CN101487706A - Electronic compass based on dynamically extracted valid data computing method - Google Patents
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Abstract
The invention discloses an electronic compass based on a calculating method for dynamically extracted effective data, comprising an electronic compass having a geomagnetic sensor; the calculation step of dynamically extracted effective data of the geomagnetic sensor comprises that the geomagnetic sensor is woken up through an I2C bus, which serves the power-on state of the geomagnetic sensor and enters a dynamic data extraction program; and the dynamic data extraction program comprises a data acquisition step, a vector calculating step, a vector judgment and comparison step, a vector comparison result step and a reacquisition step. The data from the geomagnetic sensor are dynamically screened to guarantee that the output of the electronic compass is relatively stable and is free from relative transient deviation due to the transient external disturbance.
Description
Technical field
The present invention relates to the technical field of electronic navigation, particularly based on the electronic compass of dynamically extracted valid data computing method.
Background technology
In recent years, along with semiconductor technology, the development and the microelectromechanical systems of sensor technology are write a Chinese character in simplified form MEMS, and the application that reaches its maturity in the sensing scheme has obtained increasingly extensive use based on the electronic compass scheme of miniature earth magnetism sensing chip.The earth magnetism sensing chip can be selected by some kinds of sensing principles according to the difference of its design proposal, writes a Chinese character in simplified form AMR comprising anisotropic magnetic resistance principle; Hall principle writes a Chinese character in simplified form Hall or the fluxgate principle is write a Chinese character in simplified form the variation that Fluxgate etc. senses the terrestrial magnetic field.Because geomagnetic field intensity is a trivector, so the earth magnetism sensing chip has three inductive axis X-axis usually, Y-axis and Z axle.Attitude when the earth magnetism sensing chip comprises the position angle, the roll angle and the angle of pitch, and when changing, the output valve on three axles of earth magnetism sensing chip produces corresponding the variation.These change, by the geomagnetic sensor inside modules integrated proprietary circuit ASIC be converted into digital signal, this digital signal can be by various bus communication agreements, as I
2C; SPI etc. input to miniature central processing unit and write a Chinese character in simplified form MCU.Embedded signal calibration and deflection computing formula in the miniature central processing unit according to the variation of different passage input values, according to corresponding software algorithm, can be calibrated for the first time, computer azimuth angle at any time during also can be after calibration normal use.As shown in Figure 1, device 11 is the geomagnetic sensor module, wherein inner earth magnetism sensing chip 12 and the proprietary circuit chip 13 of CASI that includes based on the AMR principle.Earth magnetism sensing chip 12 has three axle X-axis, and Y-axis and Z axle are mutually 90 degree omnidirectional distribution.Attitude when chip comprises the position angle, the roll angle and the angle of pitch or unspecified angle wherein, and when changing, the projection of geomagnetic fieldvector on three axles changes.Especially, when chip rotates a circle, the projection value on three axles also periodically changes once.Based on earth magnetism sensing chip 12 output of AMR principle be analog quantity, for the ease of signal Processing, proprietary circuit chip 13 is converted to numeral output with three simulation output, and passes through I
2The C bus mode sends to host computer with the data of three axles.
Miniature central processor MCU 14, it passes through I
2The C bus receives the data that the earth magnetism sensing module is sent.When compass used for the first time, the user need turn around the earth magnetism sensing chip at least in 360 degree space inward turnings.Miniature central processing unit 14 calls the inner calibration procedure that embeds in advance according to one group of data of adopting during this period, and electronic compass is calibrated for the first time and demarcated, be exactly to determine positive north orientation in other words.This process is by shown in Figure 2.After calibration finished, along with the continuous input of sensing data, miniature central processing unit 14 can call the inner position angle that embeds in advance and calculate program, calculates the position angle in real time.This process is by shown in Figure 3.
Yet, one of defective of above-mentioned electronic compass scheme is: if occur owing to various outside causes cause indivedual abnormal datas suddenly in calibration process, calibration algorithm self can't be differentiated, so abnormal data enters the calibration algorithm flow process, become the part of its data that adopt, cause calibration result to depart from.So when the calibration end, extraneous transient interference is eliminated simultaneously, after external magnetic field recovered normally, azimuthal calculating will produce deviation owing to the benchmark mistake of calibration.
Simultaneously, two of the defective of above-mentioned electronic compass scheme is: even calibration process is normally errorless, and in use occur suddenly because the magnetic field disorder that various outside causes cause.Disturbance although it is so is very of short duration, but algorithm itself also can't judge that this belongs to of short duration external disturbance unusually, should ignore, to such an extent as to the position angle that draws according to algorithm also of short duration data deviation can occur.
Be based on the deficiency on a kind of algorithm principle on above-mentioned two kinds of defect theories, be that algorithm itself does not have the abnormal data that ability differentiates that the disturbance of transient state brings and it is rejected in calibration process or position angle calculating process, in other words, algorithm does not have dynamically extracted valid data.
Summary of the invention
Technical matters to be solved by this invention is the present situation at prior art, provide that a kind of data acquisition ability is strong, data can be judged automatically, the magnetic interference ability strong and the data outbound course correctly based on the electronic compass of dynamically extracted valid data computing method.
The present invention solves the problems of the technologies described above the technical scheme that is adopted: based on the electronic compass of dynamically extracted valid data computing method, comprise the electronic compass that contains geomagnetic sensor, wherein: described geomagnetic sensor dynamically extracted valid data calculation procedure includes the sensor step that powers on: pass through I
2The C bus is waken geomagnetic sensor up, as the geomagnetic sensor power-up state, enters the dynamic data extraction procedure;
This dynamic data extraction procedure also includes following steps:
Data acquisition step: the geomagnetic sensor after powering on, can gather the t at a time of electronic compass.Dynamic data, and resulting dynamic data passed through I
2The C bus outwards spreads out of; Dynamic data comprises X-axis data, Y-axis data and Z axis data;
Vector calculation procedure: comprise that the synthetic all synthetic vector meter of peace that calculates of vector calculates, and the synthetic all synthetic vector meter of peace that calculates of vector is calculated and carried out synchronously; Vector is synthetic to be calculated: respectively X-axis data, Y-axis data and Z axis data are carried out square value and calculate, and the square value with three data being calculated carries out additive operation again, at last the total value after the additive operation is carried out the computing of secondary radical sign, the obtained numerical value of this secondary radical sign computing is as three resultant vector values of X-axis, Y-axis and Z axle; Average resultant vector calculates: choose t at a time.Time period Δ t before, and in this time period Δ t, calculate the mean value of resultant vector value; Promptly, calculate n a certain moment t respectively according to the synthetic computing method of vector
1, t
2... t
nSingle vector composite value, and to after these n the vector composite value additions divided by n, obtain the mean vector composite value;
Vector is judged comparison step: choose standard side's value; Mean vector composite value and resultant vector value are carried out subtraction, and form the vector absolute value; Three times of values with vector absolute value and standard side's value compare again, judge whether three times of values of overgauge side's value of vector absolute value;
Vector ratio is than result step: when three times of values of vector absolute value overgauge side value, enter data acquisition step again; When the vector absolute value does not have three times of values of overgauge side's value, enter data and adopted step, and can enter next step program;
Again acquisition step: data are deleted, and these data include the dynamic data in the data acquisition step at least, i.e. X-axis data, Y-axis data and Z axis data; Be back to data acquisition step after data are deleted.
The measure of taking also comprises:
In the above-mentioned acquisition step again, deleted data also comprise vector composite value, mean vector composite value, the vector absolute value that calculates to some extent.
The above-mentioned sensor step that powers on undertakes the beginning calibration steps.
Above-mentioned beginning calibration steps and sensor power on to have additional between the step and begin calibration affirmation step.
Above-mentioned begin to calibrate confirm information that step obtains being after, enter the sensor step that powers on; When above-mentioned beginning calibrate confirm that step obtains information not after, be back to above-mentioned beginning calibration steps.
It is whether data travel through the All Quardrants step that above-mentioned data are adopted next step program that is entered after the step; After whether above-mentioned data travel through the information that does not obtain in the All Quardrants step not, be back to the above-mentioned sensor step that powers on; After whether above-mentioned data travel through the information that obtains being in the All Quardrants step, enter miniature central processing unit operation calibration steps.
Enter storage calibration parameter step after the above-mentioned miniature central processing unit operation calibration steps, enter the end calibration steps after this storage calibration parameter step.
The above-mentioned sensor step that powers on can also undertake beginning calculated direction angle step; Above-mentioned data are adopted next step program that is entered after the step also can be miniature central processing unit traffic direction angle calculation procedure step, and this miniature central processing unit traffic direction angle calculation procedure step is also accepted mutually with above-mentioned storage calibration parameter step.
Enter outbound course angle step after the above-mentioned miniature central processing unit traffic direction angle calculation procedure step; Enter whether continue calculation procedure after this outbound course angle step.
After the above-mentioned information that whether continues to obtain in the calculation procedure being, whether this continues calculation procedure is back to described beginning calculated direction angle step; After whether this continued to obtain information not in the calculation procedure, whether this continues calculation procedure entered end deflection calculation procedure.
Compared with prior art, the geomagnetic sensor dynamically extracted valid data calculation procedure that adopts of the present invention includes power on step, data acquisition step, vector calculation procedure, vector of sensor and judges that comparison step, vector ratio are than result step and acquisition step again.The invention has the advantages that: the data that come from geomagnetic sensor are screened dynamically, guaranteed that the output of electronic compass is relatively stable, the deviation of corresponding transient state can not take place owing to the external disturbance of transient state yet.
Description of drawings
Fig. 1 is the principle schematic of available technology adopting geomagnetic sensor;
Fig. 2 is the calibration FB(flow block) of Fig. 1;
Fig. 3 is the deflection calculation process block diagram of Fig. 1;
Fig. 4 is the principle schematic of dynamic data extraction procedure among the present invention;
Fig. 5 is the FB(flow block) of the embodiment of the invention in the electronic compass calibration;
Fig. 6 is the FB(flow block) of the embodiment of the invention in the electronic compass deflection calculates.
Embodiment
Embodiment describes in further detail the present invention below in conjunction with accompanying drawing.
Also the embodiment of the invention comprises the electronic compass that contains geomagnetic sensor to shown in Figure 6 as Fig. 4, and geomagnetic sensor dynamically extracted valid data calculation procedure includes the sensor step S42 that powers on: pass through I
2The C bus is waken geomagnetic sensor up, as the geomagnetic sensor power-up state, enters dynamic data extraction procedure S40;
This dynamic data extraction procedure S40 also includes following steps:
Data acquisition step S31: the geomagnetic sensor after powering on, can gather the t at a time of electronic compass.Dynamic data, and resulting dynamic data passed through I
2The C bus outwards spreads out of; Dynamic data comprises X-axis data S32, Y-axis data S33 and Z axis data S34;
Vector calculation procedure: comprise that all synthetic vector meter of the synthetic S35 of calculating of vector peace calculates S36, and all synthetic vector meter of the synthetic S35 of calculating of vector peace is calculated S36 and carried out synchronously;
Carrying out one in step S37 judges: if t
0External magnetic field constantly is owing to the interference that is subjected to a variety of causes changes, and so according to theoretical analysis, the resultant vector that these three resolutes are constantly tried to achieve also must be undergone mutation.In other words, inevitable the saying from the statistical significance of this M value constantly belongs to unusual.According to Principle of Statistics, we utilize criterion: | whether M-M| makes the selection that keeps or reject greater than 3 times standard variance M.
If t
0Data constantly are disallowable, and it can not enter any calculation procedure so, and sensor is waken up again to obtain next data constantly, enters step S38; If t
0Data constantly are used, and it will enter normal calibration procedure so, if occur in calibration phase unusually; Or position angle calculating program, if occur in the electronic compass operational phase unusually; Enter step S39.
The synthetic S35 that calculates of vector: respectively X-axis data S32, Y-axis data S33 and Z axis data S34 are carried out square value calculating, X-axis data S32 formula code name is MX (t), and Y-axis data S33 formula code name is that MY (t) and Z axis data S34 formula code name are MZ (t); And the square value with three data being calculated carries out additive operation again, at last the total value after the additive operation is carried out the computing of secondary radical sign, and its computing formula is:
The obtained numerical value of this secondary radical sign computing is as three resultant vector values of X-axis, Y-axis and Z axle;
Average resultant vector calculates S36: choose t at a time.Time period Δ t before, and in this time period Δ t, calculate the mean value M of resultant vector value; Promptly, calculate n a certain moment t respectively according to the synthetic computing method of vector
1, t
2... t
nSingle vector composite value, and to after these n the vector composite value additions divided by n, obtain mean vector composite value M;
Vector is judged comparison step S37: choose a standard side value σ M; Mean vector composite value and resultant vector value are carried out subtraction, and form the vector absolute value | M-M|; Again with the vector absolute value | three times of values of M-M| and standard side value σ M compare, and judge the vector absolute value | and whether M-M| three times of values of overgauge side value σ M;
Vector ratio is than result step S38: when the vector absolute value | during three times of values of M-M| overgauge side value σ M, enter data acquisition step again; When the vector absolute value | when M-M| does not have three times of values of overgauge side value σ M, enter data and adopted step, and can enter next step program;
Again acquisition step S39: data are deleted, and these data include the dynamic data in the data acquisition step at least, i.e. X-axis data, Y-axis data and Z axis data; Be back to data acquisition step after data are deleted.
Present embodiment is achieved in that deleted data also comprise vector composite value M (t), mean vector composite value M, the vector absolute value that calculates to some extent in acquisition step S39 again | M-M|.
The sensor step S42 that powers on undertakes beginning calibration steps S30.
Beginning calibration steps S30 and sensor power on to have additional between the step S42 and begin calibration affirmation step S41.
Begin to calibrate confirm information that step S41 obtains being after, enter the sensor step S42 that powers on; When begin to calibrate confirm that step S41 obtains information not after, be back to beginning calibration steps S30.
It is whether data travel through All Quardrants step S43 that data are adopted next step program that is entered behind the step S39; After whether data travel through the information that does not obtain among the All Quardrants step S43 not, be back to the sensor step S42 that powers on; After whether data travel through the information that obtains being among the All Quardrants step S43, enter miniature central processing unit operation calibration steps S44.
Enter storage calibration parameter step S45 after the miniature central processing unit operation calibration steps S44, enter after the storage calibration parameter step S45 and finish calibration steps S50.
The sensor step S42 that powers on can also undertake beginning calculated direction angle step S51; Data are adopted next step program that is entered behind the step S39 also can be miniature central processing unit traffic direction angle calculation procedure step S47, and this miniature central processing unit traffic direction angle calculation procedure step S47 also accepts mutually with storage calibration parameter step S45.
Enter outbound course angle step S48 after the calculation procedure step S47 of miniature central processing unit traffic direction angle; Enter whether continue calculation procedure S49 after the step S48 of outbound course angle.
After the information that whether continues to obtain being among the calculation procedure S49, whether this continues calculation procedure S49 is back to beginning calculated direction angle step S51; Whether after when continuing to obtain information not among the calculation procedure S49, whether this continues calculation procedure S49 enters end deflection calculation procedure S52.
In this practical embodiment calibration operation specify as follows:
Beginning calibration steps S30: begin calibration;
Begin calibration and confirm step S41: begin to calibrate confirm information that step S41 obtains being after, enter the sensor step S42 that powers on; When begin to calibrate confirm that step S41 obtains information not after, be back to beginning calibration steps S30;
The sensor step S42 that powers on: pass through I
2The C bus is waken geomagnetic sensor up, obtain data after this geomagnetic sensor powers on, and resulting data is passed through I
2The C bus spreads out of; Enter dynamic data extraction procedure S40 subsequently; The final section step of this dynamic data extraction procedure S40 is acquisition step S39 again;
Whether data travel through All Quardrants step S43: it is whether data travel through All Quardrants step S43 that data are adopted next step program that is entered behind the step S39; After whether data travel through the information that does not obtain among the All Quardrants step S43 not, be back to the sensor step S42 that powers on; After whether data travel through the information that obtains being among the All Quardrants step S43, enter miniature central processing unit operation calibration steps S44;
Miniature central processing unit operation calibration steps S44; Enter storage calibration parameter step S45 after the miniature central processing unit operation calibration steps S44;
Storage calibration parameter step S45: enter after the storage calibration parameter step S45 and finish calibration steps S50.
In this practical embodiment the deflection calculating operation specify as follows:
Beginning calculated direction angle step S51: accept with the sensor step S42 that powers on;
The sensor step S42 that powers on: pass through I
2The C bus is waken geomagnetic sensor up, obtain data after this geomagnetic sensor powers on, and resulting data is passed through I
2The C bus spreads out of; Enter dynamic data extraction procedure S40 subsequently; The final section step of this dynamic data extraction procedure S40 is acquisition step S39 again;
Miniature central processing unit traffic direction angle calculation procedure step S47: data are adopted next step program that is entered behind the step S39 also can be miniature central processing unit traffic direction angle calculation procedure step S47, and this miniature central processing unit traffic direction angle calculation procedure step S47 also accepts mutually with storage calibration parameter step S45;
Outbound course angle step S48: enter outbound course angle step S48 after the calculation procedure step S47 of miniature central processing unit traffic direction angle;
Whether continue calculation procedure S49: enter whether continue calculation procedure S49 after the step S48 of outbound course angle; After the information that whether continues to obtain being among the calculation procedure S49, whether this continues calculation procedure S49 is back to beginning calculated direction angle step S51; Whether after when continuing to obtain information not among the calculation procedure S49, whether this continues calculation procedure S49 enters end deflection calculation procedure S52;
Finish deflection calculation procedure S52.
The invention has the advantages that: the data that come from geomagnetic sensor are screened dynamically, guaranteed that the output of electronic compass is relatively stable, the deviation of corresponding transient state can not take place owing to the external disturbance of transient state yet.
Most preferred embodiment of the present invention is illustrated, and various variations or the remodeling made by those of ordinary skills can not depart from the scope of the present invention.
Claims (10)
1, based on the electronic compass of dynamically extracted valid data computing method, comprise the electronic compass that contains geomagnetic sensor, it is characterized in that: described geomagnetic sensor dynamically extracted valid data calculation procedure includes the sensor step that powers on: pass through I
2The C bus is waken geomagnetic sensor up, as the geomagnetic sensor power-up state, enters the dynamic data extraction procedure;
This dynamic data extraction procedure also includes following steps:
Data acquisition step: the geomagnetic sensor after powering on, can gather the t at a time of electronic compass.Dynamic data, and resulting dynamic data passed through I
2The C bus outwards spreads out of; Described dynamic data comprises X-axis data, Y-axis data and Z axis data;
Vector calculation procedure: comprise that the synthetic all synthetic vector meter of peace that calculates of vector calculates, and the synthetic all synthetic vector meter of peace that calculates of vector is calculated and carried out synchronously;
Described vector is synthetic to be calculated: respectively X-axis data, Y-axis data and Z axis data are carried out square value and calculate, and the square value with three data being calculated carries out additive operation again, at last the total value after the additive operation is carried out the computing of secondary radical sign, the obtained numerical value of this secondary radical sign computing is as three resultant vector values of X-axis, Y-axis and Z axle;
Described average resultant vector calculates: choose t at a time.Time period Δ t before, and in this time period Δ t, calculate the mean value of resultant vector value; Promptly, calculate n a certain moment t respectively according to the synthetic computing method of vector
1, t
2... t
nSingle vector composite value, and to after these n the vector composite value additions divided by n, obtain the mean vector composite value;
Vector is judged comparison step: choose standard side's value; Described mean vector composite value and resultant vector value are carried out subtraction, and form the vector absolute value; Three times of values with vector absolute value and standard side's value compare again, judge whether three times of values of overgauge side's value of vector absolute value;
Vector ratio is than result step: when three times of values of vector absolute value overgauge side value, enter data acquisition step again; When the vector absolute value does not have three times of values of overgauge side's value, enter data and adopted step, and can enter next step program;
Again acquisition step: data are deleted, and these data include the dynamic data in the data acquisition step at least, i.e. X-axis data, Y-axis data and Z axis data; Be back to data acquisition step after data are deleted.
2, the electronic compass based on dynamically extracted valid data computing method according to claim 1, it is characterized in that: in the described acquisition step again, deleted data also comprise vector composite value, mean vector composite value, the vector absolute value that calculates to some extent.
3, the electronic compass based on dynamically extracted valid data computing method according to claim 2 is characterized in that: the described sensor step that powers on undertakes the beginning calibration steps.
4, the electronic compass based on dynamically extracted valid data computing method according to claim 3 is characterized in that: described beginning calibration steps and sensor power on to have additional between the step and begin calibration affirmation step.
5, the electronic compass based on dynamically extracted valid data computing method according to claim 4 is characterized in that: described begin to calibrate confirm information that step obtains being after, enter the sensor step that powers on; When described begin to calibrate confirm that step obtains information not after, be back to described beginning calibration steps.
6, the electronic compass based on dynamically extracted valid data computing method according to claim 5 is characterized in that: it is whether data travel through the All Quardrants step that described data are adopted next step program that is entered after the step; After whether described data travel through the information that does not obtain in the All Quardrants step not, be back to the described sensor step that powers on; After whether described data travel through the information that obtains being in the All Quardrants step, enter miniature central processing unit operation calibration steps.
7, the electronic compass based on dynamically extracted valid data computing method according to claim 6, it is characterized in that: enter storage calibration parameter step after the described miniature central processing unit operation calibration steps, enter the end calibration steps after the described storage calibration parameter step.
8, the electronic compass based on dynamically extracted valid data computing method according to claim 7 is characterized in that: the described sensor step that powers on can also undertake beginning calculated direction angle step; Described data are adopted next step program that is entered after the step also can be miniature central processing unit traffic direction angle calculation procedure step, and this miniature central processing unit traffic direction angle calculation procedure step is also accepted mutually with described storage calibration parameter step.
9, the electronic compass based on dynamically extracted valid data computing method according to claim 8 is characterized in that: enter outbound course angle step after the calculation procedure step of described miniature central processing unit traffic direction angle; Enter whether continue calculation procedure after the step of described outbound course angle.
10, the electronic compass based on dynamically extracted valid data computing method according to claim 9, it is characterized in that: after the described information that whether continues to obtain in the calculation procedure to be, whether this continues calculation procedure is back to described beginning calculated direction angle step; After the described information that whether continues to obtain in the calculation procedure to deny, whether this continues calculation procedure enters end deflection calculation procedure.
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102313544A (en) * | 2010-06-08 | 2012-01-11 | 霍尼韦尔国际公司 | Carry out the automatic data acquisition algorithm of 3D magnetic field calibration with the memory requirement that reduces |
| CN103884325A (en) * | 2012-12-21 | 2014-06-25 | 西安合众思壮导航技术有限公司 | Electronic compass and device with the same |
| WO2015070451A1 (en) * | 2013-11-18 | 2015-05-21 | 宇龙计算机通信科技(深圳)有限公司 | Electronic compass calibrating method and terminal |
| CN105277995A (en) * | 2014-06-20 | 2016-01-27 | 中兴通讯股份有限公司 | Interference compensation method and device of geomagnetic sensor |
| CN106019251A (en) * | 2016-05-16 | 2016-10-12 | 深圳市金溢科技股份有限公司 | Radar positioning method and device and ETC transaction method and system |
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2009
- 2009-03-05 CN CN2009100964400A patent/CN101487706B/en active Active
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102313544A (en) * | 2010-06-08 | 2012-01-11 | 霍尼韦尔国际公司 | Carry out the automatic data acquisition algorithm of 3D magnetic field calibration with the memory requirement that reduces |
| CN102313544B (en) * | 2010-06-08 | 2015-04-01 | 霍尼韦尔国际公司 | Automatic data collection algorithm for 3d magnetic field calibration with reduced memory requirements |
| CN103884325A (en) * | 2012-12-21 | 2014-06-25 | 西安合众思壮导航技术有限公司 | Electronic compass and device with the same |
| WO2015070451A1 (en) * | 2013-11-18 | 2015-05-21 | 宇龙计算机通信科技(深圳)有限公司 | Electronic compass calibrating method and terminal |
| CN104884895A (en) * | 2013-11-18 | 2015-09-02 | 宇龙计算机通信科技(深圳)有限公司 | Electronic compass calibrating method and terminal |
| CN104884895B (en) * | 2013-11-18 | 2018-06-15 | 宇龙计算机通信科技(深圳)有限公司 | electronic compass calibration method and terminal |
| CN105277995A (en) * | 2014-06-20 | 2016-01-27 | 中兴通讯股份有限公司 | Interference compensation method and device of geomagnetic sensor |
| CN105277995B (en) * | 2014-06-20 | 2019-06-11 | 中兴通讯股份有限公司 | The interference compensation method and device of geomagnetic sensor |
| CN106019251A (en) * | 2016-05-16 | 2016-10-12 | 深圳市金溢科技股份有限公司 | Radar positioning method and device and ETC transaction method and system |
| CN106019251B (en) * | 2016-05-16 | 2019-06-28 | 深圳市金溢科技股份有限公司 | Radar fix method, apparatus and ETC method of commerce and system |
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|---|---|
| CN101487706B (en) | 2012-06-20 |
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