CN105277995B - The interference compensation method and device of geomagnetic sensor - Google Patents
The interference compensation method and device of geomagnetic sensor Download PDFInfo
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- CN105277995B CN105277995B CN201410280023.2A CN201410280023A CN105277995B CN 105277995 B CN105277995 B CN 105277995B CN 201410280023 A CN201410280023 A CN 201410280023A CN 105277995 B CN105277995 B CN 105277995B
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- G—PHYSICS
- G01—MEASURING; TESTING
- 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
Abstract
The invention discloses a kind of interference compensation method and devices of geomagnetic sensor, wherein this method comprises: determining that the electric current on power supply cabling generates interference to geomagnetic sensor；Multiple current values on power supply cabling are obtained, and obtain three number of axle according to offset according to the function corresponding relationship of changing value and the current value according to three number of axle of the geomagnetic sensor；Three number of axle is subtracted according to offset in three number of axle of current geomagnetic sensor.Through the invention, it solves the problems, such as that the interference of geomagnetic sensor is difficult to evade caused by PCB power supply cabling in the related technology, so that earth magnetism three number of axle evidence of output is more accurate, to make geomagnetic sensor in use, bringing enriching experiences effect.
Description
Technical field
The present invention relates to the communications fields, in particular to a kind of interference compensation method and device of geomagnetic sensor.
Background technique
The application such as digital compass function, inertial navigation may be implemented in geomagnetic sensor.With MEMS (Micro-
Electro-Mechanical System, referred to as MEMS) manufacturing technology and processing technology, material technology continuous hair
Exhibition.The research of geomagnetic sensor, which is manufactured and used, has also reached a unprecedented level.Geomagnetic sensor is according to having at present
Aclinal compensation can be divided into flat electronic compass and three-dimensional electronic compass；It can also be according to the technology of detection earth magnetism changes in distribution
Sensor can be divided into magnetoresistive effect sensor, hall effect sensor and fluxgate sensor by the difference of principle.It is mobile whole
End (for example, mobile phone) is mainly magnetoresistive effect sensor with geomagnetic sensor.Magnetoresistive effect sensor is according to magnetic material
Made of magnetoresistance.
The problem that geomagnetic sensor is faced in intelligent terminal at present:
Many intelligent terminals all have digital compass function now, and electronic compass mainly passes through perception earth magnetic field
Presence calculate the direction of magnetic north pole.However since earth magnetic field only has faint 0.5 Gauss under normal circumstances, and one
Common Mobile phone horn still has the magnetic field of about 4 Gausses, meeting when at a distance of 2 centimetres of a motor for cell phone when at a distance of 2 centimetres
There is the magnetic field of about 6 Gausses, this feature the measurement for electronic equipment surface earth magnetic field be highly susceptible to electronics to set
For the interference of itself, such as earpiece, loudspeaker, sheet metal, vibration motor, near-field communication (Near Field Communication, letter
Referred to as NFC) antenna, high current cabling etc..Wherein earpiece, loudspeaker, sheet metal shake motor, and the interference of NFC antenna can pass through
Fixed compensation mode is evaded.
But the electricity flowed through in the power supply cabling in printed circuit board (Printed Circuit Board, referred to as PCB)
Stream is real-time change.By Theory of Electromagnetic Field it is found that the electric current of variation causes the electric field of variation, and the electric field changed generates magnetic
?.The magnetic field that this electric current due to variation generates cannot be evaded by fixed compensation mode, and earth magnetism passes in mobile phone
Sensor can be placed in the place far from power supply cabling, such as: the safe distance of the power supply line of 1A (ampere) is 1000 (mA)/10=
100(mm)；Smaller and smaller in cell phone mainboard volume, under the development trend that function becomes increasingly complex, this condition is difficult to meet.
Aiming at the problem that being difficult to evade to the interference of geomagnetic sensor caused by PCB power supply cabling in the related technology, mesh
It is preceding not yet to put forward effective solutions.
Summary of the invention
Aiming at the problem that being difficult to evade to the interference of geomagnetic sensor caused by PCB power supply cabling in the related technology, this
Invention provides a kind of interference compensation method and device of geomagnetic sensor, at least to solve the above problems.
According to an aspect of the invention, there is provided a kind of interference compensation method of geomagnetic sensor, comprising: determine power supply
Electric current on cabling generates interference to geomagnetic sensor；Multiple current values on power supply cabling are obtained, and are passed according to the earth magnetism
Three number of axle of sensor obtain three number of axle according to offset according to the function corresponding relationship of changing value and the current value；On current ground
Three number of axle of Magnetic Sensor subtract three number of axle according to offset in.
Preferably, it is closed according to three number of axle of the geomagnetic sensor according to changing value is corresponding with the function of the current value
System, before obtaining three number of axle according to offset, further includes: calculate three axis data variations of the current value Yu the geomagnetic sensor
The function corresponding relationship of value.
Preferably, three number of axle of the current value and the geomagnetic sensor are calculated according to the function corresponding relationship packet of changing value
Include: repeatedly obtaining the different current values on the power supply cabling, and it is corresponding with the current value obtained every time describedly
Three number of axle evidences of Magnetic Sensor；According to the current value repeatedly obtained and institute corresponding with the current value obtained every time
Three number of axle evidences are stated, calculate three number of axle of the current value and the geomagnetic sensor according to the function corresponding relationship of changing value.
Preferably, according to the current value repeatedly obtained and corresponding with the current value obtained every time described three
Number of axle evidence, calculating three number of axle of the current value and the geomagnetic sensor according to the function corresponding relationship of changing value includes following meter
At least one calculation method: Lagrange's interpolation, Newton interpolating method, gradually linear interpolation, Hermite interpolation, least square method.
Preferably, in the case where the calculation method is Lagrange's interpolation, according to the electric current repeatedly obtained
Value and three number of axle evidence corresponding with the current value obtained every time, calculate the current value and the geomagnetic sensor
Three number of axle according to the function corresponding relationship of changing value include: according to n times interpolation polynomial Ln(ie)=BeObtain the current value with
The function corresponding relationship of three number of axle evidence, wherein ie be the current value repeatedly obtained, Be be with obtain every time described in
Corresponding three number of axle of current value is according to n+1 current value I=(i1 i2…in+1), e belongs to 1 to the integer between n+1；According to
The function corresponding relationship of the current value and three number of axle evidence obtains three number of axle of the current value Yu the geomagnetic sensor
According to the function corresponding relationship of changing value.
Preferably, determining that the electric current on power supply cabling generates interference to geomagnetic sensor includes: to the geomagnetic sensor
Carry out soft magnetism calibration；Whether the electronic compass instruction direction after judging calibration is accurate, if inaccurate, it is determined that power supply cabling
On electric current to the geomagnetic sensor generate interference.
According to another aspect of the present invention, a kind of interference compensation device of geomagnetic sensor is provided, comprising: determine mould
Block, for determining that the electric current on power supply cabling generates interference to geomagnetic sensor；Module is obtained, for obtaining on power supply cabling
Multiple current values, and obtained according to three number of axle of the geomagnetic sensor according to the function corresponding relationship of changing value and the current value
To three number of axle according to offset；Compensating module subtracts three number of axle evidence in for three number of axle in current geomagnetic sensor
Offset.
Preferably, described device further include: computing module, for calculating the three of the current value and the geomagnetic sensor
The number of axle according to changing value function corresponding relationship.
Preferably, the computing module includes: acquiring unit, for repeatedly obtaining the different electric currents on the power supply cabling
Value, and three number of axle evidences of the geomagnetic sensor corresponding with the current value obtained every time；Computing unit is used for basis
The current value repeatedly obtained and three number of axle evidence corresponding with the current value obtained every time, calculate the electric current
It is worth the function corresponding relationship with three number of axle of the geomagnetic sensor according to changing value.
Preferably, the determining module includes: calibration unit, for carrying out soft magnetism calibration to the geomagnetic sensor；Sentence
Disconnected unit, for judging whether the electronic compass instruction direction after calibration is accurate, if inaccurate, it is determined that on power supply cabling
Electric current to the geomagnetic sensor generate interference.
Through the invention, interference is generated to geomagnetic sensor using the electric current determined on power supply cabling；Obtain power supply cabling
On multiple current values, and according to three number of axle of the geomagnetic sensor according to changing value it is corresponding with the function of the current value close
System, obtains three number of axle according to offset；Three number of axle is subtracted according to offset in three number of axle of current geomagnetic sensor
Mode solves the problems, such as to be difficult to evade to the interference of geomagnetic sensor caused by PCB power supply cabling in the related technology, in turn
So that earth magnetism three number of axle evidence of output is more accurate, to make geomagnetic sensor in use, bringing enriching experiences effect.
Detailed description of the invention
The drawings described herein are used to provide a further understanding of the present invention, constitutes part of this application, this hair
Bright illustrative embodiments and their description are used to explain the present invention, and are not constituted improper limitations of the present invention.In the accompanying drawings:
Fig. 1 is a kind of flow chart of the interference compensation method of geomagnetic sensor according to an embodiment of the present invention；
Fig. 2 is a kind of structural block diagram of the interference compensation device of geomagnetic sensor according to an embodiment of the present invention；
Fig. 3 is according to the function established between interference electric current value and geomagnetic sensor three number of axle evidence for being the embodiment of the present invention one
Relationship flow chart；
Fig. 4 is that according to embodiments of the present invention one earth magnetism works normally and executes the process of calibration when by current interference
Figure.
Specific embodiment
Hereinafter, the present invention will be described in detail with reference to the accompanying drawings and in combination with Examples.It should be noted that not conflicting
In the case of, it is clear that the features in the embodiments and the embodiments of the present application can be combined with each other.
Root is it was found that in fact, the power supply cabling for influencing geomagnetic sensor is often determining on printed circuit board (PCB)
, the shortest distance including the liftoff magnetic chip of power supply cabling, (0 degree or 90 degree of angle of power supply cabling and ground magnetic chip X-direction
One of).Therefore, the present embodiment is by limited current value on sampling interference power cabling, and records each current sample
It is worth three axis data differences of corresponding ground magnetic chip.(three axis data differences of magnetic chip be interference power on ground magnetic chip
Three number of axle evidences that generate and do not interfere with the difference between lower three number of axle evidence of power supply effect).Pass through limited current value and ground
Relationship between three axis data difference of magnetic is fitted the letter between current value and three axis data difference of earth magnetism using numerical computation method
Number relationship.Using this functional relation, by monitoring the real value of power supply cabling in real time, just there is an accurate three axis data difference
Value can eliminate high current cabling to geomagnetic sensor using this three number of axle according to three number of axle evidences for removing compensation ground magnetic chip
Interference.
One side according to an embodiment of the present invention, provides a kind of interference compensation method of geomagnetic sensor, and Fig. 1 is basis
The flow chart of the interference compensation method of a kind of geomagnetic sensor of the embodiment of the present invention, as shown in Figure 1, this method includes following step
It is rapid:
Step S102 determines that the electric current on power supply cabling generates interference to geomagnetic sensor；
Step S104 obtains multiple current values on power supply cabling, and according to three number of axle of the geomagnetic sensor according to change
The function corresponding relationship of change value and the current value obtains three number of axle according to offset；
Step S106 subtracts three number of axle according to offset in three number of axle of current geomagnetic sensor.
The present embodiment through the above steps, the case where the electric current on power supply cabling produces interference to geomagnetic sensor
Under, multiple current values on power supply cabling are obtained, and according to three number of axle of geomagnetic sensor according to changing value and the current value
Function corresponding relationship obtains three number of axle according to offset, then subtracts described three in three number of axle of current geomagnetic sensor
The number of axle is according to offset, thus accurate after having obtained the current interference on exclusion power supply cabling by way of removing offset
Three number of axle evidences, solve and ask caused by PCB power supply cabling in the related technology what the interference of geomagnetic sensor was difficult to evade
Topic, so that earth magnetism three number of axle evidence of output is more accurate, to make geomagnetic sensor in use, bringing enriching experiences
Effect.
Preferably, calculating current value and three number of axle of geomagnetic sensor are preserved in terminal corresponding to close according to the function of changing value
In the case where system, terminal directly can execute step S104 using the function corresponding relationship, alternatively, terminal can also be calculated voluntarily
Three number of axle of the current value and the geomagnetic sensor according to changing value function corresponding relationship.
Preferably, three number of axle of the current value and the geomagnetic sensor are calculated according to the function corresponding relationship packet of changing value
Include: repeatedly obtaining the different current values on the power supply cabling, and it is corresponding with the current value obtained every time describedly
Three number of axle evidences of Magnetic Sensor；According to the current value repeatedly obtained and institute corresponding with the current value obtained every time
Three number of axle evidences are stated, calculate three number of axle of the current value and the geomagnetic sensor according to the function corresponding relationship of changing value.
Preferably, can be by Lagrange's interpolation, Newton interpolating method, gradually linear interpolation, Her mite interpolation, most
The mathematical way such as small square law calculate the current value and three number of axle of the geomagnetic sensor and corresponding close according to the function of changing value
System.
Preferably, in the case where the calculation method is Lagrange's interpolation, according to the electric current repeatedly obtained
Value and three number of axle evidence corresponding with the current value obtained every time, calculate the current value and the geomagnetic sensor
Three number of axle include: according to the function corresponding relationship of changing value
According to n times interpolation polynomial Ln(ie)=BeThe function corresponding relationship of the current value Yu three number of axle evidence is obtained,
Wherein, ie is the current value repeatedly obtained, BeIt is three number of axle corresponding with the current value obtained every time according to n+1
A current value I=(i1 i2…in+1), e belongs to 1 to the integer between n+1；According to the letter of the current value and three number of axle evidence
Number corresponding relationships obtain three number of axle of the current value and the geomagnetic sensor according to the function corresponding relationship of changing value.
Preferably, the mode for determining that the electric current on power supply cabling generates interference to geomagnetic sensor can be such that described
Geomagnetic sensor carries out soft magnetism calibration；Whether the electronic compass instruction direction after judging calibration is accurate, if inaccurate, really
The electric current determined on power supply cabling generates interference to the geomagnetic sensor.
Corresponding to the above method, a kind of interference compensation device of geomagnetic sensor, the dress are additionally provided in the present embodiment
It sets for realizing above-described embodiment and preferred embodiment, the descriptions that have already been made will not be repeated.As used below, art
The combination of the software and/or hardware of predetermined function may be implemented in language " module ".Although device described in following embodiment is preferable
Ground is realized with software, but the realization of the combination of hardware or software and hardware is also that may and be contemplated.
Fig. 2 is a kind of structural block diagram of the interference compensation device of geomagnetic sensor according to an embodiment of the present invention, such as Fig. 2 institute
Show, which includes determining module 22, obtains module 24 and compensating module 26, modules are described in detail below:
Determining module 22, for determining that the electric current on power supply cabling generates interference to geomagnetic sensor；Module 24 is obtained, with
Judgment module 22 is connected, for obtaining multiple current values on power supply cabling, and according to three number of axle evidences of the geomagnetic sensor
The function corresponding relationship of changing value and the current value obtains three number of axle according to offset；Compensating module 26, with acquisition 24 phase of module
Even, three number of axle is subtracted according to offset in for three number of axle in current geomagnetic sensor.
Preferably, described device can also include: computing module 28, be connected with module 24 is obtained, for calculating the electricity
Three number of axle of flow valuve and the geomagnetic sensor according to changing value function corresponding relationship.
Preferably, the computing module 28 may include: acquiring unit 282, for repeatedly obtaining the power supply cabling
Different current values, and three number of axle evidences of the geomagnetic sensor corresponding with the current value obtained every time；It calculates single
Member 284, is connected with computing unit 284, for the current value that repeatedly obtains of basis and with the electric current that obtains every time
It is worth corresponding three number of axle evidence, it is corresponding according to the function of changing value with three number of axle of the geomagnetic sensor calculates the current value
Relationship.
Preferably, the determining module 22 may include: calibration unit 222, soft for carrying out to the geomagnetic sensor
Magnetic calibration；Judging unit 224 is connected with calibration unit 222, for judging whether the electronic compass instruction direction after calibration is quasi-
Really, if inaccurate, it is determined that the electric current on power supply cabling generates interference to the geomagnetic sensor.
Through the embodiment of the present invention, whether interference is generated to geomagnetic sensor using the electric current judged on power supply cabling；It obtains
Multiple current values on power supply cabling are taken, and according to three number of axle of the geomagnetic sensor according to the letter of changing value and the current value
Number corresponding relationship, obtains three number of axle according to offset；Three number of axle evidence is subtracted in three number of axle of current geomagnetic sensor
The mode of offset solves and caused by PCB power supply cabling in the related technology is difficult to evade to the interference of geomagnetic sensor
Problem, so that earth magnetism three number of axle evidence of output is more accurate, to make geomagnetic sensor in use, bringing body abundant
Test effect.
It is illustrated below with reference to preferred embodiment, preferred embodiment below combines above-described embodiment and its preferred implementation
Mode.
Preferred embodiment below is recorded each electric current and is adopted by limited current value on sampling interference power cabling
Three axis data differences of sample value corresponding ground magnetic chip.Wherein, three axis data differences of ground magnetic chip are interference powers in earth magnetism
Three number of axle evidences that generate on chip and the difference between lower three number of axle evidence of power supply effect is not interfered with.Pass through limited current value
With the relationship between three axis data difference of earth magnetism, it is fitted between current value and three axis data difference of earth magnetism using numerical computation method
Functional relation.Using this functional relation, by monitoring the real value of power supply cabling in real time, just there is accurate three number of axle evidence
Difference can eliminate high current cabling to geomagnetic sensor using this three number of axle according to three number of axle evidences for removing compensation ground magnetic chip
Interference.
Preferred embodiment below establishes the relationship of electric current and three number of axle of earth magnetism between using numerical analysis method, with this
Relationship can precisely compensate for the interference of STOCHASTIC MAGNETIC FIELD suffered by geomagnetic sensor.To eliminate random external magnetic field to earth magnetism
The interference of sensor.Specifically, it goes to compensate three number of axle evidence of earth magnetism after disturbed, this analysis using numerical analysis algorithm
Algorithm according to limited measured current value and its to three number of axle of geomagnetic sensor according to the one-to-one relationship of offset of generation, lead to
Numerical analysis method is crossed, these given datas are fitted, to obtain in entire current range, electric current and three axis of geomagnetic sensor
The optimal functional relation of data.When practically magnetic chip works, in the presence of having interference power, the reality of interference power is measured
Value compensates current geomagnetic sensor by the functional relation of the electric current previously established and three number of axle of geomagnetic sensor between
Three number of axle evidences, to reach anti-disturbance method.
Since in practical usage situations, the current value on power supply cabling is finite value, it is in 0~1.5A under normal circumstances
Between.Assuming that n+1 current value of actual measurement, value is arranged successively from small to large, and forms matrix, is denoted as I=(i1 i2…in+1),
Three number of axle measured at geomagnetic sensor accordingly are according to successively are as follows:
In formulaAnd so on.a1、b1、c1, be respectively B1Ground magnetic component in three axis directions.
In actual PCB placement-and-routing, the X-axis of ground magnetic chip is always parallel or vertical with power supply cabling.Pass through
The left hand rule of Theory of Electromagnetic Field, the direction of Lorentz force be electric current generate magnetic field to three number of axle of geomagnetic sensor according to it
In a data influence.This is also confirmed: influence of the curent change to three number of axle evidences on same power supply cabling is all one
Change on a axis.But when device is put when due to PCB layout, the X of device, Y-direction is random.
Within the scope of 0~1.5A of current value, n+1 current value I=(i1 i2…in+1), corresponding three number of axle of earth magnetism is according to B=
(B1 B2…Bn+1).By Lagrange Polynomial interpolating method it is found that there are a n times interpolation polynomial Ln(x), so that Ln(ie)=
Be, wherein e belongs to 1 to the integer between n+1.Thus multinomial Ln(ie)=BeCurrent value and three number of axle of earth magnetism are established according to it
Between relationship.By Lagrange interpolation polynomial uniqueness theory it is found that multinomial Ln(ie)=BeFor above-mentioned surveyed number
According to being unique.So far, the functional relation of size of current and three number of axle of geomagnetic sensor between is established.
In the practical earth magnetism course of work, when geomagnetic sensor is by strong jamming, system interferes electricity by real-time detection
Current value on the cabling of source can obtain earth magnetism by the functional relation of current value and three number of axle of geomagnetic sensor between
On sensor three-axis sensor relative to it is noiseless when variable quantity.The three of the interference of power supply cabling will be received in geomagnetic sensor
According to when being reported to system, system directly on the basis of three number of axle evidence reported, is subtracted due to interfering increased variable quantity the number of axle.
To eliminate the interference of power supply cabling magnetic chip over the ground.
What is above selected is Lagrange's interpolation, and there are also other methods to be also able to achieve, such as Newton interpolating method, gradually line
Property interpolation, Her mite interpolation, least square method, etc..Wherein, Lagrange interpolation polynomial, remainder, estimation error etc. one
Series demonstration calculates the mode of function corresponding relationship in the related art much using each mathematical method, herein
It does not repeat them here.
Embodiment one
Fig. 3 is according to the function established between interference electric current value and geomagnetic sensor three number of axle evidence for being the embodiment of the present invention one
Relationship flow chart, as shown in figure 3, establish functional relation the following steps are included:
Step S302: firstly the need of the quantity determined to the noisy current source of geomagnetic sensor.Under normal circumstances, it needs
Meet: the requirement of safe distance (mm) > current change quantity (mA)/10.In the determining situation of geomagnetic sensor circumferential arrangement wiring
Under, the distance between electric current cabling and earth magnetism be it is known, the electric current on power supply cabling can be evaluated whether or it is expected that.If discontented peace
The requirement of full distance then needs to consider influence of the power supply cabling to geomagnetic sensor；
Step S304: earth magnetism calibration.The purpose of earth magnetism calibration, can make geomagnetic sensor obtain current Earth magnetic field shape
State, and filter out the interference of periphery soft magnetic materials bring；
Step S306: current earth magnetic field value is obtained after earth magnetism calibration.And record current geomagnetic sensor
Three number of axle are according to B0.In the presence of having an interfering current source, persistently sampling the current value on the current source is I=(i1 i2…in+1),
N+1 sampled current value quantity, while the variable quantity for measuring three number of axle evidences at geomagnetic sensor is followed successively by Δ B=(B1 B2…
Bn+1).The variable quantity of three number of axle evidences is the initial value B after measured value B and calibration0Difference: B-B0；
Step S308: in trade-off curve fitting, common several interpolation methods carry out curve fitting (it is, for example, possible to use
The mathematical tool case of Matlab software carries out curve fitting to institute's measured data).To n+1 in step S306 current value I=(i1
i2…in+1), the variation delta B=(B of three number of axle evidences1 B2…Bn+1) carry out curve fitting, current value and three number of axle are obtained according to it
Between functional relation.In this preferred embodiment, selection is Lagrange's interpolation, there are also other methods such as Newton interpolating method,
Gradually linear interpolation, hermite interpolation, least square method, etc.；
Step S310: it can be seen that, each power supply cabling generates three axis to geomagnetic sensor with it from step S308
All there is such a functional relation in data.Each functional relation is mapped storage in systems.
Fig. 4 is that according to embodiments of the present invention one earth magnetism works normally and executes the process of calibration when by current interference
Figure, as shown in figure 4, the workflow of calibration is as follows:
Step S402, geomagnetic sensor carry out soft magnetism calibration, filter out the interference of the soft magnetism substance on geomagnetic sensor periphery；
Step S404, judges whether earth magnetism is interfered by power supply cabling, after geomagnetic sensor calibration, if electronic compass
Fail to be directed toward direct north, then illustrates that geomagnetic sensor receives the interference of power supply cabling, enter step S406.Otherwise illustrate not receive
To the interference of power supply cabling, S412 is entered step；
Step S406, geomagnetic sensor read the current value of the corresponding power supply cabling of system charge management module, determine interference
Source and quantity n；
Step S408 inquires the relationship of the corresponding electric current of each interference source and three number of axle of earth magnetism between, utilizes electricity in Fig. 3
The functional relation of stream and three number of axle evidence of geomagnetic sensor, the current value for obtaining power supply cabling and three number of axle of earth magnetism are according between offset
Relationship；
Step S410 is modified compensation three number of axle evidence according to offset using three number of axle of earth magnetism, i.e., to three current axis
Data subtract offset；
Step S412 reports three number of axle according to system, and system utilizes three number of axle according to for electronic compass and inertia
Navigation.
Using earth magnetism anti-interference method and device described in the embodiment of the present invention, so that compared to the earth magnetism without calibration
Sensor, three number of axle of earth magnetism of output is according to more accurate；And accurate three number of axle evidence makes, geomagnetic sensor is being applied
When, bring enriching experiences.As the accuracy of electronic compass greatly improves；The experience effect of terminal inertial navigation is more aobvious
It is existing, etc..
Those skilled in the art should be understood that each module of the above invention or each step can use general calculating
Device realizes that they can be concentrated on a single computing device, or be distributed in network constituted by multiple computing devices
On, optionally, they can be realized with the program code that computing device can perform, it is thus possible to be stored in storage
It is performed by computing device in device, and in some cases, it can be to be different from shown by sequence execution herein or retouch
The step of stating, perhaps they are fabricated to each integrated circuit modules or by the multiple modules or step system in them
Single integrated circuit module is made to realize.In this way, the present invention is not limited to any specific hardware and softwares to combine.
The foregoing is only a preferred embodiment of the present invention, is not intended to restrict the invention, for the skill of this field
For art personnel, the invention may be variously modified and varied.All within the spirits and principles of the present invention, made any to repair
Change, equivalent replacement, improvement etc., should all be included in the protection scope of the present invention.
Claims (6)
1. a kind of interference compensation method of geomagnetic sensor characterized by comprising
Determine that the electric current on power supply cabling generates interference to geomagnetic sensor；
Multiple current values on power supply cabling are obtained, and according to three number of axle of the geomagnetic sensor according to changing value and the electric current
The function corresponding relationship of value obtains three number of axle according to offset；
Three number of axle is subtracted according to offset in three number of axle of current geomagnetic sensor；
Wherein, it is obtained in three number of axle according to the geomagnetic sensor according to the function corresponding relationship of changing value and the current value
Before three number of axle are according to offset, further includes: calculate three number of axle of the current value and the geomagnetic sensor according to the letter of changing value
Number corresponding relationships, comprising: repeatedly obtain the different current values on the power supply cabling, and with the current value that obtains every time
Three number of axle evidences of the corresponding geomagnetic sensor；According to the current value repeatedly obtained and with the electricity that obtains every time
Corresponding three number of axle evidence of flow valuve calculates three number of axle of the current value and the geomagnetic sensor according to the function pair of changing value
It should be related to.
2. the method according to claim 1, wherein according to the current value repeatedly obtained and with obtain every time
Corresponding three number of axle evidence of the current value taken, calculates three axis data variations of the current value Yu the geomagnetic sensor
The function corresponding relationship of value includes at least one following calculation method:
Lagrange's interpolation, Newton interpolating method, gradually linear interpolation, Hermite interpolation, least square method.
3. according to the method described in claim 2, it is characterized in that, the case where the calculation method is Lagrange's interpolation
Under, according to the current value repeatedly obtained and three number of axle evidence corresponding with the current value obtained every time, calculate
Three number of axle of the current value and the geomagnetic sensor include: according to the function corresponding relationship of changing value
According to n times interpolation polynomial Ln(ie)=BeThe function corresponding relationship of the current value Yu three number of axle evidence is obtained,
In, ieFor the current value repeatedly obtained, BeIt is three number of axle corresponding with the current value obtained every time according to n+1
Current value I=(i1 i2 … in+1), e belongs to 1 to the integer between n+1；
According to the function corresponding relationship of the current value and three number of axle evidence, the current value and the geomagnetic sensor are obtained
Three number of axle according to changing value function corresponding relationship.
4. according to the method in any one of claims 1 to 3, which is characterized in that determine electric current on power supply cabling over the ground
Magnetic Sensor generates interference
Soft magnetism calibration is carried out to the geomagnetic sensor；
Whether the electronic compass instruction direction after judging calibration is accurate, if inaccurate, it is determined that the electric current on power supply cabling
Interference is generated to the geomagnetic sensor.
5. a kind of interference compensation device of geomagnetic sensor characterized by comprising
Determining module, for determining that the electric current on power supply cabling generates interference to geomagnetic sensor；
Module is obtained, for obtaining multiple current values on power supply cabling, and according to three number of axle of the geomagnetic sensor according to change
The function corresponding relationship of change value and the current value obtains three number of axle according to offset；
Compensating module subtracts three number of axle according to offset in for three number of axle in current geomagnetic sensor；
Wherein, described device further include: computing module, for calculating three number of axle evidences of the current value Yu the geomagnetic sensor
The function corresponding relationship of changing value, comprising: acquiring unit, for repeatedly obtaining the different current values on the power supply cabling, with
And three number of axle evidences of the geomagnetic sensor corresponding with the current value obtained every time；Computing unit, for according to repeatedly
Obtain the current value and three number of axle evidence corresponding with the current value obtained every time, calculate the current value with
Three number of axle of the geomagnetic sensor according to changing value function corresponding relationship.
6. device according to claim 5, which is characterized in that the determining module includes:
Calibration unit, for carrying out soft magnetism calibration to the geomagnetic sensor；
Judging unit, for judging whether the electronic compass instruction direction after calibration is accurate, if inaccurate, it is determined that power supply
Electric current on cabling generates interference to the geomagnetic sensor.
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| 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 |
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| CN201410280023.2A CN105277995B (en) | 2014-06-20 | 2014-06-20 | The interference compensation method and device of geomagnetic sensor |
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| CN105824055A (en) * | 2016-04-20 | 2016-08-03 | 江苏省高邮地震台 | System and method for automatically judging and processing interference of high-voltage direct current transmission on geomagnetic observation |
| CN107526112B (en) * | 2016-06-21 | 2020-02-14 | 中兴通讯股份有限公司 | Method and device for resisting charging geomagnetic interference |
| 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 |
| CN106017510B (en) * | 2016-07-29 | 2019-05-21 | 中科傲翼无人机科技（常州）有限公司 | A kind of dynamic calibration method of unmanned plane geomagnetic sensor |
| CN108494946B (en) * | 2018-02-09 | 2021-09-28 | 维沃移动通信有限公司 | Method and device for correcting electronic compass in mobile terminal |
| CN108897053B (en) * | 2018-04-02 | 2021-03-30 | 广州吉欧电子科技有限公司 | Magnetic interference detection method and device based on equipment magnetic environment change |
| CN111854721A (en) * | 2020-07-30 | 2020-10-30 | 北京小米移动软件有限公司 | Geomagnetic data correction method and device and electronic equipment |
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| CN105277995A (en) | 2016-01-27 |
| WO2015192461A1 (en) | 2015-12-23 |
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