can measure the effect of inclination accurately.In addition, by the invention of above-mentioned (3), because can measure, so have the effect that can further improve measuring accuracy based on data updated.

In addition, by the invention of above-mentioned (4), because the old data at the elevation angle, terrestrial magnetic field in the deletion storage unit, so have the effect that can further improve measuring accuracy.In addition,,, make measurement result keep always new, can always carry out the measurement of correct inclination, so have the effect of further raising measuring accuracy because by carrying out the elevation angle, terrestrial magnetic field at interval with official hour by the invention of above-mentioned (5).In addition, by the invention of above-mentioned (6), because use 2 inclination sensor to measure, so have size that can control circuit and effect that it is diminished.

Claims (10)

1. portable terminal possesses:

Magnetic field sensor, this magnetic field sensor is fixed on the aforementioned portable terminal, exports and put on the corresponding value in magnetic field of this portable terminal;

Inclination sensor, this inclination sensor is fixed on the aforementioned portable terminal, exports and put on the corresponding value of power of this portable terminal, and this power comprises gravity;

The terrestrial magnetic field data obtain the unit, and the data that are used to represent the terrestrial magnetic field are obtained based on the output of aforementioned magnetic field sensor in this unit;

The 1st angle of inclination computing unit, this unit be based on the output of aforementioned inclination sensor, calculates the 1st angle-data of the aforementioned mobile terminal main body heeling condition that is used for representing 3 dimension spaces;

Elevation angle computing unit, this unit calculate the value at the elevation angle of terrestrial magnetic field based on the 1st angle-data and the aforementioned data that are used to represent the terrestrial magnetic field that obtain of aforementioned calculating;

The 2nd angle of inclination computing unit, this unit is based on the setting and the aforementioned data that are used to represent the terrestrial magnetic field that obtain of the size of the value at the elevation angle of the terrestrial magnetic field of aforementioned calculating, expression terrestrial magnetic field, calculates the 2nd angle-data of the aforementioned mobile terminal main body heeling condition that is used for representing aforementioned 3 dimension spaces; And

Output unit, this unit are exported aforementioned the 1st angle-data or aforementioned the 2nd angle-data.

2. portable terminal as claimed in claim 1,

The constituted mode of aforementioned the 2nd angle of inclination computing unit is, that part of value that can regard known quantity in aforementioned the 2nd angle-data as is set at the assumed value of regulation, calculates other the value in the 2nd angle-data;

The constituted mode of aforementioned output unit is, under the value of a part of judging aforementioned 1st angle-data suitable with the value of the part of aforementioned the 2nd angle-data belongs to situation in the specialized range that comprises aforementioned assumed value, exports aforementioned the 2nd angle-data; Under the value of a part of judging the 1st angle-data does not belong to situation in the specialized range that comprises aforementioned assumed value, export aforementioned the 1st angle-data.

3. portable terminal as claimed in claim 2,

The value of the part of aforementioned the 2nd angle-data is that the predetermined axis with aforementioned mobile terminal main body is the value of the anglec of rotation center, this main body.

4. portable terminal as claimed in claim 1,

Aforementioned the 1st angle-data and aforementioned the 2nd angle-data comprise following two values respectively at least, be the value of the main body of aforementioned portable terminal, and be the value of the anglec of rotation center, this main body with the predetermined axis of aforementioned mobile terminal main body with respect to the elevation angle on the plane of stipulating in aforementioned 3 dimension spaces.

5. portable terminal as claimed in claim 4,

It is the value of the anglec of rotation center, aforementioned mobile terminal main body that aforementioned the 1st angle-data and aforementioned the 2nd angle-data also comprise with the predetermined axis in aforementioned 3 dimension spaces respectively.

6. portable terminal as claimed in claim 1 also possesses storage unit,

The constituted mode of aforementioned elevation angle computing unit is, with predetermined timing, based on the last look of the 1st angle-data of aforementioned calculating and the aforementioned last look of obtaining of data that is used to represent the terrestrial magnetic field, calculate the elevation value of terrestrial magnetic field, the value at the elevation angle of the terrestrial magnetic field of this calculating is write in the aforementioned storage unit in turn, try to achieve the mean value of the value that is stored in a plurality of elevations angle in this storage unit, the elevation value of the aforementioned terrestrial magnetic field of using when calculating aforementioned the 2nd angle-data at aforementioned the 2nd angle of inclination computing unit.

7. portable terminal as claimed in claim 6,

The constituted mode of aforementioned storage unit is to carry out writing of data according to first-in first-out.

8. as each described portable terminal of claim 1 to 7,

The constituted mode of aforementioned inclination sensor is, exports the value corresponding with each axial power of 3, and these 3 for aforementioned mobile terminal main body and 3 of definite, mutually orthogonal.

9. as each described portable terminal of claim 1 to 7,

The constituted mode of aforementioned inclination sensor is, exports the value corresponding with each axial power of 2, these 2 for aforementioned mobile terminal main body and among 3 of definite, mutually orthogonal 2,

The constituted mode of aforementioned the 1st angle of inclination computing unit is, based on the value corresponding with each aforementioned 2 axial power from aforementioned inclination sensor output, and the value of known acceleration of gravity, try to achieve and be used for calculating aforementioned the 1st angle-data and the corresponding value of axial power aforementioned 3 remaining 1.

10. the tilt angle counting method of a mobile terminal main body, this method is calculated the angle of inclination of the main body of the portable terminal that possesses magnetic field sensor and inclination sensor, wherein magnetic field sensor is fixed on the aforementioned portable terminal, exports the value corresponding with the magnetic field that puts on this portable terminal; Inclination sensor is fixed on the aforementioned portable terminal, exports and put on the corresponding value of power of this portable terminal, and this power comprises gravity, and this method may further comprise the steps:

Based on the output of aforementioned magnetic field sensor, obtain the data that are used to represent the terrestrial magnetic field;

Based on the output of aforementioned inclination sensor, calculate the 1st angle-data of the aforementioned mobile terminal main body heeling condition be used for representing 3 dimension spaces;

Based on the 1st angle-data and the aforementioned data that are used to represent the terrestrial magnetic field that obtain of aforementioned calculating, calculate the value at the elevation angle, terrestrial magnetic field;

Based on the setting and the aforementioned data that are used to represent the terrestrial magnetic field that obtain of the size of the value at the elevation angle, terrestrial magnetic field of aforementioned calculating, expression terrestrial magnetic field, calculate the 2nd angle-data of the aforementioned mobile terminal main body heeling condition that is used for representing aforementioned 3 dimension spaces.

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