CN104101337A - Calibration method used for electronic compass - Google Patents
Calibration method used for electronic compass Download PDFInfo
- Publication number
- CN104101337A CN104101337A CN201310127889.5A CN201310127889A CN104101337A CN 104101337 A CN104101337 A CN 104101337A CN 201310127889 A CN201310127889 A CN 201310127889A CN 104101337 A CN104101337 A CN 104101337A
- Authority
- CN
- China
- Prior art keywords
- coordinate
- magnetometric sensor
- circle
- sensing
- value
- 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.)
- Pending
Links
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C17/00—Compasses; Devices for ascertaining true or magnetic north for navigation or surveying purposes
- G01C17/38—Testing, calibrating, or compensating of compasses
Landscapes
- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Navigation (AREA)
Abstract
The invention discloses a calibration method used for an electronic compass. The electronic compass contains a plurality of magnetic sensors, wherein each magnetic sensor is corresponding to a sensing ring. The calibration method includes following steps: respectively detecting multiple first time point coordinates and multiple second time point coordinates by means of the plurality of magnetic sensors at different time points; respectively calculating a geometrical relationship between the sensing rings corresponding to the magnetic sensors and a coordinate origin point according to the first time point coordinates and the multiple second time point coordinates; and calibrating the magnetic sensors according to the relationship. By means of the method, a problem of error caused by external disturbance in the electronic compass can be solved.
Description
Technical field
The present invention relates to a kind of bearing calibration for electronic compass, particularly relate to a kind of can be simply and the bearing calibration of correcting electronic compass rapidly.
Background technology
Electronic compass (Electronic Compass) technology is mainly to utilize magnetometric sensor to detect magnetic field of the earth to obtain required azimuth information.Because magnetic field is easily subject to external magnetic field interference, produce hard iron/soft iron interference effect (Hard/Soft Iron Effect), must carry out calibration procedure (calibration process) to electronic compass before use, to obtain accurate orientation values.
For instance, refer to Fig. 1, the schematic diagram of the corresponding sensing circle that Fig. 1 is magnetometric sensor.Wherein, MR_ideal is the desirable corresponding sensing circle of magnetometric sensor (Magnetic Sensor), and O is the round heart of the corresponding sensing of desirable magnetometric sensor.MR1 and MR2 are respectively the first magnetometric sensor and the corresponding sensing circle of the second magnetometric sensor, and O_MR1 and O_MR2 are respectively the first magnetometric sensor and the round heart of the corresponding sensing of the second magnetometric sensor.Aforesaid sensing figure be magnetometric sensor along correspondence with reference in the circular-rotation process of magnetic axis at the projected footprint of two dimensional surface.Also being just equivalent to the measured data of sensor rotation one circle (360 degree) distributes.As shown in Figure 1, do not having in noisy situation, sensing circle MR_ideal is a circle centered by true origin (0,0).When existing external magnetic field to disturb, the round heart O_MR1 of the first magnetometric sensor and the corresponding sensing of the second magnetometric sensor and O_MR2 tend to depart from true origin.Therefore in the program of electronic compass calibration, must find out the sensing circle home position place of each magnetometric sensor, and then the gap of calculating between the round heart of sensing (true origin) of the round heart of each sensing and desirable magnetometric sensor carrys out the benchmark as alignment settings, make each magnetometric sensor be able to normal use.
In prior art, normally electronic compass is carried out to specific rotation or upset mode operates (for example drawing 8 word operations), estimate the central coordinate of circle of corresponding sense circle.Yet, this approximate circle estimation mode need to collect a large amount of sensing points coordinates conventionally, and for large-scale carriers such as automobile, boats and ships, in the time of making its electronic compass being equipped with carry out the operation of some specific rotation or upset, tend to be limited to the restriction of carrier itself and cannot really carry out.The correction program of therefore, how can be simply and realizing fast electronic compass will be one of problem of needing badly at present research and development.
Summary of the invention
In view of this, the invention provides a kind of can be simply and the bearing calibration of correcting electronic compass rapidly, it can detect the sensing coordinate of different time points and the benchmark as compensation for calibrating errors by the geometric relationship between simple calculations program and each magnetometric sensor by magnetometric sensor.
According to one embodiment of the invention, it provides a kind of bearing calibration for an electronic compass, this electronic compass includes a plurality of magnetometric sensors, the plurality of magnetometric sensor corresponds respectively to a sensing circle, and this bearing calibration includes and utilizes the plurality of magnetometric sensor to detect a plurality of very first time point coordinate and a plurality of the second time point coordinate respectively at different time points; And according to a plurality of very first time point coordinate and a plurality of the second time point coordinate, calculate respectively the corresponding sense circle of the plurality of magnetometric sensor and the geometric relationship of true origin, and according to this plurality of magnetometric sensor is proofreaied and correct, whereby, allow electronic compass be overcome the error problem that external interference produces.
According to one embodiment of the invention, it provides a kind of bearing calibration for an electronic compass, wherein this electronic compass includes one first magnetometric sensor, corresponding to one first with reference to magnetic axis, and one second magnetometric sensor, corresponding to one second with reference to magnetic axis, this first with reference to magnetic axis and this second with reference to comprising an angle between magnetic axis, this bearing calibration includes and utilizes this first magnetometric sensor to detect one first deviation angle, and utilizes this second magnetometric sensor to detect one second deviation angle; And according to this first deviation angle and this second deviation angle, produce a rectification building-out value, so as to this electronic compass is carried out to rectification building-out.
According to technique scheme, the present invention at least has following advantages and beneficial effect compared to prior art: the present invention only needs to provide compensation for calibrating errors with a small amount of sensing coordinate figure and by the corresponding sensing circle that simple calculations program can be calculated each magnetometric sensor with the geometric relationship of true origin, thus, by the simple and quick and efficient correction that realizes electronic compass of energy.Meanwhile, when opening initialization, electronic compass must not rotate yet, the correction program of the big-movement such as upset obtains a large amount of sensing points coordinate datas, can reach the accuracy that calibration function guarantees to measure orientation.
About the advantages and spirit of the present invention, can be further understood by following detailed Description Of The Invention and institute's accompanying drawing.
Accompanying drawing explanation
Fig. 1 be magnetometric sensor the schematic diagram of corresponding sensing circle.
Fig. 2 is the schematic diagram of the electronic compass of the embodiment of the present invention.
Fig. 3 is that the embodiment of the present invention is for a schematic flow sheet of electronic compass.
Fig. 4 is that the embodiment of the present invention is for another schematic flow sheet of electronic compass.
Fig. 5 is that the embodiment of the present invention is for a schematic flow sheet again of electronic compass.
Wherein, description of reference numerals is as follows:
20 electronic compasss
200 substrates
202,204 magnetometric sensors
30,40,50 flow processs
300～306,400～410,500～506 steps
MR_ideal, MR1, MR2 sensing circle
O, O_MR1, the O_MR2 center of circle
X, x1, x2, y, y1, y2, z1, z2 coordinate axis
Embodiment
Refer to Fig. 2, Fig. 2 is the schematic diagram of an electronic compass 20 of the embodiment of the present invention.Electronic compass 20 includes a substrate 200, magnetometric sensor 202,204.Wherein, magnetometric sensor 202,204 is arranged on substrate 200, is used for detecting the intensity in magnetic field of the earth and calculating according to this corresponding sense position and deviation angle, to obtain azimuth information.The situation of substrate 200 visual application arranges, and for example it can be arranged on portable electronic devices or on vehicle carrier.About the setting of magnetometric sensor 202,204, because magnetometric sensor 202,204 meeting difference corresponding are with reference to magnetic axis, therefore magnetometric sensor can be arranged on substrate and make each with reference to including an angle between magnetic axis.For example, magnetometric sensor 202,204 can be arranged on substrate 200, make corresponding to magnetometric sensor 202 one first with reference to magnetic axis and corresponding to magnetometric sensor 204 one second with reference to including an angle between magnetic axis.For example, can make this first is 180 degree or any other angle with reference to magnetic axis and this second with reference to the angle between magnetic axis.
Further, be limited to the impact of environment for use, the magnitude of field intensity that each magnetometric sensor senses may have different error condition from sense position, and in the case, each magnetometric sensor can be corresponding to a sensing circle.For instance, magnetometric sensor 202 can be corresponding to one first sensing circle, and magnetometric sensor 202 can be corresponding to one second sensing circle, and the rest may be inferred.Owing to there being the situation of error, so those corresponding sensing circles may depart from a desirable sensing circle.In order to solve electronic compass 20, be subject to the error that external magnetic field interference produces, must be by finding out magnetometric sensor 202,204 its central coordinate of circle that corresponding sensing is justified separately before bringing into use electronic compass 20, recycling central coordinate of circle and desirable magnetometric sensor the geometrical deviation relation between the central coordinate of circle (being true origin) justified of corresponding sensing calibrate, to obtain more accurate azimuth information.About calculating the corresponding sensing circle of magnetometric sensor, further illustrate as follows with the correlative detail of the geometric relationship of desirable sensing circle.
About calculating the corresponding sensing circle central coordinate of circle of magnetometric sensor and the mode of the geometric relationship of true origin to proofread and correct, can be summarized as a flow process 30.Please refer to Fig. 3, flow process 30 comprises following steps:
Step 300: start.
Step 302: utilize a plurality of magnetometric sensors to detect a plurality of very first time point coordinate and a plurality of the second time point coordinate respectively at different time points.
Step 304: according to a plurality of very first time point coordinate and a plurality of the second time point coordinate, calculate respectively the corresponding sense circle of a plurality of magnetometric sensors and the geometric relationship of true origin, and according to this plurality of magnetometric sensors are proofreaied and correct.
Step 306: finish.
According to flow process 30, utilize a plurality of magnetometric sensors to detect corresponding very first time point coordinate and corresponding the second time point coordinate respectively at different time points.Then,, according to the corresponding very first time point coordinate detecting and corresponding a plurality of the second time point coordinate, calculate respectively the corresponding sense circle of each magnetometric sensor and the geometric relationship of true origin, more according to this each magnetometric sensor is proofreaied and correct.In other words, only need to use the sensing coordinate of magnetometric sensor detecting different time points, by simple calculations program, can calculate corresponding sense circle again and provide compensation for calibrating errors with the geometric relationship of desirable sensing circle (being true origin), thus, by the simple and quick and efficient correction that realizes electronic compass of energy.
Further illustrate, in step 302, can utilize magnetometric sensor 202 to detect the first coordinate and the second coordinate respectively at different time points, and utilize magnetometric sensor 204 to detect three-dimensional and 4-coordinate respectively at different time points.Wherein said coordinate is the sense position of this corresponding magnetometric sensor when putting sometime.For example, in time point T1, by magnetometric sensor 202, detect one first coordinate (X1_t1, Y1_t1).In time point T2, by magnetometric sensor 202, detect one second coordinate (X1_t2, Y1_t2).Similarly, in time point T1, by magnetometric sensor 204, detect a three-dimensional (X2_t1, Y2_t1).In time point T2, by magnetometric sensor 204, detect a 4-coordinate (X2_t2, Y2_t2).That is to say, in step 302, can utilize each magnetometric sensor to detect its corresponding position coordinates for follow-up computing in different time points.In addition, each magnetometric sensor can be detected aforesaid coordinate position when electronic compass 20 carries out on-rectilinear movement, thus, can further increase the degree of accuracy of correction by the variation turning to.
In step 304, can be pursuant to the respective coordinate value that time point T1, T2 detect and calculate corresponding sense circle and the geometric relationship between true origin of each magnetometric sensor and according to this each magnetometric sensor proofreaied and correct.For instance, please refer to Fig. 4, Fig. 4 is an alternate embodiment of the step 304 in Fig. 3.If be noted that identical in fact result, the present invention is not limited with the order of process flow diagram shown in Fig. 3.Flow process 40 comprises following steps:
Step 400: start.
Step 402: calculate the coordinate difference of the first coordinate and the second coordinate to determine the first reference coordinate, and the coordinate difference of calculating three-dimensional and 4-coordinate is to determine the second reference coordinate.
Step 404: calculate reference line according to the first reference coordinate and the second reference coordinate.
Step 406: calculate sensing radius of circle according to the first coordinate and three-dimensional.
Step 408: determine the first corrected value according to the second coordinate, reference line and sensing radius of circle, so that the first magnetometric sensor is proofreaied and correct, and determine the second corrected value according to 4-coordinate, reference line and sensing radius of circle, so that the second magnetometric sensor is proofreaied and correct.
Step 410: finish.
In step 402, by calculating the coordinate difference of the first coordinate and the second coordinate, decide one first reference coordinate (X1_ref, Y1_ref), and decide one second reference coordinate (X2_ref by calculating the coordinate difference of three-dimensional and 4-coordinate, Y2_ref), i.e. X1_ref=X1_t2-X1_t1, Y1_ref=Y1_t2-Y1_t1, X2_ref=X2_t2-X2_t1, Y2_ref=Y2_t2-Y2_t1.
Further illustrate, in step 402, due to the first reference coordinate (X1_ref, Y1_ref) equal the coordinate difference of the first coordinate of time point T1 and the second coordinate of time point T2, for magnetometric sensor 202, the distance of X1_t1 that this has also been equivalent to its corresponding the first sensing circle translation in the horizontal direction, in the vertical direction translation the distance translation of Y1_t1.In the case, the position that moves to initial point (0,0) is also just being complied with in the sensing points position of original the first coordinate, and the position that moves to the first reference coordinate (X1_ref, Y1_ref) is also just being complied with in original the second coordinate sensing points position simultaneously.In like manner, the position that moves to true origin (0,0) is also just being complied with in the sensing points position of original three-dimensional, and the position that moves to the second reference coordinate (X2_ref, Y2_ref) is also just being complied with in original 4-coordinate position simultaneously.In other words, after the computing by step 402, originally corresponding to the position of the first round coordinate of the first sensing and the position corresponding to the round three-dimensional of the second sensing, be equivalent to be moved to true origin.And originally corresponding to the position of the second round coordinate of the first sensing and the position corresponding to the round 4-coordinate of the second sensing, also can be moved to the position of the first reference coordinate (X1_ref, Y1_ref) with the second reference coordinate (X2_ref, Y2_ref) respectively.
In step 404, according to the first reference coordinate and the second reference coordinate, calculate the slope m of a reference line S, can come computing to obtain by formula (1):
Then, according to the first reference coordinate, the second reference coordinate and the slope that calculates, calculate reference line S, wherein reference line S is by the first reference coordinate, the second reference coordinate.The equation of reference line S can formula (2) represent:
Whereby, in step 404, can obtain by the reference line S of the first reference coordinate (X1_ref, Y1_ref), the second reference coordinate (X2_ref, Y2_ref).When time point T1 and time point T2 approach very much, the tangent line of the 4-coordinate that the second coordinate that reference line S is equivalent to the first sensing circle and the second sensing are justified.
In step 406, according to the first coordinate (X1_t1, Y1_t1) and three-dimensional (X2_t1, Y2_t1) calculate a sensing radius of circle R, wherein this sensing radius of circle R equals 1/2nd of distance between the first coordinate (X1_t1, Y1_t1) and three-dimensional (X2_t1, Y2_t1).
Finally, in step 408, according to the second coordinate, reference line S and sensing radius of circle R, determine the central coordinate of circle of the first sensing circle, and the central coordinate of circle that determines the second sensing circle according to 4-coordinate, reference line S and sensing radius of circle R.For instance, can calculate by the second coordinate and corresponding to the one first normal N1 of reference line S, wherein the first normal N1 is for by the second coordinate and perpendicular to the straight line of reference line S.Then, according to the second coordinate and sensing radius of circle R, along the first normal N1, obtain one first with reference to sensing circle coordinates (Xo1 ', Yo1 '), wherein the second coordinate and first equals the length of sensing radius of circle R with reference to the distance between sensing central coordinate of circle (Xo1 ', Yo1 ').That is to say, first with reference to sensing central coordinate of circle be positioned at the first normal N1 upper and with the distance of the second coordinate be the position coordinates of sensing radius of circle R.
In the case, first with reference to sensing central coordinate of circle be equivalent to original the first sensing circle translation in the horizontal direction X1_t1 distance and in the vertical direction translation the home position after the distance translation of Y1_t1.Therefore, the coordinate figure with reference to sensing circle coordinates and the first coordinate (X1_t1, Y1_t1) is added the central coordinate of circle (Xo1, Yo1) that is the first sensing circle.(Xo1=Xo1 '+X1_t1 and Yo1=Yo1 '+Y1_t1).That is to say, magnetometric sensor 202 makes the first corresponding sensing justify central coordinate of circle because of external interference is offset to (Xo1, Yo1) by true origin (0,0) and locates.Thus, just can carry out the benchmark as alignment settings by the first corrected value, make corresponding the first sensing circle of the first magnetometric sensor adjust back true origin, correctly to carry out sensing.
In like manner, can calculate by 4-coordinate (X2_t2, Y2_t2) and corresponding to one of reference line S the second normal N 2.According to 4-coordinate and sensing radius of circle R, along the second normal N 2, obtain one second with reference to sensing circle coordinates (Xo2 ', Yo2 '), wherein 4-coordinate and second with reference between sensing central coordinate of circle apart from the length that equals sensing radius of circle R.Then, computing reference sensing circle coordinates (Xo2 ', Yo2 ') with three-dimensional (X2_t1, Y2_t1) coordinate figure and value, and by aforesaid and value result of calculation as the benchmark of the second corrected value alignment settings, make corresponding the second sensing circle of the second magnetometric sensor adjust back true origin, correctly to carry out sensing.
In brief, the present invention only needs to use magnetometric sensor to detect the sensing coordinate of two different time points, the corresponding sensing circle central coordinate of circle that can calculate each magnetometric sensor by simple calculations program again provides compensation for calibrating errors with the geometric relationship that desirable sensing is justified, thus, by the simple and quick and efficient correction that realizes electronic compass of energy.Meanwhile, when opening initialization, electronic compass must not rotate yet, the correction program of the big-movement such as upset obtains a large amount of sensing points coordinate datas, can reach the accuracy that calibration function guarantees to measure orientation.
Be noted that in step 302, before magnetometric sensor 202 and 204 starts to detect sensing coordinate, whether can first detect magnetometric sensor 202 and 204 in horizontality.Because any tilt condition all can be detrimental to the degree of accuracy of sensor.Therefore, if magnetometric sensor 202 or 204 does not keep level, can to magnetometric sensor 202 or 204, carry out level correction by acceleration transducer, to guarantee the degree of accuracy of magnetic force sensing running.
On the other hand, because different magnetometric sensor setting parties is to corresponding to different reference magnetic axises, the deviation angle that magnetometric sensor senses is also thereupon different.Whereby, the present invention separately propose a kind of utilize different setting parties to magnetometric sensor sense the mode that deviation angle relation is proofreaied and correct.Please continue Fig. 2, suppose magnetometric sensor 202,204 to be arranged on substrate 200 to be symmetrical arranged mode, wherein magnetometric sensor 202,204 can correspond respectively to one first with reference to magnetic axis and one second with reference to magnetic axis, and this first is 180 degree with reference to magnetic axis and this second with reference to angle between magnetic axis.Thus, the corresponding three-dimensional coordinate axis of magnetometric sensor 202 can be with the corresponding three-dimensional coordinate axis of magnetometric sensor 204 apart from the differential seat angle that has 180 degree.As shown in Figure 2, the respective coordinates axle x2 of the respective coordinates axle x1 of magnetometric sensor 202 and magnetometric sensor 204 differs 180 degree, and the respective coordinates axle y2 of the respective coordinates axle y1 of magnetometric sensor 202 and magnetometric sensor 204 differs 180 degree.The respective coordinates axle z2 of the respective coordinates axle z1 of magnetometric sensor 202 and magnetometric sensor 204 is equidirectional.For instance, as shown in Figure 2, respective coordinates axle z1, z2 are with gravity in the other direction as forward, and magnetometric sensor horizontal positioned upwards.About in electronic compass 20, utilize different setting parties to the correcting mode that carries out of magnetometric sensor, can be summarized as a flow process 50, please refer to Fig. 5, flow process 50 comprises following steps:
Step 500: start.
Step 502: utilize the first magnetometric sensor to detect the first deviation angle, and utilize the second magnetometric sensor to detect the second deviation angle.
Step 504: produce rectification building-out value according to the first deviation angle and the second deviation angle, so as to electronic compass is carried out to rectification building-out.
Step 506: finish.
According to flow process 50, first, in step 502, utilize magnetometric sensor 202 to detect the first deviation angle θ 1, and and utilize magnetometric sensor 204 to detect the second deviation angle θ 2.Further, in step 504, can produce a rectification building-out value according to the first deviation angle θ 1 and the second deviation angle θ 2, so as to electronic compass 20 is carried out to rectification building-out.Then, in step 504, can judge whether magnetometric sensor 202,204 exists error according to the first deviation angle θ 1 and the second deviation angle θ 2, to produce a rectification building-out value, electronic compass 20 be carried out to rectification building-out.
Due to magnetometric sensor the 202, the 204th, with different setting parties, to being arranged on substrate 200, thereby under ideal state, the summation of both deviation angles of sensing of magnetometric sensor 202,204 will equal both with reference to the angle angle of magnetic axis.For instance, as shown in Figure 2, suppose magnetometric sensor the 202, the 204th, in symmetrically arranged mode, (both differ 180 degree with reference to magnetic axis) is set.Thus, under the situation that does not have external magnetic field to disturb, the summation of the deviation angle that magnetometric sensor 202,204 senses will equal 180 degree.In other words, for example, when the angle summation of the first deviation angle θ 1 and the second deviation angle θ 2 differs from this angle (θ 1+ θ is 2 ≠ 180 °), the rectification building-out value that produces a correspondence is carried out rectification building-out to this electronic compass 20.In brief, the geometric relationship that the present invention can arrange by each magnetometric sensor obtains the control information of magnetometric sensor, and carries out according to this rectification building-out, and is achieved the error correction object of electronic compass 20.Whereby, allow electronic compass 20 be overcome external magnetic field and disturb the error problem producing.
Be noted that aforementioned manner is to take magnetometric sensor 202 and 204 to explain as example, so this is only one embodiment of the invention, and those skilled in the art is when doing according to this different variations.For instance, can utilize more magnetometric sensors to realize above-mentioned flow process.
In sum, compared to prior art, the present invention only needs to provide compensation for calibrating errors with a small amount of sensing coordinate figure the corresponding sensing circle that can calculate each magnetometric sensor by simple calculations program with the geometric relationship of desirable sensing circle, thus, by the simple and quick and efficient correction that realizes electronic compass of energy.Meanwhile, when opening initialization, electronic compass must not rotate yet, the correction program of the big-movement such as upset obtains a large amount of sensing points coordinate datas, can reach the accuracy that calibration function guarantees to measure orientation.In addition, the present invention also propose a kind of utilize different setting parties to magnetometric sensor sense the mode that deviation angle relation is proofreaied and correct, and be able to simply and promptly realize calibration function.
The foregoing is only the preferred embodiments of the present invention, be not limited to the present invention, for a person skilled in the art, the present invention can have various modifications and variations.Within the spirit and principles in the present invention all, any modification of doing, be equal to replacement, improvement etc., within all should being included in protection scope of the present invention.
Claims (15)
1. for a bearing calibration for an electronic compass, this electronic compass includes a plurality of magnetometric sensors, and the plurality of magnetometric sensor corresponds respectively to a sensing circle, and this bearing calibration includes:
Utilize the plurality of magnetometric sensor to detect a plurality of very first time point coordinate and a plurality of the second time point coordinate respectively at different time points; And
According to a plurality of very first time point coordinate and a plurality of the second time point coordinate, calculate respectively the corresponding sense circle of the plurality of magnetometric sensor and the geometric relationship of a true origin, and according to this plurality of magnetometric sensor is proofreaied and correct.
2. bearing calibration as claimed in claim 1, is characterized in that, the step that detects a plurality of very first time point coordinate and a plurality of the second time point coordinates includes:
Utilize one first magnetometric sensor of the plurality of magnetometric sensor to detect one first coordinate and one second coordinate respectively at different time points, and utilizing one second magnetometric sensor of the plurality of magnetometric sensor to detect a three-dimensional and a 4-coordinate respectively at different time points, this first magnetometric sensor is round corresponding to one second sensing corresponding to one first sensing circle and this second magnetometric sensor.
3. bearing calibration as claimed in claim 2, is characterized in that, the step that detects this first coordinate and this second coordinate and utilize this second magnetometric sensor to detect this three-dimensional and this 4-coordinate respectively at different time points includes:
In a very first time point, utilize this first magnetometric sensor to detect this first coordinate, and utilize this first magnetometric sensor to detect this second coordinate in one second time point; And
In this very first time point, utilize this second magnetometric sensor to detect this three-dimensional, and utilize this second magnetometric sensor to detect this 4-coordinate in this second time point.
4. bearing calibration as claimed in claim 2, is characterized in that, the corresponding sense circle that calculates respectively the plurality of magnetometric sensor comprises with the geometric relationship of this true origin the step of according to this plurality of magnetometric sensor being proofreaied and correct:
Calculate the coordinate difference of this first coordinate and this second coordinate, to determine one first reference coordinate, and the coordinate difference of calculating this three-dimensional and this 4-coordinate, to determine one second reference coordinate;
According to this first reference coordinate and this second reference coordinate, calculate a reference line;
According to this first coordinate and this three-dimensional, calculate a sensing radius of circle; And
According to this second coordinate, this reference line and this sensing radius of circle, determine one first corrected value, so that this first magnetometric sensor is proofreaied and correct, and according to this 4-coordinate, this reference line and this sensing radius of circle, determine one second corrected value, so that this second magnetometric sensor is proofreaied and correct.
5. bearing calibration as claimed in claim 4, is characterized in that, the step that determines this first reference coordinate and determine this second reference coordinate includes:
Calculate the difference of the horizontal coordinate value of this first coordinate and the horizontal coordinate value of this second coordinate, to obtain the horizontal coordinate value of this first reference coordinate, and the difference of calculating the vertical coordinate value of this first coordinate and the vertical coordinate value of this second coordinate, to obtain the vertical coordinate value of this first reference coordinate; And
Calculate the difference of the horizontal coordinate value of this three-dimensional and the horizontal coordinate value of this 4-coordinate, to obtain the horizontal coordinate value of this second reference coordinate, and the difference of calculating the vertical coordinate value of this three-dimensional and the vertical coordinate value of this 4-coordinate, to obtain the vertical coordinate value of this second reference coordinate.
6. bearing calibration as claimed in claim 4, is characterized in that, the step that calculates this reference line includes:
Calculate the coordinate difference of this first reference coordinate and this second reference coordinate, to determine a slope of this reference line; And
According to this first reference coordinate, this second reference coordinate and this slope, determine this reference line, wherein this reference line is by this first reference coordinate and this second reference coordinate.
7. bearing calibration as claimed in claim 6, it is characterized in that, this slope of this reference line equals the difference of the horizontal coordinate value of this first reference coordinate and the horizontal coordinate value of this second reference coordinate divided by the difference of the vertical coordinate value of this first reference coordinate and the vertical coordinate value of this second reference coordinate.
8. bearing calibration as claimed in claim 4, is characterized in that, this sensing radius of circle equals 1/2nd of distance between this first coordinate and this three-dimensional.
9. bearing calibration as claimed in claim 4, is characterized in that, the step that determines this first corrected value and determine this second corrected value includes:
Calculate by this second coordinate and corresponding to one first normal of this reference line;
According to this second coordinate and this sensing radius of circle, along this first normal, obtain one first with reference to sensing central coordinate of circle, wherein this second coordinate and this first equals the length of this sensing radius of circle with reference to the distance between sensing central coordinate of circle;
Calculate by this 4-coordinate and corresponding to one second normal of this reference line;
According to this 4-coordinate and this sensing radius of circle, along this second normal, obtain one second with reference to sensing central coordinate of circle, wherein this 4-coordinate and this second equals the length of this sensing radius of circle with reference to the distance between sensing central coordinate of circle; And
Calculate this first coordinate figure with reference to sensing central coordinate of circle and this first coordinate and value, to determine this corrected value, and calculate this second coordinate figure with reference to sensing central coordinate of circle and this 4-coordinate and value, to determine this corrected value.
10. bearing calibration as claimed in claim 1, it is characterized in that, one first magnetometric sensor of the plurality of magnetometric sensor corresponding to one first with reference to magnetic axis, and one second magnetometric sensor of the plurality of magnetometric sensor corresponding to one second with reference to magnetic axis, this first with reference to magnetic axis and this second with reference to comprising an angle between magnetic axis.
11. bearing calibrations as claimed in claim 10, is characterized in that, this angle is 180 degree.
12. bearing calibrations as claimed in claim 1, whether it separately comprises the plurality of magnetometric sensor of detecting in horizontality.
13. 1 kinds of bearing calibrations for an electronic compass, wherein this electronic compass includes one first magnetometric sensor, corresponding to one first with reference to magnetic axis, and one second magnetometric sensor, corresponding to one second with reference to magnetic axis, this first with reference to magnetic axis and this second with reference to comprising an angle between magnetic axis, this bearing calibration includes:
Utilize this first magnetometric sensor to detect one first deviation angle, and utilize this second magnetometric sensor to detect one second deviation angle; And
According to this first deviation angle and this second deviation angle, produce a rectification building-out value, so as to this electronic compass is carried out to rectification building-out.
14. bearing calibrations as claimed in claim 13, when producing this rectification building-out value is contained in this first deviation angle and this second deviation angle angle summation so as to this electronic compass being carried out to the step of rectification building-out and differing from this angle, produce this rectification building-out value, so as to this electronic compass is carried out to rectification building-out.
15. bearing calibrations as claimed in claim 13, is characterized in that this angle is 180 degree.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310127889.5A CN104101337A (en) | 2013-04-12 | 2013-04-12 | Calibration method used for electronic compass |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310127889.5A CN104101337A (en) | 2013-04-12 | 2013-04-12 | Calibration method used for electronic compass |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN104101337A true CN104101337A (en) | 2014-10-15 |
Family
ID=51669684
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201310127889.5A Pending CN104101337A (en) | 2013-04-12 | 2013-04-12 | Calibration method used for electronic compass |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN104101337A (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105115485A (en) * | 2015-07-23 | 2015-12-02 | 小米科技有限责任公司 | Displaying method and device of compass calibration interface |
| CN105841682A (en) * | 2015-06-19 | 2016-08-10 | 维沃移动通信有限公司 | Pointing equipment based pointing method, device and mobile terminal |
| CN107389091A (en) * | 2017-06-26 | 2017-11-24 | 上海斐讯数据通信技术有限公司 | A kind of detection method and device of data |
| CN113218380A (en) * | 2021-05-21 | 2021-08-06 | 北京百度网讯科技有限公司 | Electronic compass correction method and device, electronic equipment and storage medium |
-
2013
- 2013-04-12 CN CN201310127889.5A patent/CN104101337A/en active Pending
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105841682A (en) * | 2015-06-19 | 2016-08-10 | 维沃移动通信有限公司 | Pointing equipment based pointing method, device and mobile terminal |
| CN105841682B (en) * | 2015-06-19 | 2019-03-01 | 维沃移动通信有限公司 | A kind of pointing method based on sensing equipment, device and a kind of mobile terminal |
| CN105115485A (en) * | 2015-07-23 | 2015-12-02 | 小米科技有限责任公司 | Displaying method and device of compass calibration interface |
| CN105115485B (en) * | 2015-07-23 | 2017-08-15 | 小米科技有限责任公司 | The display methods and device at compass calibration interface |
| CN107389091A (en) * | 2017-06-26 | 2017-11-24 | 上海斐讯数据通信技术有限公司 | A kind of detection method and device of data |
| CN113218380A (en) * | 2021-05-21 | 2021-08-06 | 北京百度网讯科技有限公司 | Electronic compass correction method and device, electronic equipment and storage medium |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106647791B (en) | Three-dimensional attitude measurement and control device, mechanical equipment and three-dimensional attitude measurement and control method | |
| CN106569150B (en) | A kind of two step bearing calibrations simply corrected for magnetic sensor | |
| US10234306B2 (en) | Method and apparatus for synchronizing a transmitter and receiver in a magnetic tracking system | |
| CN107084717B (en) | Mobile terminal for positioning system based on magnetic field map and method thereof | |
| CN101473193B (en) | Posture angle detecting device and posture angle detecting method | |
| EP3588011B1 (en) | Position sensor system and method, robust against disturbance field | |
| CN105509740A (en) | Measuring method and module for attitude of agriculture machinery vehicle | |
| EP2914966B1 (en) | A method for aligning a mobile device surface with the coordinate system of a sensor | |
| US20090070056A1 (en) | Method and device for calibrating a magnetic sensor | |
| Allotta et al. | Single axis FOG aided attitude estimation algorithm for mobile robots | |
| CN105737852B (en) | The measurement of laser range finder position and correction system and method | |
| JP5469670B2 (en) | Geomagnetic detector | |
| JP2006133230A (en) | Inclination sensor and utilization method therefor | |
| JP2007040763A (en) | Correction device of acceleration sensor | |
| CN104101337A (en) | Calibration method used for electronic compass | |
| CN113008227B (en) | Geomagnetic binary measurement method for measuring attitude based on three-axis accelerometer | |
| CN104792323B (en) | Dynamic Water level and attitude angle computational methods | |
| EP2972683B1 (en) | Dynamically calibrating magnetic sensors | |
| CN104316037A (en) | Electronic compass correction method and device | |
| CN104567773B (en) | The sloped correcting method of the base portion of arm type three-dimensional measuring machine and the support measuring machine | |
| CN110293563A (en) | Estimate method, equipment and the storage medium of robot pose | |
| TW202045949A (en) | Electronic device, tracking system and tracking method | |
| CN105444722A (en) | Method for detecting changes of postures of platform | |
| CN102168974A (en) | Movable 3D (three-dimensional) compass system, realizing method thereof and mobile phone | |
| CN107561489A (en) | MLS passive direction finding localization methods based on abnormality detection |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C02 | Deemed withdrawal of patent application after publication (patent law 2001) | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20141015 |