CN107576321A - Determine the method, device and mobile terminal of magnetic azimuth - Google Patents
Determine the method, device and mobile terminal of magnetic azimuth Download PDFInfo
- Publication number
- CN107576321A CN107576321A CN201710764621.0A CN201710764621A CN107576321A CN 107576321 A CN107576321 A CN 107576321A CN 201710764621 A CN201710764621 A CN 201710764621A CN 107576321 A CN107576321 A CN 107576321A
- Authority
- CN
- China
- Prior art keywords
- magnetic
- magnetometer
- motion state
- current motion
- measured 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
Abstract
The disclosure is directed to a kind of magnetic orientation angle method, device and mobile terminal really.Methods described is applied in mobile terminal, and the mobile terminal has accelerometer, magnetometer and gyroscope, and methods described includes：Current motion state is obtained, current motion state is inactive state or mobile status；Detect whether magnetic interference be present；If current motion state is inactive state and magnetic interference is not present, the first magnetic azimuth that application is calculated according to the measured value of accelerometer and the measured value of magnetometer；If current motion state is mobile status and/or magnetic interference be present, the second magnetic azimuth that application is calculated according to the measured value of the measured value of accelerometer, the measured value of magnetometer and gyroscope.The disclosure according to the current motion state of mobile terminal and with the presence or absence of magnetic interference around it by determining the magnetic azimuth to be applied, so as to select the relatively small magnetic azimuth of application error so that the navigation of electronic compass is more accurate.
Description
Technical field
The embodiment of the present disclosure is related to field of navigation technology, more particularly to a kind of to determine magnetic azimuth method, apparatus and movement
Terminal.
Background technology
With the development of mobile phone, increasing mobile phone possesses the function of electronic compass, and electronic compass is able to indicate that ground
Magnetic direction, make digital map navigation more accurate.
Electronic compass can show magnetic azimuth, and the magnetic azimuth is used to indicate accurate magnetic direction, magnetic side to user
Parallactic angle is the angle between horizontal component and magnetic north of the magnetic induction intensity along ground apparent bearing.Electronic compass makes in the related art
(6Dimensional Fusion, 6D-fusion) algorithm or 9 dimension fusion (9Dimensional Fusion, 9D- are merged with 6 dimensions
Fusion) algorithm calculates magnetic azimuth, and two kinds of algorithms each have the factor for causing calculation error.
The content of the invention
The embodiment of the present disclosure provides a kind of method, device and mobile terminal for determining magnetic azimuth.The technical scheme
It is as follows：
According to the first aspect of the embodiment of the present disclosure, there is provided a kind of method for determining magnetic azimuth, applied to mobile whole
End, the mobile terminal have accelerometer, magnetometer and gyroscope, and methods described includes：
Current motion state is obtained, the current motion state is inactive state or mobile status；
Detect whether magnetic interference be present；
If the current motion state is the inactive state and magnetic interference is not present, apply according to the acceleration
The first magnetic azimuth that the measured value of the measured value of meter and the magnetometer is calculated；
If the current motion state is the mobile status and/or magnetic interference be present, apply according to the acceleration
The second magnetic azimuth that measured value, the measured value of the magnetometer and the measured value of the gyroscope of degree meter are calculated.
Alternatively, the acquisition current motion state, including：
Obtained by the accelerometer in the acceleration at current time and the preset period of time before the current time
At least one acceleration；
Calculate the root-mean-square value of the acceleration obtained；
If the root-mean-square value is more than predetermined threshold value, it is determined that the current motion state is the mobile status；
If the root-mean-square value is not more than the predetermined threshold value, it is determined that the current motion state is the static shape
State.
Alternatively, it is described to detect whether magnetic interference be present, including：
Magnetic induction intensity is obtained by the magnetometer；
If during the magnetic induction intensity is in default span, it is determined that in the absence of magnetic interference；
If during the magnetic induction intensity is not in the default span, it is determined that magnetic interference be present.
Alternatively, methods described also includes：
The prompt message calibrated to the magnetometer is shown, the prompt message is used to prompt to perform to be used for described
The operation that magnetometer is calibrated；
According to the operation monitored, the calibration data calibrated to the magnetometer is obtained；
The magnetometer is calibrated according to the calibration data.
Alternatively, methods described also includes：
Display according to the direction of terrestrial magnetic north that first magnetic azimuth or second magnetic azimuth are calculated to.
According to the second aspect of the embodiment of the present disclosure, there is provided a kind of device for determining magnetic azimuth, applied to mobile whole
End, the mobile terminal have accelerometer, magnetometer and gyroscope, and described device includes：
First acquisition module, it is configured as obtaining current motion state, the current motion state is inactive state or shifting
Dynamic state；
Detection module, it is configured as detecting whether magnetic interference be present；
Application module, the current motion state is configured as the inactive state and when magnetic interference is not present,
The first magnetic azimuth being calculated using the measured value of the measured value according to the accelerometer and the magnetometer；
The application module, it is additionally configured to when the current motion state is the mobile status and/or magnetic field be present
During interference, using the measured value meter of the measured value according to the accelerometer, the measured value of the magnetometer and the gyroscope
The second obtained magnetic azimuth.
Alternatively, first acquisition module includes：
First acquisition submodule, it is configured as obtaining the acceleration at current time and described current by the accelerometer
At least one acceleration in preset period of time before moment；
Calculating sub module, it is configured as calculating the root-mean-square value of the acceleration obtained；
First determination sub-module, when being configured as the root-mean-square value and being more than predetermined threshold value, determine the current kinetic
State is the mobile status；
First determination sub-module, it is additionally configured to when the root-mean-square value is not more than the predetermined threshold value, it is determined that
The current motion state is the inactive state.
Alternatively, the detection module includes：
Second acquisition submodule, it is configured as obtaining magnetic induction intensity by the magnetometer；
Second determination sub-module, when being configured as the magnetic induction intensity in default span, it is determined that being not present
Magnetic interference；
Second determination sub-module, it is additionally configured to when the magnetic induction intensity is not in the default span
When, it is determined that magnetic interference be present.
Alternatively, described device also includes：
Reminding module, is configured as the prompt message that display is calibrated to the magnetometer, and the prompt message is used for
Prompting performs the operation for being used for being calibrated to the magnetometer；
Second acquisition module, it is configured as, according to the operation monitored, obtaining calibrate the magnetometer
Calibration data；
Calibration module, it is configured as calibrating the magnetometer according to the calibration data.
Alternatively, described device also includes：
Display module, it is configured as what display was calculated according to first magnetic azimuth or second magnetic azimuth
Direction of terrestrial magnetic north to.
According to the third aspect of the embodiment of the present disclosure, there is provided a kind of mobile terminal, the mobile terminal include：Acceleration
Meter, magnetometer, gyroscope, processor, and the memory of the executable instruction for storing the processor；
Wherein, the processor is configured as：
Current motion state is obtained, the current motion state is inactive state or mobile status；
Detect whether magnetic interference be present；
When the current motion state is the inactive state and when magnetic interference is not present, using according to the acceleration
The first magnetic azimuth that the measured value of the measured value of meter and the magnetometer is calculated；
When the current motion state is the mobile status and/or magnetic interference be present, using according to the acceleration
The second magnetic azimuth that measured value, the measured value of the magnetometer and the measured value of the gyroscope of degree meter are calculated.
According to the fourth aspect of the embodiment of the present disclosure, there is provided a kind of non-transitorycomputer readable storage medium, thereon
Be stored with computer program, when the computer program is executed by processor realize as described in relation to the first aspect method the step of.
The technical scheme that the embodiment of the present disclosure provides can include the following benefits：
By according to whether there is magnetic interference around the current motion state of mobile terminal and its from the first magnetic azimuth
With the magnetic azimuth to be applied of determination in the second magnetic azimuth, so as to select the relatively small magnetic azimuth of application error, make
The navigation for obtaining electronic compass is more accurate.
It should be appreciated that the general description and following detailed description of the above are only exemplary and explanatory, not
The disclosure can be limited.
Brief description of the drawings
Accompanying drawing herein is merged in specification and forms the part of this specification, shows the implementation for meeting the disclosure
Example, and be used to together with specification to explain the principle of the disclosure.
Fig. 1 is a kind of flow chart of the method for determination magnetic azimuth according to an exemplary embodiment；
Fig. 2 is a kind of block diagram of the device of determination magnetic azimuth according to an exemplary embodiment；
Fig. 3 is a kind of schematic diagram of device according to an exemplary embodiment.
Embodiment
Here exemplary embodiment will be illustrated in detail, its example is illustrated in the accompanying drawings.Following description is related to
During accompanying drawing, unless otherwise indicated, the same numbers in different accompanying drawings represent same or analogous key element.Following exemplary embodiment
Described in embodiment do not represent all embodiments consistent with the disclosure.On the contrary, they be only with it is such as appended
The example of the consistent apparatus and method of some aspects be described in detail in claims, the disclosure.
Electronic compass only calculates magnetic azimuth using 6 dimension blending algorithms or 9 dimension blending algorithms in correlation technique, causes to calculate
Error be present in obtained magnetic azimuth.In the disclosed embodiments, there is provided a kind of technical scheme for determining magnetic azimuth, pass through
It whether there is magnetic interference according to the current motion state of mobile terminal and around it from the magnetic side calculated by 6 dimension blending algorithms
The magnetic azimuth to be applied is determined in parallactic angle and the magnetic azimuth calculated by 9 dimension blending algorithms, so as to select application error
Relatively small magnetic azimuth so that the navigation of electronic compass is more accurate.
The method that the embodiment of the present disclosure provides, the executive agent of each step can be the mobile end for possessing electronic compass function
End, such as the mobile terminal can be mobile phone, tablet personal computer, navigation equipment, wearable device etc..Possesses electronic compass function
Mobile terminal has accelerometer, magnetometer and gyroscope, wherein, accelerometer is used for the acceleration for measuring mobile terminal, magnetic
Power meter is used for the magnetic induction intensity for measuring position, and gyroscope is used for the angular speed for measuring mobile terminal.For convenience of description,
In following embodiments of the method, explanation only is introduced by mobile terminal of the executive agent of each step, but do not form limit to this
It is fixed.
Fig. 1 is a kind of flow chart of the method for determination magnetic azimuth according to an exemplary embodiment, and this method can
With including the following steps：
In a step 101, current motion state is obtained.
During using electronic compass function, the current motion state of acquisition for mobile terminal itself, current kinetic shape
State is inactive state or mobile status.Inactive state refer to the speed of mobile terminal be zero, transfixion, mobile status refers to move
The speed of dynamic terminal is not zero, among movement.
In a kind of possible embodiment, acquisition for mobile terminal current motion state includes following several sub-steps：
1st, at least one in the acceleration at current time and the preset period of time before current time is obtained by accelerometer
Individual acceleration；
Preset period of time can be according to actual conditions empirical value set in advance, it is ensured that accelerometer can measure acceleration
For calculating aftermentioned root-mean-square value.Exemplarily, it is assumed that 2 divide 36 seconds when current time is 14, and preset period of time is 3 seconds, mobile whole
2 divide the acceleration of 36 seconds when end obtains 14, and 2 divide three acceleration of 35 seconds, 34 seconds and 33 seconds when obtaining 14.
2nd, the root-mean-square value of the acceleration obtained is calculated；
By above-mentioned acceleration square, then calculate acceleration square average value, finally by the average value evolution i.e. obtain
The root-mean-square value of acceleration.
The 3rd, if root-mean-square value is more than predetermined threshold value, it is determined that current motion state is mobile status；
The 4th, if root-mean-square value is not more than predetermined threshold value, it is determined that current motion state is inactive state.
Whether predetermined threshold value is more than to determine current motion state by the root-mean-square value for detecting above-mentioned acceleration, presets threshold
Value can be according to actual conditions empirical value set in advance, when the root-mean-square value of the acceleration of an object is more than a fixation
During value, you can the current motion state for being considered as the object is mobile status, and the fixed value is predetermined threshold value.
In a step 102, detect whether magnetic interference be present.
Except obtain current motion state, mobile terminal also detect around it whether there is in addition to earth's magnetic field other magnetic fields make
Into magnetic interference.
In a kind of possible embodiment, mobile terminal detects whether that magnetic interference be present includes following several sub-steps
Suddenly：
1st, magnetic induction intensity is obtained by magnetometer；
Mobile terminal obtains the magnetic induction intensity of its position by magnetometer.
The 2nd, if magnetic induction intensity is in default span, it is determined that in the absence of magnetic interference；
The 3rd, if magnetic induction intensity is not in default span, it is determined that magnetic interference be present.
Default span can be according to the range set of the magnetic induction intensity in earth's magnetic field, if magnetic induction intensity is not default
In span, then magnetic interference caused by other electromagnetic fields in addition to earth's magnetic field be present.
It should be noted is that above-mentioned steps 102 can perform before step 101, can also be after step 101
Perform, or performed simultaneously with step 101, the embodiment of the present disclosure is not construed as limiting to this.
In step 103, if current motion state is inactive state and magnetic interference is not present, apply according to acceleration
The first magnetic azimuth that the measured value of meter and the measured value of magnetometer are calculated.
Mobile terminal applies the first magnetic azimuth being calculated according to the measured value of accelerometer and the measured value of magnetometer
The magnetic azimuth that angle, i.e. application are calculated by 6 dimension blending algorithms.6 dimension blending algorithms be by the measured value of accelerometer and
The measured value of magnetometer calculates the algorithm of magnetic azimuth, if current motion state is inactive state and magnetic interference is not present,
Error or error is not present in allowed band in the measured value of accelerometer and the measured value of magnetometer, can be merged by 6 dimensions
Algorithm calculates the accurate or less magnetic azimuth of error (i.e. the first magnetic azimuth).Therefore, it is quiet in current motion state
Only state and in the absence of in the case of magnetic interference, mobile terminal applies the first magnetic azimuth.
At step 104, if current motion state is mobile status and/or magnetic interference be present, apply according to acceleration
The second magnetic azimuth that measured value, the measured value of magnetometer and the measured value of gyroscope of degree meter are calculated.
Mobile terminal is applied and calculated according to the measured value of the measured value of accelerometer, the measured value of magnetometer and gyroscope
The magnetic azimuth that the second magnetic azimuth arrived, i.e. application are calculated by 9 dimension blending algorithms.9 dimension blending algorithms are to pass through acceleration
The measured value for spending the measured value of meter, the measured value of magnetometer and gyroscope calculates the algorithm of magnetic azimuth, is calculated compared to 6 dimension fusions
Method, 9 dimension blending algorithms introduce the measured value of gyroscope, and gyroscope neither by mobile terminal itself motion state shadow
Ring, also will not be by geomagnetic noise.Therefore, in the case where current motion state is mobile status and/or magnetic interference be present,
9 dimension blending algorithms are calculated more accurate than the magnetic azimuth that 6 dimension blending algorithms calculate by introducing the measured value of gyroscope
True magnetic azimuth (i.e. the second magnetic azimuth), so being mobile status in current motion state and/or magnetic interference be present
In the case of, the magnetic azimuth of application second in motion.
9 dimension blending algorithms introduce gyroscope on the basis of 6 dimension blending algorithms, therefore are going out to be now able to influence gyroscope
Measurement the problem of when, such as integral error problem, outrange problem and temperature drift problems etc., 9 dimension blending algorithms calculate
Magnetic azimuth also have a larger error, therefore be inactive state and in the absence of the situation of magnetic interference in current motion state
Under, mobile terminal applies the first magnetic azimuth being calculated by 6 dimension blending algorithms, is calculated without application by 9 dimension blending algorithms
The second obtained magnetic azimuth, avoid using the second magnetic azimuth that error be present so that the magnetic azimuth of final choice application
It is more accurate.
Alternatively, when mobile terminal begins to use the function of electronic compass, the prompting calibrated to magnetometer is shown
Information, the prompt message are used to prompt to perform the operation for being used for calibrating magnetometer.Because magnetometer may by from
The magnetic interference of mobile terminal itself, such as the magnetic interference of the circuit board inside mobile terminal, so needing to magnetic force
Meter is calibrated, to avoid measurement of the magnetic interference from mobile terminal itself to magnetometer from producing interference, and to magnetometer
The operation calibrated refers to the operation performed according to prompt message to mobile terminal, such as user will be mobile according to prompt message
Terminal is done 8 fonts and rocked in the air.Mobile terminal obtains the calibration calibrated to magnetometer after the aforesaid operations monitored
Data, and being calibrated according to calibration data to magnetometer, wherein, calibration data can be the movement locus of mobile terminal, root
Go out to produce mobile terminal the magnetic induction intensity in the magnetic field of interference according to the moving track calculation, because the magnetic induction that magnetometer measures
Intensity is the vector of the magnetic induction intensity in magnetic field of the magnetic induction intensity in earth's magnetic field with producing interference, so calculating to movement
The magnetic induction intensity that terminal produces the magnetic field of interference can just be calibrated to magnetometer.
For the first magnetic azimuth or the second magnetic azimuth, mobile terminal has a variety of application modes so that user can
Magnetic direction is obtained by magnetic azimuth.
In a kind of possible embodiment, mobile terminal refers to basis using the first magnetic azimuth or the second magnetic azimuth
First magnetic azimuth or the second magnetic azimuth calculate direction of terrestrial magnetic north to, and show the direction of terrestrial magnetic north to.
In alternatively possible embodiment, mobile terminal refers to directly using the first magnetic azimuth or the second magnetic azimuth
Connect the value of the first magnetic azimuth of display or the second magnetic azimuth.
In the disclosed embodiments, by being done according to around the current motion state of mobile terminal and its with the presence or absence of magnetic field
The magnetic azimuth to be applied of determination from the first magnetic azimuth and the second magnetic azimuth is disturbed, so as to select application error relatively
Small magnetic azimuth so that the navigation of electronic compass is more accurate.
Following is embodiment of the present disclosure, can be used for performing embodiments of the present disclosure.It is real for disclosure device
The details not disclosed in example is applied, refer to embodiments of the present disclosure.
Fig. 2 is a kind of block diagram of the device of determination magnetic azimuth according to an exemplary embodiment, and the device has
The function of above method example is realized, the function can be realized by hardware, and corresponding software can also be performed by hardware and is realized.
The device can include：First acquisition module 201, detection module 202, application module 203.
First acquisition module 201, be configured as obtain current motion state, the current motion state be inactive state or
Mobile status.
Detection module 202, it is configured as detecting whether magnetic interference be present.
Application module 203, the current motion state is configured as the inactive state and magnetic interference is not present
When, the first magnetic azimuth for being calculated using the measured value of the measured value according to the accelerometer and the magnetometer.
Application module 203, it is additionally configured to when the current motion state is the mobile status and/or magnetic field be present and does
When disturbing, calculated using the measured value of the measured value according to the accelerometer, the measured value of the magnetometer and the gyroscope
The second obtained magnetic azimuth.
In the disclosed embodiments, by being done according to around the current motion state of mobile terminal and its with the presence or absence of magnetic field
The magnetic azimuth to be applied of determination from the first magnetic azimuth and the second magnetic azimuth is disturbed, so as to select application error relatively
Small magnetic azimuth so that the navigation of electronic compass is more accurate.
Alternatively, the first acquisition module 201 includes：First acquisition submodule, calculating sub module and the first determination sub-module.
First acquisition submodule, it is configured as obtaining the acceleration at current time and described current by the accelerometer
At least one acceleration in preset period of time before moment.
Calculating sub module, it is configured as calculating the root-mean-square value of the acceleration obtained.
First determination sub-module, when being configured as the root-mean-square value and being more than predetermined threshold value, determine the current kinetic
State is the mobile status.
First determination sub-module, it is additionally configured to when the root-mean-square value is not more than the predetermined threshold value, it is determined that described
Current motion state is the inactive state.
Alternatively, detection module 202 includes：Second acquisition submodule and the second determination sub-module.
Second acquisition submodule, it is configured as obtaining magnetic induction intensity by the magnetometer；
Second determination sub-module, when being configured as the magnetic induction intensity in default span, it is determined that being not present
Magnetic interference；
Second determination sub-module, it is additionally configured to when the magnetic induction intensity is not in the default span, really
Surely magnetic interference be present.
Alternatively, described device also includes：Reminding module, the second acquisition module and calibration module.
Reminding module, is configured as the prompt message that display is calibrated to the magnetometer, and the prompt message is used for
Prompting performs the operation for being used for being calibrated to the magnetometer；
Second acquisition module, it is configured as, according to the operation monitored, obtaining calibrate the magnetometer
Calibration data；
Calibration module, it is configured as calibrating the magnetometer according to the calibration data.
Alternatively, described device also includes：Display module.
Display module, it is configured as what display was calculated according to first magnetic azimuth or second magnetic azimuth
Direction of terrestrial magnetic north to.
It should be noted is that above-described embodiment provide device when realizing its function, only with above-mentioned each function
The division progress of module for example, in practical application, can according to be actually needed and by above-mentioned function distribution by different work(
Energy module is completed, i.e., the content structure of equipment is divided into different functional modules, to complete whole described above or portion
Divide function.
On the device in above-described embodiment, wherein modules perform the concrete mode of operation in relevant this method
Embodiment in be described in detail, explanation will be not set forth in detail herein.
The exemplary embodiment of the disclosure one additionally provides a kind of mobile terminal, can realize the determination magnetic side that the disclosure provides
The method of parallactic angle.The mobile terminal includes：Accelerometer, magnetometer, gyroscope, processor, and for storing processor
The memory of executable instruction.Wherein, processor is configured as：
Current motion state is obtained, the current motion state is inactive state or mobile status；
Detect whether magnetic interference be present；
When the current motion state is the inactive state and when magnetic interference is not present, using according to the acceleration
The first magnetic azimuth that the measured value of the measured value of meter and the magnetometer is calculated；
When the current motion state is the mobile status and/or magnetic interference be present, using according to the acceleration
The second magnetic azimuth that measured value, the measured value of the magnetometer and the measured value of the gyroscope of degree meter are calculated.
Alternatively, the processor is configured as：
Obtained by the accelerometer in the acceleration at current time and the preset period of time before the current time
At least one acceleration；
Calculate the root-mean-square value of the acceleration obtained；
When the root-mean-square value is more than predetermined threshold value, it is the mobile status to determine the current motion state；
When the root-mean-square value is not more than the predetermined threshold value, it is the static shape to determine the current motion state
State.
Alternatively, the processor is configured as：
Magnetic induction intensity is obtained by the magnetometer；
When the magnetic induction intensity is middle in default span, it is determined that magnetic interference is not present；
When the magnetic induction intensity is not middle in the span default again, it is determined that magnetic interference be present.
Alternatively, the processor is additionally configured to：
The prompt message calibrated to the magnetometer is shown, the prompt message is used to prompt to perform to be used for described
The operation that magnetometer is calibrated；
According to the operation monitored, the calibration data calibrated to the magnetometer is obtained；
The magnetometer is calibrated according to the calibration data.
Alternatively, the processor is additionally configured to：
Display according to the direction of terrestrial magnetic north that first magnetic azimuth or second magnetic azimuth are calculated to.
Fig. 3 is a kind of schematic diagram of device 300 according to an exemplary embodiment.For example, device 300 can be hand
Machine, tablet personal computer, navigation equipment, wearable device etc..
Reference picture 3, device 300 can include following one or more assemblies：Processing component 302, memory 304, power supply
Component 306, multimedia groupware 308, audio-frequency assembly 310, input/output (I/O) interface 312, sensor cluster 314, Yi Jitong
Believe component 316.
The integrated operation of the usual control device 300 of processing component 302, such as communicated with display, call, data, phase
The operation that machine operates and record operation is associated.Processing component 302 can refer to including one or more processors 320 to perform
Order, to complete all or part of step of above-mentioned method.In addition, processing component 302 can include one or more modules, just
Interaction between processing component 302 and other assemblies.For example, processing component 302 can include multi-media module, it is more to facilitate
Interaction between media component 308 and processing component 302.
Memory 304 is configured as storing various types of data to support the operation in device 300.These data are shown
Example includes the instruction of any application program or method for operating on the device 300, contact data, telephone book data, disappears
Breath, picture, video etc..Memory 304 can be by any kind of volatibility or non-volatile memory device or their group
Close and realize, as static RAM (SRAM), Electrically Erasable Read Only Memory (EEPROM) are erasable to compile
Journey read-only storage (EPROM), programmable read only memory (PROM), read-only storage (ROM), magnetic memory, flash
Device, disk or CD.
Power supply module 306 provides electric power for the various assemblies of device 300.Power supply module 306 can include power management system
System, one or more power supplys, and other components associated with generating, managing and distributing electric power for device 300.
Multimedia groupware 308 is included in the screen of one output interface of offer between described device 300 and user.One
In a little embodiments, screen can include liquid crystal display (LCD) and touch panel (TP).If screen includes touch panel, screen
Curtain may be implemented as touch-screen, to receive the input signal from user.Touch panel includes one or more touch sensings
Device is with the gesture on sensing touch, slip and touch panel.The touch sensor can not only sensing touch or sliding action
Border, but also detect and touched or the related duration and pressure of slide with described.In certain embodiments, more matchmakers
Body component 308 includes a front camera and/or rear camera.When device 300 is in operator scheme, such as screening-mode or
During video mode, front camera and/or rear camera can receive outside multi-medium data.Each front camera and
Rear camera can be a fixed optical lens system or have focusing and optical zoom capabilities.
Audio-frequency assembly 310 is configured as output and/or input audio signal.For example, audio-frequency assembly 310 includes a Mike
Wind (MIC), when device 300 is in operator scheme, during such as call model, logging mode and speech recognition mode, microphone by with
It is set to reception external audio signal.The audio signal received can be further stored in memory 304 or via communication set
Part 316 is sent.In certain embodiments, audio-frequency assembly 310 also includes a loudspeaker, for exports audio signal.
I/O interfaces 312 provide interface between processing component 302 and peripheral interface module, and above-mentioned peripheral interface module can
To be keyboard, click wheel, button etc..These buttons may include but be not limited to：Home button, volume button, start button and lock
Determine button.
Sensor cluster 314 includes one or more sensors, and the state for providing various aspects for device 300 is commented
Estimate.For example, sensor cluster 314 can detect opening/closed mode of device 300, and the relative positioning of component, for example, it is described
Component is the display and keypad of device 300, and sensor cluster 314 can be with 300 1 components of detection means 300 or device
Position change, the existence or non-existence that user contacts with device 300, the orientation of device 300 or acceleration/deceleration and device 300
Temperature change.Sensor cluster 314 can include proximity transducer, be configured to detect in no any physical contact
The presence of neighbouring object.Sensor cluster 314 can also include optical sensor, such as CMOS or ccd image sensor, for into
As being used in application.In the disclosed embodiments, the sensor component 314 comprises at least accelerometer, gyroscope and magnetic force
Meter.
Communication component 316 is configured to facilitate the communication of wired or wireless way between device 300 and other equipment.Device
300 can access the wireless network based on communication standard, such as Wi-Fi, 2G or 3G, or combinations thereof.In an exemplary reality
Apply in example, communication component 316 receives broadcast singal or the related letter of broadcast from external broadcasting management system via broadcast channel
Breath.In one exemplary embodiment, the communication component 316 also includes near-field communication (NFC) module, to promote short distance to lead to
Letter.For example, radio frequency identification (RFID) technology, Infrared Data Association (IrDA) technology, ultra wide band (UWB) can be based in NFC module
Technology, bluetooth (BT) technology and other technologies are realized.
In the exemplary embodiment, device 300 can be believed by one or more application specific integrated circuits (ASIC), numeral
Number processor (DSP), digital signal processing appts (DSPD), PLD (PLD), field programmable gate array
(FPGA), controller, microcontroller, microprocessor or other electronic components are realized, for performing the above method.
In the exemplary embodiment, a kind of non-transitorycomputer readable storage medium including instructing, example are additionally provided
Such as include the memory 304 of instruction, above-mentioned instruction can be performed to complete the above method by the processor 320 of device 300.For example,
The non-transitorycomputer readable storage medium can be ROM, random access memory (RAM), CD-ROM, tape, floppy disk
With optical data storage devices etc..
A kind of non-transitorycomputer readable storage medium, when the instruction (or computer program) in the storage medium by
During the computing device of device 300 so that device 300 is able to carry out the method that above-mentioned Fig. 1 embodiments provide.
It should be appreciated that referenced herein " multiple " refer to two or more."and/or", description association
The incidence relation of object, expression may have three kinds of relations, for example, A and/or B, can be represented：Individualism A, while A be present
And B, individualism B these three situations.It is a kind of relation of "or" that character "/", which typicallys represent forward-backward correlation object,.
Those skilled in the art will readily occur to the disclosure its after considering specification and putting into practice invention disclosed herein
Its embodiment.The application is intended to any modification, purposes or the adaptations of the disclosure, these modifications, purposes or
Person's adaptations follow the general principle of the disclosure and including the undocumented common knowledges in the art of the disclosure
Or conventional techniques.Description and embodiments are considered only as exemplary, and the true scope of the disclosure and spirit are by following
Claim is pointed out.
It should be appreciated that the precision architecture that the disclosure is not limited to be described above and is shown in the drawings, and
And various modifications and changes can be being carried out without departing from the scope.The scope of the present disclosure is only limited by appended claim.
Claims (12)
- A kind of 1. method for determining magnetic azimuth, it is characterised in that applied to mobile terminal, the mobile terminal has acceleration Meter, magnetometer and gyroscope, methods described include：Current motion state is obtained, the current motion state is inactive state or mobile status；Detect whether magnetic interference be present；If the current motion state is the inactive state and magnetic interference is not present, apply according to the accelerometer The first magnetic azimuth that the measured value of measured value and the magnetometer is calculated；If the current motion state is the mobile status and/or magnetic interference be present, apply according to the accelerometer The second magnetic azimuth for being calculated of measured value, the measured value of the magnetometer and the measured value of the gyroscope.
- 2. according to the method for claim 1, it is characterised in that the acquisition current motion state, including：Obtained by the accelerometer in the acceleration at current time and the preset period of time before the current time at least One acceleration；Calculate the root-mean-square value of the acceleration obtained；If the root-mean-square value is more than predetermined threshold value, it is determined that the current motion state is the mobile status；If the root-mean-square value is not more than the predetermined threshold value, it is determined that the current motion state is the inactive state.
- 3. according to the method for claim 1, it is characterised in that it is described to detect whether magnetic interference be present, including：Magnetic induction intensity is obtained by the magnetometer；If the magnetic induction intensity is in default span, it is determined that in the absence of magnetic interference；If the magnetic induction intensity is not in the default span, it is determined that magnetic interference be present.
- 4. according to the method described in any one of claims 1 to 3, it is characterised in that methods described also includes：The prompt message calibrated to the magnetometer is shown, the prompt message is used to prompt to perform to be used for the magnetic force Count the operation calibrated；According to the operation monitored, the calibration data calibrated to the magnetometer is obtained；The magnetometer is calibrated according to the calibration data.
- 5. according to the method described in any one of claims 1 to 3, it is characterised in that methods described also includes：Display according to the direction of terrestrial magnetic north that first magnetic azimuth or second magnetic azimuth are calculated to.
- 6. a kind of device for determining magnetic azimuth, it is characterised in that applied to mobile terminal, the mobile terminal has acceleration Meter, magnetometer and gyroscope, described device include：First acquisition module, it is configured as obtaining current motion state, the current motion state is inactive state or mobile shape State；Detection module, it is configured as detecting whether magnetic interference be present；Application module, the current motion state is configured as the inactive state and when magnetic interference is not present, is applied The first magnetic azimuth being calculated according to the measured value of the measured value of the accelerometer and the magnetometer；The application module, it is additionally configured to when the current motion state is the mobile status and/or magnetic interference be present When, calculated using the measured value of the measured value according to the accelerometer, the measured value of the magnetometer and the gyroscope The second magnetic azimuth arrived.
- 7. device according to claim 6, it is characterised in that first acquisition module includes：First acquisition submodule, it is configured as obtaining the acceleration at current time and the current time by the accelerometer At least one acceleration in preset period of time before；Calculating sub module, it is configured as calculating the root-mean-square value of the acceleration obtained；First determination sub-module, when being configured as the root-mean-square value and being more than predetermined threshold value, determine the current motion state For the mobile status；First determination sub-module, it is additionally configured to when the root-mean-square value is not more than the predetermined threshold value, it is determined that described Current motion state is the inactive state.
- 8. device according to claim 6, it is characterised in that the detection module includes：Second acquisition submodule, it is configured as obtaining magnetic induction intensity by the magnetometer；Second determination sub-module, when being configured as the magnetic induction intensity in default span, it is determined that magnetic field is not present Interference；Second determination sub-module, it is additionally configured to when the magnetic induction intensity is not in the default span, really Surely magnetic interference be present.
- 9. according to the device described in any one of claim 6 to 8, it is characterised in that described device also includes：Reminding module, is configured as the prompt message that display is calibrated to the magnetometer, and the prompt message is used to prompt Perform the operation for being calibrated to the magnetometer；Second acquisition module, it is configured as, according to the operation monitored, obtaining the calibration for calibrating the magnetometer Data；Calibration module, it is configured as calibrating the magnetometer according to the calibration data.
- 10. according to the device described in any one of claim 6 to 8, it is characterised in that described device also includes：Display module, it is configured as the earth magnetism that display is calculated according to first magnetic azimuth or second magnetic azimuth The north to.
- 11. a kind of mobile terminal, it is characterised in that the mobile terminal includes：Accelerometer, magnetometer, gyroscope, processing Device, and the memory of the executable instruction for storing the processor；Wherein, the processor is configured as：Current motion state is obtained, the current motion state is inactive state or mobile status；Detect whether magnetic interference be present；When the current motion state is the inactive state and when magnetic interference is not present, using according to the accelerometer The first magnetic azimuth that the measured value of measured value and the magnetometer is calculated；When the current motion state is the mobile status and/or magnetic interference be present, using according to the accelerometer The second magnetic azimuth for being calculated of measured value, the measured value of the magnetometer and the measured value of the gyroscope.
- 12. a kind of non-transitorycomputer readable storage medium, is stored thereon with computer program, it is characterised in that the meter Realized when calculation machine program is executed by processor such as the step of any one of claim 1 to 5 methods described.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710764621.0A CN107576321A (en) | 2017-08-30 | 2017-08-30 | Determine the method, device and mobile terminal of magnetic azimuth |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710764621.0A CN107576321A (en) | 2017-08-30 | 2017-08-30 | Determine the method, device and mobile terminal of magnetic azimuth |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107576321A true CN107576321A (en) | 2018-01-12 |
Family
ID=61030107
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710764621.0A Pending CN107576321A (en) | 2017-08-30 | 2017-08-30 | Determine the method, device and mobile terminal of magnetic azimuth |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107576321A (en) |
Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108844537A (en) * | 2018-04-27 | 2018-11-20 | 广州布塔智能科技有限公司 | The method and mobile terminal of acquisition for mobile terminal Toy Motion state |
| CN108900665A (en) * | 2018-06-08 | 2018-11-27 | Oppo广东移动通信有限公司 | The control method of electronic equipment and electronic equipment |
| CN109212256A (en) * | 2018-10-31 | 2019-01-15 | 中国矿业大学(北京) | A kind of device with video camera geographic direction detection function |
| CN110086563A (en) * | 2019-04-30 | 2019-08-02 | 努比亚技术有限公司 | A kind of method of controlling rotation, equipment and computer readable storage medium |
| CN111272158A (en) * | 2019-12-18 | 2020-06-12 | 无锡北微传感科技有限公司 | Dynamic azimuth angle resolving method of MEMS electronic compass in complex magnetic disturbance scene |
| CN111780785A (en) * | 2020-07-20 | 2020-10-16 | 武汉中海庭数据技术有限公司 | Zero offset self-calibration method and system for vehicle-mounted MEMSIMU |
| CN111780746A (en) * | 2020-03-27 | 2020-10-16 | 宁波小遛共享信息科技有限公司 | Direction angle detection method and device, electronic equipment and travel tool |
| CN112118372A (en) * | 2019-06-20 | 2020-12-22 | 北京小米移动软件有限公司 | Movement control method and device of image acquisition assembly, terminal and storage medium |
| CN112525224A (en) * | 2020-12-23 | 2021-03-19 | 北京小米移动软件有限公司 | Magnetic field calibration method, magnetic field calibration device, and storage medium |
| CN112731228A (en) * | 2019-10-29 | 2021-04-30 | 北京小米移动软件有限公司 | Folding screen device and magnetic field detection method in folding screen device |
| CN114035345A (en) * | 2021-11-03 | 2022-02-11 | 美新半导体（无锡）有限公司 | Intelligent glasses and working method thereof |
| CN115348351A (en) * | 2021-05-14 | 2022-11-15 | 北京小米移动软件有限公司 | Magnetic field detection method, device, terminal and storage medium |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104135576A (en) * | 2014-08-25 | 2014-11-05 | 广东欧珀移动通信有限公司 | Compass positioning optimization method and system for mobile terminal |
| CN104266648A (en) * | 2014-09-16 | 2015-01-07 | 南京诺导电子科技有限公司 | Indoor location system based on Android platform MARG sensor |
| CN105806333A (en) * | 2014-12-31 | 2016-07-27 | 中国科学院深圳先进技术研究院 | Method for judging indoor moving direction and mobile terminal |
| CN106885566A (en) * | 2017-01-03 | 2017-06-23 | 浙江大学 | A kind of method of wearable motion sensor and its anti-magnetic interference |
-
2017
- 2017-08-30 CN CN201710764621.0A patent/CN107576321A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104135576A (en) * | 2014-08-25 | 2014-11-05 | 广东欧珀移动通信有限公司 | Compass positioning optimization method and system for mobile terminal |
| CN104266648A (en) * | 2014-09-16 | 2015-01-07 | 南京诺导电子科技有限公司 | Indoor location system based on Android platform MARG sensor |
| CN105806333A (en) * | 2014-12-31 | 2016-07-27 | 中国科学院深圳先进技术研究院 | Method for judging indoor moving direction and mobile terminal |
| CN106885566A (en) * | 2017-01-03 | 2017-06-23 | 浙江大学 | A kind of method of wearable motion sensor and its anti-magnetic interference |
Cited By (18)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108844537A (en) * | 2018-04-27 | 2018-11-20 | 广州布塔智能科技有限公司 | The method and mobile terminal of acquisition for mobile terminal Toy Motion state |
| CN108900665B (en) * | 2018-06-08 | 2021-04-06 | Oppo广东移动通信有限公司 | Electronic device and control method of electronic device |
| CN108900665A (en) * | 2018-06-08 | 2018-11-27 | Oppo广东移动通信有限公司 | The control method of electronic equipment and electronic equipment |
| CN109212256A (en) * | 2018-10-31 | 2019-01-15 | 中国矿业大学(北京) | A kind of device with video camera geographic direction detection function |
| CN110086563A (en) * | 2019-04-30 | 2019-08-02 | 努比亚技术有限公司 | A kind of method of controlling rotation, equipment and computer readable storage medium |
| CN112118372B (en) * | 2019-06-20 | 2022-02-08 | 北京小米移动软件有限公司 | Movement control method and device of image acquisition assembly, terminal and storage medium |
| CN112118372A (en) * | 2019-06-20 | 2020-12-22 | 北京小米移动软件有限公司 | Movement control method and device of image acquisition assembly, terminal and storage medium |
| CN112731228A (en) * | 2019-10-29 | 2021-04-30 | 北京小米移动软件有限公司 | Folding screen device and magnetic field detection method in folding screen device |
| CN111272158A (en) * | 2019-12-18 | 2020-06-12 | 无锡北微传感科技有限公司 | Dynamic azimuth angle resolving method of MEMS electronic compass in complex magnetic disturbance scene |
| CN111272158B (en) * | 2019-12-18 | 2021-12-31 | 无锡北微传感科技有限公司 | Dynamic azimuth angle resolving method of MEMS electronic compass in complex magnetic disturbance scene |
| CN111780746A (en) * | 2020-03-27 | 2020-10-16 | 宁波小遛共享信息科技有限公司 | Direction angle detection method and device, electronic equipment and travel tool |
| CN111780785A (en) * | 2020-07-20 | 2020-10-16 | 武汉中海庭数据技术有限公司 | Zero offset self-calibration method and system for vehicle-mounted MEMSIMU |
| CN112525224A (en) * | 2020-12-23 | 2021-03-19 | 北京小米移动软件有限公司 | Magnetic field calibration method, magnetic field calibration device, and storage medium |
| CN112525224B (en) * | 2020-12-23 | 2024-04-09 | 北京小米移动软件有限公司 | Magnetic field calibration method, magnetic field calibration device, and storage medium |
| CN115348351A (en) * | 2021-05-14 | 2022-11-15 | 北京小米移动软件有限公司 | Magnetic field detection method, device, terminal and storage medium |
| CN115348351B (en) * | 2021-05-14 | 2023-11-21 | 北京小米移动软件有限公司 | Magnetic field detection method, device, terminal and storage medium |
| CN114035345A (en) * | 2021-11-03 | 2022-02-11 | 美新半导体（无锡）有限公司 | Intelligent glasses and working method thereof |
| CN114035345B (en) * | 2021-11-03 | 2024-03-12 | 美新半导体（无锡）有限公司 | Intelligent glasses and working method thereof |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107576321A (en) | Determine the method, device and mobile terminal of magnetic azimuth | |
| CN105389957B (en) | Communication means, the apparatus and system of wearable device | |
| CN103968846B (en) | Positioning and navigation method and device | |
| US10612918B2 (en) | Mobile computing device and method for calculating a bending angle | |
| KR20130070633A (en) | Method and apparatus for displaying schedule in mobile communication terminal | |
| CN107656666A (en) | Mobile terminal and rolling speed determine method | |
| CN107832741A (en) | The method, apparatus and computer-readable recording medium of facial modeling | |
| US9268471B2 (en) | Method and apparatus for generating directional sound | |
| CN106484199B (en) | Thresholding setting method and device | |
| CN107202574A (en) | Motion track information modification method and device | |
| KR20120059239A (en) | Mobile terminal and method for sharing real-time road view | |
| CN106502522A (en) | The method of controlling operation thereof and device of mobile terminal | |
| CN110865405A (en) | Fusion positioning method and device, mobile equipment control method and electronic equipment | |
| CN112525224B (en) | Magnetic field calibration method, magnetic field calibration device, and storage medium | |
| CN103957502A (en) | Location-based service program selecting method, device and terminal | |
| KR20120083159A (en) | Mobile terminal and method for controlling electronic devices of the same | |
| CN106989755A (en) | Air navigation aid, device and computer-readable recording medium | |
| CN104063053A (en) | Image displaying method and device as well as electronic device | |
| CN106936986A (en) | Application processing method and device | |
| CN105091882B (en) | Air navigation aid and device | |
| CN108829473A (en) | event response method, device and storage medium | |
| CN104023130B (en) | Position reminding method and apparatus | |
| CN106896921A (en) | Mobile device control method and device | |
| KR101779504B1 (en) | Mobile terminal and control method for mobile terminal | |
| CN105510939B (en) | Obtain the method and device of motion path |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20180112 |