JP2000009468A5

JP2000009468A5 -

Info

Publication number: JP2000009468A5
Application number: JP1998182088A
Authority: JP
Filing date: 1998-06-29
Publication date: 2005-08-25
Anticipated expiration: 2018-06-29

Description

【００１４】
【課題を解決するための手段】
上記請求項４にあるように、ｚ軸の地磁気データを各方位で一定にするための補正係数Ｓ１を求め、次いで、ｘ,ｙ軸の地磁気がなす出力円を楕円から円に正規化するための補正係数Ｓ２を求め、この正規化された出力円の中心を原点に移動するためのオフセット値ｈx,ｈyを求め、更に傾斜角と水平方向の誤差(残差)から得られるｚ軸のオフセット値ｈzを求めておき、測定モード時、このとき検出される磁気データＨ(ｘ，ｙ，ｚ)を前記係数Ｓ１で補正して、ｚ軸の地磁気を均一としたＨ１(ｘ，ｙ，ｚ)を得る。そして前記磁気データＨ１(ｘ，ｙ，ｚ)を前記オフセット値ｈx,ｈy,ｈzで補正して、中心点を原点に移動した磁気データＨ２(ｘ，ｙ，ｚ)を得る。この磁気データＨ２(ｘ，ｙ，ｚ)を前記係数Ｓ２で補正して、ｘおよびｙ軸の地磁気を円に正規化して磁気データＨ３(ｘ，ｙ，ｚ)を得る。この磁気データＨ３(ｘ，ｙ，ｚ)とこの測定モード時に検出した傾斜角ｋ(ｐ，ｒ)とから３軸補正した磁気方位θｍが出力される。 0014.
[Means for solving problems]
As described in claim 4 , the correction coefficient S1 for making the z-axis geomagnetic data constant in each direction is obtained, and then the output circle formed by the x and y-axis geomagnetism is normalized from an ellipse to a circle. The correction coefficient S2 of is obtained, the offset values hx and hy for moving the center of this normalized output circle to the origin are obtained, and the z-axis offset obtained from the tilt angle and the horizontal error (residual). The value hz is obtained, and in the measurement mode, the magnetic data H (x, y, z) detected at this time is corrected by the coefficient S1 to make the z-axis geomagnetism uniform H1 (x, y, z). ). Then, the magnetic data H1 (x, y, z) is corrected by the offset values hx, hy, hz to obtain the magnetic data H2 (x, y, z) whose center point is moved to the origin. The magnetic data H2 (x, y, z) is corrected by the coefficient S2, and the geomagnetism of the x and y axes is normalized to a circle to obtain the magnetic data H3 (x, y, z). From this magnetic data H3 (x, y, z) and the inclination angle k (p, r) detected in this measurement mode, the magnetic direction θm corrected by three axes is output.

Claims

3-axis geomagnetism H ( x, y, z ) 3-axis magnetic sensor to detect the pitch and tilt angle k of the roll ( p, r ) An electronic magnetic sensor using a two-axis tilt sensor for detecting
Storage means for storing data detected by the two sensors while turning by a predetermined angle;
Based on the data in the storage means, the z-axis geomagnetic data is corrected to be constant in each direction, and x , Correct the output circle formed by the geomagnetism of the y-axis to be normalized from an ellipse to a circle, move the center of the normalized output circle to the origin, and tilt angle and horizontal error ( Residual error ) Z-axis offset value h obtained from z For the magnetic data H detected in the measurement mode. ( x, y, z ) And a magnetic orientation θm is output using the tilt angle k detected in the measurement mode.

3-axis geomagnetism H ( x, y, z ) 3-axis magnetic sensor to detect the pitch and tilt angle k of the roll ( p, r ) An electronic magnetic sensor using a two-axis tilt sensor for detecting
Storage means for storing data detected by both sensors while turning by a predetermined angle;
Based on the data in the storage means, the correction coefficient S1, x for making the z-axis geomagnetic data constant in each direction , Correction coefficient S2 for normalizing the output circle formed by the geomagnetism of the y axis from an ellipse to a circle, and an offset value h for moving the center of the normalized output circle to the origin x, h y , And tilt angle and horizontal error ( Residual error ) Z-axis offset value h obtained from z A correction data creation unit for obtaining
Magnetic data H detected in measurement mode ( x, y, z ) Are the coefficient S1 and offset value h created by the correction data creation unit x, h y , H z , And the coefficient S2, and the magnetic direction θm is output using the tilt angle k detected in the measurement mode.

3. The electromagnetic compass according to claim 2, further comprising an azimuth correction table for storing each data created by the correction data creation unit.

An electronic magnetic sensor using a triaxial magnetic sensor for detecting triaxial geomagnetism H (x, y, z) and a biaxial inclination sensor for detecting pitch and roll inclination angle k (p, r),
Storage means (4, 5) for storing data detected by both sensors during a 360 ° turn;
Based on the data in the storage means, a correction coefficient S1 for making the z-axis geomagnetism data constant in each direction, a correction coefficient S2 for normalizing the output circle formed by the x- and y-axis geomagnetism from an ellipse to a circle, A correction data creation unit for obtaining an offset value hx, hy for moving the center of the normalized output circle from the origin to the origin, and a z-axis offset value hz obtained from an inclination angle and a horizontal error (residual) ( 6) and
An azimuth correction table (7) for storing data created by the correction data creation unit and magnetic data H (x, y, z) detected in the measurement mode are corrected by the coefficient S1 to H1 (x, y, z-axis soft iron correcting means for obtaining z), hard iron correcting means for correcting the magnetic data H1 (x, y, z) with the offset hx, hy, hz to obtain H2 (x, y, z), X, y axis soft iron correction means for correcting the magnetic data H2 (x, y, z) with the coefficient S2 to obtain the magnetic data H3 (x, y, z), the magnetic data H3 (x, y, z) And a magnetic azimuth correction unit (8) including a triaxial azimuth calculating means for outputting the magnetic azimuth θm from the tilt angle k detected in the measurement mode.

The electromagnetic compass according to claim 4, wherein a steady inclination angle k ′ that is always generated by a biaxial inclination angle sensor is obtained, and k ′ is subtracted from the inclination angle k.