CN118169773A - Geomagnetic sensor testing device, geomagnetic sensor testing method, electronic equipment and readable storage medium - Google Patents
Geomagnetic sensor testing device, geomagnetic sensor testing method, electronic equipment and readable storage medium Download PDFInfo
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Abstract
According to the geomagnetic sensor testing device, the geomagnetic sensor testing method, the electronic equipment and the readable storage medium, the first coil unit, the second coil unit and the third coil unit which are perpendicular to each other are arranged, so that a three-dimensional magnetic field can be simulated, and meanwhile, the first coil group, the second coil group and the third coil are arranged in the first coil unit, so that better magnetic field uniformity can be ensured in the magnetic field direction of the first coil unit, and the testing precision of the geomagnetic sensor based on the simulated three-dimensional magnetic field is improved.
Description
Technical Field
The present invention relates to the field of device testing, and in particular, to a geomagnetic sensor testing apparatus, a geomagnetic sensor testing method, an electronic device, and a readable storage medium.
Background
With the development of wearable electronic technology, a part of intelligent sports watches are provided with triaxial geomagnetic sensors to assist in realizing the GPS function and compass function; specifically, the geomagnetic sensor is applied to calculate the movement direction of the intelligent sports watch; the three-axis geomagnetic sensor of the intelligent sports watch is required to be tested and corrected before leaving a factory because of the deviation of the detection capability of the three-axis geomagnetic sensor of the intelligent sports watch due to the influence of various factors such as materials, technology, assembly, environment and the like; in the prior art, the test precision of the triaxial geomagnetic sensor is low, and the application requirement cannot be met.
Disclosure of Invention
The invention mainly aims to provide a geomagnetic sensor testing device, a geomagnetic sensor testing method, electronic equipment and a readable storage medium, and aims to solve the problem that in the prior art, the testing precision of a triaxial geomagnetic sensor is low.
In order to achieve the above object, the present invention provides a geomagnetic sensor testing apparatus, which includes a magnetic field simulation module and a processing module; the magnetic field simulation module comprises a first coil unit, a second coil unit and a third coil unit, wherein the magnetic field directions of the first coil unit, the second coil unit and the third coil unit are mutually perpendicular; wherein the first coil unit comprises a first coil group, a second coil group and a third coil; wherein:
the first coil group is arranged between the second coil groups, and the third coil is arranged between the first coil groups;
The output end of the processing module is connected with the coil in the magnetic field simulation module, the acquisition end of the processing module is connected with the target equipment, and the coil center of the third coil is the test position of the target equipment; wherein:
the processing module is used for outputting driving current corresponding to a target magnetic field to coils in the magnetic field simulation module so that the magnetic field simulation module constructs the target magnetic field;
The processing module is further used for obtaining a detection signal of the target equipment based on the target magnetic field and testing a geomagnetic sensor of the target equipment according to the detection signal.
In order to achieve the above object, the present invention also provides a geomagnetic sensor testing method, which is applied to the geomagnetic sensor testing apparatus as described above, the geomagnetic sensor testing method including:
determining a target magnetic field and sending a driving current corresponding to the target magnetic field to a magnetic field simulation module;
acquiring a detection signal of target equipment based on the target magnetic field;
and testing the geomagnetic sensor of the target equipment according to the detection signal.
To achieve the above object, the present invention also provides an electronic device including a memory, a processor, and a computer program stored on the memory and executable on the processor, which when executed by the processor, implements the steps of the geomagnetic sensor test method as described above.
To achieve the above object, the present invention also provides a computer-readable storage medium having stored thereon a computer program which, when executed by a processor, implements the steps of the geomagnetic sensor test method as described above.
According to the geomagnetic sensor testing device, the geomagnetic sensor testing method, the electronic equipment and the readable storage medium, the first coil unit, the second coil unit and the third coil unit which are perpendicular to each other are arranged, so that a three-dimensional magnetic field can be simulated, and meanwhile, the first coil group, the second coil group and the third coil are arranged in the first coil unit, so that better magnetic field uniformity can be ensured in the magnetic field direction of the first coil unit, and the testing precision of the geomagnetic sensor based on the simulated three-dimensional magnetic field is improved.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the invention and together with the description, serve to explain the principles of the invention.
In order to more clearly illustrate the embodiments of the invention or the technical solutions of the prior art, the drawings which are used in the description of the embodiments or the prior art will be briefly described, and it will be obvious to a person skilled in the art that other drawings can be obtained from these drawings without inventive effort.
FIG. 1 is a schematic diagram of a first coil unit in a geomagnetic sensor test apparatus of the present invention;
FIG. 2 is a schematic diagram of a magnetic field simulation module in a geomagnetic sensor test apparatus according to the present invention;
FIG. 3 is an X-axis view of a magnetic field simulation module in a geomagnetic sensor test apparatus of the present invention;
FIG. 4 is a schematic diagram showing the overall structure of a geomagnetic sensor test apparatus of the present invention;
FIG. 5 is a schematic flow chart of a geomagnetic sensor testing apparatus of the present invention;
Fig. 6 is a schematic block diagram of an electronic device according to the present invention.
Reference numerals illustrate:
| Reference numerals | Name of the name | Reference numerals | Name of the name |
| 1 | Outer casing | Y11 | First sub-coil |
| 2 | Processing unit | Y12 | Second sub-coil |
| 3 | Driving unit | Y13 | Third sub-coil |
| 4 | Magnetic field simulation module | Y14 | Fourth sub-coil |
| 5 | Hand-pulling rod | Y3 | Third coil |
| 6 | Telescopic hole | X15 | Fifth sub-coil |
| 7 | Magnetic shielding box | X16 | Sixth sub-coil |
| 8 | Target device | Z17 | Seventh sub-coil |
| 9 | Triaxial Gaussian meter | Z18 | Eighth sub-coil |
| 11 | Motion detection module |
Detailed Description
It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the application. In order that those skilled in the art will better understand the present application, a technical solution in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in which it is apparent that the described embodiments are only some embodiments of the present application, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the present application without making any inventive effort, shall fall within the scope of the present application.
The invention provides a geomagnetic sensor testing device, which comprises a magnetic field simulation module 4 and a processing module; the magnetic field simulation module 4 comprises a first coil unit, a second coil unit and a third coil Y3, wherein the magnetic field directions of the first coil unit, the second coil unit and the third coil Y3 are mutually perpendicular; wherein the first coil unit comprises a first coil group, a second coil group and a third coil Y3; wherein:
The first coil group is arranged between the second coil groups, and the third coil Y3 is arranged between the first coil groups;
the output end of the processing module is connected with the coil in the magnetic field simulation module 4, the acquisition end of the processing module is connected with the target equipment 8, and the coil center of the third coil Y3 is the test position of the target equipment 8; wherein:
the processing module is configured to output a driving current corresponding to a target magnetic field to a coil in the magnetic field simulation module 4, so that the magnetic field simulation module 4 constructs the target magnetic field;
the processing module is further configured to obtain a detection signal of the target device 8 based on the target magnetic field, and test a geomagnetic sensor of the target device 8 according to the detection signal.
The first coil unit, the second coil unit and the third coil Y3 are respectively used for simulating a magnetic field in one direction; meanwhile, the magnetic field directions simulated by the three coil units are mutually perpendicular, if the magnetic field direction of the first coil unit corresponds to the Y-axis direction in the three-dimensional coordinate system, the magnetic field direction of the second coil unit corresponds to the X-axis direction in the three-dimensional coordinate system, and the magnetic field direction of the third coil Y3 corresponds to the Z-axis direction in the three-dimensional coordinate system; when three coil units simulate magnetic fields in three directions simultaneously, the magnetic fields in three directions are overlapped to simulate a three-position magnetic field.
It will be understood that each coil unit is composed of a plurality of coils, and for a single coil unit, the magnetic field directions of the coils included in the coil unit are the same when the coil unit is energized, that is, the magnetic field directions of the coil unit, and referring to fig. 1, in this embodiment and the subsequent embodiments, taking the example that the magnetic field direction of the first coil unit corresponds to the Y-axis direction, the magnetic field directions of all the coils included in the first coil unit are all Y-axis directions.
The coil group comprises two coils with the same parameters and the same magnetic field direction; if the first coil group comprises a first sub-coil Y11 and a second sub-coil Y12, the second coil group comprises a third sub-coil Y13 and a fourth sub-coil Y14; wherein, the shape and the size of the first sub-coil Y11 are consistent with those of the second sub-coil Y12, and the shape and the size of the third sub-coil Y13 are consistent with those of the fourth sub-coil Y14; in order to make the simulated magnetic field have uniformity, the coils in the coil groups are required to be symmetrically arranged relative to the magnetic field, specifically, the specific arrangement positions of the first coil group, the second coil group and the third coil Y3 are sequentially a first sub-coil Y11, a third sub-coil Y13, a third coil Y3, a fourth sub-coil Y14 and a second sub-coil Y12, and the five coils are coaxially arranged; the third coil Y3 is disposed at the origin of coordinates of the space coordinate system, the distance between the third sub-coil Y13 and the fourth sub-coil Y14 is the same as the distance between the first sub-coil Y11 and the second sub-coil Y12 is the same as the distance between the third sub-coil Y3.
From the law of biot-savart and the principle of magnetic field superposition, the magnetic induction strength By1 of the first coil group in the magnetic field direction is:
wherein μ is air permeability, iy is driving current of the first sub-coil Y11 and the second sub-coil Y12, R 3 is radius of the coil in the first coil group, L1 is distance between the coil in the second coil group and the third coil Y3, L2 is distance between the third sub-coil Y13 and the first sub-coil Y11 or the fourth sub-coil Y14 and the second sub-coil Y12, and Y is distance from origin of coordinates;
the magnetic induction By2 of the second coil set in the magnetic field direction thereof is:
The magnetic induction density By3 of the third coil Y3 in the magnetic field direction thereof is:
Wherein k is a proportionality coefficient of the driving current of the third coil Y3;
The magnetic induction B y in the Y-axis direction formed by the first coil unit is a superposition of a plurality of magnetic induction, that is:
By＝By1+By2+By3
As can be seen from the above formula, when the radius and the setting distance of each coil are fixed, only the first coil set is set on the Y axis, the magnetic field strength is By1, when the second coil set is added, the magnetic field strength is overlapped By2, namely By1+by2, and when the third coil Y3 is added, the magnetic field strength is overlapped By3, namely By1+by2+by3; under the condition that the magnetic field strength to be simulated is unchanged, compared with the scheme that only fewer coils such as the first coil group are arranged, the scheme of the embodiment has the advantages that the required driving current is smaller, geomagnetic interference during coil coupling can be effectively reduced, meanwhile, the required coil radius is smaller, and the size of the geomagnetic sensor testing device can be reduced.
By the above formula, the magnetic field strength By0 at the origin of coordinates is y=0;
let the deviation epsilon between the point on the Y-axis and the magnetic field strength at the origin of coordinates be:
in the case where only the first coil group is provided, the corresponding deviation ε 1 is:
when the first coil set and the second coil set are simultaneously set, the corresponding deviation ε 1 is:
When the first coil set, the second coil set and the third coil Y3 are set at the same time, the corresponding deviation epsilon 3 is:
according to the formula, under the condition that the radius and the setting position of each coil are determined, epsilon 1< epsilon 2< epsilon 3 is less than or equal to 1, when the first coil group and the second coil group are set, the lower order remainder of the magnetic field expression of the uniform region of the central magnetic field can be eliminated, after the third coil Y3 is further added, the lower order remainder is higher in frequency according to the Taylor formula, the magnetic field uniformity is better, and errors caused by the deviation from the central point due to the fact that the coils are installed can be attenuated rapidly.
Meanwhile, it is known that the magnetic field strength, the magnetic field uniformity and the coil radius are related to the set position, so that in practical application, the coil radius and the set position can be set based on the size of the geomagnetic sensor or the size of the target equipment 8 which are actually required to be tested; if the target device 8 is a smart watch, and the thickness of the smart watch is generally smaller than 20mm, therefore, the coil radius and the setting position can be set to achieve that the magnetic field is uniform in the region of 50mm in the X axis, 50mm in the Y axis and 25mm in the Z axis, and the specific coil radius and the setting position can be determined based on specific debugging.
The embodiment can realize accurate and uniform magnetic field simulation based on the magnetic field simulation module 4 through the arrangement; the geomagnetic sensor of the target device 8 can be tested based on the magnetic field simulated by the magnetic field simulation module 4.
It can be understood that the test for the geomagnetic sensor mainly tests the detection accuracy of the geomagnetic sensor on the magnetic field, in the specific test, firstly, a required target magnetic field is constructed through the magnetic field simulation module 4, the geomagnetic sensor detects in the target magnetic field to obtain a detection signal, the processing module judges the coincidence degree of the detection signal and the target magnetic field to detect the accuracy of the geomagnetic sensor, and meanwhile, a calibration value can be generated based on the detection signal and the target magnetic field and written into the target device 8 to calibrate the geomagnetic sensor in the target device 8.
In this embodiment, the first coil unit, the second coil unit and the third coil Y3 that are perpendicular to each other are provided, so that a three-dimensional magnetic field can be simulated, and meanwhile, in the first coil unit, the first coil group, the second coil group and the third coil Y3 are provided, so that better magnetic field uniformity can be ensured in the magnetic field direction of the first coil unit, and thus, the test precision of the geomagnetic sensor based on the simulated three-dimensional magnetic field is improved.
Further, referring to fig. 2 and 3, the coil in the first coil unit is perpendicular to the Y-axis and the coil center point is located on the Y-axis, the coil in the second coil unit is perpendicular to the X-axis and the coil center point is located on the X-axis, and the coil in the third coil Y3 is perpendicular to the Z-axis and the coil center point is located on the Z-axis.
The first coil unit is used for generating a magnetic field in the Y-axis direction, the second coil unit is used for generating a magnetic field in the X-axis direction, and the third coil Y3 is used for generating a magnetic field in the Z-axis direction; by the combined action of the first coil unit, the second coil unit and the third coil Y3, a three-dimensional magnetic field can be constructed.
Further, the coils in the first coil unit are circular, the coils in the second coil unit are square, and the coils in the third coil Y3 are square.
It can be understood that the rectangular coil, particularly the square coil in the embodiment, has higher processing precision and more convenient and accurate installation; the machining precision of the round coil is lower than that of the rectangular coil, and the round coil is difficult to install, but has higher magnetic field uniformity; therefore, in this embodiment, the main magnetic field direction, that is, the coil in the first coil unit corresponding to the Y axis is set to be a circular coil, so as to improve the magnetic field uniformity, and meanwhile, due to the arrangement of five coils in the first coil unit, the first coil unit can tolerate higher installation errors, so that the installation accuracy and the magnetic field uniformity are both considered; and rectangular coils can be adopted for the second coil unit and the third coil Y3 to ensure the installation precision, so that the manufacturing and installation cost is reduced.
The coil shape in each coil unit may be set based on actual needs, such as setting all coils to be circular, setting all coils to be square, and the like.
Further, the second coil unit includes a third coil Y3 pair, wherein the third coil Y3 pair is symmetrically arranged based on a coil center of the third coil Y3.
As can be seen from the foregoing description, the coil center of the third coil Y3 is the origin of coordinates of the space coordinate system; the third coil Y3 is symmetrically arranged on the basis of the center of the coil of the third coil Y3, namely, the third coil Y3 is symmetrically arranged on the basis of the origin of coordinates of the space coordinate system; specifically, the third coil Y3 pair includes a fifth sub-coil X15 and a sixth sub-coil X16, the fifth sub-coil X15 and the sixth sub-coil X16 being coaxially disposed and the coil center being disposed in the X axis.
From the law of biot-savart and the principle of magnetic field superposition, the magnetic induction Bx of the third coil Y3 in the magnetic field direction is:
Wherein L3 is the distance between the fifth sub-coil X15 or the sixth sub-coil X16 and the origin of coordinates, L4 is the side length of the fifth sub-coil X15 or the sixth sub-coil X16, X is the distance from the origin of coordinates, and I x is the driving current of the fifth sub-coil X15 and the sixth sub-coil X16.
It should be noted that the specific structure of the second coil unit may also be set based on actual needs, such as setting a plurality of coil sets.
Further, the third coil Y3 includes a fourth coil group, wherein the fourth coil group is symmetrically disposed based on a coil center of the third coil Y3.
As can be seen from the foregoing description, the coil center of the fourth coil is the origin of coordinates of the space coordinate system; the fourth coil group is symmetrically arranged based on the coil center of the fourth coil, namely, the fourth coil is symmetrically arranged based on the coordinate origin of the space coordinate system; specifically, the fourth coil group includes a seventh sub-coil Z17 and an eighth sub-coil Z18, the seventh sub-coil Z17 and the eighth sub-coil Z18 being coaxially disposed and the coil center being disposed in the Z axis. It should be noted that the specific structure of the second coil unit may also be set based on actual needs, such as setting a plurality of coil sets.
From the law of biot-savart and the principle of magnetic field superposition, the magnetic induction strength Bz of the third coil Y3 in the magnetic field direction is:
wherein L5 is the distance between the seventh or eighth sub-coil Z17 or Z18 and the origin of coordinates, L6 is the side length of the seventh or eighth sub-coil Z17 or Z18, Z is the distance from the origin of coordinates, and I z is the driving current of the seventh or eighth sub-coil Z17 or Z18.
As can be seen from the principle of magnetic field superposition, the three-dimensional vector magnetic field composed of the first to eighth sub-coils Y11 to Z18 and the third coil Y3 is:
Further, referring to fig. 4, the processing module includes a processing unit 2, a driving unit 3, and a magnetic field standard unit; the acquisition end of the processing unit 2 is connected with the target equipment 8, the output end of the processing unit 2 is connected with the control end of the driving unit 3, the output end of the driving unit 3 is connected with the coil in the magnetic field simulation module 4, the input end of the processing unit 2 is connected with the magnetic field standard unit, and the magnetic field standard unit is arranged in the target magnetic field; wherein:
The processing unit 2 is configured to determine a current signal corresponding to a target magnetic field, and send the current signal to the driving unit 3;
The driving unit 3 is configured to output the driving current to the coil in the magnetic field simulation module 4 according to the current signal, so that the magnetic field simulation module 4 constructs the target magnetic field;
the magnetic field standard unit is used for detecting a magnetic field signal of the target magnetic field and sending the magnetic field signal to the processing unit 2;
The processing unit 2 is configured to obtain a detection signal of the target device 8 based on the target magnetic field, and test a geomagnetic sensor of the target device 8 according to the detection signal and the magnetic field signal.
As is apparent from the foregoing description of the magnetic field simulation module 4, the magnetic field simulated by the magnetic field simulation module 4 is constructed by outputting the driving current to the corresponding coil; the magnetic fields corresponding to the different driving currents are different, so that it is necessary to determine the target magnetic field and further determine a current signal corresponding to the target magnetic field; it is understood that the correspondence between the magnetic field and the driving current is relatively determined after the completion of the arrangement of the respective coils, and therefore, the correspondence between the magnetic field and the driving current can be acquired in advance, thereby determining the current signal corresponding to the target magnetic field based on the correspondence.
The driving unit 3 outputs a corresponding driving current to a corresponding coil in the magnetic field simulation module 4 based on the current signal, thereby causing the magnetic field simulation module 4 to construct a target magnetic field corresponding to the current signal.
After the construction of the target magnetic field is completed, the geomagnetic sensor in the target device 8 detects the target magnetic field to obtain a detection signal, and sends the detection signal to the processing unit 2; meanwhile, the magnetic field standard unit detects the target magnetic field to obtain a magnetic field signal, and sends the magnetic field signal to the processing unit 2; it will be appreciated that the magnetic field standard unit is a calibrated magnetic field detection device, and may specifically be a three-axis gaussian meter 9, i.e. the magnetic field standard unit can accurately detect relevant data of the target magnetic field.
After receiving the magnetic field signal and the detection signal, the processing unit 2 can determine the detection condition of the detection signal by comparing the magnetic field signal with the detection signal, for example, when the detection signal is consistent with the magnetic field signal, the geomagnetic sensor of the target device 8 is considered to be accurate, and when the detection signal is greatly different from the magnetic field signal, the geomagnetic sensor of the target device 8 is considered to be greatly deviated.
It will be appreciated that in order to ensure test accuracy, the geomagnetic sensor of the target device 8 and the magnetic field standard cell should be disposed as centrally as possible in the target magnetic field, thereby reducing the influence of the position on the detection situation.
Further, the processing module further comprises a motion detection module 11, and the output end of the motion detection module 11 is connected with the motion acquisition end of the processing unit 2;
the motion detection module 11 is configured to detect a motion state of the geomagnetic sensor testing apparatus, obtain a motion signal, and send the motion signal to the processing unit 2.
It can be understood that in practical application, a part of scenes exist to cause vibration of the geomagnetic sensor testing device, such as that the target equipment 8 is not placed horizontally, the center of the target equipment 8 does not reach the center coordinate origin of the geomagnetic sensor testing device, a user touches the testing device, and the like, and the vibration of the geomagnetic sensor testing device can cause the position deviation of devices in the device and the target equipment 8, so that the testing result is inaccurate; therefore, in this embodiment, the motion detection module 11 is configured to detect the motion state of the geomagnetic sensor test apparatus, so as to ensure that the geomagnetic sensor test apparatus is tested when the geomagnetic sensor test apparatus is in a stationary state, and ensure the test result.
The specific type of motion detection module 11 may be set based on actual needs, such as a tri-axial accelerometer, tri-axial gyroscope.
Further, the geomagnetic sensor testing device further comprises a magnetic shielding box 7, and the magnetic field simulation module 4 is arranged in the magnetic shielding box 7.
It can be understood that the magnetic field exists in the environment, including but not limited to geomagnetism and magnetic field of electronic equipment, so if the geomagnetism sensor is directly tested in the environment, the magnetic field is greatly influenced by the environment, and the test cannot be accurately realized; the magnetic shield case 7 is provided to shield an ambient magnetic field in this embodiment; the specific material and structure of the magnetic shield case 7 can be selected based on actual needs, such as high permeability of permalloy or silicon steel sheet or the like.
The magnetic field simulation module 4 is arranged in the magnetic shielding box 7, so that when a test is performed, only a target magnetic field constructed by the magnetic field simulation module 4 is arranged in the magnetic shielding box 7, and the influence of an environment magnetic field is avoided. It will be appreciated that the magnetic field standard unit in the processing module is arranged inside the magnetic shielding box 7, while the processing unit 2, the driving unit 3 are constituted by electronics, so that the processing unit 2 is arranged outside the magnetic shielding box 7 in order to avoid electromagnetic influence.
In order to realize the test of the complete geomagnetic sensor, the magnetic shielding box 7 can also comprise a shell 1, a telescopic hole 6, a hand pull rod 5, a drawer type fixing clamping groove and the like, all devices are arranged in the shell 1, the drawer type fixing clamping groove is used for placing target equipment 8, meanwhile, a placing plate is connected with the hand pull rod 5, and the hand pull rod 5 is pulled to drive the drawer type fixing clamping groove to move, so that the target equipment 8 is fetched and placed; the telescopic hole 6 is matched with the hand-pulling rod 5, and when the telescopic hole 6 is matched with the hand-pulling rod 5, a closed space is formed inside the shell 1.
The invention also provides a geomagnetic sensor testing method, which is applied to the geomagnetic sensor testing device, and referring to fig. 1, fig. 1 is a schematic flow chart of a first embodiment of the geomagnetic sensor testing method, and the method comprises the following steps:
Step S10, determining a target magnetic field and sending a driving current corresponding to the target magnetic field to a magnetic field simulation module;
Step S20, obtaining a detection signal of target equipment based on the target magnetic field;
and step S30, testing the geomagnetic sensor of the target equipment according to the detection signal.
The driving unit outputs a corresponding driving current to a corresponding coil in the magnetic field simulation module based on the current signal, so that the magnetic field simulation module constructs a target magnetic field corresponding to the current signal.
After the construction of the target magnetic field is completed, a geomagnetic sensor in the target equipment detects the target magnetic field to obtain a detection signal, and the detection signal is sent to a processing unit; meanwhile, the magnetic field standard unit detects a target magnetic field to obtain a magnetic field signal, and sends the magnetic field signal to the processing unit; it can be understood that the magnetic field standard unit is a calibrated magnetic field detection device, and specifically may be a triaxial gauss meter, that is, the magnetic field standard unit can accurately detect relevant data of the target magnetic field.
After receiving the magnetic field signal and the detection signal, the processing unit can accurately indicate the target magnetic field, namely the magnetic field signal can be regarded as a standard signal, so that the detection condition of the detection signal can be determined by comparing the magnetic field signal and the detection signal, for example, when the detection signal is consistent with the magnetic field signal, the geomagnetic sensor of the target device is regarded as accurate in detection, and when the detection signal is greatly different from the magnetic field signal, the geomagnetic sensor of the target device is regarded as large in detection deviation.
According to the embodiment, the first coil unit, the second coil unit and the third coil unit which are perpendicular to each other are arranged, so that a three-dimensional magnetic field can be simulated, and meanwhile, in the first coil unit, the first coil group, the second coil group and the third coil are arranged, so that the magnetic field uniformity can be guaranteed to be better in the magnetic field direction of the first coil unit, and the test precision of the geomagnetic sensor based on the simulated three-dimensional magnetic field is improved.
Further, the step S10 includes:
Step S11, acquiring a preset detection magnetic field, wherein the preset detection magnetic field comprises a plurality of X-axis direction magnetic fields with different magnetic field intensities, a plurality of Y-axis direction magnetic fields with different magnetic field intensities, a plurality of Z-axis direction magnetic fields with different magnetic field intensities and a plurality of three-dimensional magnetic fields with different magnetic field intensities;
step S12, determining the target magnetic field in the preset detection magnetic fields based on the test sequence of the preset detection magnetic fields every interval of preset time;
And step S13, transmitting a driving current corresponding to the target magnetic field to a magnetic field simulation module.
When testing geomagnetic sensors, testing is often required to be performed for different magnetic field types; the preset detection magnetic field is a magnetic field to be tested; specifically, the preset detection magnetic field set in the embodiment includes a unidirectional magnetic field and a three-dimensional magnetic field; in other embodiments a bi-directional magnetic field or the like may be provided.
When constructing the magnetic field in the X-axis direction, only the Ix current is output, namely, the driving current is output only to the coils in the second coil unit, and the driving current is not output to the coils in the first coil unit and the third coil unit;
when constructing the Y-axis direction magnetic field, only outputting Iy current, namely outputting driving current to the coils in the first coil unit only, and outputting driving current to the coils in the second coil unit and the third coil unit not;
When constructing the magnetic field in the Z-axis direction, only outputting the Iz current, namely outputting the driving current to the coils in the third coil unit only, and outputting the driving current to the coils in the first coil unit and the second coil unit not;
When a three-dimensional magnetic field is constructed, the Ix, iy, iz currents are simultaneously output, i.e. the driving currents are simultaneously output to the coils in the first coil unit, the second coil unit and the third coil unit.
In different types of magnetic fields, a plurality of magnetic fields with different sizes can be specifically arranged, for example, in the magnetic field in the X-axis direction, the magnetic field with the minimum magnetic induction intensity and the magnetic field with the maximum magnetic induction intensity are divided into ten magnetic fields on average, and the magnetic induction intensity is used as a preset detection magnetic field; in the application, the driving current corresponding to the magnetic field with the maximum magnetic induction intensity can be determined, and the maximum driving current is increased by 1/10 each time from 0 until the maximum driving current is reached, so that 10 driving currents except 0 are obtained, and the ten driving currents correspond to ten magnetic fields with different magnetic induction intensities in the X-axis direction. The Y axis and the Z axis are the same and are not repeated; the three-dimensional magnetic field can also be performed based on the above-described manner, except that the driving current is simultaneously output to the three coil units based on the above-described manner.
Further, before the step S11, the method includes:
Step S14, sequentially outputting a plurality of driving currents to the magnetic field simulation module, and acquiring magnetic field signals output by the triaxial Gaussian meter;
Step S15, determining a preset detection magnetic field corresponding to each magnetic field signal;
Step S16, determining the corresponding relation between each driving current and each preset detection magnetic field.
In practical application, the corresponding relation between the driving current and the preset detection magnetic field may be changed due to device displacement, device aging, other interference and the like caused by vibration in the process; therefore, before the test, the corresponding relation between the driving current and the preset detection magnetic field needs to be determined, so that the accurate driving current is output subsequently, and the accurate target magnetic field is obtained.
Specifically, on the basis of determining a preset detection magnetic field, different driving currents are output to the magnetic field simulation module, meanwhile, a triaxial Gaussian meter detects a magnetic field constructed by the magnetic field simulation module to obtain a magnetic field signal, when the magnetic field signal is matched with a corresponding preset detection magnetic field, the corresponding relation between the preset detection magnetic field and the driving current is determined, when the magnetic field signal is not matched with the corresponding preset detection magnetic field, the driving current is adjusted until the detected magnetic field signal is matched with the corresponding preset detection magnetic field, and at the moment, the corresponding relation between the driving current and the preset detection magnetic field is obtained; traversing all preset detection magnetic fields to obtain a complete corresponding relation.
In particular, the magnetic induction is mainly related to the position and the control current, and in the case of fixed positions, the difference in magnetic induction between the two positions is mainly dependent on the driving current, i.e. the differences Bx, by, bz between the two positions on the X, Y, Z axis can be expressed as:
Bx＝a11Ix+a12Iy+a13Iz+B0x
By＝a21Ix+a22Iy+a23Iz+B0y
Bz＝a31Ix+a32Iy+a33Iz+B0z
The magnetic field strength errors Δbx, Δby, Δbz on the X, Y, Z axis can be expressed as:
ΔBx＝k11Ix+k12Iy+k13Iz+ΔB0x
ΔBy＝k21Ix+k22Iy+k23Iz+ΔB0y
ΔBz＝k31Ix+k32Iy+k33Iz+ΔB0z
Wherein a and k are coefficients;
Ix, iy, iz in the above formula can be detected, i.e. can be regarded as known values; the coefficients in the Bx, by, bz, delta Bx, delta By and delta Bz are calculated based on a least square method, specifically, only one of the driving currents Ix, iy and Iz is output each time, a group of coefficients can be obtained each time, all coefficients can be obtained after three times of output of different driving currents, an inverse matrix can be obtained according to the coefficients, and the driving currents of the Ix, iy and Iz can be accurately controlled through negative feedback, so that the corresponding relation between the driving currents and a preset detection magnetic field is determined.
Further, the step S14 includes:
step S141, judging whether the test stopping time of the geomagnetic sensor test apparatus is longer than a preset time after the target equipment reaches a test position;
step S142, if the test stopping time period of the geomagnetic sensor test apparatus is longer than the preset time period, sequentially outputting a plurality of driving currents to the magnetic field simulation module.
It can be understood that, in general, the correspondence between the driving current and the preset detection magnetic field is relatively fixed in a short time, so in order to improve the test efficiency, it is unnecessary to repeatedly determine the correspondence between the driving current and the preset detection magnetic field in the continuous test process; when the test is stopped for a certain time, such as a preset time length, the corresponding relation between the driving current and the preset detection magnetic field needs to be redetermined so as to ensure the accuracy of the corresponding relation; the specific value of the preset time period can be set based on actual needs, such as 2 hours.
In other embodiments, other conditions for determining the correspondence may be set, for example, when the time from the last determination of the correspondence reaches the preset update time, the correspondence between the driving current and the preset detection magnetic field is determined again.
Further, the step S30 includes:
Step S31, obtaining a magnetic field signal output by a triaxial Gaussian meter;
Step S32, performing linear fitting calibration on the detection signals based on the magnetic field signals to obtain calibration values;
And step S33, writing the calibration value into the target equipment.
Based on the foregoing description, the magnetic field signal output by the triaxial gaussian meter is a standard signal, so that the calibration value corresponding to the detection signal can be obtained by performing linear fitting calibration on the detection signal based on the magnetic field signal; the target device can calibrate the detection signal of the geomagnetic sensor through the calibration value in subsequent application based on the calibration value, so that an accurate geomagnetic signal is obtained.
The specific method of linear fitting calibration may be set based on actual needs and is not limited herein.
Further, before the step S20, the method includes:
step S40, a motion signal sent by a motion detection module is obtained;
Step S50, judging whether the geomagnetic sensor testing device is in a static state or not according to the motion signal;
Step S60, if the geomagnetic sensor testing device is in a static state, a detection signal of target equipment based on the target magnetic field is obtained.
It can be understood that in practical application, a part of scenes exist to cause vibration of the geomagnetic sensor testing device, such as that the target equipment is not placed horizontally, the center of the target equipment does not reach the center coordinate origin of the geomagnetic sensor testing device, a user touches the testing device, and the like, and the vibration of the geomagnetic sensor testing device can cause the position deviation of devices and the target equipment in the device, so that the testing result is inaccurate; therefore, in this embodiment, the motion detection module is configured to detect the motion state of the geomagnetic sensor testing apparatus, so as to ensure that the geomagnetic sensor testing apparatus is tested when in a stationary state, and ensure a test result.
The overall flow of the geomagnetic sensor testing method of the present invention is described below:
1. Pulling out the hand pull rod, placing the 9-target device on the drawer type fixed clamping groove, pushing the hand pull rod to enable the target device to be in a position to be tested, and enabling the central position of the geomagnetic sensor in the watch to coincide with the magnetic field central point O of the target magnetic field as shown in fig. 4;
2. The processing unit judges whether the previous checking time interval of the testing device exceeds 2 hours, if the previous checking time interval exceeds 2 hours, the testing device enters a self-checking mode of the step 3-6, and if the previous checking time interval does not exceed 2 hours, the testing device enters the step 7;
3. The processing unit controls Ix of the driving unit to start from 0mA, 0.1mA is added each time, the interval is 100ms, the coils corresponding to the Y axis and the Z axis are free of current, the triaxial Gaussian meter synchronously measures the magnetic field intensity, the triaxial accelerometer and the triaxial gyroscope synchronously measure the gravitational acceleration and the angular velocity of the testing device, and whether the testing device is in a static state is judged, so that the external vibration interference is avoided. The processing unit records magnetic field signals of the driving current of the fifth sub-coil and the sixth sub-coil, wherein the magnetic field signals correspond to the triaxial Gaussian meter, until the coil direct current Ix reaches the set target maximum value.
4. The processing unit controls the Iz of the driving unit to start from 0mA, 0.1mA is added each time, the interval is 100ms, the coils corresponding to the Y axis and the X axis are not provided with current, the triaxial Gaussian meter synchronously measures the magnetic field intensity, the triaxial accelerometer and the triaxial gyroscope synchronously measure the gravitational acceleration and the angular velocity of the testing device, and whether the testing device is in a static state is judged, so that the external vibration interference is avoided. The processing unit records magnetic field signals of the drive current of the seventh sub-coil and the eighth sub-coil, wherein the drive current of the seventh sub-coil and the drive current of the eighth sub-coil correspond to the three-axis Gaussian meter until the coil direct current Ix reaches the set target maximum value.
5. The processing unit controls Iy of the driving unit to start from 0mA, 0.1mA is added each time, the interval is 100ms, the Y3 coil synchronously outputs according to the current of the Iy coil which is k times, the corresponding coils of the X axis and the Z axis are not current, the triaxial Gaussian meter synchronously measures the magnetic field intensity, the triaxial accelerometer and the triaxial gyroscope synchronously measure the gravity acceleration and the angular velocity of the testing device, and whether the testing device is in a static state is judged, so that the external vibration interference is avoided. The processing unit records magnetic field signals of the driving current of the first sub-coil, the fourth sub-coil and the third coil, wherein the magnetic field signals correspond to the triaxial Gaussian meter until the coil direct current Iy reaches a set target maximum value.
6. The processing unit controls Ix, iy and Iz of the driving unit, so that the magnetic field intensity is within the measurement range of the geomagnetic sensor of the target equipment, the driving currents Ix, iy and Iz controlled by the driving unit are output according to the values of 0, 1/10-10/10, the three-dimensional vector magnetic field is output according to the values of 1/10 sections of the watch at intervals of 100ms, the three-axis Gaussian meter synchronously measures the magnetic field intensity, the three-axis accelerometer and the three-axis gyroscope synchronously measure the gravity acceleration and the angular velocity of the testing device, and whether the testing device is in a static state is judged, so that the external vibration interference is avoided. The processing unit records the intensity and direction values of the 10-section three-dimensional vector magnetic field.
7. The processing unit tests the X axis of the geomagnetic sensor of the target equipment, 1/10 of drive current Ix is increased every time to output, the built-in geomagnetic sensor of the target equipment synchronously detects the X axis direction magnetic field of the testing device, the detection signal is sent to the processing unit, and the processing unit performs linear segment simulation calibration based on the detection signal and the magnetic field signal of the triaxial Gaussian meter;
8. the processing unit tests the Y axis of the geomagnetic sensor of the target equipment, 1/10 of the driving current Iy is increased every time to output, the built-in geomagnetic sensor of the target equipment synchronously detects the magnetic field in the Y axis direction of the testing device, the detection signal is sent to the processing unit, and the processing unit performs linear segment simulation calibration based on the detection signal and the magnetic field signal of the triaxial gauss meter;
9. The processing unit tests the Z axis of the geomagnetic sensor of the target equipment, increases the driving current Iz output by 1/10 each time, synchronously detects the magnetic field in the Z axis direction of the testing device by the built-in geomagnetic sensor of the target equipment, sends detection signals to the processing unit, and performs linear segment simulation calibration on the basis of the detection signals and magnetic field signals of the triaxial gauss meter;
10. The processing unit tests the condition of the three-dimensional magnetic field of the geomagnetic sensor of the target device, and increases the output of the driving currents Ix, iy and Iz by 1/10 each time to construct a three-dimensional vector stable and uniform magnetic field. The method comprises the steps that a built-in geomagnetic sensor of target equipment synchronously detects the size and the direction of a three-dimensional vector magnetic field of a testing device, and sends detection signals to a processing unit, and the processing unit performs linear segment simulation calibration based on the detection signals and magnetic field signals of a triaxial Gaussian meter; the triaxial accelerometer and the triaxial gyroscope synchronously measure the gravitational acceleration and the angular velocity of the testing device, judge whether the testing device is in a static state or not, and avoid external vibration interference.
11. After the geomagnetic sensor of the target equipment is detected, the hand pull rod is pulled out, and the detected target equipment is taken out.
It should be noted that, for simplicity of description, the foregoing method embodiments are all described as a series of acts, but it should be understood by those skilled in the art that the present application is not limited by the order of acts described, as some steps may be performed in other orders or concurrently in accordance with the present application. Further, those skilled in the art will also appreciate that the embodiments described in the specification are all preferred embodiments, and that the acts and modules referred to are not necessarily required for the present application.
From the description of the above embodiments, it will be clear to a person skilled in the art that the method according to the above embodiments may be implemented by means of software plus the necessary general hardware platform, but of course also by means of hardware, but in many cases the former is a preferred embodiment. Based on such understanding, the technical solution of the present application may be embodied essentially or in a part contributing to the prior art in the form of a software product stored in a storage medium (e.g. ROM/RAM, magnetic disk, optical disk) comprising instructions for causing a terminal device (which may be a mobile phone, a computer, a server, or a network device, etc.) to perform the method according to the embodiments of the present application.
Referring to fig. 6, the electronic device may include components such as a communication module 10, a memory 20, and a processor 30 in a hardware configuration. In the electronic device, the processor 30 is connected to the memory 20 and the communication module 10, and the memory 20 stores a computer program, and the computer program is executed by the processor 30 at the same time, where the computer program implements the steps of the method embodiments described above when executed.
The communication module 10 is connectable to an external communication device via a network. The communication module 10 may receive a request sent by an external communication device, and may also send a request, an instruction, and information to the external communication device, where the external communication device may be other electronic devices, a server, or an internet of things device, such as a television, and so on.
The memory 20 is used for storing software programs and various data. The memory 20 may mainly include a memory program area that may store an operating system, an application program required for at least one function (such as determining a target magnetic field), and the like, and a memory data area; the storage data area may include a database, may store data or information created according to the use of the system, and the like. In addition, the memory 20 may include high-speed random access memory, and may also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other volatile solid-state storage device.
The processor 30, which is a control center of the electronic device, connects various parts of the entire electronic device using various interfaces and lines, performs various functions of the electronic device and processes data by running or executing software programs and/or modules stored in the memory 20, and calling data stored in the memory 20, thereby performing overall monitoring of the electronic device. Processor 30 may include one or more processing units; alternatively, the processor 30 may integrate an application processor that primarily handles operating systems, user interfaces, applications, etc., with a modem processor that primarily handles wireless communications. It will be appreciated that the modem processor described above may not be integrated into the processor 30.
Although not shown in fig. 6, the electronic device may further include a circuit control module, where the circuit control module is used to connect to a power source to ensure normal operation of other components. It will be appreciated by those skilled in the art that the electronic device structure shown in fig. 6 is not limiting of the electronic device and may include more or fewer components than shown, or may combine certain components, or a different arrangement of components.
The present invention also proposes a computer-readable storage medium on which a computer program is stored. The computer readable storage medium may be the Memory 20 in the electronic device of fig. 6, or may be at least one of ROM (Read-Only Memory)/RAM (Random Access Memory ), magnetic disk, or optical disk, and the computer readable storage medium includes several instructions for causing a terminal device (which may be a television, an automobile, a mobile phone, a computer, a server, a terminal, or a network device, etc.) having a processor to perform the method according to the embodiments of the present invention.
In the present invention, the terms "first", "second", "third", "fourth", "fifth" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance, and the specific meaning of the above terms in the present invention will be understood by those of ordinary skill in the art depending on the specific circumstances.
In the description of the present specification, a description referring to terms "one embodiment," "some embodiments," "examples," "specific examples," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present invention. In this specification, schematic representations of the above terms are not necessarily directed to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, the different embodiments or examples described in this specification and the features of the different embodiments or examples may be combined and combined by those skilled in the art without contradiction.
Although embodiments of the present invention have been shown and described above, the scope of the present invention is not limited thereto, and it should be understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and that variations, modifications and substitutions of the above embodiments may be made by those skilled in the art within the scope of the present invention, and are intended to be included in the scope of the present invention. Therefore, the protection scope of the invention is subject to the protection scope of the claims.
Claims (17)
1. The geomagnetic sensor testing device is characterized by comprising a magnetic field simulation module and a processing module; the magnetic field simulation module comprises a first coil unit, a second coil unit and a third coil unit, wherein the magnetic field directions of the first coil unit, the second coil unit and the third coil unit are mutually perpendicular; wherein the first coil unit comprises a first coil group, a second coil group and a third coil; wherein:
the first coil group is arranged between the second coil groups, and the third coil is arranged between the first coil groups;
The output end of the processing module is connected with the coil in the magnetic field simulation module, the acquisition end of the processing module is connected with the target equipment, and the coil center of the third coil is the test position of the target equipment; wherein:
the processing module is used for outputting driving current corresponding to a target magnetic field to coils in the magnetic field simulation module so that the magnetic field simulation module constructs the target magnetic field;
The processing module is further used for obtaining a detection signal of the target equipment based on the target magnetic field and testing a geomagnetic sensor of the target equipment according to the detection signal.
2. The geomagnetic sensor test apparatus of claim 1, wherein the coil in the first coil unit is perpendicular to the Y axis and a coil center point is located on the Y axis, the coil in the second coil unit is perpendicular to the X axis and a coil center point is located on the X axis, and the coil in the third coil unit is perpendicular to the Z axis and a coil center point is located on the Z axis.
3. A geomagnetic sensor test apparatus according to claim 1, wherein the coil in the first coil unit is circular, the coil in the second coil unit is square, and the coil in the third coil unit is square.
4. A geomagnetic sensor test apparatus according to any of claims 1 to 3, wherein the second coil unit includes a third coil group, wherein the third coil group is arranged symmetrically based on a coil center of the third coil.
5. A geomagnetic sensor test apparatus according to any of claims 1 to 3, wherein the third coil unit includes a fourth coil group, wherein the fourth coil group is arranged symmetrically based on the coil center of the third coil.
6. The geomagnetic sensor test apparatus of claim 1, wherein the processing module includes a processing unit, a driving unit, and a magnetic field standard unit; the acquisition end of the processing unit is connected with the target equipment, the output end of the processing unit is connected with the control end of the driving unit, the output end of the driving unit is connected with the coil in the magnetic field simulation module, the input end of the processing unit is connected with the magnetic field standard unit, and the magnetic field standard unit is arranged in the target magnetic field; wherein:
The processing unit is used for determining a current signal corresponding to the target magnetic field and sending the current signal to the driving unit;
the driving unit is used for outputting the driving current to a coil in the magnetic field simulation module according to the current signal so as to enable the magnetic field simulation module to construct the target magnetic field;
the magnetic field standard unit is used for detecting a magnetic field signal of the target magnetic field and sending the magnetic field signal to the processing unit;
the processing unit is used for acquiring a detection signal of the target equipment based on the target magnetic field and testing a geomagnetic sensor of the target equipment according to the detection signal and the magnetic field signal.
7. A geomagnetic sensor test apparatus according to claim 6, wherein the magnetic field standard cell is a triaxial Gaussian meter.
8. The geomagnetic sensor test apparatus of claim 6, wherein the processing module further includes a motion detection module, an output end of the motion detection module being connected to a motion acquisition end of the processing unit;
The motion detection module is used for detecting the motion state of the geomagnetic sensor testing device to obtain a motion signal, and sending the motion signal to the processing unit.
9. The geomagnetic sensor test apparatus of claim 1, further comprising a magnetic shielding case, wherein the magnetic field simulation module is disposed inside the magnetic shielding case.
10. A geomagnetic sensor testing method, characterized in that the geomagnetic sensor testing method is applied to the geomagnetic sensor testing apparatus according to any one of claims 1 to 9, the geomagnetic sensor testing method including:
determining a target magnetic field and sending a driving current corresponding to the target magnetic field to a magnetic field simulation module;
acquiring a detection signal of target equipment based on the target magnetic field;
and testing the geomagnetic sensor of the target equipment according to the detection signal.
11. The geomagnetic sensor test method of claim 10, wherein the determining a target magnetic field and transmitting a driving current corresponding to the target magnetic field to a magnetic field simulation module includes:
Acquiring a preset detection magnetic field, wherein the preset detection magnetic field comprises a plurality of X-axis direction magnetic fields with different magnetic field intensities, a plurality of Y-axis direction magnetic fields with different magnetic field intensities, a plurality of Z-axis direction magnetic fields with different magnetic field intensities and a plurality of three-dimensional magnetic fields with different magnetic field intensities;
Determining the target magnetic field in the preset detection magnetic fields based on the test sequence of the preset detection magnetic fields at intervals of preset time;
and sending a driving current corresponding to the target magnetic field to a magnetic field simulation module.
12. The geomagnetic sensor test method of claim 11, wherein before the acquiring a preset detection magnetic field, comprising:
Sequentially outputting a plurality of driving currents to the magnetic field simulation module, and acquiring magnetic field signals output by a triaxial Gaussian meter;
Determining a preset detection magnetic field corresponding to each magnetic field signal;
And determining the corresponding relation between each driving current and each preset detection magnetic field.
13. The geomagnetic sensor test method of claim 12, wherein the sequentially outputting a plurality of driving currents to the magnetic field simulation module includes:
after the target equipment reaches a test position, judging whether the test stopping time of the geomagnetic sensor test apparatus is longer than a preset time;
And if the test stopping time of the geomagnetic sensor test device is longer than the preset time, sequentially outputting a plurality of driving currents to the magnetic field simulation module.
14. The geomagnetic sensor test method of claim 10, wherein the testing the geomagnetic sensor of the target device according to the detection signal includes:
acquiring a magnetic field signal output by a triaxial Gaussian meter;
Performing linear fitting calibration on the detection signal based on the magnetic field signal to obtain a calibration value;
writing the calibration value into the target device.
15. The geomagnetic sensor test method of claim 10, wherein, before the acquiring a detection signal of the target device based on the target magnetic field, comprising:
Acquiring a motion signal sent by a motion detection module;
judging whether the geomagnetic sensor testing device is in a static state or not according to the motion signal;
and if the geomagnetic sensor testing device is in a static state, acquiring a detection signal of target equipment based on the target magnetic field.
16. An electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, which when executed by the processor, implements the steps of the geomagnetic sensor test method of any of claims 10 to 15.
17. A computer readable storage medium, characterized in that the computer readable storage medium has stored thereon a computer program which, when executed by a processor, implements the steps of the geomagnetic sensor test method according to any of claims 10 to 15.
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