CN102183232B - orientation sensor - Google Patents
orientation sensor Download PDFInfo
- Publication number
- CN102183232B CN102183232B CN201110022436.7A CN201110022436A CN102183232B CN 102183232 B CN102183232 B CN 102183232B CN 201110022436 A CN201110022436 A CN 201110022436A CN 102183232 B CN102183232 B CN 102183232B
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- CN
- China
- Prior art keywords
- instrument
- signal
- acceleration
- reference direction
- influential parameter
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- 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.)
- Expired - Fee Related
Links
- 230000001133 acceleration Effects 0.000 claims abstract description 36
- 238000000034 method Methods 0.000 claims abstract description 16
- 230000005484 gravity Effects 0.000 claims abstract description 15
- 238000001514 detection method Methods 0.000 claims abstract description 12
- 230000000052 comparative effect Effects 0.000 claims abstract description 7
- 230000003111 delayed effect Effects 0.000 description 14
- 230000008859 change Effects 0.000 description 6
- 238000010586 diagram Methods 0.000 description 5
- 230000000694 effects Effects 0.000 description 3
- 238000004519 manufacturing process Methods 0.000 description 3
- 230000035945 sensitivity Effects 0.000 description 3
- 238000006243 chemical reaction Methods 0.000 description 2
- 230000006872 improvement Effects 0.000 description 2
- 238000005259 measurement Methods 0.000 description 2
- 238000000342 Monte Carlo simulation Methods 0.000 description 1
- 230000006978 adaptation Effects 0.000 description 1
- 230000002411 adverse Effects 0.000 description 1
- 238000011156 evaluation Methods 0.000 description 1
- 239000003550 marker Substances 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 230000007704 transition Effects 0.000 description 1
- 239000002699 waste material Substances 0.000 description 1
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 present invention relates to a kind of orientation sensor and a kind of for providing the method for signal, the dimensional orientation of this signal instruction portable instrument, the method comprises the following steps: measure a direction, and acceleration of gravity is applied to this instrument from this direction; The direction of mensuration is compared with the reference direction determined and provides signal according to comparative result, wherein in order to determine that reference direction detects to the influential parameter of direction detection and according to this influential parameter determination reference direction.
Description
Technical field
The present invention relates to a kind of directed determinator.The invention particularly relates to the method and apparatus for providing signal, the dimensional orientation of this signal instruction portable instrument.
Background technology
Portable instrument, such as mobile phone or personal digital assistant (PDA) are equipped with display, and this display can differently manifest predetermined displaying contents according to instrument orientation in space.Depending on user instrument remained in vertical format and still remain in horizontal format, such as, a content can be displayed with vertical format (" portrait ") or with horizontal format (" landscape ") over the display.
US 2006/0204232 A1 describes a kind of video camera had for measuring the aspect-stabilized direction sensor of video camera.An artificial horizontal line such as can be demonstrated in the view finder of this video camera according to the orientation measured.
US 7,138,979 B2 shows a kind of portable instrument, and it has the sensor for determining instrument orientation in space, can input by simulating keyboard according to measured instrumented site and the instrument space measured orientation.
For the normally used sensor of dimensional orientation measuring known apparatus is subject to different disturbing effects, make signal that is provided, explanation instrument space orientation always unreliable.In order to enough accurately measure the orientation of portable instrument based on provided signal, each sensor can be calibrated individually for interference volume.At this, sensor is subject to known acceleration and known interference volume and receives the difference between value and a corrected value provided by sensor.This mensuration is repeated for multiple interference volume and is produced a characteristic curve by multiple difference measured at this.In measurement application, can determine that temperature distributes a value of this characteristic curve for each value provided by sensor based on one, a measured value corrected can be determined on the basis of this value.The what is called calibration of sensor must be carried out each sensor individually due to manufacturing tolerance when manufacturing sensor, and this to waste very much and cost is high thus.
Summary of the invention
This task of the present invention is, provides a kind of for providing the improvement opportunity of phasing signal.
In order to provide the aspect-stabilized signal of explanation one portable instrument, first measure a direction, acceleration of gravity is applied on this instrument by this direction.Subsequently, measured direction and the reference direction determined are compared and provide described signal according to comparative result.At this, in order to determine reference direction, detect one to the influential parameter of direction detection and according to this influential parameter determination reference direction.Also alternatively described one is used to the influential parameter of the precision of direction detection to the influential parameter of direction detection.
Therefore, the calibration expended to device can be avoided, be applied to the direction on this instrument by means of this device mensuration acceleration of gravity, can production cost be reduced thus.This influential parameter and this parameter such as can be implemented for multiple determinator by rule of thumb, cost advantages on the relation between the impact of direction detection, make one usually or in worst case predicted to affect numerical value and can be used to determine reference direction.
Also can use the reference direction that two different, wherein, comparative result depends on the order of this mensuration direction through two reference directions.Such comparison is called relatively delayed or Schmidt trigger.Difference (delayed) between two reference directions can be depending on this influential parameter and especially can be depending on this influential parameter and the difference of reference quantity determined.The reference quantity determined can illustrate a condition, and under this condition, determinator is optimised or calibrate or compensate to be subject to this parameter influence as small as possible.
In this way, when parameter is on the impact hour of direction detection, delayedly keep little, when the impact of parameter on direction detection is large, to be delayedly increased.Thus, in an advantageous case, namely when the impact of parameter is hour maybe when this parameter and the difference hour of the reference quantity determined, the sensitive change of signal can be realized according to the change of instrument space orientation.And difference under adverse conditions, namely when the impact of parameter on direction detection is large or between this influential parameter and the reference quantity determined large time, signal declines relative to the sensitivity of the change of instrument space orientation, but the steadiness of Simultaneously test improves, make owing to disturbing the undesirable signal intensity caused to avoid by influential parameter.The precision of direction detection also can correspondingly mode be simulated.
In order to determining instrument from one determine be spatially directed to another aspect-stabilized transition determined, an inclination angle of instrument can be determined based on the direction of this mensuration.The orientation of a multidimensional can be described in this inclination angle by a unique value, thus simplifies the further process such as by comparing with as the threshold value with reference to direction.
Influential parameter can be temperature and the temperature in particular for measuring means for determining sense of dire.Advantageously, this determinator is integrally constructed by together with temperature sensor.Influential parameter can illustrate the difference between this temperature and the reference temperature determined, wherein reference temperature can corresponding to indoor air temperature.Determinator can comprise the acceleration transducer for three direction in spaces of linear independence each other in couples, makes to measure acceleration of gravity direction in three dimensions.
This signal can illustrate one in the multiple spatially discrete determination orientation of instrument.Advantageously directly can be derived display or the operational mode of instrument by this signal, such as " vertical format ", " horizontal format " or " tiling ".
Other side of the present invention relates to a kind of for providing the device of this signal and a kind of portable instrument with this device.
Accompanying drawing explanation
Combine the accompanying drawing enclosed below and describe some embodiments of the present invention in detail, 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 two-dimensional space orientation;
The signal chart of the relation between the phasing signal of Fig. 4 in the instrument of Fig. 1 and the inclination angle of instrument;
The signal chart of the relation of Fig. 5 between the temperature and parameter of the instrument of Fig. 1; And
Fig. 6 is used for the method for measured signal in the instrument 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 each in parts 120 to 150.Acceleration transducer 140 measures the acceleration at least one dimension and is preferably configured to MEMS (micro electro mechanical system) with MEMS technology.Preferably, this acceleration transducer 140 is 3D acceleration transducers, and this 3D acceleration transducer detects the acceleration in three Cartesian coordinates.This acceleration transducer 140 provides measured value, can derive the one or more angles between instrument axis and spatial axis by described measured value.For this reason, acceleration transducer directly can measure around the angle of instrument axis or derive this angle by the numerical value of the acceleration of gravity along instrument axis, such as, under one-dimensional case, pass through α=arctan (Fz/sqrt (Fx by α=acos (Fz) or under two-dimensional case
2+ Fz
2), wherein Fx, Fy and Fz indicate the acceleration of gravity along x, y or z-axis.Such angle conversion is also undertaken by treating apparatus 110.Preferably, temperature sensor 150 and acceleration transducer 140 integrally construct.
Display 120 is arranged in a different format, such as export content to be output with vertical format or with horizontal format.The corresponding adaptation treating output content is undertaken by display 120 or treating apparatus 110 convertiblely.
Treating apparatus 110 is arranged for the aspect-stabilized signal providing an explanation instrument 100.This signal can be such as electric signal or marker (Semaphor), interrupt (interrupt), nonexpondable variable, the software signal of function call or similar type.Especially can provide the signal of an application program, this application program shows on display 120 in one according to this signal and prepares a content perhaps before display.This application program can be run equally on treating apparatus 110.
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 vertical pivot z, and these axles are not with the initial point in θ angular vertex as cartesian coordinate system for clearly reason but illustrate on instrument 100 side.This instrument 100 is directed so rotationally in space around z-axis, and acceleration of gravity Fg is acted on instrument 100 with the angle [alpha] of a relative longitudinal axis y.In addition, the reference direction α of two relative longitudinal axis y is painted with
1, α
2, this both direction surrounds an angle θ.
In the instrument 100 of Fig. 1, signal in the first form of implementation by angle [alpha] and reference direction α
1or α
2relatively measure.According to the rotation of instrument 100 around z-axis, the first dimensional orientation A is by α > α
1definition, the directed B of second space is by α
1> α > α
2definition and the 3rd dimensional orientation C are by α < α
2define.In the second form of implementation, instrument 100 can according to hysteric type by angle [alpha] and two reference direction α around the orientation of z-axis
1, α
2relatively measure.Which kind of sequentially passes through reference direction α with depending on α
1, α
2and determine, can by α
1with α
2between region be attributed to a 4th directed D or a 5th directed E (the following explanation see composition graphs 4).Directed C and D such as can the vertical format of display 120 and directed A and E can the horizontal formats of display 120 in representative graph 1 in representative graph 1.Other possible orientation comprises reverse vertical format and reverse horizontal format.
Fig. 3 shows the instrument 100 of Fig. 1 two dimension using schematic diagram as wiregrating (Drahtgitter) is directed.Instrument 100 rotates in this wise around its x-axis and around its y-axis, makes the z-axis of acceleration of gravity Fg and instrument 100 be surrounded as angle [alpha].The circular cone 210 illustrated has one at reference direction α
1with α
2between open-angle θ.In the drawings, circular cone 210 symmetrically opens around z-axis; But also differently can 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 summit but illustrates on instrument 100 side due to clearly reason.Angle [alpha] describes the inclination angle of instrument 100 around its x-axis and y-axis.Angle beta adds and describes the orientation of instrument 100 around its z-axis.
At this, instrument 100 defines in the following manner around the dimensional orientation F (not indicating) of its x-axis and y-axis thereof: angle [alpha] is positioned at α
1and α
2border between.If acceleration of gravity Fg extends in shown, that instrument 100 is fixing relatively circular cone 210 inside, then this instrument 100 is clearly directed in directed A.If instrument 100 keeps flat (" flat down ") on one table, then dimensional orientation F such as can be received by instrument 100.Correspondingly, instrument 100 can by one at α around a directed G (not indicating) of its x-axis and y-axis thereof
1and α
2border outside angle [alpha] provide, that is this is clearly when the extension of circular cone 210 at acceleration of gravity Fg.
Have the delayed of different threshold value to realize as shown in Figure 2, definable two has the circular cone on different open-angle and consistent summit.The numerical value of delayed θ is determined as the half of the difference of the open-angle of circular cone subsequently.In order to differently determine delayed/or the size of threshold value in different dimensions, replace circular cone such as also can use elliptic cone (Kegel ü ber Ellipsen).When using delayed, the mensuration of instrument orientation is carried out as illustratedly in composition graphs 4 below.
Fig. 4 shows one about the graph of a relation between angle [alpha] in figs 2 and 3 and the signal provided by the instrument 100 in Fig. 1.Angle [alpha] is represented with horizontal direction.In addition, the reference direction α in Fig. 2 and 3 has been marked
1, α
2.The signal of the instrument 100 in Fig. 1 is represented with vertical direction.Two in Fig. 2 directed D and E of different exemplary discrete space are marked; Also other can be used directed, especially various dimensions, directed F and G that illustrate as composition graphs 3.
Curve 410 in chart 400 describes a hysteresis loop.If angle [alpha] experience from its minimum value (leftmost side) to the value of its maximal value (rightmost side), then exceedes reference direction α in angle [alpha]
2moment signal is transformed into directed E from directed D.If the value of angle [alpha] experience from its maximal value (rightmost side) to its minimum value (leftmost side), then when angle [alpha] is less than reference direction α
1time just make signal get back to directed D from directed E.Reference direction α
1and α
2also can be exchanged in the meaning of above-mentioned explanation, this on figure corresponding to the upset of the arrow marked along hysteresis loop.
Achieve in this way, angle [alpha] can be caused at reference direction α
1and α
2scope in fluctuation disturbing effect cause signal undesirable change between D and E.
Delayed θ is larger, then the sensitivity of the conversion ratio of instrument 100 between adjacent space orientation is lower; But the steadiness of mensuration meanwhile, is improve relative to signal or the undesirable change of dimensional orientation.Delayed θ by two reference direction α
1and α
2the size of numerical value that provides of difference corresponding to reference direction α in Fig. 2 and 3
1,2difference.
Two charts 510 and 520 relevant with the temperature of Fig. 1 Instrumental 100 have been shown in Fig. 5.The chart 510 of top shows the correlativity of the typical error caused by temperature of exemplary independent acceleration transducer S1 to S4, the icon 520 of below show Fig. 2,3 and 4 delayed θ and the temperature of acceleration transducer 140 between relation.
At two charts 510, in 520, represent temperature with horizontal direction.The temperature T marked
0be a reference temperature, this reference temperature is such as corresponding to indoor air temperature (about 25 DEG C).T
0to be in operation optimised temperature corresponding to the sensor S1-S4 in upper graph 510.Sensor S1 to S4 has different linear error about the temperature curve illustrated and offset error, but as one man at T
0in scope around, there is relatively little error.The error of actual acceleration sensor S1-S4 can adopt until the absolute value of 0.2g according to temperature.
The absolute effect of temperature to the goniometry by given sensor S1 to S4 is not generally known.But by observe multiple sensor S1 to S4 can determine: the precision (average error) of temperature on sensor S1 to S4 typically have which kind of impact, make the precision expected of current sensor can based on this average data estimated or adopt.
The numerical value of the delayed θ in lower diagrams 520 corresponds respectively to the difference between the corresponding least error of sensor S1 to S4 in chart 510 up and corresponding maximum error at each temperature.Preferably, the change curve of numerical value shown in lower diagrams 520, delayed θ is determined by means of the measurement of monte carlo method based on the exemplary acceleration transducer S1-S4 to abundant quantity.
Fig. 6 shows a kind of for providing the method 600 of signal in instrument 100 inside of Fig. 1.The method 600 comprises state 610 to 670.
In state 610, the method 600 is arranged in initial state.Then in state 620, the temperature of acceleration transducer 140 is measured by means of temperature sensor 150.Then the numerical value of the delayed θ in composition graphs 2 to 5 description is above determined in act 630 based on the temperature measured.After this in step 640, the reference direction α that the numerical evaluation based on delayed θ illustrates at composition graphs 2 to 4 above
1and α
2.
In step 650, the direction of the acceleration of gravity Fg acted on instrument 100 is measured by means of acceleration transducer 140.In step 660 by measured direction and reference direction α
1and α
2compare in the delayed comparison that composition graphs 4 illustrates.Finally, in step 670, provide corresponding to comparative result the aspect-stabilized signal that instrument 100 is described.Finally, method 600 to turn back in initial state 610 and can rerun.
Can realize the reliable determination of the discrete space orientation particularly determined of portable instrument by means of the present invention and good compromise can be selected according to interference volume between the steadiness measured and the sensitivity of mensuration at this, making the operability of improvement user generally being adjusted to instrument.The temperature dependency of independent acceleration transducer 140 reality need not be measured for this reason.
Claims (10)
1., for providing the method (600) of signal, the dimensional orientation of this signal instruction portable instrument (100), the method has following steps:
-measure (650) one directions, acceleration of gravity (F
g) be applied on this instrument (100) by this direction;
-measured direction and the reference direction determined compared (660) and
-provide (670) signal according to comparative result;
It is characterized in that the following step for determining reference direction:
-detect (620) to the influential parameter of direction detection (T) and
-determine (640) reference direction according to this influential parameter (T).
2. method according to claim 1 (600), is characterized in that, use the reference direction that two are different, wherein, described comparative result depends on the order of the direction of this mensuration through two reference directions, and as the threshold value (α with reference to direction
1, α
2) between difference (θ) depend on the reference quantity (T that this influential parameter (T) and one 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 direction of this mensuration is compared (660) and is comprised this inclination angle (α) and the threshold value (α as reference direction with the described of reference direction
1, α
2) comparison (660).
4. according to the method (600) of claim 1 or 2, it is characterized in that, described influential parameter is the temperature for measuring means for determining sense of dire (140).
5. according to the method (600) of claim 1 or 2, it is characterized in that, one in multiple discrete dimensional orientations (A-G) determined of described signal instruction instrument (100).
6., according to the method (600) of claim 1 or 2, it is characterized in that, to acceleration of gravity (F
g) mensuration in direction that acts on instrument comprises and detect acceleration of gravity (F
g) numerical value on three paired linear each other incoherent dimensional orientations (x, y, z).
7., for providing the equipment (110) of signal, (140), (150), the dimensional orientation of this signal instruction mancarried device, this device comprises:
-act on means for determining sense of dire (140) on instrument for measuring acceleration of gravity;
-for compare measured direction and the comparison means (110) of reference direction determined and
-for providing the treating apparatus (110) of signal according to comparative result,
It is characterized in that the following element for determining reference direction:
-for detecting the pick-up unit (150) of the influential parameter of direction detection (T) and
-for predicting the threshold value (α had made to order as reference direction according to this influential parameter (T)
1, α
2) pre-determinator (110).
8. equipment according to claim 7 (110,140,150), is characterized in that, this determinator comprises the acceleration transducer (140) for three paired linear each other incoherent direction in spaces (x, y, z).
9. equipment 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 the equipment (110,140,150) any one of claim 7 to 9.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| DE102010000929.6 | 2010-01-15 | ||
| 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 |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN102183232A CN102183232A (en) | 2011-09-14 |
| CN102183232B true 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) |
Families Citing this family (4)
| 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 |
| CN104374363B (en) * | 2014-10-29 | 2017-02-15 | 广东欧珀移动通信有限公司 | Orientation method and device of mobile equipment |
| TWI568414B (en) * | 2015-12-31 | 2017-02-01 | Respiratory signal acquisition method and its fetching device | |
| CN106125160B (en) * | 2016-06-14 | 2018-11-09 | 重庆蓝岸通讯技术有限公司 | The system and method in automatic calibration gravity sensor direction |
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-
2010
- 2010-01-15 DE DE201010000929 patent/DE102010000929A1/en not_active Withdrawn
-
2011
- 2011-01-13 TW TW100101174A patent/TWI512295B/en not_active IP Right Cessation
- 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 |
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Also Published As
| Publication number | Publication date |
|---|---|
| DE102010000929A1 (en) | 2011-07-21 |
| TWI512295B (en) | 2015-12-11 |
| TW201200875A (en) | 2012-01-01 |
| CN102183232A (en) | 2011-09-14 |
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