CN107607899B - Magnetometer calibration method and apparatus - Google Patents
Magnetometer calibration method and apparatus Download PDFInfo
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- CN107607899B CN107607899B CN201710898345.7A CN201710898345A CN107607899B CN 107607899 B CN107607899 B CN 107607899B CN 201710898345 A CN201710898345 A CN 201710898345A CN 107607899 B CN107607899 B CN 107607899B
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Abstract
The present invention provides a kind of magnetometer calibration method and apparatus.Wherein, method includes: to select the first axis to be measured and the second axis to be measured from three axis of magnetometer；Wherein, the first axis to be measured and the second axis to be measured are any two axis in three axis of magnetometer；Magnetometer in the first axis to be measured and the second axis to be measured institute planar in third axis rotary course to be measured, read the multiple measured values of the first axis to be measured and the second axis to be measured when magnetometer is rotated to multiple specified angles respectively；Wherein, third axis to be measured is the axis in three axis of magnetometer in addition to the first axis to be measured and the second axis to be measured；According to multiple measured values of the first axis to be measured, the multiple measured values and multiple specified angles of the second axis to be measured, fitted ellipse equation；Elliptic equation is for calibrating the actual measured value of the first axis to be measured and the second axis to be measured.Method provided in this embodiment can accurately calibrate magnetometer.
Description
Technical field
The present invention relates to sensor technical field more particularly to a kind of magnetometer calibration method and apparatus.
Background technique
Magnetometer is the sensor positioned by the intensity and direction in measurement magnetic field to equipment.When magnetometer is surveyed
When the magnetic field of amount is only generated by earth's magnetic field, magnetometer can accurately be positioned equipment.But since hard iron effect and soft iron are imitated
The presence answered can generate interference to earth's magnetic field, and then the measurement result of magnetometer is caused bigger deviation occur, need to magnetic
The measurement result of power meter is calibrated.
In the prior art, generally magnetometer is calibrated using 8 word calibration methods, i.e. user's handheld device draws 8 in the sky
Word, the magnetometer in equipment acquires the measurement data that three axis are respectively rotated by 360 ° in real time, and carries out school by analyzing measurement data
It is quasi-.This method depends on 8 word operations of user, if user's operation is improper, some axis of magnetometer is not such as rotated to 360
Degree, magnetometer do not collect enough data, will calibrate and fail.
Summary of the invention
Many aspects of the invention provide a kind of magnetometer calibration method and apparatus, to improve the standard to magnetometer calibration
True property.
The embodiment of the present invention provides a kind of magnetometer calibration method, comprising:
From three axis of magnetometer, the first axis to be measured and the second axis to be measured are selected；Wherein, the described first axis to be measured and institute
Stating the second axis to be measured is any two axis in three axis of the magnetometer；
In the magnetometer in the described first axis to be measured and the second axis institute to be measured planar around third axis rotation to be measured
During turning, the described first axis to be measured is read respectively and second axis to be measured is rotated in the magnetometer to multiple specified angles
When multiple measured values；Wherein, third axis to be measured is in three axis of the magnetometer except the described first axis to be measured and institute
State the axis except the second axis to be measured；
According to multiple measured value fitted ellipse sides of multiple measured values of the described first axis to be measured, second axis to be measured
Journey；
According to the elliptic equation to the actual measured value of the described first axis to be measured and the practical survey of second axis to be measured
Magnitude is calibrated, and the calibration value of first axis to be measured and the calibration value of second axis to be measured are obtained.
Optionally, for the first specified angle in the multiple specified angle, described to read described first respectively to be measured
The measured value of axis and second axis to be measured when the magnetometer is rotated to first specified angle, comprising:
In the magnetometer in the described first axis to be measured and the second axis institute to be measured planar around third axis rotation to be measured
During turning, obtain the magnetometer three axis of accelerometer in a device acceleration value；Wherein, described first to
Plane where surveying axis and second axis to be measured is non-horizontal surface；
By the acceleration value of three axis of the accelerometer in rotation angle pass corresponding with benchmark 3-axis acceleration value
It is matched in system；
When acceleration value three axis of benchmark corresponding with first specified angle of three axis of the accelerometer accelerates
When angle value matches, reading first axis to be measured and second axis to be measured are rotated to described first in the magnetometer and are specified
Measured value when angle.
Optionally, the reading first axis to be measured and second axis to be measured are rotated in the magnetometer to described
Measured value when one specified angle, comprising:
Read at least two of the described first axis to be measured and second axis to be measured when the magnetometer rotates along the horizontal plane
A measured value；
The described first axis to be measured and second axis to be measured are sought respectively when the magnetometer rotates along the horizontal plane extremely
The average value of few two measured values, rotates in the magnetometer to described as the described first axis to be measured and second axis to be measured
Measured value when the first specified angle.
Optionally, the method also includes showing following at least one information:
Show the corresponding benchmark 3-axis acceleration value of first specified angle；
Show the acceleration value of three axis of the accelerometer；
When acceleration value three axis of benchmark corresponding with first specified angle of three axis of the accelerometer accelerates
When angle value matches, the information of successful match is shown；
When the magnetometer rotates along the horizontal plane, if the acceleration value of three axis of the accelerometer and described first
The corresponding benchmark 3-axis acceleration value of specified angle mismatches, and display horizontal plane tilts prompt information.
Optionally, it is described read respectively the described first axis to be measured and second axis to be measured the magnetometer rotate to
Before multiple measured values when multiple specified angles, the method also includes:
Within the scope of 360 degree, multiple specified angles are uniformly determined；Wherein, the multiple for more than or equal to 5.
The embodiment of the present invention also provides a kind of electronic equipment, including processor and the storage being connected to the processor
Device；
The memory, for storing one or more computer instruction；
The processor, for executing one or more computer instruction, to be used for:
From three axis of magnetometer, the first axis to be measured and the second axis to be measured are selected；Wherein, the described first axis to be measured and institute
Stating the second axis to be measured is any two axis in three axis of the magnetometer；
In the magnetometer in the described first axis to be measured and the second axis institute to be measured planar around third axis rotation to be measured
During turning, the described first axis to be measured is read respectively and second axis to be measured is rotated in the magnetometer to multiple specified angles
When multiple measured values；Wherein, third axis to be measured is in three axis of the magnetometer except the described first axis to be measured and institute
State the axis except the second axis to be measured；
According to multiple measured value fitted ellipse sides of multiple measured values of the described first axis to be measured, second axis to be measured
Journey；
According to the elliptic equation to the actual measured value of the described first axis to be measured and the practical survey of second axis to be measured
Magnitude is calibrated, and the calibration value of first axis to be measured and the calibration value of second axis to be measured are obtained.
Optionally, for the first specified angle in the multiple specified angle, the processor is also used to:
In the magnetometer in the described first axis to be measured and the second axis institute to be measured planar around third axis rotation to be measured
During turning, obtain the magnetometer three axis of accelerometer in a device acceleration value；Wherein, described first to
Plane where surveying axis and second axis to be measured is non-horizontal surface；
By the acceleration value of three axis of the accelerometer in rotation angle pass corresponding with benchmark 3-axis acceleration value
It is matched in system；
When acceleration value three axis of benchmark corresponding with first specified angle of three axis of the accelerometer accelerates
When angle value matches, reading first axis to be measured and second axis to be measured are rotated to described first in the magnetometer and are specified
Measured value when angle.
Optionally, the processor, is also used to:
Read at least two of the described first axis to be measured and second axis to be measured when the magnetometer rotates along the horizontal plane
A measured value；
The described first axis to be measured and second axis to be measured are sought respectively when the magnetometer rotates along the horizontal plane extremely
The average value of few two measured values, rotates in the magnetometer to described as the described first axis to be measured and second axis to be measured
Measured value when the first specified angle.
Optionally, the electronic equipment further includes the display being connected to the processor；
The display is for showing following at least one information:
Show the corresponding benchmark 3-axis acceleration value of first specified angle；
Show the acceleration value of three axis of the accelerometer；
When acceleration value three axis of benchmark corresponding with first specified angle of three axis of the accelerometer accelerates
When angle value matches, the information of successful match is shown；
When the magnetometer rotates along the horizontal plane, if the acceleration value of three axis of the accelerometer and described first
The corresponding benchmark 3-axis acceleration value of specified angle mismatches, and display horizontal plane tilts prompt information.
Optionally, the processor, is also used to:
Within the scope of 360 degree, multiple specified angles are uniformly determined；Wherein, the multiple for more than or equal to 5.
In embodiments of the present invention, compared with the prior art in 8 word calibration methods, magnetometer is in the first axis to be measured and second
Axis institute to be measured planar around third axis rotation to be measured, has standardized the rotation mode of magnetometer, if magnetometer is user's rotation
, then it is convenient for the user to operate；Further, it is rotated in magnetometer to multiple by reading the first axis to be measured and the second axis to be measured respectively
Multiple measured values when specified angle, have standardized the reading manner of measured value；In turn, it is revolved in a manner of standardizing in magnetometer
Read multiple measured values when turning in a manner of standardizing, and according to multiple measured values of reading fit for actual measured value into
The elliptic equation of row calibration, improves the accuracy of elliptic equation, further increases the accuracy to magnetometer calibration.
Detailed description of the invention
The drawings described herein are used to provide a further understanding of the present invention, constitutes a part of the invention, 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 the flow diagram for the magnetometer calibration method that one embodiment of the invention provides；
Fig. 2 is the elliptical schematic diagram that further embodiment of this invention provides；
Fig. 3 a, Fig. 3 b are respectively the magnetometer rotating state diagram that further embodiment of this invention provides；
Fig. 4 is the elliptical schematic diagram that further embodiment of this invention provides；
Fig. 5 a, Fig. 5 b, Fig. 5 c, Fig. 5 d, Fig. 5 e, Fig. 5 f are respectively that the magnetometer of further embodiment of this invention offer is contorted
State schematic diagram；
Fig. 6 is the structural schematic diagram for the electronic equipment that one embodiment of the invention provides；
Fig. 7 is the structural schematic diagram for the electronic equipment that further embodiment of this invention provides.
Specific embodiment
To make the object, technical solutions and advantages of the present invention clearer, below in conjunction with the specific embodiment of the invention and
Technical solution of the present invention is clearly and completely described in corresponding attached drawing.Obviously, described embodiment is only the present invention one
Section Example, instead of all the embodiments.Based on the embodiments of the present invention, those of ordinary skill in the art are not doing
Every other embodiment obtained under the premise of creative work out, shall fall within the protection scope of the present invention.
The technical solution provided below in conjunction with attached drawing, each embodiment that the present invention will be described in detail.
Fig. 1 is the flow diagram for the magnetometer calibration method that one embodiment of the invention provides.As shown in Figure 1, this method
The following steps are included:
101, from three axis of magnetometer, the first axis to be measured and the second axis to be measured are selected；Wherein, the first axis to be measured and
Two axis to be measured are any two axis in three axis of magnetometer.
102, in magnetometer in the first axis to be measured and the second axis to be measured institute planar in third axis rotary course to be measured,
The multiple measured values of the first axis to be measured and the second axis to be measured when magnetometer is rotated to multiple specified angles are read respectively；Wherein,
Third axis to be measured is the axis in three axis of magnetometer in addition to the first axis to be measured and the second axis to be measured.
103, according to multiple measured values of the first axis to be measured, multiple measured values of the second axis to be measured and multiple specified angles
Degree, fitted ellipse equation.
104, the actual measured value of the first axis to be measured and the actual measured value of the second axis to be measured are carried out according to elliptic equation
Calibration obtains the calibration value of the first axis to be measured and the calibration value of the second axis to be measured.
Magnetometer is the sensor positioned by the intensity and direction in measurement magnetic field to equipment.Magnetometer generally has
Three mutually perpendicular axis, for example, X-axis, Y-axis and Z axis, for measuring the magnetic induction intensity value on three directions.However due to
Earth magnetic field only has 0.5 faint Gauss under normal circumstances, and a common Mobile phone horn still has when at a distance of 2 centimetres
The magnetic field of about 4 Gausses, a motor for cell phone have the magnetic field of about 6 Gausses when at a distance of 2 centimetres, this feature to be directed to
The measurement in electronic equipment surface earth magnetic field is highly susceptible to the interference of electronic equipment itself.It is therefore desirable to accurately to magnetometer
Measurement data calibrated, to obtain accurate magnetic induction intensity value.
At step 101, any two axis in three axis can choose as the first axis to be measured and the second axis to be measured.Example
Such as, it selects X-axis and Y-axis as axis to be measured, selects Y-axis and Z axis as axis to be measured, or select X-axis and Z axis as axis to be measured.
No matter any two axis are selected, and processing method is all the same, i.e. the method for step 102, step 103 and subsequent embodiment offer is equal
It is identical.In order to describe simplicity, the present embodiment selects Y-axis as the first axis to be measured, this is described in detail as the second axis to be measured in Z axis
The method that embodiment provides.
At step 102, user or mechanical arm can operate magnetometer or the interior equipment rotation equipped with magnetometer,
Keep magnetometer in its first axis to be measured and the second axis institute to be measured planar around third axis rotation to be measured when rotated.If the
It is Z axis that one axis to be measured, which is Y-axis, the second axis to be measured, then.Third axis to be measured be exactly in three axis of magnetometer except Y-axis and Z axis it
Outer X-axis.
It is alternatively possible to which the angle of the first axis rotation to be measured or the second axis to be measured are rotated from starting rotation
The angle that angle is rotated as magnetometer.When the angle of magnetometer rotation is preset specified angle, the first axis to be measured is read
With the measured value of the second axis to be measured.Wherein, specified angle is multiple, is rotated in magnetometer specified to each of multiple specified angles
When angle, it is intended to read the measured value of the first axis to be measured and the second axis to be measured.In this way, rotating in magnetometer to multiple specified angles
When, or multiple measured values of the corresponding multiple measured values for reading the first axis to be measured and the second axis to be measured.
When there is no extraneous magnetic disturbance, in magnetometer in the first axis to be measured and the second axis institute to be measured planar around third
In axis rotary course to be measured, the obtained rounded distribution of multiple measured values, and the center of circle is located at the first axis to be measured and the second axis to be measured
Point of intersection.When the external world is there are when magnetic disturbance, in step 102, multiple measurements of the magnetometer in rotation to multiple specified angles
It is worth oval distribution, and elliptical center may not be located at the point of intersection of the first axis to be measured and the second axis to be measured.Based on this, In
Multiple measured values of multiple measured values of the obtained in step 102 first axis to be measured and the second axis to be measured are distinguished at step 103 place
As two coordinate values of multiple coordinate points, the coordinate value of multiple coordinate points is thus obtained.Then according to multiple coordinate points
Coordinate value fitted ellipse equation.It is alternatively possible to directly the coordinate value of obtained multiple coordinate points is brought into elliptic equation,
The unknown number in elliptic equation is solved, to obtain elliptic equation.
Wherein, elliptic equation is in practical applications, to the actual measured value of the first axis to be measured and the second axis to be measured into
Row calibration.In practical applications, magnetometer may be planar to be measured around third in the first axis to be measured and the second axis institute to be measured
Axis rotation, it is also possible to will not.Based on this, the actual measured value of the actual measured value of the first axis to be measured and the second axis to be measured is
For example, using Y-axis as the first axis to be measured, Z axis is as the second axis to be measured, and then according to multiple gaugers of Y-axis and Z
Multiple measured value fitted ellipse equations of axis.Since elliptic equation is quasi- with multiple measured values of multiple measured values of Y-axis and Z axis
It closes out, obtained elliptic equation is for calibrating the actual measured value of Y-axis and Z axis.
Other than using Y-axis and Z axis as axis to be measured, in the present embodiment can also using X-axis and Y-axis as axis to be measured, and
Magnetometer planar about the z axis in rotary course, reads X-axis respectively and Y-axis is rotated in magnetometer to multiple in X-axis and Y-axis institute
Multiple measured values when specified angle；According to multiple measured values of X-axis, multiple measured value fitted ellipse equations of Y-axis, this is ellipse
Equation of a circle is for calibrating the actual measured value of X-axis and Y-axis.This completes the calibrations to X-axis, Y-axis and Z axis.For
The accuracy of calibration is improved, it can also be further using X-axis and Z axis as axis to be measured, and in magnetometer where X-axis and Z axis
In plane about the z axis in rotary course, the multiple measurements of X-axis and Z axis when magnetometer is rotated to multiple specified angles are read respectively
Value；According to multiple measured values of X-axis, multiple measured value fitted ellipse equations of Z axis, this elliptic equation is used for further to X
The actual measured value of axis and Z axis is calibrated.
In practical applications, the actual measured value that the first axis to be measured and the second axis to be measured measure can be located at the wheel of elliptic equation
On exterior feature.It, can be according to elliptic equation to the actual measured value of the first axis to be measured and the second axis to be measured at step 104 based on this
Actual measured value is calibrated, so that the calibration value of the calibration value of the first axis to be measured and the second axis to be measured is located at the wheel of round equation
On exterior feature.As shown in Fig. 2, the major semiaxis of elliptic equation is a, semi-minor axis b, centre coordinate is (Z0, Y0), and β is major semiaxis and Z axis
Angle.After fitting ellipse, Z0, Y0, a, b and β can be known.Assuming that the actual measured value of Y-axis is y, the practical survey of Z axis
Magnitude is z, according to the calibration value y of formula (1) available Y-axisok, according to the calibration value z of formula (2) available Z axisok。
zok=cos β (z-Z0)+sin β (y-Y0) (2)
In the present embodiment, compared with the prior art in 8 word calibration methods, magnetometer is in the first axis to be measured and the second axis to be measured
Institute planar around third axis rotation to be measured, has standardized the rotation mode of magnetometer, if magnetometer is user's rotation, just
In user's operation；Further, it is rotated in magnetometer to multiple specified angles by reading the first axis to be measured and the second axis to be measured respectively
Multiple measured values when spending, have standardized the reading manner of measured value；In turn, when magnetometer is rotated in a manner of standardizing with
The mode of specification reads multiple measured values, and is fitted according to multiple measured values of reading for calibrating to actual measured value
Elliptic equation, improve the accuracy of elliptic equation, further increase the accuracy to magnetometer calibration.
Further, in this embodiment by reading measured value when magnetometer is rotated to multiple specified angles, without
Measured value is read in real time in magnetometer rotary course, so that the data read are less, the calculation amount of less fitting improves magnetometer
The efficiency of calibration.
In above-described embodiment or following embodiments, for the first specified angle in multiple specified angles, read respectively
The measured value of first axis to be measured and the second axis to be measured when magnetometer is rotated to the first specified angle, comprising:
Magnetometer in the first axis to be measured and the second axis to be measured institute planar in third axis rotary course to be measured, obtain
Magnetometer three axis of accelerometer in a device acceleration value；Wherein, the first axis to be measured and the second axis place to be measured
Plane is non-horizontal surface；The acceleration value of three axis of accelerometer is corresponding with benchmark 3-axis acceleration value in rotation angle
It is matched in relationship；When the acceleration value of three axis of accelerometer benchmark 3-axis acceleration corresponding with the first specified angle
When value matches, the measured value of the first axis to be measured and the second axis to be measured when magnetometer is rotated to the first specified angle is read.Its
In, unspecified angle of first specified angle into multiple specified angles.For example, the first specified angle is 0 degree or 60 degree or 120
Degree.
In the present embodiment, magnetometer and accelerometer are set in same equipment.The equipment can include but is not limited to virtually
Real world devices, augmented reality equipment, intelligent wearable device etc..Preferably, three of three axis of magnetometer and accelerometer
The direction of axis is parallel, then the acceleration value of three axis of the acceleration value i.e. magnetometer of the three of accelerometer axis.If
The direction of three axis of three axis and accelerometer of magnetometer is not parallel, then according to accelerometer body coordinate system and magnetometer
Body coordinate system transformational relation, the acceleration value of three axis of accelerometer is transformed into three axis place sides of magnetometer
Upward acceleration value.For the convenience of description, can be parallel with the direction of three axis of accelerometer by three axis of magnetometer
The direction of three axis of the acceleration value of three axis of brief acceleration meter and three axis of magnetometer and accelerometer is not parallel
When, the acceleration value that the acceleration value of three axis of accelerometer is transformed into three axis directions of magnetometer is referred to as
The acceleration value of three axis of accelerometer.
In general, speed when magnetometer rotates is that comparison is slow, and spinning movement is to three axis of accelerometer
Acceleration value influences smaller.Based on this, it is believed that the acceleration value of three axis of accelerometer is acceleration of gravity at three
The component of axis.In order to determine the angle of magnetometer rotation by the acceleration value of the three of accelerometer axis, magnetic force should be made
When counting different rotation angle, the acceleration value of at least one axis of accelerometer or magnetometer is different.Based on this, magnetometer can be made
It is rotated on non-horizontal surface, i.e., plane where the first axis to be measured and the second axis to be measured is non-horizontal surface.Wherein, non-horizontal surface refers to not
The plane vertical with the direction of acceleration of gravity.Because when magnetometer rotates in the horizontal plane, the first axis to be measured and second to be measured
Axis is vertical with the direction of acceleration of gravity, also just there is no acceleration of gravity component or the first axis to be measured and second to
The gravitational acceleration component surveyed in axis direction is 0, and does not change with magnetometer rotation in the horizontal plane.
Optionally, pre-establish magnetometer in the first axis to be measured and the second axis to be measured planar around third axis to be measured
Rotate corresponding relationship of the angle (hereinafter referred to as rotation angle) with benchmark 3-axis acceleration value.Preferably, rotation angle includes more
A specified angle.Benchmark 3-axis acceleration value refers to three axis of the accelerometer of each specified angle in corresponding multiple specified angles
Acceleration value.
In one example, as shown in Figure 3a, the first specified angle is 0 degree of angle of Y-axis rotation, and Y-axis adds with gravity at this time
The direction of speed is parallel.When Y-axis rotates to 0 degree, the reference acceleration value of the y-axis of accelerometer should be-g, wherein negative sign table
Show contrary with acceleration of gravity.The z-axis of accelerometer and the reference acceleration value of x-axis should be 0.In view of in magnetometer
Rotary course in, acceleration value might have deviation, then by benchmark 3-axis acceleration value is appropriate plus or minus 0.1g, with
To 0 degree of corresponding benchmark 3-axis acceleration range: y-axis reference acceleration range -1.1g~-0.9g, x-axis reference acceleration model
Enclose -0.1g~-0.1g, z-axis reference acceleration range -0.1g~-0.1g.
In another example, shown in Fig. 3 b, the first specified angle is 90 degree of angle of Y-axis rotation, and Y-axis adds with gravity at this time
The direction of speed is vertical.When Y-axis rotates to 90 degree, the reference acceleration value of the y-axis of accelerometer should be 0, and the benchmark of z-axis adds
Velocity amplitude is g, and the reference acceleration value of x-axis is 0.It is identical as above-mentioned example, by benchmark 3-axis acceleration value plus or minus
0.1g, to obtain 90 degree of corresponding benchmark 3-axis acceleration ranges: z-axis reference acceleration range 1.1g~0.9g, y-axis benchmark add
Velocity interval -0.1g~-0.1g, x-axis reference acceleration range -0.1g~-0.1g.
Optionally, in magnetometer in the first axis to be measured and the second axis to be measured institute planar around third axis rotary course to be measured
In, the corresponding benchmark 3-axis acceleration value of the first specified angle of real-time display, and display acceleration on a display of the device
The real time acceleration value of three axis of meter, direction of rotation and rotation so as to user according to benchmark 3-axis acceleration value adjustment magnetometer
Gyration.
For example, 0 degree of corresponding benchmark 3-axis acceleration value or three axis of benchmark can be added in the example shown in Fig. 3 a
Velocity interval and real time acceleration value are shown over the display, as shown in table 1 in the form of table or picture and text.
Table 1
| X axis datum acceleration range | - 0.1g~0.1g | X-axis real time acceleration value | 0g |
| Y axis datum acceleration range | - 1.1g~-0.9g | Y-axis real time acceleration value | 1g |
| Z axis datum acceleration range | - 0.1g~0.1g | Z axis real time acceleration value | 0g |
When the acceleration value of three axis of accelerometer benchmark 3-axis acceleration value phase corresponding with the first specified angle
Timing, i.e. the acceleration figure of the three of accelerometer axis benchmark 3-axis acceleration value corresponding with the first specified angle, or fall in
When within the scope of the reference acceleration in above-mentioned example, it is meant that magnetometer rotates to the first specified angle, then read first to
Survey the measured value of axis and the second axis to be measured.
Optionally, when the acceleration value of three axis of accelerometer benchmark 3-axis acceleration corresponding with the first specified angle
When value matches, the information of successful match is shown on a display of the device.
In the present embodiment, by the way that the acceleration value of three axis of accelerometer is being rotated angle and benchmark 3-axis acceleration
It is matched in the corresponding relationship of value, and then the acceleration value base corresponding with the first specified angle of three axis when accelerometer
When quasi- 3-axis acceleration value matches, the first axis to be measured and the second axis to be measured are read when magnetometer is rotated to the first specified angle
Measured value, make it possible to determine that magnetometer rotates to specified angle by acceleration value.Further, by showing benchmark
3-axis acceleration value and real-time measurement values, so that calibration process is high-visible, user can also accelerate in three axis of benchmark of display
Under the guidance of angle value, direction of rotation and the rotation angle of magnetometer are adjusted；Moreover, the real time acceleration of user's rotation magnetic force timing
Value can also be shown, and then feed back to user, enhance the experience of user.
In general, the storyteller's fan of magnetic induction line is different, causes the magnetic induction intensity of different directions can be slightly different.Based on this,
Can when the acceleration value benchmark 3-axis acceleration value corresponding with the first specified angle of three axis of accelerometer matches,
At least two measured values are read, to improve the accuracy of measured value.
In an optional embodiment, can three axis of accelerometer acceleration value it is corresponding with the first specified angle
Benchmark 3-axis acceleration value when matching, guide user or control mechanical arm to stay for some time in this angle, so as to
At least two measured values of the first axis to be measured and the second axis to be measured are read respectively.Then seek respectively the first axis to be measured and second to
The average value for surveying at least two measured values of the axis when magnetometer rotates along the horizontal plane, as the first axis to be measured and the second axis to be measured
Measured value when magnetometer is rotated to the first specified angle.
It is corresponding with the first specified angle in the acceleration value of three axis of accelerometer in another optional embodiment
When benchmark 3-axis acceleration value matches, user or control mechanical arm can be guided to rotate magnetometer along the horizontal plane.Example
Such as, the information rotated along the horizontal plane is shown over the display；And the first axis to be measured and the second axis to be measured are read on magnetometer edge
At least two measured values when horizontal plane rotates；The first axis to be measured is sought respectively and the second axis to be measured revolves along the horizontal plane in magnetometer
The average value of at least two measured values when turning is rotated to first in magnetometer as the first axis to be measured and the second axis to be measured and is specified
Measured value when angle.
Due to the direction of acceleration of gravity be vertically downward, when magnetometer rotates along the horizontal plane, the three of accelerometer
The real time acceleration value of a axis should be matched with benchmark 3-axis acceleration value always.Based on this, rotated along the horizontal plane in magnetometer
It in the process, can be with the corresponding benchmark 3-axis acceleration value of the first specified angle of real-time display and the reality of three axis of accelerometer
Brief acceleration value remains so that user is under the guidance of benchmark 3-axis acceleration value and rotates magnetometer along the horizontal plane.If
The acceleration value of three axis of accelerometer benchmark 3-axis acceleration value corresponding with the first specified angle mismatches, then shows water
Plane tilts prompt information.Further, the measured value read this moment is abandoned.
In the present embodiment, seek be the first axis to be measured and the second axis to be measured when magnetometer rotates along the horizontal plane at least
The average value of two measured values as measured value, but not limited to this.It can also be when magnetometer rotates along the horizontal plane, from least two
In a measured value, the measured value of optional first axis to be measured, and the measured value of optional second axis to be measured.Alternatively, may be used also
Made with seeking the median of at least two measured values of the first axis to be measured and the second axis to be measured when magnetometer rotates along the horizontal plane
For measured value.
It is worth noting that can show the corresponding benchmark 3-axis acceleration of the first specified angle on a display of the device
At least one of value, the acceleration value of three axis of accelerometer, the information of successful match and horizontal tilt prompt information,
Display content can be arranged in user or developer according to actual needs.
In an optional embodiment, rotated in magnetometer to multiple reading the first axis to be measured and the second axis to be measured respectively
Before multiple measured values when specified angle, multiple specified angles can be uniformly determined within the scope of 360 degree；Wherein, Duo Gewei
More than or equal to 5.
Fig. 2 shows elliptical expression formula be
Wherein, it enables Then the one of available elliptic equation
As expression formula, as shown in formula (4):
x2+Axy+By2+ Cx+Dy+E=0 (4)
The general expression of elliptic equation includes 5 unknown parameters, is A, B, C, D, E, if it is desired to this 5 unknown numbers are obtained,
Need at least five coordinate points.Based on this, more than or equal to 5 specified angles can be determined, rotate to more than or wait in magnetometer
In 5 specified angles, the measured value for being greater than or equal to 5 of the first axis to be measured and the second axis to be measured can be read respectively, and then is obtained
To at least five coordinate points.
When obtaining 5 coordinate points, this 5 coordinate points can be brought into elliptic equation, to obtain the ginseng of A, B, C, D, E
Numerical value, and then fit elliptic equation.
When obtain be greater than 5 coordinate points when, can optional 5 coordinate points bring into elliptic equation, fit elliptic equation.
Curve fitting algorithm can also be used, obtains the parameter value of A, B, C, D, E, and then fit elliptic equation.Optionally, curve is quasi-
Hop algorithm includes but is not limited to least square method, Lagrange interpolation or Based on Interpolating Spline etc..
According to oval related geometric knowledge, there is following formula:
Then the major semiaxis a in available Fig. 2, semi-minor axis b, centre coordinate Z0, Y0, the angle of major semiaxis and Z axis
β.Assuming that the actual measured value of Y-axis is y, the actual measured value of Z axis is z, according to the calibration value y of formula (1) available Y-axisok, root
According to the calibration value z of formula (2) available Z axisok。
To keep the ellipse fitted more acurrate, multiple specified angles can be uniformly determined within the scope of 360 degree.For example, choosing
0 degree, 60 degree, 120 degree, 180 degree, 240 degree and 300 degree are taken, as shown in figure 4,6 equally distributed coordinate values can be obtained.Below
The angle that the angle rotated using Y-axis is rotated as magnetometer, illustrates that magnetometer is rotated to the shape of above-mentioned 6 specified angles listed
State.
Fig. 5 a shows state when Y-axis is rotated to 0 degree, Y-axis and acceleration of gravity it is contrary, Figure 5b shows that Y-axis rotations
State when going to 60 degree, Fig. 5 c show state when Y-axis is rotated to 120 degree, and Fig. 5 d shows shape when Y-axis is rotated to 180 degree
State, Y-axis is identical as the direction of acceleration of gravity, and Fig. 5 e shows state when Y-axis is rotated to 240 degree, Fig. 5 f show Y-axis rotate to
State at 300 degree.User can be by magnetometer state shown in Fig. 5 a, according to Fig. 5 b, Fig. 5 c, Fig. 5 d, Fig. 5 e, figure
The sequence of 5f rotates, or by magnetometer state shown in Fig. 5 f, according to the sequence of Fig. 5 e, Fig. 5 d, Fig. 5 c, 5b, 5a
Rotation.
The present embodiment also provides a kind of electronic equipment, as shown in fig. 6, electronic equipment 600 includes processor 602, Yi Jiyu
The memory 601 that processor 602 connects.
Memory 601, for storing one or more computer instruction.
Processor 602, for executing one or more computer instruction stored in memory 601, to be used for:
From three axis of magnetometer, the first axis to be measured and the second axis to be measured are selected；Wherein, the first axis to be measured and second to
Surveying axis is any two axis in three axis of magnetometer；Magnetometer the first axis to be measured and the second axis to be measured institute planar around
In third axis rotary course to be measured, reads the first axis to be measured respectively and the second axis to be measured is rotated in magnetometer to multiple specified angles
When multiple measured values；Wherein, third axis to be measured be in three axis of magnetometer in addition to the first axis to be measured and the second axis to be measured
Axis；According to multiple measured values of the first axis to be measured, multiple measured value fitted ellipse equations of the second axis to be measured；According to ellipse side
Journey calibrates the actual measured value of the first axis to be measured and the actual measured value of the second axis to be measured, obtains the school of the first axis to be measured
The calibration value of quasi- value and the second axis to be measured.
Optionally, for the first specified angle in multiple specified angles, processor 602 is reading the first axis to be measured respectively
It is specifically used for when with measured value of second axis to be measured when magnetometer is rotated to the first specified angle:
Magnetometer in the first axis to be measured and the second axis to be measured institute planar in third axis rotary course to be measured, obtain
Magnetometer three axis of accelerometer in a device acceleration value；Wherein, the first axis to be measured and the second axis place to be measured
Plane is non-horizontal surface.
By the acceleration value of three axis of accelerometer in the corresponding relationship of rotation angle and benchmark 3-axis acceleration value
It is matched.
When the acceleration value of three axis of accelerometer benchmark 3-axis acceleration value phase corresponding with the first specified angle
The measured value of the first axis to be measured and the second axis to be measured when magnetometer is rotated to the first specified angle is read in timing.
Optionally, processor 602 is rotated in magnetometer to the first specified angle in the first axis to be measured of reading and the second axis to be measured
When measured value when spending, it is specifically used for: reads the first axis to be measured and the second axis to be measured when magnetometer rotates along the horizontal plane extremely
Few two measured values；At least two surveys of the first axis to be measured and the second axis to be measured when magnetometer rotates along the horizontal plane are sought respectively
The average value of magnitude, as the measured value of the first axis to be measured and the second axis to be measured when magnetometer is rotated to the first specified angle.
Optionally, as shown in fig. 6, electronic equipment 600 further includes the display 603 connecting with processor 602.
Display 603 is for showing at least one of following information:
Show the corresponding benchmark 3-axis acceleration value of the first specified angle.
Show the acceleration value of three axis of accelerometer.
When the acceleration value of three axis of accelerometer benchmark 3-axis acceleration value phase corresponding with the first specified angle
Timing shows the information of successful match.
When magnetometer rotates along the horizontal plane, if the acceleration value of three axis of accelerometer is corresponding with the first specified angle
Benchmark 3-axis acceleration value mismatch, display horizontal plane tilt prompt information.
Optionally, processor 602 is rotated in magnetometer to multiple fingers in the first axis to be measured of reading respectively and the second axis to be measured
It before multiple measured values when determining angle, is also used to: within the scope of 360 degree, uniformly determining multiple specified angles；Wherein, multiple
For more than or equal to 5.
In the present embodiment, compared with the prior art in 8 word calibration methods, magnetometer is in the first axis to be measured and the second axis to be measured
Institute planar around third axis rotation to be measured, has standardized the rotation mode of magnetometer, if magnetometer is user's rotation, just
In user's operation；Further, it is rotated in magnetometer to multiple specified angles by reading the first axis to be measured and the second axis to be measured respectively
Multiple measured values when spending, have standardized the reading manner of measured value；In turn, when magnetometer is rotated in a manner of standardizing with
The mode of specification reads multiple measured values, and is fitted according to multiple measured values of reading for calibrating to actual measured value
Elliptic equation, improve the accuracy of elliptic equation, further increase the accuracy to magnetometer calibration.
Further, in this embodiment by reading measured value when magnetometer is rotated to multiple specified angles, without
Measured value is read in real time in magnetometer rotary course, so that the data read are less, the calculation amount of less fitting improves magnetometer
The efficiency of calibration.
The embodiment of the present invention also provides a kind of computer storage medium, one or more meter of computer storage medium storage
Calculation machine instruction, when which is computer-executed, it can be achieved that: from three axis of magnetometer, selection
First axis to be measured and the second axis to be measured；Wherein, the first axis to be measured and the second axis to be measured are any two in three axis of magnetometer
Axis；Magnetometer in the first axis to be measured and the second axis to be measured institute planar in third axis rotary course to be measured, read respectively
The multiple measured values of first axis to be measured and the second axis to be measured when magnetometer is rotated to multiple specified angles；Wherein, third is to be measured
Axis is the axis in three axis of magnetometer in addition to the first axis to be measured and the second axis to be measured；According to multiple measurements of the first axis to be measured
Multiple measured value fitted ellipse equations of value, the second axis to be measured；According to elliptic equation to the actual measured value of the first axis to be measured and
The actual measured value of second axis to be measured is calibrated, and the calibration value of the first axis to be measured and the calibration value of the second axis to be measured are obtained.
It should be understood by those skilled in the art that, the embodiment of the present invention can provide as method, system or computer program
Product.Therefore, complete hardware embodiment, complete software embodiment or reality combining software and hardware aspects can be used in the present invention
Apply the form of example.Moreover, it wherein includes the computer of computer usable program code that the present invention, which can be used in one or more,
The computer program implemented in usable storage medium (including but not limited to magnetic disk storage, CD-ROM, optical memory etc.) produces
The form of product.
Computer-readable medium includes permanent and non-permanent, removable and non-removable media can be by any method
Or technology come realize information store.Information can be computer readable instructions, data structure, the module of program or other data.
The example of the storage medium of computer includes, but are not limited to phase change memory (PRAM), static random access memory (SRAM), moves
State random access memory (DRAM), other kinds of random access memory (RAM), read-only memory (ROM), electric erasable
Programmable read only memory (EEPROM), flash memory or other memory techniques, read-only disc read only memory (CD-ROM) (CD-ROM),
Digital versatile disc (DVD) or other optical storage, magnetic cassettes, tape magnetic disk storage or other magnetic storage devices
Or any other non-transmission medium, can be used for storage can be accessed by a computing device information.As defined in this article, it calculates
Machine readable medium does not include temporary computer readable media (transitory media), such as the data-signal and carrier wave of modulation.
It should also be noted that, the terms "include", "comprise" or its any other variant are intended to nonexcludability
It include so that the process, method, commodity or the equipment that include a series of elements not only include those elements, but also to wrap
Include other elements that are not explicitly listed, or further include for this process, method, commodity or equipment intrinsic want
Element.In the absence of more restrictions, the element limited by sentence "including a ...", it is not excluded that including described want
There is also other identical elements in the process, method of element, commodity or equipment.
The above description is only an embodiment of the present invention, is not intended to restrict the invention.For those skilled in the art
For, the invention may be variously modified and varied.All any modifications made within the spirit and principles of the present invention are equal
Replacement, improvement etc., should be included within scope of the presently claimed invention.
Claims (10)
1. a kind of magnetometer calibration method characterized by comprising
From three axis of magnetometer, the first axis to be measured and the second axis to be measured are selected；Wherein, the described first axis to be measured and described
Two axis to be measured are any two axis in three axis of the magnetometer；
It is planar rotated through around third axis to be measured in the magnetometer in the described first axis to be measured and second axis to be measured
Cheng Zhong reads the described first axis to be measured and second axis to be measured when the magnetometer is rotated to multiple specified angles respectively
Multiple measured values, the corresponding measured value of each specified angle；Wherein, third axis to be measured is three axis of the magnetometer
In axis in addition to the described first axis to be measured and second axis to be measured；
According to multiple measured values of the described first axis to be measured, multiple measured value fitted ellipse equations of second axis to be measured；
According to the elliptic equation to the actual measured value of the described first axis to be measured and the actual measured value of second axis to be measured
It is calibrated, obtains the calibration value of first axis to be measured and the calibration value of second axis to be measured.
2. the method according to claim 1, wherein for the first specified angle in the multiple specified angle
Degree, the described first axis to be measured and second axis to be measured of reading respectively are rotated in the magnetometer to the described first specified angle
Measured value when spending, comprising:
It is planar rotated through around third axis to be measured in the magnetometer in the described first axis to be measured and second axis to be measured
Cheng Zhong, obtain the magnetometer three axis of accelerometer in a device acceleration value；Wherein, the described first axis to be measured
It is non-horizontal surface with plane where the described second axis to be measured；
By the acceleration value of three axis of the accelerometer in the corresponding relationship of rotation angle and benchmark 3-axis acceleration value
It is matched；
When the acceleration value of three axis of accelerometer benchmark 3-axis acceleration value corresponding with first specified angle
When matching, reads first axis to be measured and second axis to be measured is rotated in the magnetometer to first specified angle
When measured value.
3. according to the method described in claim 2, it is characterized in that, first axis to be measured and described second to be measured of reading
Measured value of the axis when the magnetometer is rotated to first specified angle, comprising:
Read at least two surveys of the described first axis to be measured and second axis to be measured when the magnetometer rotates along the horizontal plane
Magnitude；
At least two of the described first axis to be measured and second axis to be measured when the magnetometer rotates along the horizontal plane are sought respectively
The average value of a measured value is rotated in the magnetometer to described first as the described first axis to be measured and second axis to be measured
Measured value when specified angle.
4. according to the method described in claim 2, it is characterized in that, the method also includes showing following at least one information:
Show the corresponding benchmark 3-axis acceleration value of first specified angle；
Show the acceleration value of three axis of the accelerometer；
When the acceleration value of three axis of accelerometer benchmark 3-axis acceleration value corresponding with first specified angle
When matching, the information of successful match is shown；
When the magnetometer rotates along the horizontal plane, if the acceleration value of three axis of the accelerometer is specified with described first
The corresponding benchmark 3-axis acceleration value of angle mismatches, and display horizontal plane tilts prompt information.
5. method according to claim 1-4, which is characterized in that read the described first axis to be measured respectively described
Before multiple measured values of described second axis to be measured when the magnetometer is rotated to multiple specified angles, the method is also wrapped
It includes:
Within the scope of 360 degree, multiple specified angles are uniformly determined；Wherein, the multiple for more than or equal to 5.
6. a kind of electronic equipment, which is characterized in that including processor and the memory being connected to the processor；
The memory, for storing one or more computer instruction；
The processor, for executing one or more computer instruction, to be used for:
From three axis of magnetometer, the first axis to be measured and the second axis to be measured are selected；Wherein, the described first axis to be measured and described
Two axis to be measured are any two axis in three axis of the magnetometer；
It is planar rotated through around third axis to be measured in the magnetometer in the described first axis to be measured and second axis to be measured
Cheng Zhong reads the described first axis to be measured and second axis to be measured when the magnetometer is rotated to multiple specified angles respectively
Multiple measured values, the corresponding measured value of each specified angle；Wherein, third axis to be measured is three axis of the magnetometer
In axis in addition to the described first axis to be measured and second axis to be measured；
According to multiple measured values of the described first axis to be measured, multiple measured value fitted ellipse equations of second axis to be measured；
According to the elliptic equation to the actual measured value of the described first axis to be measured and the actual measured value of second axis to be measured
It is calibrated, obtains the calibration value of first axis to be measured and the calibration value of second axis to be measured.
7. electronic equipment according to claim 6, which is characterized in that specified for first in the multiple specified angle
Angle, the processor, is also used to:
It is planar rotated through around third axis to be measured in the magnetometer in the described first axis to be measured and second axis to be measured
Cheng Zhong, obtain the magnetometer three axis of accelerometer in a device acceleration value；Wherein, the described first axis to be measured
It is non-horizontal surface with plane where the described second axis to be measured；
By the acceleration value of three axis of the accelerometer in the corresponding relationship of rotation angle and benchmark 3-axis acceleration value
It is matched；
When the acceleration value of three axis of accelerometer benchmark 3-axis acceleration value corresponding with first specified angle
When matching, reads first axis to be measured and second axis to be measured is rotated in the magnetometer to first specified angle
When measured value.
8. electronic equipment according to claim 7, which is characterized in that the processor is also used to:
Read at least two surveys of the described first axis to be measured and second axis to be measured when the magnetometer rotates along the horizontal plane
Magnitude；
At least two of the described first axis to be measured and second axis to be measured when the magnetometer rotates along the horizontal plane are sought respectively
The average value of a measured value is rotated in the magnetometer to described first as the described first axis to be measured and second axis to be measured
Measured value when specified angle.
9. electronic equipment according to claim 7, which is characterized in that further include the display being connected to the processor；
The display is for showing following at least one information:
Show the corresponding benchmark 3-axis acceleration value of first specified angle；
Show the acceleration value of three axis of the accelerometer；
When the acceleration value of three axis of accelerometer benchmark 3-axis acceleration value corresponding with first specified angle
When matching, the information of successful match is shown；
When the magnetometer rotates along the horizontal plane, if the acceleration value of three axis of the accelerometer is specified with described first
The corresponding benchmark 3-axis acceleration value of angle mismatches, and display horizontal plane tilts prompt information.
10. according to the described in any item electronic equipments of claim 6-9, which is characterized in that the processor is also used to:
Within the scope of 360 degree, multiple specified angles are uniformly determined；Wherein, the multiple for more than or equal to 5.
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| CN108828470B (en) * | 2018-03-21 | 2020-11-20 | 歌尔股份有限公司 | Calibration method and device for magnetometer sensor |
| CN108326895B (en) * | 2018-04-13 | 2020-06-30 | 深圳臻迪信息技术有限公司 | Magnetometer installation method and wading robot |
| CN109798884B (en) * | 2019-02-21 | 2021-04-23 | 广东工业大学 | Dynamic real-time calibration method for magnetometer of multi-rotor unmanned aerial vehicle |
| CN113640726B (en) * | 2021-10-19 | 2021-12-21 | 青岛杰瑞自动化有限公司 | Multi-azimuth ellipse fitting calibration method and system for double-shaft magnetometer |
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