CN102183232A - Orientation sensor - Google Patents
Orientation sensor Download PDFInfo
- Publication number
- CN102183232A CN102183232A CN2011100224367A CN201110022436A CN102183232A CN 102183232 A CN102183232 A CN 102183232A CN 2011100224367 A CN2011100224367 A CN 2011100224367A CN 201110022436 A CN201110022436 A CN 201110022436A CN 102183232 A CN102183232 A CN 102183232A
- Authority
- CN
- China
- Prior art keywords
- instrument
- signal
- acceleration
- reference direction
- mensuration
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B21/00—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant
- G01B21/22—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant for measuring angles or tapers; for testing the alignment of axes
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C25/00—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass
- G01C25/005—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass initial alignment, calibration or starting-up of inertial devices
Abstract
The method involves determining direction from which gravitational acceleration acts on a portable device by using an acceleration sensor. The determined direction is compared with a determined reference direction by using a processing device, and a signal is provided by the processing device based on comparison results. A parameter i.e. temperature of the acceleration sensor, influencing the direction determination is detected by using a temperature sensor, where the reference direction is determined based on the detected parameter. An independent claim is also included for a device for providing a signal indicating spatial alignment of a portable device.
Description
Technical field
The present invention relates to a kind of directed determinator.The invention particularly relates to the method and apparatus that is used to provide signal, the dimensional orientation of this signal instruction portable instrument.
Background technology
Portable instrument, for example mobile phone or PDA(Personal Digital Assistant) are equipped with display, and this display can differently manifest predetermined displaying contents according to the orientation of instrument in the space.On the user instrument is remained on still to remain in the horizontal format in the vertical format and decide, for example a content can be displayed with vertical format (" portrait ") or with horizontal format (" landscape ") on display.
US 2006/0204232 A1 has described a kind of video camera that is used to measure the aspect-stabilized direction sensor of video camera that has.For example can in the view finder of this video camera, demonstrate an artificial horizontal line according to the orientation of measuring.
US 7,138, and 979 B2 show a kind of portable instrument, and it has and is used for the sensor of determining instrument in the orientation in space, so that can import by simulating keyboard according to instrument position of being measured and the instrument dimensional orientation of being measured.
For the normally used sensor of dimensional orientation of measuring known apparatus is subjected to different disturbing effects, make provided, the aspect-stabilized signal of explanation instrument is not always reliable.For the orientation of portable instrument enough accurately is provided based on the signal that is provided, each sensor can be calibrated individually at interference volume.At this, sensor be subjected to known acceleration and known interference volume and the value that provides by sensor is provided and corrected value between difference.This mensuration is repeated for a plurality of interference volumes and produces a characteristic curve by a plurality of differences in this mensuration.In measure using, a value can distributing this characteristic curve for each value that is provided by sensor based on a definite temperature can be determined the measured value of a correction on the basis of this value.The calibration of the what is called of sensor is because the manufacturing tolerance when making sensor and must individually each sensor being carried out, and this is to waste very much and cost is high thus.
Summary of the invention
This task of the present invention is, a kind of improvement technology that is used to provide phasing signal is provided.
This task is by a kind of method with claim 1 feature, have the device of claim 7 feature and solve by a kind of instrument with claim 10 feature by a kind of.Dependent claims is given in the form of implementation.
For the aspect-stabilized signal of the portable instrument that furnishes an explanation, at first measure a direction, acceleration of gravity by this directive effect to this instrument.Subsequently, the direction measured and the reference direction of determining are compared and provide described signal according to comparative result.At this,, detect one direction measured influential parameter and determine reference direction according to this influential parameter in order to determine reference direction.Also alternatively described direction is measured influential parameter and used an influential parameter of precision that direction is measured.
Therefore, can avoid the calibration that expends, affact direction on this instrument, can reduce production costs thus by means of this device mensuration acceleration of gravity to device.Relation between the influence that this influential parameter and this parameter are measured direction for example can be by rule of thumb, cost advantageously is implemented and is used for a plurality of determinators, make one usually or under worst condition, predicted influence numerical value and can be used to determine reference direction.
Also can use two different reference directions, wherein, comparative result depends on the order of this mensuration direction through two reference directions.Such hysteresis comparison or Schmidt trigger of relatively being called.Difference (hysteresis) between two reference directions can be depending on this influential parameter and especially can be depending on the difference of this influential parameter and the reference quantity of determining.The reference quantity of determining can illustrate a condition, and under this condition, optimised or calibration of determinator or compensation are are influenced by this parameter as small as possible.
In this way, the influence of direction being measured when parameter hour, hysteresis can keep for a short time, and when the influence of direction being measured when parameter was big, hysteresis can be increased.Thus, under favourable situation, just when the influence of parameter hour maybe when the difference of this parameter and the reference quantity of determining hour, can realize that the sensitivity of signal changes according to the aspect-stabilized variation of instrument.And under the disadvantageous situation, just when influence that parameter is measured direction is big or when this influential parameter and difference between the definite reference quantity are big, signal descends with respect to the sensitivity of the aspect-stabilized variation of instrument, but the steadiness of measuring improves simultaneously, makes owing to disturb the undesirable signal that causes to change and can avoid by influential parameter.The precision of direction detection also correspondingly mode simulate.
For determining instrument definite is spatially directed to the aspect-stabilized transition that another is determined from one, can determine an inclination angle of instrument based on the direction of this mensuration.The orientation of a multidimensional can be described with a unique value in this inclination angle, thus for example simplified by with as threshold ratio further processing with reference to direction.
Influential parameter can be that temperature reaches in particular for measuring the temperature of means for determining sense of dire.Advantageously, this determinator is integrally constructed with temperature sensor.Influential parameter can illustrate the difference between this temperature and the reference temperature determined, and wherein reference temperature can be corresponding to indoor air temperature.Determinator can comprise and is used for three acceleration transducers of the direction in space of linear independence each other in couples, makes and can measure the direction of acceleration of gravity in three dimensions.
In a plurality of spatially discrete definite orientations that this signal can illustrate instrument one.Advantageously can directly derive the demonstration or the operational mode of instrument by this signal, for example " vertical format ", " horizontal format " or " tiling ".
Others of the present invention relate to a kind of device and a kind of portable instrument with this device that is used to provide this signal.
Description of drawings
Describe some embodiments of the present invention in detail in conjunction with the accompanying drawing of enclosing below, wherein:
The block diagram of Fig. 1 portable instrument;
The instrument of Fig. 2 Fig. 1 in one-dimensional space orientation;
The instrument of Fig. 3 Fig. 1 in the two-dimensional space orientation;
The phasing signal of Fig. 4 in the instrument of Fig. 1 and the schematic of the relation between the inclination angle of instrument;
Fig. 5 is in the temperature of the instrument of Fig. 1 and the schematic of the relation between the parameter; And
Fig. 6 is used for the method in the instrument measured signal of Fig. 1.
Embodiment
Fig. 1 shows the block diagram of a portable instrument 100.This portable instrument 100 comprises treating apparatus 110, display 120, input media 130, acceleration transducer 140 and temperature sensor 150.Treating apparatus 110 is connected with in the parts 120 to 150 each.Acceleration transducer 140 is measured the acceleration at least one dimension and is preferably become MEMS (micro electro mechanical system) with the MEMS technical construction.Preferably, this acceleration transducer 140 is 3D acceleration transducers, and this 3D acceleration transducer detects the acceleration in the three-dimensional cartesian coordinate system.This acceleration transducer 140 provides measured value, can derive one or more angles between instrument axis and the spatial axis by described measured value.For this reason, acceleration transducer can directly be measured around the angle of instrument axis or by the numerical value along the acceleration of gravity of instrument axis and derive this angle, for example under one-dimensional case by α=acos (Fz) or under two-dimensional case by α=arctan (Fz/sqrt (Fx
2+ Fz
2), Fx wherein, Fy and Fz indicate along x, the acceleration of gravity of y or z axle.Such angle converts and also can be undertaken by treating apparatus 110.Preferably, temperature sensor 150 is integrally constructed with acceleration transducer 140.
Treating apparatus 110 is set for the aspect-stabilized signal that an explanation instrument 100 is provided.This signal for example can be electric signal or marker (Semaphor), the software signal that interrupts (interrupt), nonexpondable variable, function call or similar type.The signal of an application program especially can be provided, and this application program shows on display 120 according to this signal perhaps prepared a content before showing in one.This application program can be moved on treating apparatus 110 equally.
Fig. 2 shows the instrument 100 of the Fig. 1 in one-dimensional space orientation.This instrument 100 has a longitudinal axis y, a transverse axis x and a vertical pivot z, and these are not with the initial point on the θ angular vertex but illustrate on instrument 100 next doors for reason clearly as cartesian coordinate system.This instrument 100 is directed so rotationally in the space around the z axle, makes acceleration of gravity Fg act on the instrument 100 with the angle [alpha] of a relative longitudinal axis y.In addition, be painted with the reference direction α of two relative longitudinal axis y
1, α
2, this both direction surrounds an angle θ.
In the instrument 100 of Fig. 1, signal can be by angle [alpha] and reference direction α in first form of implementation
1Or α
2relatively measure.According to the rotation of instrument 100 around the z axle, the first dimensional orientation A can pass through α＞α
1Definition, the second dimensional orientation B can pass through α
1＞α＞α
2Definition and the 3rd dimensional orientation C can pass through α＜α
2Define.In second form of implementation, instrument 100 can be according to the hysteresis type by angle [alpha] and two reference direction α around the orientation of z axle
1, α
2relatively measure.Look α which kind of passes through reference direction α in proper order with
1, α
2And decide, can be with α
1With α
2Between the zone belong to one the 4th directed D or one the 5th directed E (referring to following explanation) in conjunction with Fig. 4.But but directed C and the D horizontal format of display 120 in the vertical format of display 120 and directed A and the E representative graph 1 in the representative graph 1 for example.Other possible orientation comprises reverse vertical format and reverse horizontal format.
Fig. 3 shows the two dimension orientation of the instrument 100 of Fig. 1 as wiregrating (Drahtgitter) with synoptic diagram.Instrument 100 reaches around its x axle and rotates in this wise around its y axle, makes the z axle of acceleration of gravity Fg and instrument 100 be surrounded as angle [alpha].The circular cone 210 that illustrates has one at reference direction α
1With α
2Between open-angle θ.In the drawings, circular cone 210 opens symmetrically around the rotation of z axle; But also can differently define reference direction along axle y and z.The cartesian coordinate system of instrument 100 is not with the initial point on circular cone 210 summits but illustrates on instrument 100 next doors owing to reason clearly.Angle [alpha] has been described the inclination angle of instrument 100 around its x axle and y axle.The additional orientation of instrument 100 of having described of angle beta around its z axle.
At this, instrument 100 defines in the following manner around the dimensional orientation F of its x axle and y axle thereof (not indicating): angle [alpha] is positioned at α
1And α
2The border between.If acceleration of gravity Fg extends in shown, relative instrument 100 fixing circular cone 210 inside, then this instrument 100 is clearly directed in directed A.If instrument 100 keeps flat (" flat down ") on a platform, then dimensional orientation F for example can be received by instrument 100.Therewith correspondingly, instrument 100 can be by one at α around a directed G (not indicating) of its x axle and y axle thereof
1And α
2The border outside angle [alpha] provide, that is to say that this is clearly when acceleration of gravity Fg extends outside circular cone 210.
In order to realize hysteresis with different threshold values as shown in Figure 2, two of definables have the circular cone on different open-angles and consistent summit.The numerical value of hysteresis θ is determined as half of the difference of the open-angle of circular cone subsequently.In order differently determine to lag behind/or the size of threshold value in different dimensions, replace circular cone for example also can use elliptic cone (Kegel ü ber Ellipsen).The mensuration of instrument orientation is as carry out in conjunction with Fig. 4 below illustratedly when using hysteresis.
Graph of a relation between the signal that provides about the angle [alpha] in Fig. 2 and 3 and by the instrument among Fig. 1 100 is provided Fig. 4.Represent angle [alpha] with horizontal direction.In addition, marked reference direction α in Fig. 2 and 3
1, α
2Signal with the instrument in the vertical direction presentation graphs 1 100.Two different exemplary discrete space orientation D and E among Fig. 2 are marked; Also can use other orientation, especially various dimensions, as directed F and G in conjunction with Fig. 3 explanation.
Realized in this way, can cause that angle [alpha] is at reference direction α
1And α
2Scope in the fluctuation disturbing effect cause signal undesirable variation between D and E.
Hysteresis θ is big more, and then the sensitivity of the conversion ratio of instrument 100 between the adjacent space orientation is just low more; But simultaneously, improved the steadiness of measuring with respect to signal or the undesirable variation of dimensional orientation.Hysteresis θ by two reference direction α
1And α
2The size of the numerical value that provides of difference corresponding to reference direction α in Fig. 2 and 3
1,2Difference.
Relevant with the temperature of instrument 100 among Fig. 1 two charts 510 and 520 have been shown among Fig. 5.The chart 510 of top shows the correlativity of the typical error that is caused by temperature of exemplary independent acceleration transducer S1 to S4, and the icon 520 of below shows the relation between the temperature of Fig. 2,3 and 4 hysteresis θ and acceleration transducer 140.
In two charts 510,520, represent temperature with horizontal direction.The temperature T that marks
0Be a reference temperature, this reference temperature is for example corresponding to indoor air temperature (about 25 ℃).T
0Corresponding to the optimised temperature that is in operation of the sensor S1-S4 in the top chart 510.Sensor S1 to S4 has different linear errors and the offset error about the temperature curve that illustrates, but as one man at T
0Has relatively little error in the scope on every side.The error of actual acceleration sensor S1-S4 can be according to the absolute value of temperature employing up to 0.2g.
Temperature is not a common general knowledge to absolute effect by the goniometry of given sensor S1 to S4.But can determine by observing a plurality of sensor S1 to S4: which kind of influence is temperature typically have to the precision (average error) of sensor S1 to S4, makes that the precision of being expected of working as front sensor can the estimated or employing based on this average data.
The numerical value of the hysteresis θ of below in the chart 520 corresponds respectively to the corresponding least error of sensor S1 to S4 in the chart 510 up and poor between the maximum error accordingly under each temperature.Preferably, below the change curve of numerical value shown in the chart 520, hysteresis θ determine based on measurement by means of monte carlo method the exemplary acceleration transducer S1-S4 of abundant quantity.
Fig. 6 shows a kind of method 600 that is used for providing in instrument 100 inside of Fig. 1 signal.This method 600 comprises state 610 to 670.
In state 610, this method 600 is arranged in initial state.Then in state 620, measure the temperature of acceleration transducer 140 by means of temperature sensor 150.In step 630, determine in the above numerical value then in conjunction with the hysteresis θ of Fig. 2 to 5 description based on the temperature of measuring.After this in step 640, based on the numerical evaluation of hysteresis θ in the above in conjunction with the reference direction α of Fig. 2 to 4 explanation
1And α
2
In step 650, measure the direction that acts on the acceleration of gravity Fg on the instrument 100 by means of acceleration transducer 140.In step 660 with the direction and the reference direction α that are measured
1And α
2In hysteresis comparison category, compare in conjunction with Fig. 4 explanation.At last, in step 670 corresponding to comparative result the aspect-stabilized signal of the instrument 100 that furnishes an explanation.At last, method 600 turns back in the initial state 610 and can rerun.
Can realize selecting good compromise, the feasible operability that the user is generally adjusted the improvement of instrument by means of the present invention to the reliable determination of the discrete space orientation of particularly determining of portable instrument and between the sensitivity of this steadiness that can measure according to interference volume and mensuration.Needn't measure the temperature dependency of independent acceleration transducer 140 reality for this reason.
Claims (10)
1. be used to provide the method (600) of signal, the dimensional orientation of this signal instruction portable instrument (100), this method has following steps:
-mensuration (650) one directions, acceleration of gravity (F
G) by this directive effect to this instrument (100);
-with the direction measured and the reference direction of determining compare (660) and
-provide (670) signal according to comparative result;
It is characterized in that the following step that is used for determining reference direction:
-detect (620) to direction measure influential parameter (T) and
-determine (640) reference direction according to this influential parameter (T).
2. according to the method (600) of claim 1, it is characterized in that, use two different reference direction (α
1, α
2), wherein, described comparative result depends on that the direction of this mensuration is through two reference direction (α
1, α
2) order, and threshold value (α
1, α
2) between difference (θ) depend on the reference quantity (T that this influential parameter (T) and is determined
0) difference.
3. according to the method (600) of claim 1 or 2, it is characterized in that based on the inclination angle (α) of the direction detection instrument (100) of this mensuration, wherein, the described comparison (660) of the direction of this mensuration and reference direction comprises this inclination angle (α) and threshold value (α
1, α
2) comparison (660).
4. according to each method (600) in the aforementioned claim, it is characterized in that described influential parameter is the temperature that is used to measure means for determining sense of dire (140).
5. according to each method (600) in the aforementioned claim, it is characterized in that in a plurality of definite discrete dimensional orientation (A-G) of described signal instruction instrument (100) one.
6. according to each method (600) in the aforementioned claim, it is characterized in that, acceleration of gravity (F
G) mensuration that acts on the direction on the instrument comprises and detect acceleration of gravity (F
G) at three paired linear each other incoherent dimensional orientations (x, y, z) numerical value on.
7. be used to provide the device (110) of signal, (140), (150), the dimensional orientation of this signal instruction mancarried device, this device comprises:
-be used to measure acceleration of gravity to act on means for determining sense of dire (140) on the instrument;
-be used for direction that comparison measures and the reference direction of determining comparison means (110) and
-be used for providing Signal Processing device (110) according to comparative result,
It is characterized in that being used for determining the following element of reference direction:
-be used for detecting to direction measure influential parameter (T) pick-up unit (150) and
-be used for measuring threshold value (α in advance according to this influential parameter (T)
1, α
2) pre-mensuration device (110).
8. according to the device (110,140,150) of claim 7, it is characterized in that this determinator comprises and is used for three paired linear each other incoherent direction in spaces (x, y, acceleration transducers z) (140).
9. device according to Claim 8 (110,140,150) is characterized in that, described influential parameter is the temperature of described acceleration transducer (140).
10. portable instrument (100) has according to each device (110,140,150) in the claim 7 to 9.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| DE201010000929 DE102010000929A1 (en) | 2010-01-15 | 2010-01-15 | Method for providing signal indicating spatial alignment of portable device e.g. mobile phone, involves detecting parameter influencing direction determination by using sensor, and determining reference direction based on detected parameter |
| DE102010000929.6 | 2010-01-15 |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN102183232A true CN102183232A (en) | 2011-09-14 |
| CN102183232B CN102183232B (en) | 2015-08-12 |
Family
ID=44313799
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201110022436.7A Expired - Fee Related CN102183232B (en) | 2010-01-15 | 2011-01-17 | orientation sensor |
Country Status (3)
| Country | Link |
|---|---|
| CN (1) | CN102183232B (en) |
| DE (1) | DE102010000929A1 (en) |
| TW (1) | TWI512295B (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104006788A (en) * | 2014-05-23 | 2014-08-27 | 深圳市元征科技股份有限公司 | Method for detecting direction of automobile DLC (Data Link Connector) socket |
| CN104374363A (en) * | 2014-10-29 | 2015-02-25 | 广东欧珀移动通信有限公司 | Orientation method and device of mobile equipment |
| CN106125160A (en) * | 2016-06-14 | 2016-11-16 | 重庆蓝岸通讯技术有限公司 | Automatically the system and method in gravity sensor direction is calibrated |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| TWI568414B (en) * | 2015-12-31 | 2017-02-01 | Respiratory signal acquisition method and its fetching device |
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2010
- 2010-01-15 DE DE201010000929 patent/DE102010000929A1/en not_active Withdrawn
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- 2011-01-17 CN CN201110022436.7A patent/CN102183232B/en not_active Expired - Fee Related
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| CN1470879A (en) * | 2002-07-10 | 2004-01-28 | ������������ʽ���� | Acceleration measuring apparatus with calibration function |
| CN1694059A (en) * | 2004-05-08 | 2005-11-09 | 纬创资通股份有限公司 | Electronic device for regulating image display direction according to display panel rotation position |
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| CN104006788A (en) * | 2014-05-23 | 2014-08-27 | 深圳市元征科技股份有限公司 | Method for detecting direction of automobile DLC (Data Link Connector) socket |
| CN104374363A (en) * | 2014-10-29 | 2015-02-25 | 广东欧珀移动通信有限公司 | Orientation method and device of mobile equipment |
| CN106125160A (en) * | 2016-06-14 | 2016-11-16 | 重庆蓝岸通讯技术有限公司 | Automatically the system and method in gravity sensor direction is calibrated |
Also Published As
| Publication number | Publication date |
|---|---|
| CN102183232B (en) | 2015-08-12 |
| TW201200875A (en) | 2012-01-01 |
| DE102010000929A1 (en) | 2011-07-21 |
| TWI512295B (en) | 2015-12-11 |
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