CN105277995A - Interference compensation method and device of geomagnetic sensor - Google Patents
Interference compensation method and device of geomagnetic sensor Download PDFInfo
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- CN105277995A CN105277995A CN201410280023.2A CN201410280023A CN105277995A CN 105277995 A CN105277995 A CN 105277995A CN 201410280023 A CN201410280023 A CN 201410280023A CN 105277995 A CN105277995 A CN 105277995A
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- G01V—GEOPHYSICS; GRAVITATIONAL MEASUREMENTS; DETECTING MASSES OR OBJECTS; TAGS
- G01V3/00—Electric or magnetic prospecting or detecting; Measuring magnetic field characteristics of the earth, e.g. declination, deviation
- G01V3/40—Electric or magnetic prospecting or detecting; Measuring magnetic field characteristics of the earth, e.g. declination, deviation specially adapted for measuring magnetic field characteristics of the earth
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Abstract
The invention discloses an interference compensation method and device of a geomagnetic sensor. The method comprise that it is determined that current of a power line interfere in the geomagnetic sensor; current values of the power line are obtained, and a tri-axial data compensation value is obtained according to the functional correspondence between the tri-axial data change value of the geomagnetic sensor and the current values; and the tri-axial data compensation value is subtracted from the present tri-axial data of the geomagnetic sensor. The method and device can be used to solve the problem that interference of the PCB power line in the geomagnetic sensor is hard to avoid, the output geomagnetic tri-axial data is more accurate, and thus abundant experience is provided when the geomagnetic sensor is applied.
Description
Technical field
The present invention relates to the communications field, in particular to a kind of interference compensation method and device of geomagnetic sensor.
Background technology
Geomagnetic sensor can realize the application such as digital compass function, inertial navigation.Along with the development of the manufacturing technology of MEMS (micro electro mechanical system) (Micro-Electro-MechanicalSystem, referred to as MEMS) and processing technology, material technology.Research manufacture and the utilization of geomagnetic sensor also reach a unprecedented level.Current geomagnetic sensor can be divided into flat electronic compass and three-dimensional electronic compass according to or without pour angle compensation; Also according to the difference of the know-why of detection earth magnetism changes in distribution, sensor can be divided into magnetoresistive effect sensor, hall effect sensor and fluxgate sensor.Mobile terminal (such as, mobile phone) is mainly magnetoresistive effect sensor with geomagnetic sensor.Magnetoresistive effect sensor makes according to the magnetoresistance of magnetic material.
The difficult problem that in current intelligent terminal, geomagnetic sensor faces:
A lot of intelligent terminal all has digital compass function now, and digital compass mainly calculates the direction of magnetic north pole by the existence in perception magnetic field of the earth.But owing to only having 0.5 faint Gauss in the ordinary course of things in magnetic field of the earth, and common Mobile phone horn still has the magnetic field of about 4 Gausses when at a distance of 2 centimetres, a motor for cell phone has the magnetic field of about 6 Gausses when at a distance of 2 centimetres, this feature makes the measurement for electronic equipment signal magnetic field outwardly be easy to be subject to the interference of electronic equipment itself, as receiver, loudspeaker, sheet metal, vibrations motor, near-field communication (NearFieldCommunication, referred to as NFC) antenna, big current cabling etc.Wherein receiver, loudspeaker, sheet metal, vibrations motor, the interference of NFC antenna can be evaded by fixed compensation mode.
But the electric current flow through in the power supply cabling in printed circuit board (PrintedCircuitBoard, referred to as PCB) is real-time change.From Theory of Electromagnetic Field, the electric current of change causes the electric field of change, and the electric field of change produces magnetic field.The magnetic field that this electric current due to change produces is not evaded by fixed compensation mode, therefore in mobile phone, geomagnetic sensor can be placed in the place away from power supply cabling, as: the safe distance of the power lead of 1A (ampere) is 1000 (mA)/10=100 (mm); More and more less at cell phone mainboard volume, under the development trend that function becomes increasingly complex, this condition is difficult to meet.
What cause for the PCB power supply cabling in correlation technique is difficult to the problem of evading to the interference of geomagnetic sensor, not yet proposes effective solution at present.
Summary of the invention
What cause for the PCB power supply cabling in correlation technique is difficult to the problem of evading to the interference of geomagnetic sensor, the invention provides a kind of interference compensation method and device of geomagnetic sensor, at least to solve the problem.
According to an aspect of the present invention, provide a kind of interference compensation method of geomagnetic sensor, comprising: determine that the electric current on power supply cabling produces interference to geomagnetic sensor; Obtain the multiple current values on power supply cabling, and according to three number of axle of the described geomagnetic sensor function corresponding relation according to changing value and described current value, obtain three number of axle according to offset; Described three number of axle are deducted according to offset in three number of axle certificates of current geomagnetic sensor.
Preferably, according to three number of axle of the described geomagnetic sensor function corresponding relation according to changing value and described current value, obtain three number of axle according to before offset, also comprise: the function corresponding relation of three number of axle according to changing value calculating described current value and described geomagnetic sensor.
Preferably, three number of axle calculating described current value and described geomagnetic sensor comprise according to the function corresponding relation of changing value: repeatedly obtain the different current values on described power supply cabling, and three number of axle certificates of the described geomagnetic sensor corresponding with the described current value obtained at every turn; According to the described current value repeatedly obtained and described three number of axle certificates corresponding with the described current value obtained at every turn, calculate the function corresponding relation of three number of axle according to changing value of described current value and described geomagnetic sensor.
Preferably, according to the described current value repeatedly obtained and described three number of axle certificates corresponding with the described current value obtained at every turn, three number of axle calculating described current value and described geomagnetic sensor comprise following computing method one of at least according to the function corresponding relation of changing value: Lagrange's interpolation, Newton interpolating method, successively linear interpolation, Hermite interpolation, least square method.
Preferably, when described computing method are Lagrange's interpolation, according to the described current value repeatedly obtained and described three number of axle certificates corresponding with the described current value at every turn obtained, three number of axle calculating described current value and described geomagnetic sensor comprise according to the function corresponding relation of changing value: according to n interpolation polynomial L
n(i
e)=B
eobtain the function corresponding relation of described current value and described three number of axle certificates, wherein, ie for described in the current value that repeatedly obtains, Be is that described three number of axle corresponding with the described current value obtained at every turn are according to n+1 current value I=(i
1i
2i
n+1), e belongs to the integer between 1 to n+1; According to the function corresponding relation of described current value and described three number of axle certificates, obtain the function corresponding relation of three number of axle according to changing value of described current value and described geomagnetic sensor.
Preferably, determine that the electric current on power supply cabling comprises geomagnetic sensor generation interference: soft magnetism calibration is carried out to described geomagnetic sensor; Judge that whether the digital compass direction indication after calibrating is accurate, if inaccurate, then determine that the electric current on power supply cabling produces interference to described geomagnetic sensor.
According to a further aspect in the invention, provide a kind of interference compensation device of geomagnetic sensor, comprising: determination module, for determining that the electric current on power supply cabling produces interference to geomagnetic sensor; Acquisition module, for obtaining the multiple current values on power supply cabling, and according to three number of axle of the described geomagnetic sensor function corresponding relation according to changing value and described current value, obtains three number of axle according to offset; Compensating module, for deducting described three number of axle according to offset in three number of axle certificates of current geomagnetic sensor.
Preferably, described device also comprises: computing module, for calculating the function corresponding relation of three number of axle according to changing value of described current value and described geomagnetic sensor.
Preferably, described computing module comprises: acquiring unit, for repeatedly obtaining the different current values on described power supply cabling, and three number of axle certificates of the described geomagnetic sensor corresponding with the described current value obtained at every turn; Computing unit, for according to the described current value repeatedly obtained and described three number of axle certificates corresponding with the described current value obtained at every turn, calculates the function corresponding relation of three number of axle according to changing value of described current value and described geomagnetic sensor.
Preferably, described determination module comprises: alignment unit, for carrying out soft magnetism calibration to described geomagnetic sensor; Judging unit, for judging that whether the digital compass direction indication after calibrating is accurate, if inaccurate, then determines that the electric current on power supply cabling produces interference to described geomagnetic sensor.
By the present invention, the electric current determined on power supply cabling is adopted to produce interference to geomagnetic sensor; Obtain the multiple current values on power supply cabling, and according to three number of axle of the described geomagnetic sensor function corresponding relation according to changing value and described current value, obtain three number of axle according to offset; The mode of described three number of axle according to offset is deducted in three number of axle certificates of current geomagnetic sensor, what the PCB power supply cabling solved in correlation technique caused is difficult to the problem of evading to the interference of geomagnetic sensor, and then make earth magnetism three number of axle exported according to more accurate, thus make geomagnetic sensor when applying, bring enriching experiences effect.
Accompanying drawing explanation
Accompanying drawing described herein is used to provide a further understanding of the present invention, and form a application's part, schematic description and description of the present invention, for explaining the present invention, does not form inappropriate limitation of the present invention.In the accompanying drawings:
Fig. 1 is the process flow diagram of the interference compensation method of a kind of geomagnetic sensor according to the embodiment of the present invention;
Fig. 2 is the structured flowchart of the interference compensation device of a kind of geomagnetic sensor according to the embodiment of the present invention;
Fig. 3 is according to the funtcional relationship process flow diagram set up between interference current value and geomagnetic sensor three number of axle certificate being the embodiment of the present invention one;
Fig. 4 performs the process flow diagram of calibration when being and normally working according to the earth magnetism of the embodiment of the present invention one and be subject to current interference.
Embodiment
Hereinafter also describe the present invention in detail with reference to accompanying drawing in conjunction with the embodiments.It should be noted that, when not conflicting, obviously, the embodiment in the application and the feature in embodiment can combine mutually.
According to research, in fact, the power supply cabling affecting geomagnetic sensor is often determined on printed circuit board (PCB), comprises the bee-line of the liftoff magnetic chip of power supply cabling, the angle of power supply cabling and ground magnetic chip X-direction one of (0 degree or 90 degree).Therefore, the present embodiment by limited current value on sampling interference power cabling, and records three axle data difference of ground magnetic chip corresponding to each current sampling data.(three axle data difference of magnetic chip be three number of axle certificates that produce on ground magnetic chip of interference power and three number of axle under not having interference power effect according between difference).By the relation between limited current value and earth magnetism three axle data difference, utilize the funtcional relationship between numerical computation method matching current value and earth magnetism three axle data difference.Utilize this funtcional relationship, by the instantaneous value of real time monitoring power supply cabling, just have three axle data difference accurately, utilize this three number of axle according to three number of axle certificates removing to compensate ground magnetic chip, just can eliminate the interference of big current cabling to geomagnetic sensor.
According to the one side of the embodiment of the present invention, provide a kind of interference compensation method of geomagnetic sensor, Fig. 1 is the process flow diagram of the interference compensation method of a kind of geomagnetic sensor according to the embodiment of the present invention, and as shown in Figure 1, the method comprises the following steps:
Step S102, determines that the electric current on power supply cabling produces interference to geomagnetic sensor;
Step S104, obtains the multiple current values on power supply cabling, and according to three number of axle of the described geomagnetic sensor function corresponding relation according to changing value and described current value, obtains three number of axle according to offset;
Step S106, deducts described three number of axle according to offset in three number of axle certificates of current geomagnetic sensor.
The present embodiment passes through above-mentioned steps, electric current on power supply cabling creates interference to geomagnetic sensor, obtain the multiple current values on power supply cabling, and three number of axle of base area Magnetic Sensor are according to the function corresponding relation of changing value and described current value, obtain three number of axle according to offset, then in three number of axle certificates of current geomagnetic sensor, described three number of axle are deducted according to offset, thus three number of axle certificates accurately obtained by the mode removing offset after the current interference got rid of on power supply cabling, what the PCB power supply cabling solved in correlation technique caused is difficult to the problem of evading to the interference of geomagnetic sensor, and then make earth magnetism three number of axle exported according to more accurate, thus make geomagnetic sensor when applying, bring enriching experiences effect.
Preferably, when the function corresponding relation of three number of axle that terminal preserves calculating current value and geomagnetic sensor according to changing value, terminal can directly use this function corresponding relation to perform step S104, or terminal also can calculate the function corresponding relation of three number of axle according to changing value of described current value and described geomagnetic sensor voluntarily.
Preferably, three number of axle calculating described current value and described geomagnetic sensor comprise according to the function corresponding relation of changing value: repeatedly obtain the different current values on described power supply cabling, and three number of axle certificates of the described geomagnetic sensor corresponding with the described current value obtained at every turn; According to the described current value repeatedly obtained and described three number of axle certificates corresponding with the described current value obtained at every turn, calculate the function corresponding relation of three number of axle according to changing value of described current value and described geomagnetic sensor.
Preferably, can pass through Lagrange's interpolation, Newton interpolating method, successively linear interpolation, Hermite interpolation, the mathematical way such as least square method calculate the function corresponding relation of three number of axle according to changing value of described current value and described geomagnetic sensor.
Preferably, when described computing method are Lagrange's interpolation, according to the described current value repeatedly obtained and described three number of axle certificates corresponding with the described current value at every turn obtained, three number of axle calculating described current value and described geomagnetic sensor comprise according to the function corresponding relation of changing value:
According to n interpolation polynomial L
n(i
e)=B
eobtain the function corresponding relation of described current value and described three number of axle certificates, wherein, ie for described in the current value that repeatedly obtains, B
efor described three number of axle corresponding with the described current value obtained at every turn are according to n+1 current value I=(i
1i
2i
n+1), e belongs to the integer between 1 to n+1; According to the function corresponding relation of described current value and described three number of axle certificates, obtain the function corresponding relation of three number of axle according to changing value of described current value and described geomagnetic sensor.
Preferably, determine that the mode of electric current to geomagnetic sensor generation interference on power supply cabling can be as follows: soft magnetism calibration is carried out to described geomagnetic sensor; Judge that whether the digital compass direction indication after calibrating is accurate, if inaccurate, then determine that the electric current on power supply cabling produces interference to described geomagnetic sensor.
Corresponding to said method, additionally provide a kind of interference compensation device of geomagnetic sensor in the present embodiment, this device is used for realizing above-described embodiment and preferred implementation, has carried out repeating no more of explanation.As used below, term " module " can realize the software of predetermined function and/or the combination of hardware.Although the device described by following examples preferably realizes with software, hardware, or the realization of the combination of software and hardware also may and conceived.
Fig. 2 is the structured flowchart of the interference compensation device of a kind of geomagnetic sensor according to the embodiment of the present invention, and as shown in Figure 2, this device comprises determination module 22, acquisition module 24 and compensating module 26, is described in detail below to modules:
Determination module 22, for determining that the electric current on power supply cabling produces interference to geomagnetic sensor; Acquisition module 24, is connected with judge module 22, for obtaining the multiple current values on power supply cabling, and according to three number of axle of the described geomagnetic sensor function corresponding relation according to changing value and described current value, obtains three number of axle according to offset; Compensating module 26, is connected with acquisition module 24, for deducting described three number of axle according to offset in three number of axle certificates of current geomagnetic sensor.
Preferably, described device can also comprise: computing module 28, is connected with acquisition module 24, for calculating the function corresponding relation of three number of axle according to changing value of described current value and described geomagnetic sensor.
Preferably, described computing module 28 can comprise: acquiring unit 282, for repeatedly obtaining the different current values on described power supply cabling, and three number of axle certificates of the described geomagnetic sensor corresponding with the described current value obtained at every turn; Computing unit 284, be connected with computing unit 284, for according to the described current value repeatedly obtained and described three number of axle certificates corresponding with the described current value obtained at every turn, calculate the function corresponding relation of three number of axle according to changing value of described current value and described geomagnetic sensor.
Preferably, described determination module 22 can comprise: alignment unit 222, for carrying out soft magnetism calibration to described geomagnetic sensor; Judging unit 224, is connected with alignment unit 222, for judging that whether the digital compass direction indication after calibrating is accurate, if inaccurate, then determines that the electric current on power supply cabling produces interference to described geomagnetic sensor.
By the embodiment of the present invention, the electric current judged on power supply cabling is adopted whether to produce interference to geomagnetic sensor; Obtain the multiple current values on power supply cabling, and according to three number of axle of the described geomagnetic sensor function corresponding relation according to changing value and described current value, obtain three number of axle according to offset; The mode of described three number of axle according to offset is deducted in three number of axle certificates of current geomagnetic sensor, what the PCB power supply cabling solved in correlation technique caused is difficult to the problem of evading to the interference of geomagnetic sensor, and then make earth magnetism three number of axle exported according to more accurate, thus make geomagnetic sensor when applying, bring enriching experiences effect.
Be described below in conjunction with preferred embodiment, following preferred embodiment combines above-described embodiment and preferred implementation thereof.
Following preferred embodiment by limited current value on sampling interference power cabling, and records three axle data difference of ground magnetic chip corresponding to each current sampling data.Wherein, three axle data difference of ground magnetic chip be three number of axle certificates that produce on ground magnetic chip of interference power and three number of axle under not having interference power effect according between difference.By the relation between limited current value and earth magnetism three axle data difference, utilize the funtcional relationship between numerical computation method matching current value and earth magnetism three axle data difference.Utilize this funtcional relationship, by the instantaneous value of real time monitoring power supply cabling, just have three axle data difference accurately, utilize this three number of axle according to three number of axle certificates removing to compensate ground magnetic chip, just can eliminate the interference of big current cabling to geomagnetic sensor.
Following preferred embodiment utilize numerical analysis method set up electric current and earth magnetism three number of axle according between relation, use this relation can compensate STOCHASTIC MAGNETIC FIELD interference suffered by geomagnetic sensor accurately.Thus eliminate the interference of random external magnetic field to geomagnetic sensor.Particularly, numerical analysis algorithm is utilized to go to compensate earth magnetism three number of axle certificate after disturbed, this analytical algorithm according to limited measured current value and its to geomagnetic sensor three number of axle according to the side-play amount produced relation one to one, pass through numerical analysis method, these given datas of matching, to obtaining in whole range of current, electric current and geomagnetic sensor three number of axle are according to the funtcional relationship of the best.Practically during magnetic chip work, when there being interference power to exist, the actual value of measurements interference power supply, by the electric current previously set up and geomagnetic sensor three number of axle according between funtcional relationship, compensate three number of axle certificates of current position Magnetic Sensor, thus reach anti-disturbance method.
Due in practical usage situations, the current value on power supply cabling is finite value, is generally between 0 ~ 1.5A.Suppose to survey n+1 current value, its value is arranged in order from small to large, and forms matrix, is designated as I=(i
1i
2i
n+1), three number of axle recorded at geomagnetic sensor place are accordingly according to being followed successively by:
In formula
The like.A
1, b
1, c
1, be respectively B
1ground magnetic component on three direction of principal axis.
In the PCB placement-and-routing of reality, the X-axis of ground magnetic chip is always parallel or vertical with power supply cabling.By the left-hand rule of Theory of Electromagnetic Field, the direction of Lorentz force is the magnetic field of electric current generation to the impact of three number of axle of geomagnetic sensor according to one of them data.This has also confirmed: the impact of the curent change on same power supply cabling on three number of axle certificates is all change on an axle.But due to device during PCB layout put time, the X of device, Y-direction is random.
Within the scope of current value 0 ~ 1.5A, n+1 current value I=(i
1i
2i
n+1), corresponding earth magnetism three number of axle is according to B=(B
1b
2b
n+1).From Lagrange Polynomial interpolating method, there is a n interpolation polynomial L
nx (), makes L
n(i
e)=B
e, wherein e belongs to the integer between 1 to n+1.Thus polynomial expression L
n(i
e)=B
eestablish the relation between current value and earth magnetism three number of axle certificate.Known by Lagrange interpolation polynomial uniqueness theory, polynomial expression L
n(i
e)=B
eunique for above-mentioned surveyed data.So far, the funtcional relationship between size of current and geomagnetic sensor three number of axle certificate is established.
In the actual earth magnetism course of work, when geomagnetic sensor is subject to strong jamming, system is by detecting the current value on interference power cabling in real time, by current value and geomagnetic sensor three number of axle according between funtcional relationship, just can draw three-axis sensor on geomagnetic sensor relative to variable quantity time noiseless.To receive three number of axle of power supply cabling interference according to when reporting system at geomagnetic sensor, system, directly on the basis of three number of axle certificates reported, deducts the variable quantity because interference increases.Thus eliminate the interference of power supply cabling magnetic chip over the ground.
What above select is Lagrange's interpolation, also has additive method also can realize, as Newton interpolating method, and successively linear interpolation, Hermite interpolation, least square method, etc.Wherein, a series of demonstrations such as Lagrange interpolation polynomial, remainder, estimation of error, use the mode of each mathematical method computing function corresponding relation in the related a lot, do not repeat in this article.
Embodiment one
Fig. 3, according to the funtcional relationship process flow diagram set up between interference current value and geomagnetic sensor three number of axle certificate being the embodiment of the present invention one, as shown in Figure 3, sets up funtcional relationship and comprises the following steps:
Step S302: first need to determine the quantity to the noisy current source of geomagnetic sensor.Generally, demand fulfillment: the requirement of safe distance (mm) > current change quantity (mA)/10.When the wiring of geomagnetic sensor circumferential arrangement is determined, the distance between electric current cabling and earth magnetism is known, and the electric current on power supply cabling can be estimated or estimate.If discontented safe distance requirement, then need to consider that power supply cabling is on the impact of geomagnetic sensor;
Step S304: earth magnetism is calibrated.The object of earth magnetism calibration, can make geomagnetic sensor obtain current Earth magnetic field state, and the interference that filtering periphery soft magnetic material brings;
Step S306: obtain current magnetic field of the earth value after earth magnetism calibration.And three number of axle recording current geomagnetic sensor are according to B
0.When there being an interfering current source to exist, the current value continued on this current source of sampling is I=(i
1i
2i
n+1), n+1 sampled current value quantity, the variable quantity simultaneously recording three number of axle certificates at geomagnetic sensor place is followed successively by Δ B=(B
1b
2b
n+1).The variable quantity of three number of axle certificates is measured value B and the initial value B after calibrating
0difference: B-B
0;
Step S308: in trade-off curve matching, conventional several interpolation methods carry out curve fitting (the mathematical tool case of Matlab software such as, can be used to carry out curve fitting to surveyed data).To the current value I=(i of n+1 in step S306
1i
2i
n+1), the variation delta B=(B of three number of axle certificates
1b
2b
n+1) carry out curve fitting, obtain the funtcional relationship between current value and three number of axle certificate.In this preferred embodiment, selection be Lagrange's interpolation, also have additive method as Newton interpolating method, successively linear interpolation, hermite interpolation, least square method, etc.;
Step S310: can see from step S308, each power supply cabling, produces three number of axle according to all there is such funtcional relationship with it to geomagnetic sensor.Each funtcional relationship is mapped and stores in systems in which.
Fig. 4 performs the process flow diagram of calibration when being and normally working according to the earth magnetism of the embodiment of the present invention one and be subject to current interference, as shown in Figure 4, the workflow of calibration is as follows:
Step S402, geomagnetic sensor carries out soft magnetism calibration, the interference of the soft magnetism material of filtering geomagnetic sensor periphery;
Step S404, judges whether earth magnetism is subject to the interference of power supply cabling, and after geomagnetic sensor calibration, if digital compass fails to point to direct north, then explanatorily Magnetic Sensor receives the interference of power supply cabling, enters step S406.Otherwise the interference not receiving power supply cabling is described, enters step S412;
Step S406, the current value of the corresponding power supply cabling of geomagnetic sensor reading system charge management module, determines interference source and quantity n;
Step S408, inquire about the corresponding electric current of each interference source and earth magnetism three number of axle according between relation, utilize the funtcional relationship of electric current and geomagnetic sensor three number of axle certificate in Fig. 3, obtain the current value of power supply cabling and earth magnetism three number of axle according to the relation between offset;
Step S410, utilizes earth magnetism three number of axle to revise compensation three number of axle certificate according to offset, namely deducts offset to three current number of axle certificates;
Step S412, reports this three number of axle certificate to system, and system utilizes this three number of axle certificate for digital compass and inertial navigation.
Adopt the earth magnetism anti-interference method described in the embodiment of the present invention and device, make compared to the geomagnetic sensor without calibration, its earth magnetism three number of axle exported is according to more accurate; And three number of axle are according to making accurately, geomagnetic sensor, when applying, brings enriching experiences.Accuracy as digital compass improves greatly; The experience effect of terminal inertial navigation manifests more, etc.
Those skilled in the art should be understood that, above-mentioned of the present invention each module or each step can realize with general calculation element, they can concentrate on single calculation element, or be distributed on network that multiple calculation element forms, alternatively, they can realize with the executable program code of calculation element, thus, they can be stored and be performed by calculation element in the storage device, and in some cases, step shown or described by can performing with the order be different from herein, or they are made into each integrated circuit modules respectively, or the multiple module in them or step are made into single integrated circuit module to realize.Like this, the present invention is not restricted to any specific hardware and software combination.
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 amendment done, equivalent replacement, improvement etc., all should be included within protection scope of the present invention.
Claims (10)
1. an interference compensation method for geomagnetic sensor, is characterized in that, comprising:
Determine that the electric current on power supply cabling produces interference to geomagnetic sensor;
Obtain the multiple current values on power supply cabling, and according to three number of axle of the described geomagnetic sensor function corresponding relation according to changing value and described current value, obtain three number of axle according to offset;
Described three number of axle are deducted according to offset in three number of axle certificates of current geomagnetic sensor.
2. method according to claim 1, is characterized in that, according to three number of axle of the described geomagnetic sensor function corresponding relation according to changing value and described current value, obtains three number of axle according to before offset, also comprises:
Calculate the function corresponding relation of three number of axle according to changing value of described current value and described geomagnetic sensor.
3. method according to claim 2, is characterized in that, three number of axle calculating described current value and described geomagnetic sensor comprise according to the function corresponding relation of changing value:
Repeatedly obtain the different current values on described power supply cabling, and three number of axle certificates of the described geomagnetic sensor corresponding with the described current value obtained at every turn;
According to the described current value repeatedly obtained and described three number of axle certificates corresponding with the described current value obtained at every turn, calculate the function corresponding relation of three number of axle according to changing value of described current value and described geomagnetic sensor.
4. method according to claim 3, it is characterized in that, according to the described current value repeatedly obtained and described three number of axle certificates corresponding with the described current value at every turn obtained, three number of axle calculating described current value and described geomagnetic sensor comprise following computing method one of at least according to the function corresponding relation of changing value:
Lagrange's interpolation, Newton interpolating method, successively linear interpolation, Hermite interpolation, least square method.
5. method according to claim 4, it is characterized in that, when described computing method are Lagrange's interpolation, according to the described current value repeatedly obtained and described three number of axle certificates corresponding with the described current value at every turn obtained, three number of axle calculating described current value and described geomagnetic sensor comprise according to the function corresponding relation of changing value:
According to n interpolation polynomial L
n(i
e)=B
eobtain the function corresponding relation of described current value and described three number of axle certificates, wherein, i
efor the described current value repeatedly obtained, B
efor described three number of axle corresponding with the described current value obtained at every turn are according to n+1 current value I=(i
1i
2i
n+1), e belongs to the integer between 1 to n+1;
According to the function corresponding relation of described current value and described three number of axle certificates, obtain the function corresponding relation of three number of axle according to changing value of described current value and described geomagnetic sensor.
6. method according to any one of claim 1 to 5, is characterized in that, determines that the electric current on power supply cabling comprises geomagnetic sensor generation interference:
Soft magnetism calibration is carried out to described geomagnetic sensor;
Judge that whether the digital compass direction indication after calibrating is accurate, if inaccurate, then determine that the electric current on power supply cabling produces interference to described geomagnetic sensor.
7. an interference compensation device for geomagnetic sensor, is characterized in that, comprising:
Determination module, for determining that the electric current on power supply cabling produces interference to geomagnetic sensor;
Acquisition module, for obtaining the multiple current values on power supply cabling, and according to three number of axle of the described geomagnetic sensor function corresponding relation according to changing value and described current value, obtains three number of axle according to offset;
Compensating module, for deducting described three number of axle according to offset in three number of axle certificates of current geomagnetic sensor.
8. device according to claim 7, is characterized in that, described device also comprises:
Computing module, for calculating the function corresponding relation of three number of axle according to changing value of described current value and described geomagnetic sensor.
9. device according to claim 8, is characterized in that, described computing module comprises:
Acquiring unit, for repeatedly obtaining the different current values on described power supply cabling, and three number of axle certificates of the described geomagnetic sensor corresponding with the described current value obtained at every turn;
Computing unit, for according to the described current value repeatedly obtained and described three number of axle certificates corresponding with the described current value obtained at every turn, calculates the function corresponding relation of three number of axle according to changing value of described current value and described geomagnetic sensor.
10. the device according to any one of claim 7 to 9, is characterized in that, described determination module comprises:
Alignment unit, for carrying out soft magnetism calibration to described geomagnetic sensor;
Judging unit, for judging that whether the digital compass direction indication after calibrating is accurate, if inaccurate, then determines that the electric current on power supply cabling produces interference to described geomagnetic sensor.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410280023.2A CN105277995B (en) | 2014-06-20 | 2014-06-20 | The interference compensation method and device of geomagnetic sensor |
| PCT/CN2014/084841 WO2015192461A1 (en) | 2014-06-20 | 2014-08-20 | Interference compensation method and apparatus for geomagnetic sensor |
Applications Claiming Priority (1)
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| CN107635046A (en) * | 2016-07-19 | 2018-01-26 | 中兴通讯股份有限公司 | A kind of earth's magnetic field method of adjustment and device |
| CN108494946A (en) * | 2018-02-09 | 2018-09-04 | 维沃移动通信有限公司 | The bearing calibration of electronic compass and device in mobile terminal |
| CN108897053A (en) * | 2018-04-02 | 2018-11-27 | 广州吉欧电子科技有限公司 | A kind of magnetic disturbance detection method and device based on the variation of equipment magnetic environment |
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| CN114252930A (en) * | 2020-09-22 | 2022-03-29 | 北京小米移动软件有限公司 | Method and device for determining measurement data of magnetic sensor and storage medium |
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| Publication number | Publication date |
|---|---|
| WO2015192461A1 (en) | 2015-12-23 |
| CN105277995B (en) | 2019-06-11 |
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