CN112066965A - Electronic compass based on positioning and three-dimensional gyroscope for correction - Google Patents
Electronic compass based on positioning and three-dimensional gyroscope for correction Download PDFInfo
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Abstract
The invention discloses an electronic compass based on positioning and three-dimensional gyroscope correction, which comprises a shell, wherein a data acquisition module, a storage module and a data processing module are arranged in the shell; the data acquisition module is used for acquiring magnetic field angle data, angular velocity data and Beidou positioning trace point information in real time; the storage chip is used for storing declination data in advance; the magnetic field angle data, the angular velocity data and the trace point information which are acquired by the data acquisition module are also stored in real time; and the data processing module is used for correcting the precision of the electronic compass according to the angular velocity data, the trace point information and the magnetic declination data of the magnetic field angle data. The invention aims to provide an electronic compass based on positioning and three-dimensional gyroscope correction, which can improve the pointing information precision and the anti-interference capability of the existing electronic compass and can be applied to the field of high-precision navigation.
Description
Technical Field
The invention relates to the technical field of compasses, in particular to an electronic compass capable of conducting correction based on positioning and a three-dimensional gyroscope.
Background
The electronic compass is also called as an electronic compass, is an important navigation tool for modern travel, can be applied to various occasions, and has the working principle that the magnetic field angle of the earth is measured by adopting a magnetic field sensor, and the real-time azimuth pointing angle is obtained through conversion. However, there are the following drawbacks:
(1) the magnetic field sensor is easily interfered by electronic equipment, metal objects, magnetic objects and the like, so that the measured angle of the earth magnetic field is inaccurate;
(2) the declination angles of all places are different, so that the electronic compass cannot independently correct declination errors caused by different geographic positions;
(3) the measurement accuracy of the existing magnetic field sensor is about 1 degree, and is influenced by various technologies and environmental factors, so that the measurement accuracy is difficult to improve.
Disclosure of Invention
The invention aims to provide an electronic compass based on positioning and three-dimensional gyroscope correction, which can improve the pointing information precision and the anti-interference capability of the existing electronic compass and can be applied to the field of high-precision navigation.
The invention is realized by the following technical scheme:
an electronic compass based on positioning and three-dimensional gyroscope for correction comprises a shell, wherein a data acquisition module, a storage module and a data processing module are arranged in the shell;
the data acquisition module is used for acquiring magnetic field angle data of the earth, azimuth angle speed data in the moving process and point trace information positioned in the moving process in real time;
the storage chip stores magnetic declination data of different geographical positions in advance; the data acquisition module is also used for storing the magnetic field angle data, the angular velocity data and the trace point information acquired by the data acquisition module in real time;
and the data processing module is used for correcting the precision of the electronic compass according to the magnetic field angle data, the azimuth angle speed data, the trace point information and the magnetic declination data.
Preferably, the data processing module comprises the following processing procedures:
s1: estimating the magnetic field state of the surrounding environment according to the magnetic field angle data;
s2: if the magnetic field state is a disordered state, correcting the electronic compass until the magnetic field state is a stable state;
s3: and if the magnetic field state is a stable state, the electronic compass is moved to acquire trace point information in the moving process, and the magnetic field angle data is compensated according to the trace point information and the magnetic declination data.
Preferably, when the magnetic field angle data is stable, the magnetic field state is a stable state; otherwise, the magnetic field state is a disordered state.
Preferably, the method for correcting the electronic compass comprises the following steps: and moving the position of the electronic compass to enable the magnetic field sensor to record the magnetic field angle data of the surrounding environment until the magnetic field angle data are stable.
Preferably, the S3 includes the steps of:
s31: moving the electronic compass along a fixed direction, wherein the moving distance is greater than a first threshold value, and meanwhile, acquiring the tracing information in the moving process;
s32: fitting a trace point curve according to the trace point information, and selecting a segment from the trace point curve, wherein the segment is a straight line, and the distance of the segment is greater than or equal to a first threshold value;
s33: acquiring a longitude difference value and a latitude difference value of two end points of the line segment, and acquiring a motion azimuth pointing angle in the moving process according to the longitude difference value and the latitude difference value;
wherein the content of the first and second substances,
representing the geographical position angle deviation data,s represents a distance deviation value of longitude every deviation 1 second, L represents a distance deviation value of latitude every deviation 1 second, Deltay represents a longitude difference value, and Deltax represents a latitude difference value;
s34: acquiring comprehensive correction parameters according to the motion azimuth pointing angle, the magnetic declination data of the current geographic position and the magnetic field angle data in the moving process:
gamma represents a correction parameter, theta represents magnetic field angle data, and beta represents declination data;
compensating the magnetic field angle data according to the comprehensive correction parameters to obtain magnetic field angle data A, and moving the electronic compass by taking the magnetic field angle data A as first pointing information;
θi＝θ+γ
wherein, thetaiRepresents magnetic field angle data a;
s35: acquiring the trace point information A in the moving process, performing curve fitting on the trace point information A in real time, and when a line segment k exists in a fitted curve, satisfying the following conditions: if the line k is a straight line and the distance of the line k is greater than or equal to the first threshold, S33-S35 are repeated.
Preferably, the precision of the motion azimuth pointing information is as follows:
wherein α represents precision; l represents a straight-line distance between the trace information a and the trace information B; d represents the positioning accuracy of the positioning chip.
Preferably, the magnetic compass further comprises a correction step, wherein the correction step is used for correcting the electronic compass when the electronic compass temporarily encounters external interference to cause magnetic field disorder.
Preferably, the magnetic field angle data A and the real-time azimuth angle speed information of the electronic compass at the moment before the electronic compass encounters external interference are acquired;
acquiring estimated azimuth information according to the magnetic field angle data A and the real-time azimuth speed information;
wherein, thetaiRepresenting magnetic field angle data A, VθRepresenting real-time azimuth velocity information, t representing time, and f (theta) being estimated azimuth information;
and acquiring trace information B of the electronic compass after encountering external interference, and performing auxiliary correction on the estimated azimuth angle information according to the trace information B.
Preferably, the method for performing auxiliary correction on the estimated azimuth angle information according to the trace point information B includes:
fitting a trace point curve according to the trace point information B, and selecting a segment from the trace point curve, wherein the segment is a straight line, and the distance of the segment is greater than or equal to a first threshold value;
acquiring a longitude difference value and a latitude difference value of two end points of the line segment, and acquiring a motion azimuth pointing angle B in the moving process according to the longitude difference value and the latitude difference value;
wherein the content of the first and second substances,
representing the angle deviation data of the geographic orientation, S representing the distance deviation value of longitude every deviation of 1 second, L representing the distance deviation value of latitude every deviation of 1 second, Delay representing the longitude difference value, and Deltax representing the latitude difference value;
and replacing the magnetic field angle data A with the motion azimuth pointing angle B, so as to obtain corrected estimated azimuth information B.
Preferably, the data acquisition module comprises a magnetic field sensor, a gyroscope sensor and a Beidou positioning chip;
the magnetic field sensor is used for measuring the magnetic field angle data of the earth in real time;
the gyroscope sensor is used for measuring angular velocity data in real time;
and the Beidou positioning chip is used for acquiring trace point information of Beidou positioning in real time.
Compared with the prior art, the invention has the following advantages and beneficial effects:
1. compensating magnetic field angle information measured by a magnetic field sensor by using positioning data and declination data to obtain high-precision pointing information;
2. the method for estimating pointing information by adopting integral operation to temporarily replace magnetic field measurement information improves the environmental magnetic field interference resistance of the electronic compass.
Drawings
The accompanying drawings, which are included to provide a further understanding of the embodiments of the invention and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the invention and together with the description serve to explain the principles of the invention. In the drawings:
fig. 1 is a schematic view of the work flow of the electronic compass of the present invention;
FIG. 2 is a schematic diagram of Beidou positioning conversion pointing accuracy.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is further described in detail below with reference to examples and accompanying drawings, and the exemplary embodiments and descriptions thereof are only used for explaining the present invention and are not meant to limit the present invention.
Example 1
An electronic compass based on positioning and three-dimensional gyroscope for correction comprises a shell, wherein a data acquisition module, a storage module and a data processing module are arranged in the shell;
in this embodiment, the data acquisition module includes a magnetic field sensor, a gyroscope sensor and a Beidou positioning chip; the magnetic field sensor is used for acquiring magnetic field angle data of the electronic compass at different geographic positions in real time; the gyroscope sensor is used for acquiring azimuth angle speed data of the electronic compass in the moving process in real time; the Beidou positioning chip is used for acquiring trace point information of the electronic compass, and the trace point information is position information acquired by the Beidou positioning chip in the moving process of the electronic compass.
The storage module is used for pre-storing declination data of different geographic positions; the device is also used for storing the acquired magnetic field angle data, azimuth angle speed data and trace point information in real time;
the magnetic declination data of different geographic positions stored in the storage module are acquired by a mapping literature, the magnetic declination data of different geographic positions have certain deviation, and the maximum magnetic declination data is 2-3 degrees and 6 degrees in China generally.
And the data processing module is used for correcting the precision of the electronic compass according to the magnetic field angle data, the azimuth angle speed data, the trace point information and the magnetic declination data.
Specifically, the data processing module includes the following processing procedures:
s1: estimating the magnetic field state of the surrounding environment according to the magnetic field angle data;
s2: if the magnetic field state is a disorder state, the electronic compass is corrected until the magnetic field state is a stable state;
s3: and if the magnetic field state is a stable state, moving the electronic compass, acquiring trace point information in the moving process, and compensating the magnetic field angle data according to the trace point information and the declination data.
Magnetic field sensors are susceptible to interference from electronic equipment, metal objects, magnetic objects, and the like, thereby making the measured magnetic field angle data inaccurate. Therefore, when the electronic compass of the present application is used, as shown in fig. 1, the state of the magnetic field environment around the electronic compass is first evaluated. Specifically, after the electronic compass is started, the magnetic field sensor is in a working state and can measure the magnetic field angle of the surrounding environment; if there is interference of electronic equipment, metal objects or magnetic objects in the surrounding environment, the magnetic field angle data measured by the magnetic field sensor is unstable, and the magnetic field angle data fluctuates back and forth, so that the electronic compass needs to be moved, and the electronic compass is located far away from the surrounding electronic equipment, metal objects or magnetic objects. When the magnetic field angle data is stable, the electronic compass can start normal pointing (the pointing information is based on the magnetic field angle data measured by the magnetic field sensor).
In order to obtain accurate pointing accuracy, the electronic compass performs a comprehensive calibration immediately after the electronic compass is turned on or after the electronic compass is calibrated.
Specifically, when the compass is used, the electronic compass is moved along a fixed direction, the moving distance is greater than a first threshold value, and in the moving process, the Beidou positioning chip can acquire trace point information in the moving process in real time; the data processing module connects the trace point information according to the acquired sequence, and selects a segment l of a straight line or an approximate straight line from the trace point information, the end points of the segment l are respectively marked as A and B, in order to accurately correct the pointing accuracy, the length of the segment l is greater than or equal to a first threshold value, wherein the first threshold value can be set according to actual requirements, and in order to improve the pointing accuracy as much as possible, the value of the first threshold value is greater than 100 m. Secondly, acquiring the longitude and latitude of the point A and the point B from the Beidou positioning chip, acquiring the longitude difference and the latitude difference of the point A and the point B according to the longitude and latitude of the point A and the longitude and latitude of the point B, and acquiring the motion azimuth pointing angle in the moving process according to the longitude difference and the latitude difference:
wherein the content of the first and second substances,
representing geographical azimuth angle deviation data, S representing longitude per deviation 1Distance deviation value in seconds (30.8m x cosine of latitude of the area), L represents distance deviation value of latitude per deviation of 1 second (about 30.8m), Δ y represents longitude difference value, and Δ x represents latitude difference value;
as shown in fig. 2, the precision of the motion azimuth pointing angle is:
where α represents precision in degrees (e.g., a result can be read as "30 north-east"); l represents a straight-line distance between the points A and B; d represents the positioning accuracy of the Beidou positioning chip.
If L is 100m and d is 0.1m, the accuracy of the pointing information converted from the beidou position by substituting the formula is about 0.1 °.
Secondly, the data processing module acquires comprehensive correction parameters according to the declination data of the current geographic position, the current movement azimuth pointing angle and the current magnetic field angle data,
gamma represents a correction parameter, theta represents magnetic field angle data, and beta represents declination data;
then, the data processing module compensates the current magnetic field angle data according to the comprehensive correction parameters to obtain magnetic field angle data A, and at the moment, the electronic compass can be normally used after the comprehensive correction is finished;
θi＝θ+γ
wherein, thetaiRepresenting magnetic field angle data a.
In the normal use process, the magnetic field angle data A is used as pointing information to move the electronic compass, point trace information A in the moving process is obtained, curve fitting is carried out on the point trace information A in real time, and when a line segment k exists in a fitted curve, the following conditions are met: and when the line segment k is a straight line (or an approximate straight line) and the distance of the line segment k is greater than or equal to the first threshold value, repeating the process.
In this scheme, at the in-process of removal electronic compass, can revise electronic compass's pointing precision in real time, guaranteed pointing precision, simultaneously, can know from this scheme, when adopting the technical scheme of this application, pointing precision can be for traditional magnetic field sensor's improvement by a wide margin.
Example 2
Because in the use, electronic equipment, metal object or magnetic object very probably appear in the surrounding environment to cause the influence to magnetic field angle data, consequently, in this embodiment, data processing module still has the correction function, when electronic compass meets external disturbance temporarily and leads to the magnetic field disorder, can revise electronic compass's precision, thereby can make this electronic compass can continue to use, specifically:
acquiring magnetic field angle data A and real-time azimuth angle speed information of an electronic compass at the moment before the electronic compass encounters external interference;
acquiring estimated azimuth information according to the magnetic field angle data A and the real-time azimuth speed information;
wherein, thetaiRepresenting magnetic field angle data A, VθRepresenting real-time azimuth velocity information, t representing time, and f (theta) being estimated azimuth information;
acquiring trace point information B of the electronic compass after encountering external interference, fitting a trace point curve according to the trace point information B, and selecting a segment from the trace point curve, wherein the segment is a straight line, and the distance between the segments is greater than or equal to a first threshold;
acquiring a longitude difference value and a latitude difference value of two end points of the line segment, and acquiring a motion azimuth pointing angle in the moving process according to the longitude difference value and the latitude difference value;
wherein the content of the first and second substances,
representing the angle deviation data of the geographic orientation, S representing the distance deviation value of longitude every deviation of 1 second, L representing the distance deviation value of latitude every deviation of 1 second, Delay representing the longitude difference value, and Deltax representing the latitude difference value;
and replacing the magnetic field angle data A with the motion azimuth pointing angle, thereby obtaining the corrected estimated azimuth angle information B.
Because the trace point information is obtained by the Beidou positioning chip, even if electronic equipment, metal objects or magnetic objects appear around the environment, the obtained trace point information cannot be distorted due to magnetic field interference, and therefore when the electronic equipment, the metal objects or the magnetic objects appear around the environment, the estimated azimuth angle information is subjected to auxiliary correction through the trace point information, and the pointing accuracy of the electronic compass can be guaranteed.
It should be noted that, because of the influence of the system clock accuracy, the calculation capability and the gyroscope angular velocity measurement accuracy, the estimated azimuth information obtained by the integral calculation increases with the lapse of time, and generally, if the method is continuously used for more than 30 minutes, the obtained estimated pointing information has a large difference, and at this time, the initial data needs to be selected again for calculation.
The above-mentioned embodiments are intended to illustrate the objects, technical solutions and advantages of the present invention in further detail, and it should be understood that the above-mentioned embodiments are merely exemplary embodiments of the present invention, and are not intended to limit the scope of the present invention, and any modifications, equivalent substitutions, improvements and the like made within the spirit and principle of the present invention should be included in the scope of the present invention.
Claims (10)
1. An electronic compass based on positioning and three-dimensional gyroscope for correction is characterized by comprising a shell, wherein a data acquisition module, a storage module and a data processing module are arranged in the shell;
the data acquisition module is used for acquiring magnetic field angle data of the earth, azimuth angle speed data in the moving process and point trace information positioned in the moving process in real time;
the storage module is used for storing declination data of different geographic positions in advance; the data acquisition module is also used for storing the magnetic field angle data, the angular velocity data and the trace point information acquired by the data acquisition module in real time;
and the data processing module is used for correcting the precision of the electronic compass according to the magnetic field angle data, the azimuth angle speed data, the trace point information and the magnetic declination data.
2. The electronic compass for calibration based on positioning and three-dimensional gyroscope according to claim 1, wherein the data processing module comprises the following processing procedures:
s1: estimating the magnetic field state of the surrounding environment according to the magnetic field angle data;
s2: if the magnetic field state is a disordered state, correcting the electronic compass until the magnetic field state is a stable state;
s3: and if the magnetic field state is a stable state, the electronic compass is moved to acquire trace point information in the moving process, and the magnetic field angle data is compensated according to the trace point information and the magnetic declination data.
3. The electronic compass for calibration based on positioning and three-dimensional gyroscope of claim 2, wherein when the magnetic field angle data is stable, the magnetic field state is a stable state; otherwise, the magnetic field state is a disordered state.
4. The electronic compass for calibration based on positioning and three-dimensional gyroscope according to claim 2, wherein the method for calibrating the electronic compass comprises: and moving the position of the electronic compass to enable the magnetic field sensor to record the magnetic field angle data of the surrounding environment until the magnetic field angle data are stable.
5. The electronic compass for calibration based on positioning and three-dimensional gyroscope of claim 2, wherein the S3 comprises the following steps:
s31: moving the electronic compass along a fixed direction, wherein the moving distance is greater than a first threshold value, and meanwhile, acquiring the tracing information in the moving process;
s32: fitting a trace point curve according to the trace point information, and selecting a segment from the trace point curve, wherein the segment is a straight line, and the distance of the segment is greater than or equal to a first threshold value;
s33: acquiring a longitude difference value and a latitude difference value of two end points of the line segment, and acquiring a motion azimuth pointing angle in the moving process according to the longitude difference value and the latitude difference value;
wherein the content of the first and second substances,
representing the angle deviation data of the geographic orientation, S representing the distance deviation value of longitude every deviation of 1 second, L representing the distance deviation value of latitude every deviation of 1 second, Delay representing the longitude difference value, and Deltax representing the latitude difference value;
s34: acquiring comprehensive correction parameters according to the motion azimuth pointing angle, the magnetic declination data of the current geographic position and the magnetic field angle data in the moving process:
gamma represents a correction parameter, theta represents magnetic field angle data, and beta represents declination data;
compensating the magnetic field angle data according to the comprehensive correction parameters to obtain magnetic field angle data A, and moving the electronic compass by taking the magnetic field angle data A as pointing information;
θi＝θ+γ
wherein, thetaiRepresents magnetic field angle data a;
s35: acquiring trace point information A in the moving process, performing curve fitting on the trace point information A in real time, and when a line segment k exists in a fitted curve, satisfying the following conditions: if the line k is a straight line and the distance of the line k is greater than or equal to the first threshold, S33-S35 are repeated.
6. The electronic compass for calibration based on positioning and three-dimensional gyroscope according to claim 5, wherein the accuracy of the moving azimuth pointing information is:
wherein α represents precision; l represents a straight-line distance between the trace information a and the trace information B; d represents the positioning accuracy of the positioning chip.
7. The electronic compass performing calibration based on positioning and three-dimensional gyroscope according to any one of claims 2-6, further comprising a modification step, wherein the modification step is used for modifying the electronic compass when the electronic compass temporarily encounters external disturbance to cause magnetic field disorder.
8. An electronic compass for calibration based on a positioning and three-dimensional gyroscope according to claim 5, wherein the correction step comprises the following sub-steps:
acquiring the magnetic field angle data A and real-time azimuth angle speed information of the electronic compass at the moment before the electronic compass encounters external interference;
acquiring estimated azimuth information according to the magnetic field angle data A and the real-time azimuth speed information;
wherein, thetaiRepresenting magnetic field angle data A, VθRepresenting real-time azimuth velocity information, t representing time, and f (theta) being estimated azimuth information;
and acquiring trace information B of the electronic compass after encountering external interference, and performing auxiliary correction on the estimated azimuth angle information according to the trace information B.
9. The electronic compass for calibration based on positioning and three-dimensional gyroscope according to claim 8, wherein the method for performing auxiliary correction on the estimated azimuth angle information according to the tracking information B is:
fitting a trace point curve according to the trace point information B, and selecting a segment from the trace point curve, wherein the segment is a straight line, and the distance of the segment is greater than or equal to a first threshold value;
acquiring a longitude difference value and a latitude difference value of two end points of the line segment, and acquiring a motion azimuth pointing angle B in the moving process according to the longitude difference value and the latitude difference value;
wherein the content of the first and second substances,
representing the angle deviation data of the geographic orientation, S representing the distance deviation value of longitude every deviation of 1 second, L representing the distance deviation value of latitude every deviation of 1 second, Delay representing the longitude difference value, and Deltax representing the latitude difference value;
and replacing the magnetic field angle data A with the motion azimuth pointing angle B, so as to obtain corrected estimated azimuth information B.
10. The electronic compass for calibration based on positioning and three-dimensional gyroscope of claim 9, wherein the data acquisition module comprises a magnetic field sensor, a gyroscope sensor and a beidou positioning chip;
the magnetic field sensor is used for measuring the magnetic field angle data of the earth in real time;
the gyroscope sensor is used for measuring angular velocity data in real time;
and the Beidou positioning chip is used for acquiring trace point information of Beidou positioning in real time.
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| CN1055056A (en) * | 1990-03-20 | 1991-10-02 | 卡西欧计算机株式会社 | Compass |
| CN103002208A (en) * | 2011-09-08 | 2013-03-27 | 索尼公司 | Electronic device and image pickup apparatus |
| WO2015070451A1 (en) * | 2013-11-18 | 2015-05-21 | 宇龙计算机通信科技(深圳)有限公司 | Electronic compass calibrating method and terminal |
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