CN108897053B - Magnetic interference detection method and device based on equipment magnetic environment change - Google Patents
Magnetic interference detection method and device based on equipment magnetic environment change Download PDFInfo
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Abstract
The invention discloses a magnetic interference detection method and a device based on equipment magnetic environment change, wherein the method comprises the following steps: performing initial correction on the equipment to obtain an initial magnetic correction amount of the equipment and detecting a first synthetic magnetic vector of the equipment, and obtaining a geomagnetic reference vector of the equipment according to the first synthetic magnetic vector and the initial magnetic correction amount; changing the magnetic field environment of the equipment under the state of keeping the position and the posture of the equipment unchanged, detecting a second synthetic magnetic vector of the equipment, and obtaining a magnetic correction reference quantity of the equipment according to the second synthetic magnetic vector and the geomagnetic reference vector; measuring a real-time geomagnetic vector of the apparatus based on the magnetic correction reference. By implementing the embodiment of the invention, the magnetic correction reference quantity can be quickly acquired under the condition that the equipment magnetic field environment changes so as to eliminate the magnetic interference on the equipment geomagnetism, and the device is particularly suitable for being used in field occasions or equipment with frequently replaced components, thereby improving the use experience of users and improving the use viscosity.
Description
Technical Field
The invention relates to the technical field of surveying and mapping, in particular to a magnetic interference detection method and device based on equipment magnetic environment change.
Background
Many devices currently on the market use magnetic sensors to measure the earth's magnetism (the earth's magnetic field) to determine the orientation of the device. In geomagnetic measurement, the geomagnetic intensity at a position near the ground is relatively weak, namely 0.8Gs at most, but some magnetic components built in the device, such as a loudspeaker, an iron frame, a battery case containing iron, cobalt and nickel, and the like, bring about a magnetic field which is dozens to hundreds of times of the geomagnetic field, so that magnetic interference of the magnetic sensor can be caused. Because the rotating device cannot rotate by the magnetism along with the magnetic sensor, but the magnetic field generated by the magnetic component of the device can rotate along with the rotation, the magnetic field generated by the magnetic component can be calculated by the horizontal and vertical rotating device at present, namely, the magnetic correction value when the device is used is obtained, and when the device is really used for measuring the geomagnetism, the geomagnetism vector can be obtained by subtracting the magnetic correction value from the measured composite magnetic vector.
However, in practice, it has been found that the amount of magnetic correction of the apparatus is closely related to the apparatus, and once the magnetically charged parts in the apparatus are replaced or changed, the amount of magnetic correction of the apparatus is also changed and must be recovered. It is common practice to obtain new magnetic correction values by means of horizontal and vertical rotations again. In the process of solving the magnetic correction value through horizontal and vertical rotation, a support and complex operation are needed, for some equipment needing to replace parts frequently, the operation is complex, and especially in field occasion operation, the auxiliary correction device is lacked, so that the equipment cannot be used continuously, the use experience of a user is seriously influenced, and the use viscosity of the equipment is influenced.
Disclosure of Invention
The embodiment of the invention discloses a magnetic interference detection method and device based on equipment magnetic environment change, which can quickly detect a magnetic correction value when the equipment magnetic environment changes, avoid magnetic interference, are particularly suitable for field occasions, and can improve the use experience and the use viscosity of a user.
The invention discloses a magnetic interference detection method based on equipment magnetic environment change in a first aspect, which comprises the following steps:
performing initial correction on equipment to obtain an initial magnetic correction amount of the equipment, detecting a first synthetic magnetic vector of the equipment, and obtaining a geomagnetic reference vector of the equipment according to the first synthetic magnetic vector and the initial magnetic correction amount;
changing the magnetic field environment of the equipment under the state of keeping the position and the posture of the equipment unchanged, detecting a second synthetic magnetic vector of the equipment, and obtaining a magnetic correction reference quantity of the equipment according to the second synthetic magnetic vector and the geomagnetic reference vector;
measuring a real-time geomagnetic vector of the apparatus based on the magnetic correction reference.
As an alternative implementation manner, in the first aspect of the present invention, the changing the magnetic field environment of the device includes:
and replacing or changing the magnetic component of the equipment to change the magnetic field environment of the equipment.
As an optional implementation manner, in the first aspect of the present invention, the measuring a real-time geomagnetic vector of the apparatus based on the magnetic correction reference includes:
and detecting the real-time synthetic magnetic vector of the equipment, and obtaining the real-time geomagnetic vector of the equipment according to the real-time synthetic magnetic vector and the magnetic correction reference quantity.
As an alternative implementation manner, in the first aspect of the present invention, the replacing or changing the magnetic component of the apparatus to change the magnetic field environment of the apparatus includes:
replacing or modifying a battery component of the device to change a magnetic field environment in which the device is located;
alternatively, the horn component of the device is replaced or altered to change the magnetic field environment in which the device is located.
The invention discloses a magnetic interference detection device based on equipment magnetic environment change in a second aspect, which can comprise:
a first correction unit configured to perform initial correction on an apparatus to obtain an initial magnetic correction amount for the apparatus, and detect a first synthetic magnetic vector for the apparatus, and obtain a geomagnetic reference vector for the apparatus based on the first synthetic magnetic vector and the initial magnetic correction amount;
a second correction unit configured to change a magnetic field environment in which the apparatus is located in a state in which the position and the orientation of the apparatus are kept unchanged, and detect a second synthetic magnetic vector of the apparatus, and obtain a magnetic correction reference of the apparatus from the second synthetic magnetic vector and the geomagnetic reference vector;
a measuring unit for measuring a real-time geomagnetic vector of the apparatus based on the magnetic correction reference amount.
As an optional implementation manner, in the second aspect of the present invention, the manner for the second correction unit to change the magnetic field environment of the device is specifically:
the second correction unit is used for replacing or changing the magnetic component of the equipment so as to change the magnetic field environment of the equipment.
As an alternative embodiment, in the second aspect of the present invention, the measurement unit includes:
a detection unit for detecting a real-time synthetic magnetic vector of the device;
and the acquisition unit is used for acquiring the real-time geomagnetic vector of the equipment according to the real-time synthetic magnetic vector and the magnetic correction reference quantity.
As an optional implementation manner, in the second aspect of the present invention, the second correction unit is configured to replace or modify a magnetic component of the device, so as to change a magnetic field environment of the device, specifically:
the second correction unit is specifically used for replacing or changing a battery component of the equipment so as to change the magnetic field environment of the equipment; alternatively, the horn component of the device is replaced or altered to change the magnetic field environment in which the device is located.
A third aspect of the invention discloses an apparatus, which may comprise:
a memory storing executable program code;
a processor coupled with the memory;
the processor calls the executable program code stored in the memory to execute the magnetic interference detection method based on the equipment magnetic environment change disclosed by the first aspect of the invention.
A fourth aspect of the present invention discloses a computer-readable storage medium storing a computer program that causes a computer to execute the magnetic interference detection method based on a change in a magnetic environment of a device disclosed in the first aspect of the present invention.
Compared with the prior art, the embodiment of the invention has the following beneficial effects:
in the embodiment of the invention, the initial magnetic correction amount of the equipment is obtained by performing initial correction on the equipment once, and the first composite magnetic vector of the equipment is detected, and the geomagnetic reference vector of the equipment is obtained according to the first composite magnetic vector and the initial magnetic correction amount. Based on the obtained geomagnetic reference vector, since the geomagnetic of the apparatus will be kept unchanged in the state of the position and the posture of the apparatus, and further by keeping the position and the posture of the apparatus unchanged, even if the magnetic field environment of the apparatus (such as a battery of the apparatus being replaced) is changed at the time, the geomagnetic vector of the apparatus will not be changed, then further by detecting a second synthetic magnetic vector of the apparatus after changing the magnetic field environment, when the geomagnetic reference vector is unchanged, a magnetic correction reference quantity in the magnetic field environment at the time will be obtained according to the second synthetic magnetic vector, and then the real-time geomagnetic vector is measured based on the magnetic correction reference quantity. Therefore, by implementing the embodiment of the invention, the magnetic correction reference quantity can be quickly obtained to measure the real-time geomagnetic vector under the condition that the magnetic field environment of the equipment is changed, the mode that a complicated correction process needs to be carried out again in the traditional technology is abandoned, the device is particularly suitable for being used in field occasions or equipment with frequently replaced equipment components, and the use experience and the use viscosity of users can be improved.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to these drawings without creative efforts.
FIG. 1 is a schematic flow chart of a method for detecting magnetic interference based on changes in the magnetic environment of a device according to some embodiments of the present invention;
FIG. 2 is a schematic flow chart illustrating a method for detecting magnetic interference based on changes in magnetic environment of a device according to another embodiment of the present invention;
FIG. 3 is a schematic structural diagram of a magnetic interference detection apparatus based on a change in magnetic environment of a device according to some embodiments of the present invention;
FIG. 4 is a schematic structural diagram of a magnetic interference detecting apparatus based on a change in magnetic environment of a device according to another embodiment of the present invention;
fig. 5 is a schematic structural diagram of an apparatus disclosed in some embodiments of the invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It is to be noted that the terms "first" and "second" and the like in the description and the claims of the present invention are used for distinguishing different objects, and are not used for describing a specific order. The terms "comprises," "comprising," and any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
The embodiment of the invention discloses a magnetic interference detection method based on equipment magnetic environment change, which is used for quickly detecting a magnetic correction value when the equipment magnetic environment changes, is particularly suitable for being used in field occasions or equipment with frequently replaced equipment components, and can improve the use experience and the use viscosity of users. The embodiment of the invention also correspondingly discloses a magnetic interference detection device based on the equipment magnetic environment change.
The device described in the embodiment of the present invention may be various electronic devices, such as an unmanned aerial vehicle, a surveying and mapping instrument, a Global Navigation Satellite System (GNSS), and the like, and is not particularly limited. The technical solution of the present invention will be described in detail with reference to the following specific examples.
Referring to fig. 1, fig. 1 is a schematic flow chart of a magnetic interference detection method based on a magnetic environment change of a device according to some embodiments of the present invention; in fig. 1, the method for detecting magnetic interference based on a change in a magnetic environment of a device may specifically include the steps of:
101. the method includes initially correcting the apparatus to obtain an initial magnetic correction amount for the apparatus, and detecting a first resultant magnetic vector for the apparatus, from which a geomagnetic reference vector for the apparatus is obtained.
It should be noted that the execution subject of the embodiment of the present invention may be a magnetic interference detection device based on a device magnetic environment change, and the magnetic interference detection device based on the device magnetic environment change may be built in the device described in the present invention, or may be independent of the device, which is not limited in this respect.
It will be appreciated that a magnetic sensor may be mounted in the device for measuring the earth's magnetism to determine the orientation of the device. The measured geomagnetic intensity of the device is relatively weak near the ground, and is 0.8Gs at the highest, but magnetic fields brought by magnetic components such as a horn, an iron frame, a battery case containing iron, cobalt and nickel and the like which are often used in the device are dozens to hundreds of times of the geomagnetic field, so the magnetic fields measured by the device also comprise the magnetic fields generated by the magnetic components besides the geomagnetic field, and the magnetic fields generated by the magnetic components cause magnetic interference of the magnetic sensor, namely interference on the geomagnetic field. Therefore, if it is necessary to measure the real-time geomagnetism of the apparatus, it is necessary to subtract the magnetic field vector generated by the magnetic-carrying part of the apparatus from the measured magnetic field vector. Under the condition that the equipment does not have any magnetic component to be replaced or changed, the magnetic field generated by the magnetic component of the equipment is almost kept unchanged, and then the magnetic field generated by the magnetic component can be used as a magnetic correction reference so as to accurately measure the real-time geomagnetism of the equipment.
However, when the magnetic component is changed or replaced, the magnetic field environment of the equipment will be changed, and the magnetic correction reference quantity will need to be obtained again. The embodiment of the invention provides a magnetic interference detection method based on equipment magnetic environment change, which can quickly acquire a magnetic correction reference quantity to simplify the traditional process, thereby accurately measuring a real-time geomagnetic vector, and is particularly suitable for being used in field occasions or equipment needing frequent replacement of equipment parts. When the equipment is used for the first time, or used in a field place, or other situations needing magnetic correction, the equipment is initially corrected to obtain the magnetic field intensity generated by the magnetic component of the equipment, namely an initial magnetic correction amount, then a first composite magnetic vector of the equipment is detected, and the geomagnetic vector of the equipment, which is called as a geomagnetic reference vector in the embodiment of the invention, is obtained according to the first composite magnetic vector and the initial magnetic correction amount.
102. Changing the magnetic field environment of the equipment under the state of keeping the position and the posture of the equipment unchanged, detecting a second synthetic magnetic vector of the equipment, and obtaining a magnetic correction reference quantity of the equipment according to the second synthetic magnetic vector and the geomagnetic reference vector.
It is understood that the geomagnetic vector of the device changes in a state where the position and/or the attitude of the device changes. When the magnetic component of the equipment is changed or changed, the magnetic field environment of the equipment is changed, namely the magnetic field generated by the magnetic component is changed, so that the magnetic correction reference quantity is changed. It will also be appreciated that in a state where the position and/or attitude of the apparatus is changed, the geomagnetic vector of the apparatus is also changed, including the geomagnetic vector is changed in both direction and magnitude. In a state where the position and the attitude of the apparatus are kept unchanged, the geomagnetic vector of the apparatus does not change, including in both the direction and the magnitude.
Similarly, the magnetic calibration reference changes when the magnetic field environment of the device changes, including changes in direction and magnitude.
Therefore, in the embodiment of the present invention, after the initial magnetic correction is performed on the device in step 101, the position and the orientation of the device can be kept unchanged, that is, the geomagnetic reference vector obtained in step 101 is kept unchanged, and even if the magnetic field environment of the device is changed at will at this time, such as changing or shifting the magnetic components of the device, the magnetic correction reference quantity of the device can be obtained quickly.
It should be further noted that, in the embodiment of the present invention, keeping the position and the posture of the apparatus unchanged includes: the coordinate positions of the device in coordinate axes X, Y and Z, pitch angle and roll angle are maintained constant while simultaneously maintaining the heading angle if the device is in flight.
Based on the above description, the current location information of the device is detected, whether the current location information is the same as the location information detected at the previous time is judged, and if the current location information is the same as the location information detected at the previous time, the location of the device is determined to be kept unchanged. Specifically, the coordinate positions of the device on coordinate axes X, Y and Z are detected, it is determined whether the coordinate positions are the same as the coordinate positions detected at the previous time, and if so, it is determined that the position of the device is kept unchanged.
And meanwhile, detecting the current posture of the equipment, judging whether the current posture is the same as the posture detected at the last moment, and if so, determining that the posture of the equipment is kept unchanged. Specifically, a current pitch angle, a current roll angle and a current heading angle of the equipment are detected, whether the current pitch angle is the same as a pitch angle detected at the last moment, whether the current roll angle is the same as a roll angle detected at the last moment and whether the current heading angle is the same as a heading angle detected at the last moment are judged, and if the current pitch angle, the current roll angle and the current heading angle are the same as the heading angle detected at the last moment, the equipment is determined to keep the attitude unchanged.
Step 102 and step 103 are executed in the above manner while the position and posture of the device are determined to remain unchanged.
In another implementation, the position and the posture of the device are detected within a preset duration, the position information and the posture information corresponding to N time points within the preset duration are obtained, whether the position information corresponding to the N time points is the same or not and whether the posture information corresponding to the N time points is the same or not are judged, if both are the same, it is determined that the position and the posture of the device are kept unchanged, and step 102 and step 103 are executed.
103. Real-time geomagnetic vectors of the reference quantity measuring apparatus are corrected based on the magnetism.
Through the steps 101 and 102, the magnetic correction reference quantity of the equipment is quickly acquired, so that the real-time geomagnetic vector of the equipment can be accurately measured, and the correct orientation of the equipment can be obtained.
In some practical ways, in the process of real-time geomagnetic vector based on the magnetic calibration reference quantity measuring equipment, the vertical distance between the measuring equipment and the ground is detected, and when the vertical distance is smaller than or equal to a preset distance, prompt information is sent to prompt the magnetic calibration reference quantity to be detected again. It can be understood that, since the closer the device is to the ground, the smaller the geomagnetic vector (i.e. the weaker the geomagnetic intensity), the more the magnetic field generated by the magnetic component of the device interferes with the geomagnetic vector, and at this time, it may be recommended to perform the re-correction to obtain the reference amount of magnetic correction.
It can be seen that by implementing the above-described embodiment, it is possible to first perform initial correction on the apparatus once to obtain an initial magnetic correction amount of the apparatus, and detect a first synthetic magnetic vector of the apparatus, from which a geomagnetic reference vector of the apparatus is obtained. Based on the obtained geomagnetic reference vector, since the geomagnetic of the device is kept unchanged in the state that the position and the posture of the device are unchanged, further by keeping the position and the posture of the device unchanged, even if the magnetic field environment of the device (such as a battery of the device is replaced) is changed at the moment, the geomagnetic of the device is not changed, then further by detecting a second synthetic magnetic vector of the device after the magnetic field environment is changed, when the geomagnetic reference vector is unchanged, the magnetic correction reference quantity in the magnetic field environment at the moment is obtained according to the second synthetic magnetic vector, and then the real-time geomagnetic vector is measured based on the magnetic correction reference quantity. It can be seen that the magnetic correction reference quantity can be rapidly obtained to measure the real-time geomagnetic vector under the condition that the magnetic field environment of the equipment is changed, the mode that a complicated correction flow needs to be carried out again in the traditional technology is abandoned, the magnetic correction reference quantity is particularly suitable for being used in field occasions or equipment with frequently replaced equipment components, and the use experience and the use viscosity of a user can be improved.
Referring to fig. 2, fig. 2 is a schematic flow chart of a magnetic interference detection method based on a device magnetic environment change according to another embodiment of the present invention; in fig. 2, the method for detecting magnetic interference based on the device magnetic environment change may include:
201. the initial magnetic correction amount of the apparatus is obtained by the initial correction as r1, and the difference between a1 and r1 is calculated by a synthetic magnetic vector a1 of a magnetic sensor detection device provided in the apparatus to obtain a geomagnetic reference vector b.
It is understood that the geomagnetic reference vector b is a1-r 1.
As an alternative embodiment, during initial calibration, horizontal and vertical rotation may be used to perform the calibration. The horizontal correction method comprises the following steps: calibration for XY axis: rotating the device equipped with the magnetic sensor in an XY plane, namely equivalently rotating a geomagnetic vector around a normal line of a point 0(rx, ry) vertical to the XY plane, projecting the geomagnetic vector in the XY plane during rotation to obtain a track circle, and obtaining the position of a circle center 0(rx, ry) in the plane as ((Xmax + Xmin)/2, (Ymax + Ymin)/2), thereby obtaining a magnetic interference vector r on the XY planexy. Same principle, calibration for XZ axis: rotating the equipment in the XZ plane can obtain the locus circle of the geomagnetic vector on the XZ plane, and obtain the magnetic interference vector r on the XZ planexz. Handle rxyAnd rxzThe magnetic interference vector r (r) in the three-dimensional space can be obtained by synthesisx，ry，rz) That is, the initial magnetic correction amount described in the embodiment of the present invention is r 1.
As another alternative, in the initial correction, the current magnetic correction reference quantity of the apparatus is used as the initial magnetic correction quantity r1, and the difference between the synthesized magnetic vector a1 and the initial magnetic correction quantity r1 is used as the geomagnetic reference vector b. For example, a final magnetic correction reference quantity is obtained through the embodiment shown in fig. 1, and when the magnetic field environment of the apparatus needs to be changed in the next round, the magnetic correction reference quantity is taken as an initial magnetic correction quantity provided by the embodiment of the present invention as r1, a geomagnetic reference vector b is calculated, and then steps 202 to 203 are executed.
202. And under the state that the position and the posture of the equipment are kept unchanged, changing the magnetic field environment of the equipment to obtain a current magnetic field environment, and further calculating the difference value between the a2 and the geomagnetic reference vector b through a synthetic magnetic vector a2 of the magnetic sensor detection equipment to obtain a magnetic correction reference r2 of the current magnetic field environment.
It is understood that the reference amount of magnetic correction r2 is a 2-b.
It should be noted that changing the magnetic field environment of the device includes replacing or changing the magnetic component of the device to change the magnetic field environment of the device. Replacing or changing the magnetic component of the device further comprises replacing or changing a battery component of the device to change the magnetic field environment of the device; alternatively, the horn of the device may be replaced or altered to change the magnetic field environment in which the device is located. Of course, the embodiment of the present invention further includes other magnetic components, such as some iron frames on the device, and the embodiments of the present invention are not illustrated.
203. In the case where the current magnetic field environment does not change, the real-time geomagnetic vector b0 is a difference between the real-time synthesized magnetic vector a0 and the magnetic correction reference r2 by the real-time synthesized magnetic vector a0 of the magnetic sensor detection apparatus.
It is understood that the real-time geomagnetic vector b0 is a0-r 2.
It can be seen that through implementing above-mentioned embodiment, obtain magnetism correction reference volume fast under the magnetic field environment of equipment changes the state in order to measure real-time earth magnetism vector, be particularly suitable for field occasion and use, can improve user's use experience and improve and use the viscosity.
Referring to fig. 3, fig. 3 is a schematic structural diagram of a magnetic interference detection apparatus based on a magnetic environment change of a device according to some embodiments of the present invention; in fig. 3, the magnetic disturbance detecting apparatus based on the device magnetic environment variation may include:
a first correction unit 310 configured to perform initial correction on an apparatus to obtain an initial magnetic correction amount for the apparatus, and detect a first synthetic magnetic vector for the apparatus, and obtain a geomagnetic reference vector for the apparatus based on the first synthetic magnetic vector and the initial magnetic correction amount;
a second correction unit 320 for changing a magnetic field environment in which the device is located in a state in which the position and orientation of the device are kept unchanged, detecting a second synthetic magnetic vector of the device, and obtaining a magnetic correction reference of the device from the second synthetic magnetic vector and the geomagnetic reference vector;
a measuring unit 330 for measuring a real-time geomagnetic vector of the apparatus based on the magnetic correction reference.
In some implementations, the measuring unit 330 is configured to detect a vertical distance between the device and the ground based on the device magnetic environment change in the process of measuring the real-time geomagnetic vector of the device based on the reference magnetic calibration amount, and send a prompt message to prompt the redetection of the reference magnetic calibration amount when the vertical distance is smaller than or equal to a predetermined distance. It can be understood that, since the closer the device is to the ground, the smaller the geomagnetic vector (i.e. the weaker the geomagnetic intensity), the more the magnetic field generated by the magnetic component of the device interferes with the geomagnetic vector, and at this time, it may be recommended to perform the re-correction to obtain the reference amount of magnetic correction.
In the embodiment of the invention, the initial magnetic correction amount of the equipment is obtained by performing initial correction on the equipment once, and the first composite magnetic vector of the equipment is detected, and the geomagnetic reference vector of the equipment is obtained according to the first composite magnetic vector and the initial magnetic correction amount. Based on the obtained geomagnetic reference vector, since the geomagnetic of the device is kept unchanged in the state that the position and the posture of the device are unchanged, further by keeping the position and the posture of the device unchanged, even if the magnetic field environment of the device (such as a battery of the device is replaced) is changed at the moment, the geomagnetic of the device is not changed, then further by detecting a second synthetic magnetic vector of the device after the magnetic field environment is changed, when the geomagnetic reference vector is unchanged, the magnetic correction reference quantity in the magnetic field environment at the moment is obtained according to the second synthetic magnetic vector, and then the real-time geomagnetic vector is measured based on the magnetic correction reference quantity. It can be seen that the magnetic correction reference quantity can be quickly obtained to measure the real-time geomagnetic vector under the condition that the magnetic field environment of the equipment is changed, the mode that a complicated correction flow needs to be carried out again in the traditional technology is abandoned, the magnetic correction reference quantity is particularly suitable for being used in field occasions or equipment with frequently replaced equipment components, the use experience of users can be improved, and the use viscosity can be improved
It is understood that the geomagnetic vector of the device changes in a state where the position and/or the attitude of the device changes. When the magnetic component of the equipment is changed or changed, the magnetic field environment of the equipment is changed, namely the magnetic field generated by the magnetic component is changed, so that the magnetic correction reference quantity is changed. It will also be appreciated that in a state where the position and/or attitude of the apparatus is changed, the geomagnetic vector of the apparatus is also changed, including the geomagnetic vector is changed in both direction and magnitude. In a state where the position and the attitude of the apparatus are kept unchanged, the geomagnetic vector of the apparatus does not change, including in both the direction and the magnitude.
Similarly, the magnetic calibration reference changes when the magnetic field environment of the device changes, including changes in direction and magnitude.
Therefore, in the embodiment of the present invention, after the first correction unit 310 performs the initial magnetic correction amount on the device, the second correction unit 320 may keep the position and the posture of the device unchanged, that is, keep the geomagnetic reference vector obtained by the first correction unit 310 unchanged, and may quickly obtain the magnetic correction reference amount of the device even if the magnetic field environment of the device is changed at will at this time, such as changing or shifting the magnetic components of the device.
It should also be noted that, in the embodiment of the present invention, the keeping of the position and the posture of the apparatus by the second correction unit 320 includes: the coordinate positions of the device in coordinate axes X, Y and Z, pitch angle and roll angle are maintained constant while simultaneously maintaining the heading angle if the device is in flight.
Based on the above description, the second correction unit 320 detects the current location information of the device, determines whether the current location information is the same as the location information detected at the previous time, and if so, determines to keep the location of the device unchanged. Specifically, the second correction unit 320 detects the coordinate positions of the device on the coordinate axes X, Y and Z, determines whether the coordinate positions are the same as the coordinate positions detected at the previous time, and if so, determines to keep the position of the device unchanged.
Meanwhile, the second correction unit 320 detects the current posture of the device, determines whether the current posture is the same as the posture detected at the previous time, and if so, determines to keep the posture of the device unchanged. Specifically, a current pitch angle, a current roll angle and a current heading angle of the equipment are detected, whether the current pitch angle is the same as a pitch angle detected at the last moment, whether the current roll angle is the same as a roll angle detected at the last moment and whether the current heading angle is the same as a heading angle detected at the last moment are judged, and if the current pitch angle, the current roll angle and the current heading angle are the same as the heading angle detected at the last moment, the equipment is determined to keep the attitude unchanged.
In another implementation manner, the second calibration unit 320 detects the position and the attitude of the device within a preset duration, obtains position information and attitude information corresponding to N time points within the preset duration, determines whether the position information and the attitude information corresponding to the N time points are the same, determines that the position and the attitude of the device remain the same if the position information and the attitude information are the same, changes a magnetic field environment where the device is located, detects a second synthetic magnetic vector of the device, and obtains a magnetic calibration reference of the device according to the second synthetic magnetic vector and the geomagnetic reference vector;
as an optional implementation manner, the manner for the first correction unit 310 to perform initial correction on the device is specifically: the first correction unit 310 is specifically configured to calibrate for the XY axis: rotating the device equipped with the magnetic sensor in an XY plane, namely equivalently rotating the geomagnetic vector around a normal line of a point 0(rx, ry) vertical to the XY plane, projecting the geomagnetic vector in the XY plane during rotation to obtain a track, and obtaining the position of a circle center 0(rx, ry) in the plane as ((Xmax + Xmin)/2, (Ymax + Ymin)/2), thereby obtaining a magnetic interference vector r on the XY planexy. Same principle, calibration for XZ axis: rotating the equipment in the XZ plane can obtain the locus circle of the geomagnetic vector on the XZ plane, and obtain the magnetic interference vector r on the XZ planexz. Handle rxyAnd rxzThe magnetic interference vector r (r) in the three-dimensional space can be obtained by synthesisxRy, rz), i.e., the initial magnetic correction amount described in the embodiment of the present invention is r 1.
As another alternative, the current magnetic correction reference amount of the apparatus is taken as the initial magnetic correction amount r1, and the difference between the synthesized magnetic vector a1 and the initial magnetic correction amount r1 is taken as the geomagnetic reference vector b. For example, the final magnetic correction reference amount is obtained through the second correction unit 320, and when the magnetic field environment of the apparatus needs to be changed in the next round, the magnetic correction reference amount is taken as the initial magnetic correction amount r1 provided by the embodiment of the present invention, and the geomagnetic reference vector b is calculated.
As an alternative embodiment, the second calibration unit 320 is used to change the magnetic field environment of the device in a manner that:
the second correction unit 320 is used for replacing or changing the magnetic component of the device so as to change the magnetic field environment of the device.
Further, the second correction unit 320 is configured to replace or change a magnetic component of the device, so as to change a magnetic field environment of the device, specifically:
the second correction unit 320 is specifically configured to replace or modify a battery component of the device to change a magnetic field environment of the device; alternatively, the horn component of the device is replaced or altered to change the magnetic field environment in which the device is located.
Referring to fig. 4, fig. 4 is a schematic structural diagram of a magnetic interference detection apparatus based on a magnetic environment change of a device according to another embodiment of the present invention. The magnetic interference detecting apparatus based on the device magnetic environment change shown in fig. 4 is obtained by optimizing the magnetic interference detecting apparatus based on the device magnetic environment change shown in fig. 3, and in the magnetic interference detecting apparatus based on the device magnetic environment change shown in fig. 4, the measuring unit 330 may include:
a detection unit 410 for detecting a real-time synthetic magnetic vector of the device;
an obtaining unit 420, configured to obtain a real-time geomagnetic vector of the device according to the real-time synthesized magnetic vector and the magnetic correction reference.
Referring to fig. 5, fig. 5 is a schematic structural diagram of an apparatus according to some embodiments of the present disclosure; the apparatus shown in fig. 5 may include: at least one processor 510, such as a CPU, memory 530 is used to enable communication connections between these components. Memory 520 may be a high-speed RAM memory or a non-volatile memory, such as at least one disk memory. The memory 520 may optionally be at least one memory device located remotely from the processor 510. Wherein the processor 510 may be combined with the apparatus described in fig. 3 to 4, the memory 510 stores a set of program codes therein, and the processor 510 calls the program codes stored in the memory 520 to perform the following operations:
performing initial correction on equipment to obtain an initial magnetic correction amount of the equipment, detecting a first synthetic magnetic vector of the equipment, and obtaining a geomagnetic reference vector of the equipment according to the first synthetic magnetic vector and the initial magnetic correction amount;
changing the magnetic field environment of the equipment under the state of keeping the position and the posture of the equipment unchanged, detecting a second synthetic magnetic vector of the equipment, and obtaining a magnetic correction reference quantity of the equipment according to the second synthetic magnetic vector and the geomagnetic reference vector;
measuring a real-time geomagnetic vector of the apparatus based on the magnetic correction reference.
Optionally, the processor 510 may be further configured to perform the following steps:
and replacing or changing the magnetic component of the equipment to change the magnetic field environment of the equipment.
Further, the processor 510 may be further configured to perform the following steps:
and detecting the real-time synthetic magnetic vector of the equipment, and obtaining the real-time geomagnetic vector of the equipment according to the real-time synthetic magnetic vector and the magnetic correction reference quantity.
Through implementing the embodiment, on the premise of obtaining the geomagnetic vector, the position and the posture of the equipment can be kept unchanged, so that the geomagnetic vector is kept unchanged, if the magnetic field environment where the equipment is located is changed, the magnetic correction reference quantity is further obtained according to the geomagnetic vector and the detected synthetic magnetic vector, then the accurate geomagnetic vector can be detected by using the magnetic correction reference quantity under the condition that the magnetic field environment where the equipment is located is not changed at the subsequent time, the equipment does not need to be subjected to complicated correction again, the geomagnetic sensor is particularly suitable for being used in field occasions, and the user experience and the use viscosity can be improved.
It will be understood by those skilled in the art that all or part of the steps in the methods of the embodiments described above may be implemented by hardware instructions of a program, and the program may be stored in a computer-readable storage medium, where the storage medium includes Read-Only Memory (ROM), Random Access Memory (RAM), Programmable Read-Only Memory (PROM), Erasable Programmable Read-Only Memory (EPROM), One-time Programmable Read-Only Memory (OTPROM), Electrically Erasable Programmable Read-Only Memory (EEPROM), Compact Disc Read-Only Memory (CD-ROM), or other Memory, such as a magnetic disk, or a combination thereof, A tape memory, or any other medium readable by a computer that can be used to carry or store data.
The method and the device for detecting magnetic interference based on equipment magnetic environment change disclosed by the embodiment of the invention are described in detail, a specific example is applied in the text to explain the principle and the implementation mode of the invention, and the description of the embodiment is only used for helping to understand the method and the core idea of the invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, there may be variations in the specific embodiments and the application scope, and in summary, the content of the present specification should not be construed as a limitation to the present invention.
Claims (8)
1. A magnetic interference detection method based on equipment magnetic environment change is characterized by comprising the following steps:
the equipment is used in a field occasion or equipment components need to be replaced frequently, initial correction is carried out on the equipment to obtain an initial magnetic correction value of the equipment, a first synthetic magnetic vector of the equipment is detected, and a geomagnetic reference vector of the equipment is obtained according to the first synthetic magnetic vector and the initial magnetic correction value;
changing the magnetic field environment of the equipment under the state of keeping the position and the posture of the equipment unchanged, detecting a second synthetic magnetic vector of the equipment, and obtaining a magnetic correction reference quantity of the equipment according to the second synthetic magnetic vector and the geomagnetic reference vector; wherein maintaining the position and attitude of the device unchanged comprises: keeping the coordinate positions of the equipment on coordinate axes X, Y and Z constant, the pitch angle constant and the roll angle constant; if the equipment is in a flight state, keeping the course angle unchanged;
measuring a real-time geomagnetic vector of the apparatus based on the magnetic correction reference.
2. The method of claim 1, wherein the changing the magnetic field environment in which the device is located comprises:
and replacing or changing the magnetic component of the equipment to change the magnetic field environment of the equipment.
3. The method of claim 1 or 2, wherein said measuring a real-time geomagnetic vector of the apparatus based on the magnetic correction reference comprises:
and detecting the real-time synthetic magnetic vector of the equipment, and obtaining the real-time geomagnetic vector of the equipment according to the real-time synthetic magnetic vector and the magnetic correction reference quantity.
4. The method of claim 2, wherein said replacing or altering a magnetic component of the device to change a magnetic field environment in which the device is located comprises:
replacing or modifying a battery component of the device to change a magnetic field environment in which the device is located;
alternatively, the horn component of the device is replaced or altered to change the magnetic field environment in which the device is located.
5. A magnetic interference detection device based on equipment magnetic environment change is characterized by comprising:
the device is used in field situations or requires frequent replacement of device parts,
a first correction unit configured to perform initial correction on an apparatus to obtain an initial magnetic correction amount for the apparatus, and detect a first synthetic magnetic vector for the apparatus, and obtain a geomagnetic reference vector for the apparatus based on the first synthetic magnetic vector and the initial magnetic correction amount;
a second correction unit configured to change a magnetic field environment in which the apparatus is located in a state in which the position and the orientation of the apparatus are kept unchanged, and detect a second synthetic magnetic vector of the apparatus, and obtain a magnetic correction reference of the apparatus from the second synthetic magnetic vector and the geomagnetic reference vector; wherein maintaining the position and attitude of the device unchanged comprises: keeping the coordinate positions of the equipment on the coordinate axes X, Y and Z, the pitch angle and the roll angle unchanged, and keeping the heading angle unchanged if the equipment is in a flight state;
a measuring unit for measuring a real-time geomagnetic vector of the apparatus based on the magnetic correction reference amount.
6. The apparatus according to claim 5, wherein the second correction unit is configured to change the magnetic field environment of the device by:
the second correction unit is used for replacing or changing the magnetic component of the equipment so as to change the magnetic field environment of the equipment.
7. The apparatus according to claim 5 or 6, wherein the measuring unit comprises:
a detection unit for detecting a real-time synthetic magnetic vector of the device;
and the acquisition unit is used for acquiring the real-time geomagnetic vector of the equipment according to the real-time synthetic magnetic vector and the magnetic correction reference quantity.
8. The apparatus according to claim 6, wherein the second correction unit is configured to replace or modify a magnetic component of the device, in particular to change a magnetic field environment of the device:
the second correction unit is specifically used for replacing or changing a battery component of the equipment so as to change the magnetic field environment of the equipment; alternatively, the horn component of the device is replaced or altered to change the magnetic field environment in which the device is located.
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